Mitsubishi Electric MELSERVO-JN, MR-JN-10A, MR-JN-20A1, MR-JN-20A, MR-JN-40A Instruction Manual

General-Purpose AC Servo

JN Series

General-Purpose Interface Servo Amplifier

MODEL (Servo Amplifier)

MR-JN-□A

MODEL (Servo Motor)

HF-KN□
HF-KP□G1/G5/G7
HG-KR□G1/G5/G7

INSTRUCTION MANUAL

D

Safety Instructions

Please read the instructions carefully before using the equipment.

Be sure to read through this Instruction Manual, Installation guide and appended documents carefully before
using the equipment. For your protection, do not install, operate, inspect or perform maintenance procedures
until you have a full knowledge of the equipment and the safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING

CAUTION

Note that the
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.

CAUTION level may lead to a serious consequence according to conditions. Please follow

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, always keep it accessible to the operator.

A - 1

1. To prevent electric shock, note the following

WARNING

Before wiring, be sure to turn off the power, wait for 15 minutes or longer, and then make sure that the
charge lamp is off to prevent an electric shock. In addition, always confirm if the charge lamp is off or not
from the front of the servo amplifier.
Ground the servo amplifier and the servo motor securely.
Only qualified personnel should attempt wiring and inspection.
Wire the servo amplifier and the servo motor after installation is complete to prevent an electric shock.
Do not operate the switches with wet hands as it may cause an electric shock.
Do not damage, stress excessively, place heavy objects or pinch the cable to prevent an electric shock.
To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of
the servo amplifier with the protective earth (PE) of the control box.
When using an earth-leakage current breaker (RCD), select the type B.
To avoid an electric shock, insulate the connections of the power supply terminals.

2. To prevent fire, note the following

CAUTION

Install the servo amplifier, the servo motor and the regenerative option on incombustible material. Installing
them directly or close to combustibles may cause a fire.
Be sure to connect a magnetic contactor between the power supply and the main circuit power supply
(L1/L2) of the servo amplifier, in order to configure a circuit that shuts off the power supply by the magnetic
contactor. If a magnetic contactor is not connected, a continuous flow of a large current may cause a fire
when the servo amplifier malfunctions.
When using a regenerative resistor, configure a circuit that shuts off the power if abnormality is found.
Otherwise, the regenerative resistor may overheat, causing a fire due to a regenerative transistor fault.
When using a regenerative option, remove the built-in regenerative resistor and its wiring from the servo
amplifier.
Provide an adequate protection to prevent conductive matters such as screws or metal pieces or
combustible matters such as oil from entering the servo amplifier and the servo motor.
Always connect a molded-case circuit breaker to the power supply of the servo amplifier.

3. To prevent injury, note the following

CAUTION

Do not apply voltage other than specified in this Instruction Manual to each terminal as it may cause burst,
damage, etc.
Connect the wires to correct terminals to prevent burst, damage, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
The servo amplifier heat sink, the regenerative option, the servo motor can be very hot during power-on
and for some time after power-off, and it may result burns or damages to parts (cables, etc.) Take
measures, e.g. provide covers, to prevent accidental contact of hands and parts with them.
Never touch the rotating parts of the servo motor during operation as it may cause injury.

A - 2

4. Additional instructions

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

(1) Transportation and installation

CAUTION

Carry the products in a suitable way according to their weights.
Do not stack the product packages exceeding the maximum number specified on the package.
Do not hold the lead of the built-in regenerative resistor, the cables, or the connectors when carrying the
servo amplifier. Otherwise, it may drop.
Do not hold the cable, the shaft or the encoder when carrying the servo motor.
Install the equipment on a weight-bearing place in accordance with this Instruction Manual.
Do not get on or place heavy objects on the equipment.
Install the equipment in the specified direction. Improper installation causes oil leakage, leading to a fire
and malfunction.
Leave specified clearances between the servo amplifier and inner wall of the control box or other
equipment.
Do not block the intake/exhaust ports of the servo amplifier. Otherwise, a fault may occur.
Do not install or operate a servo amplifier and a servo motor which are damaged or have any part missing.
Do not drop or shock the servo amplifier or the servo motor as they are precision equipment.
When storing the equipment, please fulfill the following environmental conditions.

Ambient
temperature

Ambient
humidity

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

Altitude Max. 1000m (3280 ft)

Vibration resistance

Note. For the standard servo motor (without reduction gear.)

Item

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

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

Operation

Storage 10%RH to 90%RH (non-condensing)

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

2

5.9 m/s

, 10 to 55Hz

(directions of X, Y, and Z axes)

Servo amplifier Servo motor

Environmental

10%RH to 80%RH (non-condensing)

HF-KN Series

HF-KP Series (Note)

HG-KR series (Note)

X

Y: 49m/s2

Couple the servo motor to a machine securely. Insecure coupling may cause the servo motor to come off.
Be sure to measure the motor vibration level with the servo motor mounted to the machine when checking
the vibration level. A great vibration may cause the early damage of a bearing, encoder, brake, and
reduction gear. The great vibration may also cause the poor connector connection or bolt looseness.
For the gain adjustment at the equipment startup, check the torque waveform and the speed waveform by
using a measurement device, and then check that no vibration occurs. If the vibration occurs due to high
gain, the vibration may cause the early damage of the servo motor.
Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo
motor during operation.
Never hit the servo motor or shaft, especially when coupling the servo motor to a machine as it may
damage the encoder.
Do not apply load exceeding the permissible load as it may break the shaft.
When the equipment has been stored for an extended period of time, contact your local sales office.
When handling the servo amplifier, be careful with the edged parts such as the corners of the servo
amplifier.

A - 3

CAUTION

The servo amplifier must be installed in the 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) Wiring

CAUTION

Before unplugging CNP1 connector from the servo amplifier, disconnect the lead of the built-in
regenerative resistor from CNP1 connector first.
Wire the equipment correctly and securely. Improper wiring may cause unexpected operation.
Do not install a power capacitor, a surge killer or a radio noise filter (optional FR-BIF) between the servo
motor and the servo amplifier.
Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and the servo motor. Not
doing so may cause unexpected operation.
Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not
install a magnetic contactor, etc. between the servo amplifier and the servo motor.

Servo amplifier

U

V

W

Servo motor

U

V

W

Servo amplifier

U

M

W

Servo motor

U

V

W

MV

Do not connect AC power supply directly to the servo motor. Otherwise, a fault may occur.
Install a surge absorbing diode on the DC relay designed for control output signal in the specified
direction. Improper installation of the surge absorbing diode may cause the servo amplifier to malfunction
such that the signals are not output, and emergency stop and other safety circuits are inoperable.

Servo amplifier

DOCOM

Control output
signal

DICOM

Sink output

interface

24VDC

RA

Servo amplifier

DOCOM

Control output
signal

DICOM

Source output

interface

24VDC

RA

Configure a circuit to turn off EM1 when the main circuit power supply is turned off to prevent an
unexpected restart of the servo amplifier.

(3) Test run adjustment

CAUTION

Check and adjust the parameter setting before operation. Improper settings may cause some machines
to perform unexpected operation.
Never adjust or change the parameter values extremely as it will make operation unstable.

A - 4

(4) Usage

CAUTION

Configure an external emergency stop circuit in order to stop the operation immediately and shut off the
power.
Do not disassemble or repair the equipment.
If an alarm is reset while the operation signal is input to the servo amplifier, the equipment starts
suddenly. Be sure that the operation signal is off before resetting the alarm to prevent an accident.
Do not modify the equipment.
Electromagnetic interference from the servo amplifier may affect the surrounding electronic equipment.
Minimize the influence of the electromagnetic interference by using a noise filter, etc.
Toxic gases may be generated by burning or disassembling the servo amplifier. Do not burn or
disassemble the servo amplifier.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used
for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor
are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,
install a stopper on the machine side.

(5) Corrective actions

CAUTION

Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may
cause an accident.
When it is assumed that a hazardous condition may take place at the occur due to a power failure or a
product fault, use a servo motor with an electromagnetic brake or provide an external brake mechanism
for the purpose of prevention.
Configure the electromagnetic brake operation circuit which interlocks with an external emergency stop
switch.

Shut off the servo motor when the Servo-on
(SON), the Malfunction (ALM), or the
Electromagnetic brake interlock (MBR)
are turned OFF.

Servo motor

B

Electromagnetic brake

SON RA

When an alarm occurs, remove its cause. Then, ensure safety and reset the alarm before restarting
operation.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

Circuit must be opened with the
emergency stop switch.

24VDC

A - 5

(6) Storing of servo motor

CAUTION

Note the following points when storing the servo motor for an extended period of time (guideline: three or
more months).
Be sure to store the servo motor indoors in a clean and dry place.
If it is stored in a dusty or damp place, make adequate provision, e.g. cover the whole product.
If the insulation resistance of the winding decreases, reexamine the storage method.
Though the servo motor is rust-proofed before shipment using paint or rust prevention oil, rust may be
produced depending on the storage conditions or storage period. If the servo motor is to be stored for
longer than six months, apply rust prevention oil again especially to the machined surfaces of the shaft,
etc.
Before using the servo motor that has been stored for an extended period of time, hand-turn the servo
motor output shaft to confirm that nothing is wrong with the servo motor. (For the servo motor with an
electromagnetic brake, turn ON the power supply of the electromagnetic brake, first. Then, release the
electromagnetic brake before hand-turn.)
When the equipment has been stored for an extended period of time, contact your local sales office.

(7) Maintenance, inspection and parts replacement

CAUTION

Make sure that the emergency stop circuit operates properly such that an operation can be stopped
immediately and a power is shut off by the emergency stop switch.
It is recommended that the servo amplifier be replaced every 10 years when it is used in general
environment.

(8) 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.

A - 6

About processing of waste

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

FOR MAXIMUM SAFETY

These products have been manufactured as a general-purpose part for general industries, and have not
been designed or manufactured to be incorporated in a device or system used in purposes related to
human life.

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

medicine, passenger movement vehicles or under water relays, contact Mitsubishi Electric.

These products have been manufactured under strict quality control. However, when installing the product
where major accidents or losses could occur if the product fails, install appropriate backup or failsafe
functions in the system.

EEP-ROM life

The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the converter unit, servo amplifier (drive unit)
and/or converter unit may fail when the EEP-ROM reaches the end of its useful life.

Write to the EEP-ROM due to parameter setting changes

Write to the EEP-ROM due to device changes

Write to the EEP-ROM due to point table changes

Write to the EEP-ROM due to program changes

Write to the EEP-ROM due to data records with drive recorder

Precautions for Choosing the Products

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

COMPLIANCE WITH EC DIRECTIVES

Refer to appendix 7 for the compliance with EC directives.

CONFORMANCE WITH UL/CSA STANDARD

Refer to appendix 8 for the conformance with UL/CSA standard.

A - 7

<<About the manuals>>

Relevant manuals

Manual name Manual No.

MELSERVO-JN Series Instructions and Cautions for Safe Use of AC Servos

(Enclosed in servo amplifier.)

QUICK INSTALLATION GUIDE L(NA)03052ENG

MELSERVO Servo Motor Instruction Manual Vol.2 SH(NA)030041ENG

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

EMC Installation Guidelines IB(NA)67310

IB(NA)0300157

<<About the wires used for wiring>>

Wiring wires mentioned in this instruction manual are selected based on the ambient temperature of 40
(104

).

<<U.S. customary units>>

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

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

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

A - 8

Introduction

Introduction

The Mitsubishi Electric MELSERVO-JN series general-purpose AC servo is based on the MELSERVO-J3
series, and retains its high performance, with some limitations in functions. For details of functions,
performance and specifications of the MELSERVO-JN series, refer to chapters 1 to 13 and appendices of this
Instruction Manual. This section describes the how-to (startup, actual operation, and others) for users who use
the MELSERVO-JN series AC servo for the first time.

CAUTION

Unpack the product and check the rating plate to see if the servo motor and servo amplifier are as you ordered.

(1) Servo amplifier

Servo amplifier 1

Servo amplifier power supply connectors for CNP1 and CNP 2 1 each

MELSERVO-JN series

Instructions and Cautions for Safe Use of AC Servos

(2) Servo motor

Servo motor 1

Instructions and Cautions for Safe Use of AC Servos (Motor) 1

The lead of the built-in regenerative resistor is connected between P and C
terminals on the servo amplifier power supply connectors (CNP1) of the MR-JN­20A(1)/40A. When taking the servo amplifier out from the shipping box, do not hold
the lead of the built-in regenerative resistor.

Packaged product Quantity

1

Packaged product Quantity

- 1 -

Introduction

1. Operation and setting

Operation and settings of the servo amplifier are easily performed only on the display section (3-digit, 7­segment LED) and on the operation section (four pushbuttons and one-touch tuning button) located on the
front panel of the servo amplifier.

AUTO

Executes the one-touch
tuning.

MODE

Changes the display mode
and switches the upper/lower.

SET

Determines the display and
data, and clears data.

UP/DOWN

Scrolls the display and data.

(1) One-touch tuning function (refer to section 6.1)

Gain and filter adjustment of the servo is easily made by the AUTO button located on the front panel of the
servo amplifier.

(2) Status display, diagnosis, and parameter setting (refer to chapter 5)

The servo amplifier status display (cumulative feedback pulses, servo motor speed, and others), diagnosis
(servo operation-ready complete status, external I/O signal ON/OFF, test operation), point table settings
and parameter settings can be easily performed by the MODE, SET, UP and DOWN buttons located on the
front panel of the servo amplifier.

- 2 -

2. Startup

When switching the power on for the first time, follow the startup procedure below.

Visual wiring check

Refer to (1) in this section.

Surrounding environment

check

Check the surrounding environment (cable routing and
impurity such as wire offcuts or metallic dust) of the servo
amplifier and the servo motor.

Power-on of the control circuit

power supply

Refer to (2) (a) in this section.

I/O signal wiring check during

power-on

Refer to (3) in this section.

Parameter setting

Refer to (4) in this section.

Power-on of the main circuit

power supply

Refer to (2) (a) in this section.

Operation confirmation before

actual operation

One-touch tuning

Refer to (5) in this section.

Refer to (6) in this section.

Actual operation

Stop

Refer to (7) in this section.

When switching the power off, follow (2) (b) in this section.

Introduction

- 3 -

Introduction

(1) Visual wiring check

Before switching on the main circuit and control circuit power supplies, check the following items.

Power supply system wiring

The power supplied to the power input terminals (L1, L2, +24V, 0V) of the servo amplifier should satisfy

the defined specifications. (Refer to section 1.3.)

Connection of servo amplifier and servo motor

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

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

Servo amplifier Servo motor

U

V

W

U

V

W

M

The power supplied to the servo amplifier should not be connected to the servo motor power supply

terminals (U, V, W). The connected servo amplifier and servo motor will be damaged.

Servo amplifier

U

1

L

V

L

2

W

Servo motor

U

V

W

M

The earth terminal of the servo motor should be connected to the PE terminal of the servo amplifier.

Servo amplifier Servo motor

M

When regenerative option is used

The built-in regenerative resistor and its wirings should be removed from the servo amplifier.

The regenerative option should be connected to P and C terminals.

A twisted cable should be used. (Refer to section 11.2 (4).)

I/O signal wiring

The power supplied to CN1 connector (DICOM and DOCOM) of the servo amplifier should satisfy the

defined specifications. (Refer to section 1.3.)

SD and DOCOM of CN1 connector should not be shorted.

Servo amplifier

CN1

DOCOM

SD

- 4 -

(2) Power on and off procedures

(a) Power-on

Switch the power on in the following procedure. Always follow this procedure at power-on.

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

2) Make sure that command and start signal from the controller are not input.

3) Switch on the control circuit power supply.
At power-on, "888" appears instantaneously, but it is not an error.
In the position control mode, data is displayed in 2[s] or later after displaying "CL" (cumulative
feedback pulses in pulse unit) (initial value), or by pressing the "MODE", "UP" or "DOWN" button.

Displayed contents differ depending on each control mode. Refer to section 5.3 for details.

4) Switch on the main circuit power supply.

(b) Power-off

1) Make sure that command and start signal from the controller are not input.

2) Turn off the servo-on (SON).

3) Switch off the main circuit power supply.

4) Switch off the control circuit power supply.

(3) I/O signal wiring check during the energization

Input signal wiring confirmation

Introduction

On/off status of the input signals of CN1 connector can be checked using the external I/O signal display.

By using this function, input signal wiring can be checked. (Refer to section 5.8.)

Output signal wiring confirmation

Output signals of CN1 connector can be turned on/off forcibly using the DO output. By using this function,

output signal wiring can be checked. (Refer to section 5.9.)

(4) Parameter setting

POINT

Some parameters are made valid when power is switched off, then on after
setting. Refer to chapter 4 for details.
For the positioning mode, refer to section 13.7.

Set the parameters as necessary, such as selecting the control mode and the regenerative option.
In the position control mode, the servo amplifier can be used just by changing the basic setting parameters
(parameter No. PA
As necessary, set the gain/filter parameters (parameter No. PB ), the extension setting parameters
(parameter No. PC
For the internal speed control mode and the internal torque control mode, refer to chapter 4.

) mainly.

) and the I/O setting parameters (parameter No. PD ).

- 5 -

Introduction

The following shows the main parameters, which must be changed, among parameter No. PA

.

PA01 Selection of control mode (refer to section 4.1.3)

Select the control mode of the servo amplifier, and whether to enable or not the one-touch tuning function.

Parameter No. PA01

0

Selection of control mode
0: Position control mode
1: Position control mode and internal speed control mode
2: Internal speed control mode
3: Internal speed control mode and in ternal
4: Internal torque control mode
5: Internal torque control mode and position control mode
6: Positioning mode (point table method)
7: Positioning mode (program method)

One-touch tuning function selection
0: Valid
1: Invalid
When this parameter is set to "1", the one-touch tuning is ignored.

torque control mode

PA02 Selection of regenerative option (refer to section 4.1.4)

Set this parameter when using the regenerative option.

Parameter No. PA02

0

Selection of regenerative option
00: Regenerative option is not used.
For servo amplifier of 100W, regenerative resistor is not used.
For servo amplifier of 200 to 400W, built-in regenerative resistor is

used.
02: MR-RB032
03: MR-RB12

PA05 Number of command input pulses per servo motor revolution (refer to section 4.1.6)

Set the number of command input pulses necessary to rotate the servo motor one turn.

When "100 (10000[pulse/rev])" (initial value) is set to parameter No. PA05, the servo motor rotates one turn
by inputting 1000 pulses of the command pulse to the servo amplifier. When "0" is set to parameter No.
PA05, the servo motor rotates one turn by inputting the command pulse of servo motor resolution to the
servo amplifier.

Parameter No. PA05

setting

100 to 500

Command

pulses

0 Servo motor resolution [pulse/rev]

Number of command input pulses necessary to rotate the servo motor one

Parameter No. PA05

FBP conversion

(Note 1)

Value converted to the number of
command input pulses per revolution
(FBP)

Description

100 pulse/rev]

turn [

Electronic gear

CMX
CDV

(Note 2)

Deviation

counter

Servo motor

M

Encoder

Note 1. This process converts the number of pulses required to rotate the servo motor one turn to the value set in parameter No. PA05.

2. Electric gear numerator and denominator can be set by parameters No. PA06 and PA07. (Refer to section 4.1.7.)

- 6 -

Introduction

PA13 Selection of command input pulse form (refer to section 4.1.11)

Select the input form of the pulse train input signal. Command pulses may be input in any of three different
forms, for which positive or negative logic can be chosen.

Arrow

or in the table indicates the timing of importing a pulse train. A- and B-phase pulse trains

are imported after being multiplied by 4.

Parameter No. PA13

Selection of command input pulse form

Setting

00

01

02

10

11

12

Pulse train form

Forward rotation
pulse train
Reverse rotation
pulse train

Signed pulse
train

Positive logic

A-phase pulse
train
B-phase pulse
train

Forward rotation
pulse train
Reverse rotation
pulse train

Signed pulse
train

Negative logic

A-phase pulse
train
B-phase pulse
train

Forward rotation command

PP

NP

PP

NP

PP

NP

PP

NP

PP

NP

PP

NP

H

L

Reverse rotation command

L

H

Pulse train input filter selection

POINT

Setting

0 1Mpps or less
1500kpps or less
2200kpps or less

Command pulse frequency

The noise tolerance can be enhanced by setting parameter No. PA13 to "1 "
when the command pulse frequency is 500kpps or less or "2

" when

200kpps or less.

- 7 -

Introduction

PA14 Selection of servo motor rotation direction (refer to section 4.1.12)

Select servo motor rotation direction relative to the input pulse train.

Parameter No. PA14

setting

0 CCW CW

1 CW CCW

When forward rotation pulse is input When reverse rotation pulse is input

Servo motor rotation direction

Forward rotation (CCW)

Reverse rotation (CW)

(5) Operation confirmation before actual operation

Before starting actual operation, perform JOG operation to make sure that the machine operates properly.
MR-JN can perform the JOG operation in the test operation mode on the operation section (four
pushbuttons). (Refer to section 5.10.)

JOG operation in the test operation

mode

(Servo motor alone)

(a) Confirm that the servo amplifier and servo motor operate properly.

With the servo motor disconnected from the machine, use the test
operation mode (JOG operation) at the slowest speed and check
whether the servo motor rotates correctly.

Operation by commands from the

controller

(Servo motor and machine are

connected)

(b) Confirm that the servo motor rotates correctly at the slowest speed

under the commands from the controller.
Make sure that the servo motor rotates in the following procedure.

1) Switch on the forced stop (EM1) and servo-on (SON). When the
servo amplifier is in a servo-on status, the ready (RD) switches
on.

2) Switch on the forward rotation stroke end (LSP) and the reverse
rotation stroke end (LSN).

3) In the position control mode, when command pulses are input
from the controller, the servo motor starts rotating. Give a low
speed command at first and check the operation direction, etc.
of the servo motor. If the servo motor does not rotate in the
intended direction, check the input signal.

4) After checking that the machine operates properly, perform the
automatic operation by the program of the controller to check for
any problem with the operation.

- 8 -

Introduction

(6) One-touch tuning

Just by pressing the "AUTO" button on the front panel of the servo amplifier during operation, the gain/filter
is easily adjusted.
(Refer to section 6.1.)

Startup of system

Operation

Rotate the servo motor by a command device, etc.
(The one-touch tuning cannot be performed if the servo
motor is not operating.)

Shift to the one-touch tuning

mode

Press the "AUTO" button for 3[s] or longer while the servo
motor is rotating. The display changes to "

", and the

mode shifts to the one-touch tuning mode.

Selection of the response

mode

Press the "UP" or the "DOWN" button while "

" is
displayed to select the response mode. (Refer to (1) in
section 6.1.2.)

Execution of the one-touch

tuning

Start the one-touch tuning by pressing the "AUTO" button.
The progress of the one-touch tuning is displayed in
percentage.

One-touch tuning complete

0% 100%

When the one-touch tuning is completed properly,
"

" is displayed and the gain/filter is automatically

adjusted.

POINT

For the fine adjustment after the one-touch tuning, refer to section 6.4.

- 9 -

(7) Stop

In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor.
Refer to section 3.11 for the servo motor with an electromagnetic brake.

(a) Servo-on (SON) OFF

The base circuit is shut off and the servo motor coasts.

(b) Alarm occurrence

When an alarm occurs, the base circuit is shut off and the dynamic brake activates to stop the servo
motor immediately.

(c) Forced stop (EM1) OFF

The base circuit is shut off and the dynamic brake activates to stop the servo motor immediately. Servo
forced stop warning alarm (E6.1) occurs.

(d) Forward rotation stroke end (LSP) or reverse rotation stroke end (LSN) OFF

Position control mode: Droop pluses are cleared, and the servo motor shaft is locked. The servo motor
can rotate in an opposite direction.
Internal speed control mode: The servo motor stops immediately, and the shaft is locked. The servo
motor can rotate in an opposite direction.

(e) Simultaneous ON or simultaneous OFF of forward rotation start (ST1) and reverse rotation start (ST2)

In internal speed control mode: The servo motor decelerates to a stop.
In positioning mode: The servo motor decelerates to a stop after JOG operation.

(f) Simultaneous ON or simultaneous OFF of forward rotation selection (RS1) and reverse rotation selection

(RS2) (only in the internal torque control)
The servo motor coasts.

POINT

The forward rotation stroke end (LSP) and reverse rotation stroke end (LSN)
operate as follows.
Assigned to the external input signals: depends on the value set in parameter

Not assigned to the external input signals: automatically turns on regardless of

In the internal torque control mode, the forward rotation stroke end (LSP) and
reverse rotation stroke end (LSN) become invalid. (Refer to section 3.5.)

No. PD01.

the value set in parameter No. PD01.

Introduction

- 10 -

3. Troubleshooting at startup

Introduction

Never adjust or change the parameter values extremely as it will make operation

CAUTION

unstable.

POINT

You can refer to reasons for servo motor rotation failure, etc. using MR
Configurator.

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

(1) Troubleshooting

No. Step of occurrence Fault Investigation Possible cause Reference

1 Power on

Alarm occurs. Remove cause. Section

Digital output ALM

2 Switch on servo-on

(SON).

Servo motor shaft is

3 Input command

pulse.

(Test operation)

(In the position

Check if the ready (RD) is ON.

control mode)

Check if the electromagnetic

Check the ON/OFF status of the

The 3-digit, 7-segment

LED is not lit.

The 3-digit, 7-segment

LED blinks.

occurs. The 3-digit,

7-segment LED does not

display the alarm.

Alarm occurs. Remove cause. Section

free.

Servo motor does not

rotate.

Not improved even if CN1, CN2

and CN3 connectors are

disconnected.

Improved when CN1 connector is

disconnected.

Improved when CN2 connector is

disconnected.

Improved when CN3 connector is

disconnected.

Check the ON/OFF status of the

output signal on the external I/O

signal display (refer to section

5.8).

Check the followings.

1. Check the display to see if the

servo amplifier is ready to

operate.

2. Check the external I/O signal

display (refer to section 5.8) to

see if the servo-on (SON) is ON.

Check the cumulative command

pulses on the status display or on

MR Configurator.

Check the set value of parameter

No.PA13 (command input pulse

form).

brake interlock (MBR) is ON.

output signal on the external I/O

signal display (refer to section

5.8).

1. Power supply voltage fault

2. Servo amplifier is faulty.

Power supply of CN1 cabling is

shorted.

1. Power supply of encoder

cabling is shorted.

2. Encoder is faulty.

Power supply of CN3 cabling is

shorted.

Wiring mistake.

The polarity of the digital output

circuit diode is not correct.

1. Servo-on (SON) is not input.

(Wiring mistake)

2. The interface power supply

(24VDC) is not supplied.

1. Wiring mistake.

(a) For open collector pulse train

input, 24VDC power is not

supplied to OPC.

(b) LSP and LSN are not on.

(c) Wiring mistake.

The polarity of the digital output

circuit diode is not correct.

2. No pulses are input.

3. Electromagnetic brake operates.

Wiring mistake.

The polarity of the digital output

circuit diode is not correct.

8.2

Section

3.8.2

8.2

Section

5.8

Section

3.8.2

Section

3.11

Section

4.1.11

Section

5.3

Section

3.8.2

- 11 -

Introduction

№ Step of occurrence Fault Investigation Possible cause Reference

3 Input command

pulse.

(Test operation)

(In the position

Check the set value of parameter

control mode)

4 Switch on forward

rotation start (ST1)

or reverse rotation

start (ST2).

(In the internal

speed control

mode)

5 Switch on forward

rotation selection

(RS1) or reverse

rotation selection

Check the ON/OFF status of the

(RS2).

(In the internal

torque control

mode)

Check the internal speed limits 0

Check the forward torque limit

6 Switch on forward

rotation start (ST1)

or reverse rotation

start (ST2).

(In the positioning

mode)

Check the forward torque limit

7 Gain adjustment

(In the position

control mode)

(In the internal

speed control

mode)

(In the positioning

mode)

8 Cyclic operation

(In the position

control mode)

Servo motor rotates in

reverse direction.

Servo motor does not

rotate.

Servo motor does not

rotate.

Servo motor does not

rotate.

Check the values of position data

Rotation ripples (speed

fluctuations) are large at

low speed.

Large load inertia

moment causes the

servo motor shaft to

oscillate side to side.

Position shift occurs. Confirm the cumulative command

Check the cumulative command

pulses on the status display or on

MR Configurator.

No.PA14 (rotation direction

selection).

Check the ON/OFF status of the

input signal on the external I/O

signal display (refer to section

5.8).

Check the internal speed

commands 0 to 7 (parameters No.

PC05 to PC08 and PC31 to

PC34).

Check the forward torque limit

(parameter No. PA11) or reverse

torque limit (parameter No. PA12).

Check the set value of parameter

No.PC12 (internal torque

command).

input signal on the external I/O

signal display (refer to section

5.8).

to 7 (parameters No. PC05 to

PC08 and PC31 to PC34).

(parameter No. PA11) or reverse

torque limit (parameter No. PA12).

Check the ON/OFF status of the

input signal on the external I/O

signal display (refer to section

5.8).

and servo motor speed set in the

point table or program.

(parameter No. PA11) or reverse

torque limit (parameter No. PA12).

Make gain adjustment in the

following procedure.

1. Increase the auto tuning

response level.

2. Repeat acceleration and

deceleration several times to

complete auto tuning.

If the servo motor may be run with

safety, repeat acceleration and

deceleration several times to

complete auto tuning.

pulses, the cumulative feedback

pulses and the actual servo motor

position.

1. Mistake in wiring to controller.

2. Mistake in setting of parameter

No. PA14.

LSP, LSN, ST1 or ST2 is off. Section

Set value is 0. Section

Torque limit level is too low as

compared to the load torque.

Internal torque command is too

low as compared to the load

torque.

RS1 or RS2 is off. Section

Set value is 0. Section

Set value is 0. Section

LSP, LSN, ST1 or ST2 is off. Section

Set value is 0. Chapter

Torque limit level is too low as

compared to the load torque.

Gain adjustment fault Chapter 6

Gain adjustment fault Chapter 6

Pulse counting error, etc. due to

noise.

Section

4.1.12

Section

5.3

5.8

4.3.2

Section

4.1.10

Section

4.3.2

5.8

4.3.2

4.1.10

5.8

13

Section

4.1.10

(2) in this

section

- 12 -

Introduction

(2) How to find the cause of position shift

Servo amplifierController

(a)Output pulse

counter

Q

Servo-on (SON),
Stroke end
(LSP/LSN) input

Cause A

Cause C

Electronic gear (parameters No. PA06, PA07)

P FBP

FBP conversion

(b)Cumulative command pulses

(c) Cumulative feedback pulses

CMX
CDV

C

Servo motor

M

Encoder

Machine

L

(d) Machine stop position M

Cause B

When a position shift occurs, check (a) output pulse counter Q, (b) cumulative command pulses P, (c)
cumulative feedback pulses C, and (d) machine stop position M in the above diagram.

Cause A, Cause B and Cause C indicate position shift causes. For example, Cause A indicates that noise
entered the wiring between the controller and servo amplifier, causing the command input pulse to be miss­counted.

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

1) Q

P (output pulse counter cumulative command pulses)

2) When using the electronic gear
CMX (parameter No. PA06)

P 

CDV (parameter No. PA07)

Servo motor encoder resolution



FBP (parameter No. PA05) (Note)

C (cumulative command pulses electronic gear cumulative feedback pulses)

Note. When "0" is set to the FBP (parameter No. PA05), the FBP becomes the servo motor encoder resolution.

3) C  Δ

M (cumulative feedback pulses travel per pulse machine position)

Check for a position shift in the following sequence.

1) When Q ≠ P

Noise entered in the pulse train signal wiring between the controller and servo amplifier, causing
command input pulses to be miss-counted. (Cause A)
Make the following check or take the following measures.

Check the shielding.
Run wiring away from the power circuit.
Install a data line filter. (Refer to section 11.9 (2) (a).)

POINT

The noise tolerance can be enhanced by setting parameter No. PA13 to "1 "
when the command pulse frequency is 500kpps or less or "2
200kpps or less.

" when

- 13 -

2) When P 

CMX
CDV

Note. When "0" is set to the FBP (parameter No. PA05), the FBP becomes the servo motor encoder resolution.

During the operation, the servo-on (SON), the forward/reverse rotation stroke end (LSP/LSN) was
turned off, or the clear (CR) or the reset (RES) was turned on. (Cause C)
If a malfunction may occur due to much noise, increase the input filter setting (parameter No. PD19).

3) When C  Δ

Mechanical slip occurred between the servo motor and machine. (Cause B)

4. Tough drive function

Servo motor encoder resolution



FBP (parameter No. PA05) (Note)

≠ M

Introduction

≠ C

Since the operation status of devices may be changed by the tough drive

CAUTION

operation, check for any problems before making this function valid.

POINT

For details of the tough drive function, refer to section 7.1.

The tough drive function continues the operation not to stop a machine in such situations when normally an
alarm is activated.

Three types of tough drive function can be selected in parameter No. PA04.

Parameter No. PA04

Overload tough drive function selection
Set the tough drive function for overload.

Setting

0
1

Vibration tough drive function selection
Set the function for vibration suppression.

Setting

0
1

Overload tough drive function

Invalid

Valid

Vibration tough drive function

Invalid

Valid

Instantaneous power failure tough drive function selection
Set tough drive function for instantaneous power failure of the main
circuit power supply.

Setting

Instantaneous power failure tough drive function
0
1

Invalid

Valid

- 14 -

(1) Overload tough drive function

This function reduces the effective load ratio before an overload alarm occurs to avoid the alarm.

(2) Vibration tough drive function

This function suppresses the machine resonance caused by aging distortion or individual difference of the
machine.

(3) Instantaneous power failure tough drive function

This function avoids the instantaneous power failure during operation.

Introduction

- 15 -

CONTENTS

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

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

1.2 Function block diagram ............................................................................................................................ 1 - 3

1.3 Servo amplifier standard specifications ................................................................................................... 1 - 6

1.4 Function list .............................................................................................................................................. 1 - 8

1.5 Model code definition .............................................................................................................................. 1 -10

1.6 Combination with servo motor ................................................................................................................ 1 -10

1.7 Parts identification ................................................................................................................................... 1 -11

1.8 Configuration including auxiliary 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 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 -48

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

3.2 I/O signal connection example ................................................................................................................. 3 - 4

3.2.1 Position control mode ........................................................................................................................ 3 - 4

3.2.2 Internal speed control mode ............................................................................................................. 3 - 6

3.2.3 Internal torque control mode ............................................................................................................. 3 - 7

3.3 Explanation of power supply system ....................................................................................................... 3 - 8

3.3.1 Signal explanations ........................................................................................................................... 3 - 8

3.3.2 Power-on sequence .......................................................................................................................... 3 - 8

3.3.3 CNP1 and CNP2 wiring method ...................................................................................................... 3 -10

3.4 Connectors and signal arrangements .................................................................................................... 3 -13

3.5 Signal explanations ................................................................................................................................. 3 -16

3.6 Detailed description of the signals .......................................................................................................... 3 -22

3.6.1 Position control mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -22

3.6.2 Internal speed control mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -25

3.6.3 Internal torque control mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -28

3.6.4 Position/speed control change mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -31

3.6.5 Internal speed/internal torque control change mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -32

3.6.6 Internal torque/position control change mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -33

3.7 Alarm occurrence timing chart ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -34

3.8 Interfaces ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -35

3.8.1 Internal connection diagram ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -35

3.8.2 Detailed description of interfaces ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3

-36

3.8.3 Source I/O interfaces ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -39

3.9 Treatment of cable shield external conductor ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -40

3.10 Connection of servo amplifier and servo motor ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -41

3.10.1 Connection instructions ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -41

3.10.2 Power supply cable wiring diagrams ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -42

- 16 -

3.11 Servo motor with an electromagnetic brake ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -43

3.11.1 Safety precautions ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -43

3.11.2 Setting ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -43

3.11.3 Timing chartsꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -44

3.11.4 Wiring diagrams (HF-KN series • HF-KP

G1/G5/G7 • HG-KR G1/G5/G7 servo motor) ꞏꞏꞏꞏꞏ 3 -46

3.12 Grounding ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -48

4. PARAMETERS 4 - 1 to 4 -54

4.1 Basic setting parameters (No. PA ) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 - 2

4.1.1 Parameter list ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 - 2

4.1.2 Parameter write inhibit ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 - 3

4.1.3 Selection of control mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 - 4

4.1.4 Selection of regenerative option ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 - 4

4.1.5 Selection of the tough drive function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 - 5

4.1.6 Number of command input pulses per servo motor revolution ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 - 6

4.1.7 Electronic gear ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 - 7

4.1.8 Auto tuning ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -11

4.1.9 In-position range ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -12

4.1.10 Torque limit ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -13

4.1.11 Selection of command input pulse form ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -14

4.1.12 Selection of servo motor rotation direction ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -15

4.1.13 Encoder output pulses ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -16

4.2 Gain/filter parameters (No. PB

) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -19

4.2.1 Parameter list ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -19

4.2.2 Detail list ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -21

4.2.3 Position smoothing ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -29

4.3 Extension setting parameters (No. PC

) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -30

4.3.1 Parameter list ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -30

4.3.2 List of details ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -32

4.3.3 Alarm history clear ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -39

4.3.4 Drive recorder function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -40

4.4 I/O setting parameters (No. PD

) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -44

4.4.1 Parameter list ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -44

4.4.2 List of details ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -45

4.4.3 Using forward/reverse rotation stroke end to change the stopping pattern ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -54

5. DISPLAY AND OPERATION SECTIONS 5 - 1 to 5 -30

5.1 Overview ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 - 1

5.2 Display sequence ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 - 2

5.3 Status display ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 - 3

5.3.1 Display transition ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 - 4

5.3.2 Display examples ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 - 5

5.3.3 Status display list ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 - 7

5.4 Diagnostic mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 - 9

5.5 Alarm mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 -11

5.6 Point table mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 -13

5.6.1 Point table transition ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 -13

5.6.2 Point table mode setting screen sequence ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 -14

- 17 -

5.6.3 Operation example ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 -15

5.7 Parameter mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 -17

5.7.1 Parameter mode transition ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 -17

5.7.2 Operation example ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 -18

5.8 External I/O signal display ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 -20

5.9 Output signal (DO) forced output ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 -23

5.10 Test operation mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 -24

5.10.1 Mode change .................................................................................................................................. 5 -24

5.10.2 JOG operation ................................................................................................................................ 5 -25

5.10.3 Positioning operation ...................................................................................................................... 5 -26

5.10.4 Motor-less operation....................................................................................................................... 5 -28

5.10.5 Forced tough drive operation ......................................................................................................... 5 -29

5.11 One-touch tuning ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 -29

6. GENERAL GAIN ADJUSTMENT 6 - 1 to 6 -18

6.1 One-touch tuning ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 - 1

6.1.1 One-touch tuning procedure ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 - 2

6.1.2 Display transition and operation procedure of the one-touch tuning ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 - 3

6.1.3 Precautions for one-touch tuning ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 - 7

6.2 Gain adjustment methods ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 - 8

6.3 Auto tuning mode 1 ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 -10

6.3.1 Overview ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 -10

6.3.2 Auto tuning mode 1 basis ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 -11

6.3.3 Adjustment procedure by auto tuning ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 -12

6.3.4 Response level setting in auto tuning mode 1 ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 -13

6.4 2-gain adjustment mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 -14

6.5 Manual mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 -15

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 1 to 7 -18

7.1 Tough drive function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 - 1

7.1.1 Overload tough drive function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 - 1

7.1.2 Vibration tough drive function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 - 2

7.1.3 Instantaneous power failure tough drive function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 - 4

7.2 Machine resonance suppression function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 - 6

7.2.1 Function block diagram ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 - 6

7.2.2 Adaptive filter II ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 - 6

7.2.3 Machine resonance suppression filter ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 - 8

7.2.4 Advanced vibration suppression control ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 - 9

7.2.5 Low-pass filter ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 -13

7.3 Gain changing function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 -13

7.3.1 Applications ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 -13

7.3.2 Function block diagram ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 -14

7.3.3 Parameters ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 -15

7.3.4 Gain changing procedure ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 -17

8. TROUBLESHOOTING 8 - 1 to 8 -30

8.1 Alarms and warning list ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8 - 1

- 18 -

8.2 Remedies for alarms ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8 - 3

8.3 Remedies for warnings ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8 -24

9. DIMENSIONS 9 - 1 to 9 - 4

9.1 Servo amplifier ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9 - 1

9.2 Connector ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9 - 3

10. CHARACTERISTICS 10- 1 to 10- 6

10.1 Overload protection characteristics ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10- 1

10.2 Power supply capacity and generated loss ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10- 2

10.3 Dynamic brake characteristics ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10- 4

10.3.1 Dynamic brake operation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10- 4

10.3.2 The dynamic brake at the load inertia moment ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10- 5

10.4 Cable flexing life ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10- 6

10.5 Inrush currents at power-on of main circuit and control circuit ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10- 6

11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-46

11.1 Cable/connector sets ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11- 1

11.1.1 Combinations of cable/connector sets ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11- 2

11.1.2 Encoder cable/connector sets ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11- 7

11.1.3 Motor power supply cables ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-17

11.1.4 Motor brake cables ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-19

11.2 Regenerative options ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-21

11.3 Junction terminal block MR-TB26A ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-25

11.4 MR Configurator/MR Configurator2 ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-27

11.4.1 About engineering software ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-27

11.4.2 Precautions for using USB communication function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-28

11.5 Selection example of wires ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-29

11.6 Molded-case circuit breakers, fuses, magnetic contactors ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-32

11.7 Power factor improving AC reactor FR-HAL ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-33

11.8 Relays (recommended) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-33

11.9 Noise reduction techniques ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-34

11.10 Earth-leakage current breaker ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-40

11.11 Circuit protector ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-42

11.12 EMC filter (recommended) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-42

11.13 Surge protector (recommended) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-43

11.14 MR-HDP01 manual pulse generatorꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-45

12. SERVO MOTOR 12- 1 to 12-48

12.1 Introduction ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12- 1

12.1.1 Rating plate ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12- 1

12.1.2 Parts identification ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12- 1

12.1.3 Electromagnetic brake ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12- 2

12.1.4 Servo motor shaft shapes ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12- 4

12.2 Installation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12- 5

12.2.1 Installation direction ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12- 6

- 19 -

12.2.2 Precautions for load remove ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12- 7

12.2.3 Permissible load for the shaft ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12- 8

12.2.4 Protection from oil and water ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12- 8

12.2.5 Cable ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12- 9

12.2.6 Inspection ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12- 9

12.2.7 Life ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-10

12.2.8 Machine accuracies ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-10

12.3 Connectors used for servo motor wiring ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-11

12.3.1 Selection of connectors ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-11

12.3.2 Wiring connectors (Connector configurations A B C) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-12

12.4 Connector dimensions ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-13

12.5 HF-KN series servo motor ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-15

12.5.1 Model definition ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-15

12.5.2 Standard specifications ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-16

12.5.3 Electromagnetic brake characteristicsꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-18

12.5.4 Servo motors with special shafts ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-19

12.5.5 Connector installation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-20

12.5.6 Outline drawings ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-21

12.5.7 USA/Canada compliance ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-26

12.6 HF-KP series servo motor (Order accepted until May 31, 2019)ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-27

12.6.1 Model definition ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-27

12.6.2 Specifications ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-28

12.6.3 Electromagnetic brake characteristicsꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-30

12.6.4 Servo motor with a reduction gear ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-31

12.6.5 Connector installation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-36

12.7 HG-KR series servo motor ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-38

12.7.1 Model definition ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ

ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-38

12.7.2 Standard specifications ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-39

12.7.3 Electromagnetic brake ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-42

12.7.4 Geared servo motors ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-43

12.7.5 Mounting connectors ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-47

13. POSITIONING MODE 13- 1 to 13-94

13.1 Selection method of each operation mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13- 1

13.2 Signals ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13- 2

13.2.1 I/O signal connection example ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13- 2

13.2.2 Connectors and signal arrangements ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13- 3

13.2.3 Signal explanations ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13- 4

13.2.4 Detailed description of the signals ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-11

13.3 Automatic operation mode for point table method ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-15

13.3.1 What is automatic operation mode? ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-15

13.3.2 Automatic operation using point table ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-17

13.4 Automatic operation mode for program method ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-28

13.4.1 What is automatic operation mode for program method? ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-28

13.4.2 Programming language ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-29

13.4.3 Basic setting of signals and parameters ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-44

13.4.4 Program operation timing chart ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-45

13.5 Manual operation mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-46

- 20 -

13.5.1 JOG operation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-46

13.5.2 Manual pulse generator operationꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-47

13.6 Home position return mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-49

13.6.1 Outline of home position return ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-49

13.6.2 Selection of home position return mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-50

13.6.3 Dog type home position return ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-51

13.6.4 Count type home position return ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-54

13.6.5 Data set type home position return ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-56

13.6.6 Stopper type home position return ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-57

13.6.7 Home position ignorance (Servo-on position as home position) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-59

13.6.8 Dog type rear end reference home position return ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-60

13.6.9 Count type front end reference home position return ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-62

13.6.10 Dog cradle type home position return ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-64

13.6.11 Home position return automatic return function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-66

13.7 Parameters ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-67

13.7.1 Basic setting parameters (No. PA

13.7.2 Gain/filter parameters (No. PB

13.7.3 Extension setting parameters (No. PC

13.7.4 I/O setting parameters (No. PD

13.7.5 Positioning setting parameters (No. PE

) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-68

) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-73

) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-75

) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-78

) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-80

13.8 Point table setting method ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-86

13.9 Program setting method ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-88

13.10 Single-step feed usage in the test operation mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-91

APPENDIX App.- 1 to App.-19

App. 1 Parameter list ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ App.- 1
App. 2 Servo motor ID codes ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ App.- 7
App. 3 Signal layout recording paper ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ App.- 7
App. 4 Status display block diagram ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ App.- 8
App. 5 Compliance with global standards ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ App.-10

- 21 -

MEMO

- 22 -

1. FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATION

1.1 Introduction

The Mitsubishi Electric MELSERVO-JN series general-purpose AC servo is based on the MELSERVO-J3
series, and retains its high performance, with some limitations in functions.
It has position control, internal speed control, internal torque control and positioning modes. Further, it can
perform operation with the control modes changed, e.g. position/internal speed control, internal speed/internal
torque control and internal torque/position control. Hence, it is applicable to a wide range of fields, not only
precision positioning and smooth speed control of machine tools and general industrial machines but also line
control and tension control.
As this new series has the USB serial communication function, a MR Configurator installed personal computer
or the like can be used to perform parameter setting, test operation, status display monitoring, gain adjustment,
etc.
With one-touch tuning and real-time auto tuning, you can easily and automatically adjust the servo gains
according to the machine.
The servo amplifier has the tough drive function that continues the operation not to stop a machine in such
situation when normally an alarm is activated.
The MELSERVO-JN series servo motor is equipped with an incremental encoder which has the resolution of
131072 pulses/rev to ensure the positioning with a high accuracy.

(1) Position control mode

Up to 1Mpps high-speed pulse train is used to control the speed and the direction of a servo motor and
execute precision positioning of 131072 pulses/rev resolution.
The position smoothing function provides a choice of two different modes appropriate for a machine, so a
smoother start/stop can be made in response to a sudden position command.
A torque limit is imposed on the servo amplifier by the clamp circuit to protect the power transistor in the
main circuit from overcurrent due to sudden acceleration/deceleration or overload. This torque limit value
can be changed to any value with the parameter.

(2) Internal speed control mode

A parameter-driven internal speed command (max. 8 speeds) is used to control the speed and the direction
of a servo motor precisely and smoothly.
There are also the acceleration/deceleration time constant setting in response to the speed command and
the servo lock function at a stop time.

(3) Internal torque control mode

An internal torque command (0.0% to 100.0%) is used to control the torque output by the servo motor. To
prevent unexpected operation under no load, the speed limit function (internal setting) is also available for
application to tension control, etc.

1 - 1

1. FUNCTIONS AND CONFIGURATION

(4) Positioning mode

The positioning mode has point table method and program method.

(a) Point table method

The positioning operation can be executed by setting the position data (the target position), the servo
motor speed, the acceleration/deceleration time constant, etc. in the point table as if setting them in
parameters. This is the most appropriate to configure a simple positioning system or to simplify a
system.
7 point tables can be used.

(b) Program method

The positioning operation is performed by creating the positioning data (the target position), the servo
motor speed, the acceleration/deceleration time constant, etc. as a program and by executing the
program. This is the most appropriate to configure a simple positioning system or to simplify a system.
Up to 8 programs can be created. The program capacity is 120 steps as a total of all programs.

1 - 2

1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

The function block diagram of this servo motor is shown below.

(1) Position control mode, internal speed control mode, internal torque control mode

Regenerative option

(Note 2)
Main

circuit
power
supply

(Note 2)
Control
circuit
power
supply

MCCB

Circuit

protector

MC

Servo amplifier

Diode
stack

Fuse

L1

L2

24V

0V

Pulse

input

Relay

Control

circuit

power

supply

Model

position

control

P

(Note 1)

CHARGE

lamp

Base

amplifier

Model
speed

control

Regene­rative
TR

Voltage

detection

Overcurrent

protection

Virtual

motor

Current

detector

Virtual

encoder

Dynamic

brake

Current

detection

U

V

W

RA

24VDC

CN2

Servo motorC

U

V

W

B1

B

B2

Encoder

M

Electro­magnetic
brake

Model
position

Actual

position

control

I/F

CN1

D I/O control

Servo-on
Command input
pulses
Start
Failure, etc.

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

2. For the specification of power supply, refer to section 1.3.

Model
speed

Actual

speed

control

Personal

computer

USB

CN3

USB

Model torque

Current

control

1 - 3

1. FUNCTIONS AND CONFIGURATION

(2) Positioning mode (Point table method)

Regenerative option

(Note 2)
Main

circuit
power
supply

(Note 2)
Control

circuit
power
supply

MCCB

Circuit

protector

Servo amplifier

MC

Diode
stack

Fuse

L1

L2

24V

0V

Current

control

Speed
control

Model adaptive control

Position

control

Position

command

creation

Relay

Control

circuit

power

supply

Position

No.

data

1

1000

2000

2

4000

3

-500

4

1000

5

2000

6

7 1000

P

(Note 1)

CHARGE

lamp

Base

amplifier

Servo motor

speed

1000 80

2000 100

2000 70

2000 60

2000 80

1000 80

1000 80

Regene­rative
TR

Voltage

detection

Point table

Acceleration

time

constant

Current

detector

Overcurrent

protection

Deceleration

time

constant

80

100

60

70

80

80

80

Dynamic

brake

Current

detection

Dwell

0

0

500

1000

0

0

0

Auxiliary

function

0

0

1

1

0

0

0

U

V

W

RA

24VDC

CN2

Servo motorC

U

V

W

B1

Electro­magnetic

B

brake

B2

Encoder

M

USB

I/F

Personal

computer

USB

CN3

CN1

D I/O control

Servo-on
Start
Failure, etc.

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

2. For the specification of power supply, refer to section 1.3.

1 - 4

1. FUNCTIONS AND CONFIGURATION

(3) Positioning mode (Program method)

Regenerative option

(Note 2)
Main

circuit
power
supply

(Note 2)
Control

circuit
power
supply

MCCB

Circuit

protector

Servo amplifier

MC

L1

L2

0V

Diode

stack

Relay

Fuse

24V

Current

control

Speed
control

Model adaptive control

Position

control

Control

circuit
power
supply

P

(Note 1)

CHARGE

lamp

Base

amplifier

Regene­rative
TR

Voltage

detection

Program

SPN(1000)

STA(200)

STB(300)

MOV(500)

SPN(1000)

MOVA(1000)

MOVA(0)

Current

detector

Overcurrent

protection

Dynamic

brake

Current

detection

U

V

W

RA

24VDC

CN2

Servo motorC

U

V

W

B1

B

B2

Encoder

M

Electro­magnetic
brake

Position

command

creation

I/F

CN1

D I/O control

Servo-on
Start
Failure, etc.

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

2. For the specification of power supply, refer to section 1.3.

STOP

USB

CN3

Personal

computer

USB

1 - 5

1. FUNCTIONS AND CONFIGURATION

1.3 Servo amplifier standard specifications

Servo amplifier

MR-JN-

Item

Output

Main circuit
power supply

Control circuit
power supply

Interface
power supply

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

Protective functions

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

Close mounting

Environmental
conditions

Mass

Note. 0.2A 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.

Rated voltage 3-phase 170VAC
Rated current [A] 1.1 1.6 2.8 1.1 1.6

Voltage/frequency 1-phase 200VAC to 230VAC, 50/60Hz

Rated current [A] 1.5 2.4 4.5 3.0 5.0
Permissible voltage
fluctuation
Permissible frequency
fluctuation
Power supply capacity Refer to section 10.2
Inrush current Refer to section 10.5
Voltage 24VDC
Rated current [A] 0.5
Permissible voltage
fluctuation
Power consumption [W] 10
Voltage 24VDC
Power supply capacity [A] 0.2 (Note)

In
Ambient
temperature

Ambient
humidity

Ambience

Altitude Max. 1000m (3280 ft)
Vibration resistance 5.9 [m/s2], 10 to 55Hz (directions of X, Y and Z axes)

operation

In

storage

In operation

In storage

10A 20A 40A 10A1 20A1

1-phase 100VAC to 120VAC,

1-phase 170VAC to 253VAC 1-phase 85VAC to 132VAC

Within

5%

Within

10%

10%

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

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

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

When mounting the servo amplifiers closely, operate them at the ambient temperature of 0°C

to 45°C or at 75% or less of the effective load ratio.

[°C] 0 to 55 (non-freezing)

[°F] 32 to 131 (non-freezing)

[°C] -20 to 65 (non-freezing)

[°F] -4 to 149 (non-freezing)

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

[kg] 0.6 0.6 0.7 0.6 0.6

[lb] 1.32 1.32 1.54 1.32 1.32

excessive error protection

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

Indoors (no direct sunlight)

50/60Hz

1 - 6

1. FUNCTIONS AND CONFIGURATION

Servo amplifier

MR-JN-

Item

Max. input pulse frequency 1Mpps (for differential receiver), 200kpps (for open collector)

Command pulse multiplying
Position control
mode

Internal speed
control mode

Internal torque Torque command input Parameter setting
control mode Speed limit Parameter setting

Command method

Operation mode

Positioning mode

Home position return mode

Other functions

factor (electronic gear)

In-position range setting 0 to 65535pulses (command pulse unit)

Error excessive 3 rotations

Torque limit Parameter setting

Speed command input Parameter setting

Speed control range 1:5000

Speed fluctuation ratio

Torque limit Parameter setting

Operating specification Positioning by specifying the point table No. (7 points)

Position command input Set in point table. One-point feed length setting range: 1[μm] to 999.999[mm]

Speed command input

table

Point

method

System Signed absolute value command system, Incremental value command system

Operating specification

Position command input

Speed command input

Program method

System Signed absolute value command system, signed incremental value command system

Point

table

method

mode

operation

Automatic

Program method Setting by programming language

JOG

mode

Manual

Manual pulse generator

operation

Dog type

Count type

Data set type

Stopper type

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

Dog type rear end reference

Count type front end reference

Dog cradle type

One-time
positioning
operation
Automatic
continuous
positioning operation

10A 20A 40A 10A1 20A1

Electronic gear A/B, A: 1 to 65535, B: 1 to 65535, 1/50

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

S-pattern acceleration/deceleration time constant is set in parameter No. PC03.

S-pattern acceleration/deceleration time constant is also settable by parameter No. PC03.

One-time positioning operation is performed in accordance with position and speed commands.

Varied speed operation (2 to 7 speeds), Automatic continuous positioning operation

JOG operation is performed in accordance with parameter-set speed command by contact

Command pulse multiplication:

Home position return is made starting with Z-phase pulse after passage of proximity dog.

Home position return direction is selectable. Home position shift value is settable.

Home position return is made by counting encoder pulses after contact with proximity dog.

Home position return direction is selectable. Home position shift value is settable.

Home position is settable at any position by manual operation, etc. Home position

Home position return is made by pressing machine part against stroke end.

Home position return direction is selectable. Home position address is settable.

Home position return direction is selectable. Home position shift value is settable.

Home position return is made with respect to the front end of proximity dog.

Home position return direction is selectable. Home position shift value is settable.

Home position return is made with respect to the front end of a proximity dog by the first

Home position return direction is selectable. Home position shift value is settable.

Acceleration/deceleration time constant is set in point table.

Program language (programmed by MR Configurator).

Program capacity: 120 steps

Setting by program language.

One-point feed length setting range:

Servo motor speed, acceleration/deceleration time constant and S-pattern

acceleration/deceleration time constant are set by program language.

Point table number input, position data input system

(2 to 7 points)

input.

Manual feed is made by manual pulse generator.

1, 10 or 100 is selected using parameter.

Home position address is settable.

Automatic at-dog home position return, Automatic stroke return function

Home position address is settable.

Automatic at-dog home position return, Automatic stroke return function

Home position return is made without dog.

address is settable.

Position where servo-on (SON) is switched on is defined as home position.

Home position address is settable.

Home position return is made with respect to the rear end of proximity dog.

Home position address is settable.

Automatic at-dog home position return, Automatic stroke return function

Home position address is settable.

Automatic at-dog home position return, Automatic stroke return function

Z-phase pulse.

Home position address is settable.

Automatic at-dog home position return, Automatic stroke return function

Backlash function, Overtravel prevention using external limit switch

Software stroke limit

A/B 500

10%)

1[μm] to 999.999[mm]

1 - 7

1. FUNCTIONS AND CONFIGURATION

1.4 Function list

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

(Note 1)

Function Description

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

Internal speed control mode This servo is used as internal speed control servo. S

Internal torque control mode This servo is used as internal torque control servo. T

Position/internal speed control
change mode
Internal speed/internal torque control
change mode
Internal torque/position control
change mode

Positioning mode
(Point table method) (Note 2)

Positioning mode
(Program method) (Note 2)

Home position return mode (Note 2)

High-resolution encoder

Gain changing function

Advanced vibration suppression
control

Adaptive filter II

Low-pass filter

Electronic gear

One-touch tuning

Auto tuning

Position smoothing Smooth acceleration is enabled in response to input pulse. P Section 4.2.3

S-pattern acceleration/
deceleration time constant

Regenerative option

Alarm history clear

Using input device, control can be switched between position
control and internal speed control.
Using input device, control can be switched between internal
speed control and internal torque control.
Using input device, control can be switched between internal
torque control and position control.
Positioning operation is performed by selecting 7 point tables
which are set in advance, in accordance with the set value.
Select the point table using an external input signal.
Positioning operation is performed by selecting a program from
8 programs which are created in advance.
Select the program using an external input signal.
Dog type, count type, data set type, stopper type, home position
ignorance, dog type rear end reference, count type front end
reference, dog cradle type
The servo motor is equipped with high-resolution encoder of
131072 pulses/rev.
Gains can be changed using an input device or gain changing
conditions (servo motor speed, etc.)
This function suppresses vibration of an arm end or residual
vibration.
This function sets the filter characteristics automatically by the
one-touch tuning to suppress vibration of a mechanical system.
This function is effective for suppressing high-frequency resonance
which occurs as the servo system response is increased.
Input pulses can be multiplied by 1/50 to 500. P Section 4.1.7
Position command can be multiplied by 1/131 to 1000.
Electronic gear setting range can be changed by changing the
number of virtual pulses per servo motor revolution.
The gain of the servo amplifier can be adjusted by the push
button on the front panel.
This function optimizes the servo gain automatically as load
applied to the servo motor shaft changes.

Smooth acceleration and deceleration are enabled.

Regenerative option is used when the built-in regenerative
resistor of the servo amplifier does not have sufficient
regenerative capability for the regenerative power generated.
This function clears alarm history and the number of tough drive
performed.

Control

mode

P

P/S Section 3.6.4

S/T Section 3.6.5

T/P Section 3.6.6

CP Section 13.3

CL Section 13.4

CP/CL Section 13.6

P, S, T

CP/CL

P, S

CP/CL

P

CP/CL

P, S

CP/CL

P, S

CP/CL

CP/CL Section 13.7.1 (3)

P, S

CP/CL

P, S

CP/CL

S, T

CP/CL

P, S, T

CP/CL

P, S, T

CP/CL

Reference

Section 3.2.1
Section 3.6.1
Section 3.2.2
Section 3.6.2
Section 3.2.3
Section 3.6.3

Section 7.3

Section 7.2.4

Section 7.2.2

Section 7.2.5

Section 6.1

Section 6.3

Section 4.3.2
Parameter
No. PC03
Section 13.7.3 (2)
Parameter
No. PC03

Section 11.2

Parameter
No. PC11

1 - 8

1. FUNCTIONS AND CONFIGURATION

(Note 1)

Function Description

Command pulse selection

Input signal selection

Output signal selection

Torque limit

Speed limit Servo motor speed can be limited by setting a parameter. T

Status display Servo status is shown on the 3-digit, 7-segment LED display

External I/O signal display ON/OFF statuses of external I/O signals are shown on the display.

Output signal (DO)
forced output

Test operation mode

MR Configurator

Tough drive function

Limit switch

Software limit (Note2)

Drive recorder function
(Note2)

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

P/S: Position/internal speed control change mode, S/T: Internal speed/internal torque control change mode,

T/P: Internal torque/position control change mode

CP: Positioning mode (Point table method), CL: Positioning mode (Program method)

2. It is supported by servo amplifier with software version B0 or later.

Command input pulse form can be selected from among three different
types.

Forward rotation start (ST1), reverse rotation start (ST2), servo-on
(SON) and other input device can be assigned to specific pins.

Ready (RD), trouble (ALM) or other output device can be assigned to
specific pins.

The torque generated by the servo motor can be limited by setting a
parameter.

Output signal can be forced on/off independently of the servo status.
Use this function for output signal wiring check, etc.
JOG operation, positioning operation, motor-less operation, DO forced
output, forced tough drive operation, program operation, and single-step
feed.
Note that MR Configurator MRZJW3-SETUP221E is necessary for the
positioning operation, program operation or single-step feed.
The single-step feed is supported by servo amplifier with software
version B0 or later, and MR Configurator with software version C4 or
later.

Parameter setting, test operation, status display, etc. can be performed
using a personal computer.

This function continues the operation not to stop a machine in such
situation when normally an alarm is activated.
Three types of the tough drive function are available: overload tough
drive, vibration tough drive and instantaneous power failure tough drive.
However, the overload tough drive is valid only in the position control
mode or positioning mode.

The servo motor travel region can be limited using the forward rotation
stroke end (LSP)/reverse rotation stroke end (LSN).

The travel region is limited using parameters in terms of address.
The function similar to that of a limit switch is limited by parameter.
This function records the state transition before and after the alarm
occurrence for the predetermined period of time by always monitoring
the servo status. The recorded data can be confirmed on the graph
display screen by clicking the "Drive recorder display" button on the
alarm history display screen of MR Configurator.

Control

P, S, T

P, S, T

P, S, T

P, S, T

P, S, T

P, S, T

P, S, T

P, S, T

Reference

mode

P Section 4.1.11

Parameter

CP/CL

CP/CL

CP/CL

CP/CL

CP/CL

CP/CL

CP/CL

CP/CL Section 13.10

CP/CL

CP/CL

CP/CL Section 13.2.3

CP/CL Section 13.7.5 (4)

CP/CL

No. PD02 to
PD14
Parameter
No. PD15 to
PD18

P, S

Section 3.6.1 (4)

Section 3.6.3 (3)
Parameter
No. PC05 to
PC08, PC31 to
PC34

Section 5.3

Section 5.8

Section 5.9

Section 5.10

Section 11.4
Section 13.8 to

13.10

P, S

Section 7.1

P, S Section 3.5

Section 4.3.4

1 - 9

1. FUNCTIONS AND CONFIGURATION

1.5 Model code definition

(1) Rating plate

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

AC SERVO

MODEL

Note. The year and month when the servo amplifier is manufactured are written down in the serial number of the rating plate.

The year and month of manufacture are indicated by the last one digit of the year and 1 to 9, X(10), Y(11), Z(12).

For September 2009, the serial number is like "SERIAL:

MR-JN-10A

POWER : 100W
INPUT : AC200-230V 1.5A 50/60Hz, DC24V 0.5A

OUTPUT: 3PH170V 0-360Hz 1.1A
STD.: IEC/EN 61800-5-1
Max. Surrounding Air Temp.: 55°C

IP20

KCC-REI-MEK-TC300A566G51

TOKYO 100-8310, JAPAN MADE IN JAPAN

SER.A45001001

MAN.: IB(NA)0300157

DATE: 2014-05

99 ”.

Serial number (Note)
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

(2) Model

The following explains the description of models. Not all the combination of symbols exists.

Series

Power supply

Symbol

None

1 1-phase 100 to 120VAC

General purpose interface

Rated output

Symbol

10
20
40

Power supply

1-phase 200 to 230VAC

Rated output [kW]

0.1

0.2

0.4

Serial number

Rating plate

1.6 Combination with servo motor

POINT

The HF-KP G1/G5/G7 servo motors have been discontinued in May 2019.

The following table lists combinations of servo amplifiers and servo motors. The following combinations also
apply to servo motors with an electromagnetic brake.

Servo amplifier

MR-JN-10A(1) 053 13

MR-JN-20A(1) 23

MR-JN-40A 43

Note. Depending on the servo motor being used, encoder resolution per

servo motor revolution changes as follows.
HF-KN
HF-KP

HG-KR

series servo motor: 131072pulses/rev

G1/G5/G7 servo motor: 262144pulses/rev

G1/G5/G7 servo motor: 262144pulses/rev (when combined

Servo motors (Note)

HF-KN HF-KPG1/G5/G7 HG-KR G1/G5/G7

with MR-JN-

A servo amplifier)

1 - 10

1. FUNCTIONS AND CONFIGURATION

1.7 Parts identification

Fixed part
(2 places)

Name/Application

Serial number

Main circuit power supply connector (CNP1)

Connect the input power supply/built-in regenerative
resistor/regenerative option/servo motor/earth.

Charge lamp

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

Rating plate

One-touch tuning button (AUTO)

Press this button to perform the one-touch tuning.

Control circuit power supply connector (CNP2)

Connect the control circuit power supply.

Display

The 3-digit, 7-segment LED shows the servo status
and alarm number

Operation section

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

MODE SET

Used to set data.
Used to change the mode.

Detailed

explanation

Section 3.1
Section 3.3

Section 1.5

Section 6.1

Section 3.1
Section 3.3

Chapter 5

Chapter 5

Used to change the
display or data in each mode.

I/O signal connector (CN1)

Used to connect digital I/O signals.

USB communication connector (CN3)

Connect the personal computer.

Encoder connector (CN2)

Used to connect the servo motor encoder.

Section 3.2
Section 3.4

Section 11.4

Section 3.4

Section 11.1

1 - 11

1. FUNCTIONS AND CONFIGURATION

1.8 Configuration including auxiliary equipment

(Note)
Main circuit
power supply

Molded-case circuit
breaker (MCCB)

Magnetic
contactor

(MC)

Power factor
improving AC
reactor
(FR-HAL)

Line noise filter
(FR-BSF01)

R S

POINT

Equipment other than the servo amplifier and servo motor are optional or

recommended products.

Servo amplifier

P

Regenerative

C

option

U

AUTO

MODE SET

V

W

Circuit protector

24V

0V

(Note)
Control circuit
power supply

L

1

L

2

Personal

MR Configurator

Note. Refer to section 1.3 for the power supply specification.

computer

Servo motor

Junction terminal
block

1 - 12

2. INSTALLATION

2. INSTALLATION

WARNING

CAUTION

Be sure to ground the servo amplifier to prevent electric shocks.

Carry the products in a suitable way according to their weight.
Stacking in excess of the limited number of product packages is not allowed.
Do not hold the lead of the built-in regenerative resistor, the cables, or the

connectors when carrying the servo amplifier. Otherwise, it may drop.

Install the equipment to incombustibles. Installing it directly or close to

combustibles will lead to a fire.

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

Manual.

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

of the environmental condition, refer to section 1.3.)

Provide an adequate protection to prevent conductive matters like screws or

combustible matters like oil from entering the servo amplifier.

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

occur.

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

precision equipment.

Do not install or operate a faulty servo amplifier.
When the product has been stored for an extended period of time, consult

Mitsubishi Electric.

When handling the servo amplifier, be careful about the edged parts such as the

corners of the servo amplifier.

The servo amplifier must be installed in the 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, a fault may

CAUTION

occur.

Leave specified clearances between the servo amplifier and control box inside
walls or other equipment. Doing so may cause malfunction to the equipment.

A regenerative resistor is mounted on the back of this servo amplifier. The regenerative resistor causes a
temperature rise of 100

relative to the ambient temperature. Fully examine heat dissipation and

installation position before installing the servo amplifier.

(1) Installation of one servo amplifier

10mm or
more

Control box

40mm
or more
Servo
amplifier

40mm
or more

Wiring
allowance

80mm

10mm or
more

Control box

Top

Bottom

2 - 2

2. INSTALLATION

(2) Installation of two or more servo amplifiers

POINT

MR-JN series servo amplifier with any capacity can be mounted closely
together.

Leave a large clearance between the top of the servo amplifier and the internal surface of the control box,
and install a cooling fan to prevent the internal temperature of the control box from exceeding the
environmental conditions.
When installing the servo amplifiers closely, leave a clearance of 1mm between the adjacent servo
amplifiers in consideration of mounting tolerances.
In this case, operate the servo amplifiers at the ambient temperature of 0

to 45 or at 75% or less of the

effective load ratio.

30mm
or more

Control box

100mm or more

10mm
or more

40mm or more

30mm
or more

30mm
or more

Control box

100mm or more

1mm

40mm or more

Mounting closelyLeaving clearance

1mm

30mm
or more

(3) Others

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

2.2 Keep out foreign materials

Top

Bottom

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

amplifier.

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

a cooling fan installed on the ceiling.

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

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

2 - 3

2. INSTALLATION

2.3 Cable stress

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

are not applied to the cable connection.

(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake) 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 flexing life range. Use the power
supply and brake wiring cables within the flexing life of the cables.

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

stamped by workers or vehicles.

(4) 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 flexing 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

occur. In addition, always confirm from the front of the servo amplifier whether the
charge lamp is off or not.

Due to risk of electric shock, only qualified personnel should attempt inspection.
For repair and parts replacement, contact your local sales office.

CAUTION

It is recommended to make the following checks periodically.

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

(2) Check the cables and the wires for scratches and cracks. Perform periodic inspection according to

operating conditions.

(3) Make sure that the emergency stop circuit operates properly such that an operation can be stopped

immediately and a power is shut off by the emergency stop switch.

Do not perform insulation resistance test on the servo amplifier as damage may
result.

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 varies depending on operating
methods and environmental conditions. If any fault is found in the parts, they must be replaced immediately
regardless of their service lives. For parts replacement, please contact your local sales office.

Part name Life guideline

Smoothing capacitor 10 years

Relay

Number of power-on and number of forced stop times:

100,000 times

(1) Smoothing capacitor

Affected by ripple currents, etc. and deteriorates in characteristic. 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
when operated continuously in an air-conditioned environment (ambient temperature of 40 ˚C or less).

(2) Relays

Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of their life
when the cumulative number of power-on and forced stop times is 100,000, which depends on the power
supply capacity.

2 - 5

2. INSTALLATION

MEMO

2 - 6

3. SIGNALS AND WIRING

3. SIGNALS AND WIRING

Any person who is involved in wiring should be fully competent to do the work.

Before wiring, turn off the power and wait for 15 minutes or more until the charge

lamp turns off. Otherwise, an electric shock may occur. In addition, always confirm

from the front of the servo amplifier whether the charge lamp is off or not.

Ground the servo amplifier and the servo motor securely.

WARNING

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

installed. Otherwise, you may get an electric shock.

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

pinched. Otherwise, you may get an electric shock.

To avoid an electric shock, insulate the connections of the power supply terminals.

Before unplugging the CNP1 connector from the servo amplifier, disconnect the

lead of the built-in regenerative resistor from the CNP1 connector.

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

operate unexpected resulting in injury.

Connect cables to correct terminals to prevent a burst, fault, etc.

Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.

The surge absorbing diode installed to the DC relay designed for control output

should be fitted in the specified direction. Otherwise, the signal is not output due to

a fault, disabling the emergency stop and other protective circuits.

CAUTION

Servo amplifier

DOCOM

Control output
signal

DICOM

Sink output

interface

24VDC

RA

Servo amplifier

DOCOM

Control output
signal

DICOM

Source output

interface

24VDC

RA

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

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

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

with the power line of the servo motor.

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

Otherwise, a transistor fault or the like may overheat the regenerative resistor,

causing a fire.

Do not modify the equipment.

3 - 1

3. SIGNALS AND WIRING

Connect the servo amplifier power output (U/V/W) to the servo motor power input

(U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may

cause a malfunction.

Servo amplifier

CAUTION

3.1 Input power supply circuit

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

and L

power on the servo amplifier's power supply side. If a magnetic contactor (MC) is

not connected, continuous flow of a large current may cause a fire when the servo

amplifier malfunctions.

Use the trouble (ALM) to switch power off. Otherwise, a regenerative transistor

CAUTION

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

Before unplugging the CNP1 connector from the servo amplifier, disconnect the

lead of the built-in regenerative resistor from the CNP1 connector. Otherwise, the

lead of the built-in regenerative resistor may break.

For main circuit power supply of servo amplifier, check the model of servo amplifier

and input the correct voltage. If a voltage exceeding the upper limit shown in the

servo amplifier input voltage specification is input, the servo amplifier malfunctions.

Servo motor

U

V

W

1 and L2 of the servo amplifier to configure a circuit that shuts down the

U

V

M

W

Servo amplifier

U

W

Servo motor

U

V

W

MV

3 - 2

3. SIGNALS AND WIRING

Wire the main circuit power supply as shown below so that the servo-on (SON) turns off as soon as alarm
occurrence is detected and power is shut off.
A molded-case circuit breaker (MCCB) must be used with the input cables of the main circuit power supply.

Trouble

RA

Forced stop (Note 5)

OFF

ON

MC

MC

SK

Servo amplifier

Main circuit power supply
1-phase 200 to 230VAC
or
1-phase 100 to 120VAC

MCCB

MC (Note 6)

(Note 1)

Circuit protector

Control circuit power supply
24VDC (Note 7)

Forced stop (Note 5)

(Note 3)

Note 1. The built-in regenerative resistor is provided for MR-JN-20A(1) and MR-JN-40A. (Factory-wired.) When using the regenerative

option, refer to section 11.2.

2. For encoder cable, use of the option cable is recommended. Refer to section 11.1 for selection of the cable.

3. For sink I/O interface.

For source I/O interface, refer to section 3.8.3.

4. Refer to section 3.10.

5. Configure the circuit to shut off the main circuit power supply by an external sequence simultaneously with the forced stop

(EM1) turning OFF.

6. Be sure to use a magnetic contactor (MC) with an operation delay time of 80ms or less. The operation delay time is the time

interval between current being applied to the coil until closure of contacts.

7. Use the enhanced insulation power supply for the control circuit power supply 24VDC. In addition, do not use a power supply

with an output voltage starting time of one second or more.

Servo-on

CNP1

1

L

Built-in regenerative
resistor

L2

P

C

CNP2

+24V

0V

EM1

SON

DOCOM

U

V

W

CN2

CN1CN1

DOCOM

DICOM

ALM

(Note 4)

(Note 2)

Encoder cable

24VDC

RA

Servo motor

U

V

W

Trouble

Motor

M

Encoder

(Note 3)

3 - 3

3. SIGNALS AND WIRING

3.2 I/O signal connection example

3.2.1 Position control mode

Programmable
controller
FX5U

(Note 10, 11)

- MT/ES (Note 13)

Programmable
controller
power
supply

COM0

COM1

COM2

X0(Note 14)

(Note 3, 5)

Forced stop

Servo-on

Reset

Forward rotation

(Note 5)

stroke end
Reverse rotation

stroke end

S/S

24V

0V

L

N

Y0

Y4

Y10

X_

X_

2m max. (Note 8)

24VDC

(Note 4, 10)

10m max.

DICOM

OPC

DOCOM

PP

NP

CR

INP 10

RD
OP
LG
SD

EM1

SON

RES

LSP

LSN

Servo amplifier

(Note 7)(Note 7)

CN1 CN1

1
2

13

9 ALM

12 MBR

23

25

15 LA

5

16 LAR
17 LB
18 LBR
19 LZ

20 LZR
11
21

14 LG

Plate

14

Plate

(Note 7)

CN1

8

4

3

6

7

SD

(Note 2)

RA1

RA2

10m max.

Trouble (Note 6)

Electromagnetic
brake interlock

Encoder A-phase pulse
(differential line driver)

Encoder B-phase pulse
(differential line driver)

Encoder Z-phase pulse
(differential line driver)

(Note 10, 12)

Control common

(Note 15)

(Note 9)
MR Configurator

Personal
computer

USB cable

(option)

CN3

3 - 4

CNP1

(Note 1)

3. SIGNALS AND WIRING

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

circuit power connector (CNP1) to the protective earth (PE) of the control box.

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

signals, disabling the emergency stop and other protective circuits.

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

4. Supply 24VDC

The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.8.2 (1) that gives the current

value necessary for the interface.

5. When starting operation, always switch on the forced stop (EM1) or the forward/reverse rotation stroke end (LSP, LSN).

(Normally closed contacts)

6. Trouble (ALM) turns on in normal alarm-free condition. (Normally closed contact) When this signal is switched off (at occurrence

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

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

8. This length applies to the command input pulses in the open collector system. The wirings can be extended up to 10m when

using positioning modules with the differential line driver type.

9. Use MRZJW3-SETUP221E (C4 or later).

10. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.8.3.

11. The assigned signals can be changed using the settings of parameter No. PD03 to PD14.

12. The assigned signals can be changed using the settings of parameter No. PD15 to PD18.

13. Select the number of I/O points of the programmable controllers in accordance with the system.

14. Select it within X0 to X7.

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

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

10% 200mA current for interfaces from the outside. 200mA is the value applicable when all I/O signals are used.

3 - 5

3. SIGNALS AND WIRING

3.2.2 Internal speed control mode

24VDC

(Note 3, 5)

(Note 9,
10, 12)

(Note 8)

MR Configurator

Forced stop

Servo-on

Reset

Speed selection 1
Forward rotation
start

Reverse rotation
start

Personal
computer

(Note 4, 9)

10m max.

USB cable
(option)

DICOM

DOCOM

EM1
SON
RES

SP1
ST1
ST2

Servo amplifier

(Note 7)

(Note 7)

CN1

CN1

1

13

8
4
3
5
6
7

CN3

Plate

9ALM

10 SA

11 RD

12 MBR

LZ

19
20 LZR
15 LA
16 LAR
17 LB
18 LBR

14 LG
21 OP

SD

(Note 2)

10m max.

2m max.

RA1

RA2

RA3

RA4

Trouble (Note 6)

Speed reached

Ready

Electromagnetic
brake interlock

Encoder Z-phase pulse
(differential line driver)

Encoder A-phase pulse
(differential line driver)

Encoder B-phase pulse
(differential line driver)

Control common

Control common

Encoder Z-phase pulse
(open collector)

(Note 9, 11)

CNP1

(Note 1)

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

main circuit power connector (CNP1) to the protective earth (PE) of the control box.

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

signals, disabling the emergency stop and other protective circuits.

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

4. Supply 24VDC

10% 200mA current for interfaces from the outside. 200mA 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 3.8.2 (1) that gives the current

value necessary for the interface.

5. When starting operation, always switch on the forced stop (EM1). (Normally closed contacts)

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

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

8. Use MRZJW3-SETUP221E (C4 or later).

9. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.8.3.

10. The assigned signals can be changed using the settings of parameter No. PD02 to PD14.

11. The assigned signals can be changed using the settings of parameter No. PD15 to PD18.

12. The forward rotation stroke end (LSP) and the reverse rotation stroke end (LSN) automatically switch ON if not assigned to the

external input signals.

3 - 6

3. SIGNALS AND WIRING

3.2.3 Internal torque control mode

(Note 3)

Forced stop

(Note 8, 9)

(Note 7)
MR Configurator

Servo-on

Reset

Speed selection 1

Forward rotation selection

Reverse rotation selection

Personal
computer

24VDC

(Note 4, 8)

10m max.

USB cable
(option)

DICOM

DOCOM

EM1

SON

RES
SP1
RS1
RS2

Servo amplifier

(Note 6)

(Note 6)

CN1

CN1

1

13

8
4
3
5
7
6

CN3

Plate

9ALM

11 RD

12 MBR

19 LZ
20

LZR
15 LA
16 LAR
17 LB
18 LBR

14 LG
21 OP

SD

2m max.

(Note 2)

RA1

RA2

RA3

10m max.

Control common
Encoder Z-phase pulse

(open collector)

Trouble (Note 5)

Ready

Electromagnetic
brake interlock

Encoder Z-phase pulse
(differential line driver)

Encoder A-phase pulse
(differential line driver)

Encoder B-phase pulse
(differential line driver)

Control common

(Note 8, 10)

CNP1

(Note 1)

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

circuit power connector (CNP1) to the protective earth (PE) of the control box.

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

signals, disabling the emergency stop and other protective circuits.

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

4. Supply 24VDC

10% 200mA current for interfaces from the outside. 200mA 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 3.8.2 (1) that gives the current

value necessary for the interface.

5. Trouble (ALM) turns on in normal alarm-free condition. (Normally closed contact)

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

7. Use MRZJW3-SETUP221E (C4 or later).

8. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.8.3.

9. The assigned signals can be changed using the settings of parameter No. PD02 to PD14.

10. The assigned signals can be changed using the settings of parameter No. PD15 to PD18.

3 - 7

3. SIGNALS AND WIRING

3.3 Explanation of power supply system

3.3.1 Signal explanations

Abbreviation

L1
L

2

P
C

+24V

0V

U
V

W

Protective earth (PE)

3.3.2 Power-on sequence

POINT

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

Connection target

(application)

Main circuit power
supply

Built-in regenerative
resistor
or
regenerative option

Control circuit power
supply

Servo motor power

Supply the following power supply.
MR-JN-10A/20A/40A : 1-phase 200VAC to 230VAC, 50/60Hz
MR-JN-10A1/20A1 : 1-phase 100VAC to 120VAC, 50/60Hz

1) MR-JN-10A(1)
When using the regenerative option, connect it to P and C. (MR-JN-10A(1)
does not provide a built-in regenerative resistor.)

2) MR-JN-20A(1)/40A
When using the servo amplifier built-in regenerative resistor, connect the
built-in regenerative resistor to P and C. (Factory-wired.)
When using a regenerative option,

first, disconnect the wirings to P and C,
second, remove the built-in regenerative resistor from the servo
amplifier,
finally, connect the regenerative option to P and C.

Supply 24VDC power to +24V and 0V.

Connect to the servo motor power supply terminals (U, V, W). Connect the
servo amplifier power supply output (U, V, and W) to the servo motor power
supply input (U, V, and W) directly. Do not let a magnetic contactor, etc.
intervene. Otherwise, it may cause a malfunction.
Connect to the earth terminal of the servo motor and to the protective earth
(PE) of the control box to perform grounding.

Description

(1) Power-on procedure

1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with the main
circuit power supply (single-phase: L

1

, L2). Configure up an external sequence to switch off the magnetic

contactor as soon as an alarm occurs.

2) The servo amplifier can accept the servo-on (SON) about 1 to 2s after the main circuit power supply is
switched on. Therefore, when the servo-on (SON) is switched on simultaneously with the main circuit
power supply, the base circuit will switch on in about 1 to 2s, and the ready (RD) will switch on in further
about 5ms, making the servo amplifier ready to operate. (Refer to paragraph (2) in this section.)
If the main circuit power supply is OFF while the servo-on (SON) is ON, the display on the servo
amplifier shows the corresponding warning. Switching ON the main circuit power supply discards the
warning and the servo amplifier operates normally.

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

3 - 8

3. SIGNALS AND WIRING

(2) Timing chart

Servo-on (SON) accepted

(1 to 2s)

Main circuit
Control circuit
Power supply

Base circuit

Servo-on (SON)

Reset (RES)

Ready (RD)

Trouble (ALM)

ON
OFF

ON
OFF

ON
OFF

ON
OFF

ON
OFF

No (ON)
Yes (OFF)

1s

10ms

10ms5ms

95ms

10ms

10ms5ms

95ms

5ms 10ms

Power-on timing chart

(3) Forced stop

Configure a circuit which interlocks with an external emergency stop switch in order

CAUTION

to stop the operation immediately and shut off the power.

Configure a circuit that shuts off the main circuit power as soon as EM1 is turned off at a forced stop. When
EM1 is turned off, the dynamic brake is operated to stop the servo motor immediately. At this time, the
display shows the servo forced stop warning (E6.1).
During the normal operation, do not use the forced stop (EM1) to alternate stop and run. The service life of
the servo amplifier may be shortened.
Also, the servo motor rotates simultaneously with the reset of the forced stop if a forward rotation start
(ST1) or the reverse rotation start (ST2) is ON, or if a pulse train is input during the forced stop. Be sure to
shut off the operation instruction during the forced stop.

Servo amplifier

(Note)

24VDC

Forced stop

DICOM

EM1

Note. For sink I/O interface. For source I/O interface, refer to section 3.8.3.

3 - 9

3. SIGNALS AND WIRING

3.3.3 CNP1 and CNP2 wiring method

POINT

Refer to section 11.5, for the wire sizes used for wiring.

Use the supplied servo amplifier power supply connectors for wiring of CNP1 and CNP2.

(1) Servo amplifier power supply connectors

Servo amplifier

Connector for CNP1

<Applicable cable example>
Wire size: 0.2 to 2.5mm
Cable finish OD: to 4mm

2

(AWG24 to AWG12)

FKC2,5/ 9-ST-5,08
(Phoenix Contact)

Connector for CNP2
FKCT 2,5/ 2-ST-5,08
(Phoenix Contact)

CNP1

CNP2

CNP1

CNP2

3 - 10

3. SIGNALS AND WIRING

(2) Termination of the wires

(a) Solid wire

The wire can be used just by stripping the sheath.

Sheath

Core

(b) Twisted wire

1) Inserting the wires directly to the terminals
Use the wire after stripping the sheath and twisting the core. At this time, take care to avoid a short
caused by the loose wires of the core and the adjacent pole. Do not solder the core as it may cause
a contact fault.

2) Putting the wires together using a ferrule
Use a ferrule as follows.

Cut off the exceeding wire from the tip of the ferrule, leaving 0.5mm or less.

When using the ferrule for two wires, plug the wires in a direction in which insulating sleeves do not
interfere the adjacent poles.

Approx. 10mm

Cable size Ferrule type

[mm2] AWG For one wire For two wires

1.25/1.5 16 AI 1,5-10 BK AI-TWIN 2 1,5-10 BK

2/2.5 14 AI 2,5-10 BK

Crimp

0.5mm or shorter

Crimping tool Manufacturer

CRIMPFOX ZA 3 Phoenix Contact

Crimp

3 - 11

3. SIGNALS AND WIRING

(3) Connection method

(a) Inserting the wires directly to the terminals

Insert the wire to the very end of the hole while pressing the button by a tool such as a small flat-blade
screwdriver.

Button

Tools such as a small
flat-blade screwdriver

Twisted wire

(b) Putting the wires together using a ferrule

Insert the wire as the uneven side of the crimped ferrule collar faces the button side.

Ferrule for one wire or
solid wire

Ferrule for two wires

Use a ferrule for two wires when inserting two wires into one hole.

3 - 12

3. SIGNALS AND WIRING

3.4 Connectors and signal arrangements

POINT
For the positioning mode, refer to section 13.2.2.
The pin configurations of the connectors are as viewed from the cable connector
wiring section.
Refer to (2) in this section for CN1 signal assignment.

(1) Signal arrangement

The front view shown below is that of MR-JN-20A(1) or smaller. Refer to chapter 9 DIMENSIONS for the
appearances and connector layouts of the other servo amplifiers.

CNP2

1
P
N
C

OPC

1
N
C

SON

LSP

2
N
C

EM1

INP

MBR

10

12

CN1

1

2

DICOM

3

4

RES

5

6

CR

7

8

LSN

9

ALM

11

RD

DOCOM

15

LA

17

LB

19

LZ

21

OP

23

PP

25

NP

14

LG

16

LAR

18

LBR

20

LZR

22

PG

24

NG

2613

CN3 (USB connector)
Refer to section 11.4.

CN2

2

LG 8

1

P5

4

MRR

3

MR

6

5

10

MDR

9

7

MD

The 3M make connector is shown.
When using any other connector,
refer to section 11.1.2.

AUTO

MODE

SET

CN3

The frames of the CN1 connector are
connected to the PE (earth) terminal in
the servo amplifier.

Signal assignments shown above are
in the case of position control mode.

3 - 13

3. SIGNALS AND WIRING

(2) CN1 signal assignment

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

Pin No.

1 DICOM

2 OPC OPC/- -/OPC

3 I RES RES RES RES RES RES PD03 PD04

4 I SON SON SON SON SON SON PD05 PD06

5 I CR CR/SP1 SP1 SP1/SP1 SP1 SP1/CR PD07 PD08

6 I LSP LSP/ST1 ST1 ST1/RS2 RS2 RS2/LSP PD09 PD10

7 I LSN LSN/ST2 ST2 ST2/RS1 RS1 RS1/LSN PD11 PD12

8 I EM1 EM1 EM1 EM1 EM1 EM1 PD13 PD14

9 O ALM ALM ALM ALM ALM ALM PD15

10 O INP INP/SA SA SA/- -/INP PD16

11 O RD RD RD RD RD RD PD17

12 O MBR MBR MBR MBR MBR MBR PD18

13 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM

14 LG LG LG LG LG LG

15 O LA LA LA LA LA LA

16 O LAR LAR LAR LAR LAR LAR

17 O LB LB LB LB LB LB

18 O LBR LBR LBR LBR LBR LBR

19 O LZ LZ LZ LZ LZ LZ

20 O LZR LZR LZR LZR LZR LZR

21 O OP OP OP OP OP OP

22 I PG PG/- -/PG

23 I PP PP/- -/PP PD02

24 I NG NG/- -/NG

25 I NP NP/- -/NP PD02

26

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

2. P: Position control mode, S: Internal speed control mode, T: Internal torque control mode,

P/S: Position/internal speed control change mode, S/T: Internal speed/internal torque control change mode,

T/P: Internal torque/position control change mode

(Note 1)

I/O

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

(Note 2) I/O signals in control modes

DICOM DICOM DICOM DICOM DICOM

Related

parameter No.

3 - 14

3. SIGNALS AND WIRING

(3) Explanation of abbreviations

Abbreviation Signal name Abbreviation Signal name

SON Servo-on ALM Trouble

RES Reset INP In-position

PC Proportion control SA Speed reached

EM1 Forced stop MBR Electromagnetic brake interlock

CR Clear TLC Limiting torque

ST1 Forward rotation start VLC Limiting speed

ST2 Reverse rotation start WNG Warning

RS1 Forward rotation selection ZSP Zero speed

RS2 Reverse rotation selection MTTR During tough drive

TL1 Internal torque limit selection CDPS During variable gain selection

LSP Forward rotation stroke end OP Encoder Z-phase pulse (open collector)

LSN Reverse rotation stroke end LZ

SP1 Speed selection 1 LZR

SP2 Speed selection 2 LA

SP3 Speed selection 3 LAR

LOP Control change LB

CDP Gain changing LBR

PP

NP OPC Open collector power input

PG DOCOM Digital I/F common

NG LG Control common

RD Ready SD Shield

Forward/reverse rotation pulse train

DICOM Digital I/F power supply input

Encoder Z-phase pulse

(differential line driver)

Encoder A-phase pulse

(differential line driver)

Encoder B-phase pulse

(differential line driver)

3 - 15

3. SIGNALS AND WIRING

3.5 Signal explanations

POINT
For the positioning mode, refer to section 13.2.3.

For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.8.2.
In the control mode field of the table
P : Position control mode, S: Internal speed control mode, T: Internal torque control mode

: Denotes that the signal may be used in the initial setting status.

: Denotes that the signal may be used by setting the corresponding parameter No. PD02 to PD18.

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

(1) I/O devices

(a) Input devices

Connec-

Device Symbol

Servo-on SON CN1-4 When SON is turned on, the power is supplied to the base circuit and the

Reset RES CN1-3 When RES is turned on for 50ms or longer, an alarm can be reset.

Forward rotation

stroke end

(Note) Input device Operation

1 1

0 1

1 0

0 0

Reverse rotation

stroke end

tor pin

No.

servo amplifier is ready to operate (servo-on).

When SON is turned off, the power to the base circuit is shut off and the

servo motor coasts.

Set parameter No. PD01 to "

(keep terminals connected) automatically in the servo amplifier.

Some alarms cannot be deactivated by the reset (RES). 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 "

This device is not designed to make a stop. Do not turn it ON during

operation.

LSP CN1-6 To start operation, turn LSP/LSN on. Turn it off to bring the motor to a

sudden stop and make it servo-locked.

1 " in parameter No. PD20 to make a slow stop.

Set "

(Refer to section 4.4.2.)

LSP LSN

LSN CN1-7 Note. 0: off

1: on

When LSP or LSN turns OFF, stroke limit warning (99.

warning (WNG) turns ON. However, when using WNG, set parameter

No. PD15 to PD18 to make it usable.

In the internal speed control mode, LSP and LSN turns ON automatically

if they are not assigned to the external input signals.

Functions/Applications

4 " to switch this signal on

1 " is set in parameter No. PD20.

CCW

direction

CW

direction

) occurs, and

division

DI-1

DI-1

DI-1

I/O

Control

mode

P S T

3 - 16

3. SIGNALS AND WIRING

Connec-

Device Symbol

Internal

torque limit

selection

Note. 0: off

Forward rotation

start

Reverse rotation

start

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

Forward rotation

selection

Reverse rotation

selection

Note. 0: off

TL1

ST1

ST2

RS1

RS2

tor pin

No.

The internal torque limit 2 (parameter No. PC14) becomes valid by turning

TL1 on.

The forward torque limit (parameter No. PA11) and the reverse torque

limit (parameter No. PA12) are always valid.

The smallest torque limit among the valid forward and reverse torque

limits is the actual torque limit value.

(Note)

Input device

TL1

0

1

1: on

Used to start the servo motor in any of the following directions. DI-1

Note. 0: off

(Note) Input device

ST2 ST1

0 0

0 1 CCW

1 0 CW

motor will be decelerated to a stop according to parameter No. PC02

setting and servo-locked.

When "

servo-locked after deceleration to a stop.

Used to select any of the following servo motor torque generation

directions.

Torque is not generated if both RS1 and RS2 are switched ON or OFF

during the operation.

1 1 Stop (servo lock)

1: on

1 " is set in parameter No. PC23, the servo motor is not

(Note) Input device

RS2 RS1

0 0 Torque is not generated.

0 1

1 0

1 1 Torque is not generated.

1: on

Functions/Applications

Comparison between limit

Parameter

No. PC14

Parameter

No. PC14

values

Parameter

No. PA11

>

Parameter

No. PA12

Parameter

No. PA11

<

Parameter

No. PA12

Servo motor starting direction

Stop (servo lock)

Torque generation direction

Forward rotation in driving mode /
reverse rotation in regenerative
mode

Reverse rotation in driving mode /
forward rotation in regenerative
mode

Valid torque limit value

Forward

rotation

Parameter

No. PA11

Parameter

No. PA11

Parameter

No. PC14

Reverse

rotation

Parameter

No. PA12

Parameter

No. PA12

Parameter

No. PC14

Control

I/O

division

DI-1

DI-1

mode

P S T

3 - 17

3. SIGNALS AND WIRING

Connec-

Device Symbol

Speed selection 1 SP1

Speed selection 2 SP2

Speed selection 3 SP3

Proportion control PC

Forced stop EM1 CN1-8

Clear CR CN1-5

tor pin

No.

<Internal speed control mode>
Used to select the command speed for operation. (Max. 8 speeds)

(Note) Input device

SP3 SP2 SP1

0 0 0

0 0 1

0 1 0

0 1 1

1 0 0

1 0 1

1 1 0

1 1 1

Note. 0: off

<Internal torque control mode>
Used to select the limit speed for operation. (Max. 8 speeds)

(Note) Input device

SP3 SP2 SP1

0 0 0

0 0 1

0 1 0

0 1 1

1 0 0

1 0 1

1 1 0

1 1 1

Note. 0: off

When PC is turned on, the type of the speed loop switches 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 proportion control (PC) upon
positioning completion will suppress the unnecessary torque generated to
compensate for a position shift.
In case of locking the servo motor shaft for a long time, turn on the
internal torque limit selection (TL1) simultaneously with the proportion
control (PC). Then, set the internal torque limit 2 (parameter No. PC14) in
order to make the torque lower than the rating.
When EM1 is turned off (contact between commons is opened), the
servo amplifier falls in a forced stop state in which the base circuit is shut
off, and the dynamic brake activates.
When EM1 is turned on (contact between commons is shorted) in the
forced stop state, the state can be reset.
When CR is turned on, the droop pulses of the position control counter
are cleared on its leading edge. The pulse width should be 10ms or
more.
The delay amount set in parameter No. PB03 (position command
acceleration/deceleration time constant) is also cleared. When parameter
No. PD22 is set to "
on.

1: on

1: on

Functions/Applications

Speed command

Internal speed command 0 (parameter No. PC05)

Internal speed command 1 (parameter No. PC06)

Internal speed command 2 (parameter No. PC07)

Internal speed command 3 (parameter No. PC08)

Internal speed command 4 (parameter No. PC31)

Internal speed command 5 (parameter No. PC32)

Internal speed command 6 (parameter No. PC33)

Internal speed command 7 (parameter No. PC34)

Speed limit

Internal speed limit 0 (parameter No. PC05)

Internal speed limit 1 (parameter No. PC06)

Internal speed limit 2 (parameter No. PC07)

Internal speed limit 3 (parameter No. PC08)

Internal speed limit 4 (parameter No. PC31)

Internal speed limit 5 (parameter No. PC32)

Internal speed limit 6 (parameter No. PC33)

Internal speed limit 7 (parameter No. PC34)

1 ", the pulses are always cleared while CR is

I/O

division

DI-1

DI-1

DI-1

DI-1

DI-1

DI-1

Control

mode

P S T

3 - 18

3. SIGNALS AND WIRING

Connec-

Device Symbol

Gain changing CDP The values of the load to motor inertia moment ratio and the gains are

Control change LOP <Position/internal speed control change mode>

(Note) LOP Control mode

0 Position

1 Internal speed

Note. 0: off

<Internal speed/internal torque control change mode>

(Note) LOP Control mode

0 Internal speed

1 Internal torque

Note. 0: off

<Internal torque/position control mode>

(Note) LOP Control mode

0 Internal torque

1 Position

Note. 0: off

tor pin

No.

Functions/Applications

changed to the value set in parameter No. PB29 to PB34 by turning CDP

on.

Used to select the control mode in the position/internal speed control

change mode.

1: on

Used to select the control mode in the internal speed/internal torque

control change mode.

1: on

Used to select the control mode in the internal torque/position control

change mode.

1: on

(b) Output devices

Control mode

I/O

division

P S T

Functions/A

pplications.

DI-1

DI-1 Refer to

Connec-

Device Symbol

Trouble ALM CN1-9 ALM turns off when power is switched off or the protective circuit is

Ready RD CN1-11 RD turns on when the servo motor is ready for the operation after turning

In-position INP CN1-10 INP turns on when the number of droop pulses is in the preset in-position

tor pin

No.

Functions/Applications

activated to shut off the base circuit.

When there is no alarm, ALM turns on approximately 1s after power-on.

on the servo-on (SON).

range. The in-position range can be changed using parameter No. PA10.

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

low-speed rotation.

INP turns on when servo-on turns on.

If parameter No. PA04 is set to "

function is enabled, the INP ON time in the overload tough drive is

delayed. The delay time can be limited by parameter No. PC26.

1" and the overload tough drive

3 - 19

I/O

division

DO-1

DO-1

DO-1

Control

mode

P S T

3. SIGNALS AND WIRING

Connec-

Device Symbol

Speed reached

Limiting speed

Limiting torque

Zero speed

SA CN1-10

VLC

TLC

ZSP

tor pin

No.

Functions/Applications

SA turns on when the servo motor speed has nearly reached the preset
speed. When the preset speed is 20r/min or less, SA always turns on.
SA does not turn on even when the servo-on (SON) is turned off or the
servo motor speed by the external force reaches the preset speed while
both the forward rotation start (ST1) and the reverse rotation start (ST2)
are off.
VLC turns ON when the speed reaches the value limited by any of the
internal speed limits 0 to 7 (parameter No. PC05 to PC08, and PC31 to
PC34) in the internal torque control mode.
VLC turns off when servo-on (SON) turns off.

TLC turns ON when the generated torque reaches the value set to the
forward torque limit (parameter No. PA11), the reverse torque limit
(parameter No. PA12) or the internal torque limit 2 (parameter No.
PC14).
ZSP turns on when the servo motor speed is zero speed (50r/min) or
less. Zero speed can be changed using parameter No. PC10.
Example
Zero speed is 50r/min

I/O

division

DO-1

DO-1

DO-1

DO-1

Control

P S T

mode

Electromagnetic
brake interlock

Warning

During tough
drive

During variable
gain selection

MBR

WNG

MTTR

CDPS

Forward
rotation
direction

Servo motor
speed

Reverse
rotation
direction

Zero speed
(ZSP)

ZSP turns on 1) when the servo motor is decelerated to 50r/min, and
ZSP turns off 2) when the servo motor is accelerated to 70r/min again.
ZSP turns on 3) when the servo motor is decelerated again to 50r/min,
and turns off 4) when the servo motor speed has reached -70r/min.
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 20r/min for the MR-JN-A servo amplifier.
If parameter No. PA04 is set to "
function is enabled, the ZSP ON time in the overload tough drive is
delayed. The delay time can be limited by parameter No. PC26.
MBR turns off when the servo is switched off or an alarm occurs.
At an alarm occurrence, MBR turns off regardless of the base circuit
status.
When a warning occurs, WNG turns on.
When there is no warning, WNG turns off approximately 1s after power­on.
If the instantaneous power failure tough drive function selection is
enabled, MTTR turns on when the instantaneous tough drive activates.
If parameter No. PD20 is set to "
overload tough drive activates.
CDPS is on during gain changing.

OFF level
70r/min

ON level
50r/min

0r/min

ON level
50r/min

OFF level
70r/min

ON
OFF

1)

3)

2)

1" and the overload tough drive

1 ", MTTR also turns on when the

4)

20r/min
(Hysteresis width)

Parameter
No. PC10

Parameter
No. PC10

20r/min
(Hysteresis width)

DO-1

DO-1

DO-1

DO-1

3 - 20

3. SIGNALS AND WIRING

(2) Input signals

Control

mode

P S T

(Note)

PP
NP
PG
NG

Connec-

tor pin No.

CN1-23
CN1-25
CN1-22
CN1-24

Functions/Applications

Used to input command pulses.

In the open collector system (max. input frequency 200kpps)
Forward rotation pulse train across PP-DOCOM
Reverse rotation pulse train across NP-DOCOM
In the differential receiver system (max. input frequency 1Mpps)
Forward rotation pulse train across PG-PP
Reverse rotation pulse train across NG-NP
The command input pulse form can be changed using parameter No. PA13.

) and use it at the sink

Signal Symbol

Forward rotation
pulse train
Reverse rotation
pulse train

Note. For the internal speed control mode or the internal torque control mode, PP or NP cannot be assigned to the CN1-23 pin or CN1-

25 pin. When assigning an input device to the CN1-23 pin or CN1-25 pin, supply OPC with 24VDC (

interface. It cannot be used at source interface.

I/O

division

DI-2

(3) Output signals

Control

mode

P S T

Signal Symbol

Encoder Z-phase
pulse
(Open collector)

Encoder A-phase
pulse
(Differential line
driver)
Encoder B-phase
pulse
(Differential line
driver)
Encoder Z-phase
pulse
(Differential line
driver)

Connec-

tor pin No.

OP CN1-21 Outputs the zero-point signal of the encoder. One pulse is output per

servo motor revolution. OP turns on when the zero-point position is
reached. (Negative logic)
The minimum pulse width is about 400
this pulse, set the creep speed to 100r/min. or less.

LA

LAR

LB

LBR

LZ

LZR

CN1-15
CN1-16

CN1-17
CN1-18

CN1-19
CN1-20

Outputs pulses per servo motor revolution set in parameter No. 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
The relationships between rotation direction and phase difference of the
A- and B-phase pulses can be changed using parameter No. PC13.

The same signal as OP is output in the differential line driver type. DO-2

/2.

Functions/Applications

s. For home position return using

I/O

division

DO-2

DO-2

(4) Power supply

Signal Symbol

Digital I/F power
supply input

Open collector
power input
Digital I/F
common

Control common LG CN1-14

Shield SD Plate

DICOM CN1-1

OPC CN1-2

DOCOM CN1-13

Connec-

tor pin No.

Functions/Applications

Used to input 24VDC (200mA) for I/O interface. The power supply
capacity changes depending on the number of I/O interface points to be
used.
For a sink interface, connect the positive terminal of the 24VDC external
power supply to DICOM.
For a source interface, connect the negative terminal of the 24VDC
external power supply to DICOM.
When inputting a pulse train in the open collector system, supply this
terminal with the positive (

Common terminal for input signals such as SON and EM1. Pins are
connected internally.
Separated from LG.
For a sink interface, connect the negative terminal of the 24VDC external
power supply to DICOM.
For a source interface, connect the positive terminal of the 24VDC
external power supply to DICOM.
Common terminal for OP.

Connect the external conductor of the shield cable.

) power of 24VDC.

I/O

division

Control

mode

P S T

3 - 21

3. SIGNALS AND WIRING

3.6 Detailed description of the signals

POINT

For the positioning mode, refer to section 13.2.4.

3.6.1 Position control mode

POINT

The noise tolerance can be enhanced by setting parameter No. PA13 to "1

200kpps or less.

(Refer to section 4.1.11)

(1) Pulse train input

(a) Input pulse waveform selection

Command pulses may be input in any of three different forms, for which positive or negative logic can
be chosen. Set the command input pulse form in parameter No. PA13. Refer to section 4.1.11 for
details.

(b) Connections and waveforms

1) Open collector system
Connect as shown below.

" when the command pulse frequency is 500kpps or less or "2 " when

Servo amplifier

24VDC

(Note)

OPC

DOCOM

PP

NP

SD

Approx.

1.2k

Approx.

1.2k

Note. Pulse train input interface is comprised of a photo coupler.

Therefore, it may be any malfunctions since the current is reduced when connect a

resistance to a pulse train signal line.

The explanation assumes that the input waveform has been set to the negative logic and forward and
reverse rotation pulse trains (parameter No. PA13 has been set to "

10 "). Their relationships with

transistor ON/OFF are as follows.

Forward rotation
pulse train
(transistor)

Reverse rotation
pulse train
(transistor)

(ON) (ON)

(ON)

(OFF) (OFF)

(OFF)

(OFF)

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

Reverse rotation commandForward rotation command

3 - 22

3. SIGNALS AND WIRING

2) Differential line driver type
Connect as shown below.

Note. Pulse train input interface is comprised of a photo coupler.

The explanation assumes that the input waveform has been set to the negative logic and forward and
reverse rotation pulse trains (parameter No. PA13 has been set to "
The waveforms of PP, PG, NP and NG are based on that of the ground of the differential line driver.

Servo amplifier

Approx.

PP

100

PG

(Note)

NP

NG

SD

Approx.
100

Therefore, it may be any malfunctions since the current is reduced when connect a

resistance to a pulse train signal line.

10 ").

Forward rotation
pulse train

PP

PG

Reverse rotation
pulse train

NP

NG

Forward rotation command

Reverse rotation command

(2) In-position (INP)

INP turns on when the number of droop pulses in the deviation counter falls within the preset in-position
range (parameter No. PA10). INP turns on when low-speed operation is performed with a large value set as
the in-position range.

Servo-on (SON)

ON

OFF

Alarm

Droop pulses

In-position (INP)

Yes

No

ON

OFF

In-position range

3 - 23

3. SIGNALS AND WIRING

(3) Ready (RD)

Servo-on (SON)

ON

OFF

Alarm

Ready (RD)

(4) Torque limit

CAUTION

(a) Torque limit and torque

By setting parameter No. PA11 (forward torque limit) or parameter No. PA12 (reverse torque limit),
torque is always limited to the maximum value during operation. A relationship between the limit value
and servo motor torque is shown below.

Yes

No

10ms or less

ON

OFF

100ms or less

10ms or less

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.

When using the torque limit, check that load to motor inertia moment ratio
(parameter No. PB06) is set properly. Improper settings may cause an unexpected
operation such as an overshoot.

Max. torque

Torque

Forward rotation (CCW) directionReverse rotation (CW) direction

(b) Torque limit value selection

As shown below, the internal torque limit selection (TL1) can be used for selecting the torque limit
between the forward torque limit (parameter No. PA11) or the reverse torque limit (parameter No. PA12)
and the internal torque limit 2 (parameter No. PC14).
However, if the value of parameter No. PA11 or parameter No. PA12 is lower than the limit value
selected by TL1, the value of parameter No. PA11 or parameter No. PA12 is made valid.

(Note) Input

device

TL1

0 Parameter No. PA11 Parameter No. PA12

Parameter No. PC14

1

Parameter No. PC14

Note. 0: off

1: on

100

Torque limit value in
parameter No. PA12

Limit value status

Parameter No. PA11
Parameter No. PA12
Parameter No. PA11
Parameter No. PA12

0100

Torque limit value in
parameter No. PA11

Forward rotation (CCW)

Reverse rotation (CW)

regeneration

Parameter No. PA11 Parameter No. PA12

Parameter No. PC14 Parameter No. PC14

[%]

Validated torque limit values

driving

Reverse rotation (CW)

driving

Forward rotation (CCW)

regeneration

3 - 24

3. SIGNALS AND WIRING

(c) Limiting torque (TLC)

TLC turns on when the servo motor torque reaches the torque limited by the forward torque limit, the
reverse torque limit or the internal torque limit 2.

3.6.2 Internal speed control mode

(1) Internal speed command settings

(a) Speed command and speed

The servo motor operates at the speed set in the parameters.
Up to 8 speeds can be set to the internal speed command.
The following table indicates the rotation direction according to forward rotation start (ST1) and reverse
rotation start (ST2) combination.

(Note 1) Input device

ST2 ST1

0 0

0 1 Forward rotation (CCW)

1 0 Reverse rotation (CW)

1 1

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.

Connect the wirings as follows when operating in forward or reverse rotation with the internal speed
command set to the eighth speed.

(Note 2) Rotation direction

Stop

(Servo lock)

Stop

(Servo lock)

Forward rotation (CCW)

Servo amplifier

Reverse rotation (CW)

ST1
ST2

SP1

(Note 1)

24VDC

Note 1. For sink I/O interface. For source I/O interface, refer to section 3.8.3.

2. Set the input devices by parameter No. PD02 to PD14.

SP2
SP3

DOCOM

DICOM

(Note 2)

3 - 25

3. SIGNALS AND WIRING

POINT

The servo-on (SON) can be set to turn on automatically by parameter No.

PD01 (input signal automatic ON selection 1).

The forward rotation stroke end (LSP) and the reverse rotation stroke end

(LSN) switches as follows:

Assigned to the external input signals: depends on the value set in
parameter No. PD01.

Not assigned to the external input signals: automatically turns on regardless
of the value set in parameter No. PD01.

If parameter No. PC23 (function selection C-2) is set to " 0 " (initial

value), the servo motor is servo-locked regardless of the deceleration time
constant when the zero speed (ZSP) turns on.

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

At the initial condition, the speed command values for the internal speed command 0 and 1 can be
selected using the speed selection 1 (SP1).

(Note) Input device

SP1

0 Internal speed command 0 (parameter No. PC05)

1 Internal speed command 1 (parameter No. PC06)

Note. 0: off

1: on

Speed command value

By making the speed selection 2 (SP2) and the speed selection 3 (SP3) usable by setting of parameter
No.PD02 to PD14, the speed command values for the internal speed commands 0 to 7 can be selected.

(Note) Input device

SP3 SP2 SP1

0 0 0 Internal speed command 0 (parameter No. PC05)

0 0 1 Internal speed command 1 (parameter No. PC06)

0 1 0 Internal speed command 2 (parameter No. PC07)

0 1 1 Internal speed command 3 (parameter No. PC08)

1 0 0 Internal speed command 4 (parameter No. PC31)

1 0 1 Internal speed command 5 (parameter No. PC32)

1 1 0 Internal speed command 6 (parameter No. PC33)

1 1 1 Internal speed command 7 (parameter No. PC34)

Note. 0: off

1: on

Speed command value

The speed may be changed during rotation. In this case, the values set in parameters No. PC01 and
PC02 are used for acceleration/deceleration.

When the speed has been specified under any internal speed command, it does not vary due to the
ambient temperature.

3 - 26

3. SIGNALS AND WIRING

(2) Speed reached (SA)

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

Internal speed

Set speed selection

Forward rotation/
reverse rotation
start (ST1/ST2)

Servo motor speed

ON
OFF

Internal speed

command 1

command 2

(3) Torque limit

As in section 3.6.1 (4).

Speed reached (SA)

ON
OFF

3 - 27

)

3. SIGNALS AND WIRING

3.6.3 Internal torque control mode

(1) Internal torque command settings

Torque is controlled by the internal torque command set in parameter No. PC12.
If the internal torque command is small, the torque may vary when the actual speed reaches the speed limit
value. In such case, increase the speed limit value.
The following table indicates the torque generation directions determined by the forward rotation selection
(RS1) and the reverse rotation selection (RS2) when the internal torque command (parameter No. PC12) is
used.

(Note) Input device Rotation direction

RS2 RS1

Internal torque command (parameter No. PC12)

0.1 to 100.0% 0.0%

Forward rotation (CCW)

0

0 1

1 0

1 1 Torque is not generated.

Note. 0: off

1: on

Torque is not generated.

0

CCW (reverse rotation in driving

mode/forward rotation in

regenerative mode)

CW (forward rotation in driving

mode/reverse rotation in

regenerative mode)

Torque is not

generated.

Generally, make connection as shown below.

Servo amplifier

RS1

(Note)

24VDC

RS2

DOCOM

DICOM

Note. For sink I/O interface. For source I/O interface, refer to section 3.8.3.

The following shows the effect of the low-pass filter on the internal torque command.

Forward rotation/reverse
rotation selection

(RS1/RS2)

Torque

ON
OFF

Internal torque command (parameter No. PC12)

Internal torque command after filtered

Reverse rotation (CW)

Torque command time constant (parameter No. PC04

(2) Torque limit

By setting parameter No. PA11 (forward torque limit) or parameter No. PA12 (reverse torque limit), torque
is always limited to the maximum value during operation. A relationship between limit value and servo
motor torque is as in section 3.6.1 (4).

3 - 28

3. SIGNALS AND WIRING

(3) Speed limit

(a) Speed limit value and speed

The speed is limited to the values set in parameters No. PC05 to PC08 and PC31 to PC34 (Internal
speed limit 0 to 7).

When the servo motor speed reaches the speed limit value, the internal torque control may become
unstable. Make the set value more than 100r/min greater than the desired speed limit value.

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

(Note) Input device

RS1 RS2

1 0 Forward rotation (CCW)

0 1 Reverse rotation (CW)

Note. 0: off

1: on

Speed limit direction

Forward rotation (CCW)

Reverse rotation (CW)

Connect the wirings as follows when setting the internal speed limit to the eighth speed.

Servo amplifier

RS1
RS2

SP1

(Note 1)

24VDC

SP2
SP3

DOCOM

DICOM

(Note 2)

Note 1. For sink I/O interface. For source I/O interface, refer to section 3.8.3.

POINT

2. Set the input devices by parameter No. PD02 to PD14.

The servo-on (SON), the forward rotation stroke end (LSP), and the reverse

rotation stroke end (LSN) can be set to turn on automatically by parameter
No. PD01 (input signal automatic ON selection 1).

3 - 29

3. SIGNALS AND WIRING

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

At the initial condition, the speed limit values for the internal speed limits 0 and 1 can be selected using
the speed selection 1 (SP1).

(Note) Input device

SP1

0 Internal speed limit 0 (parameter No. PC05)

1 Internal speed limit 1 (parameter No. PC06)

Note. 0: off

1: on

Speed limit value

By making the speed selection 2 (SP2) and the speed selection 3 (SP3) usable by setting parameter
No.PD02 to PD14, the speed limit values for the internal speed limit 0 to 7 can be selected.

(Note) Input device

SP3 SP2 SP1

0

0 0 1 Internal speed limit 1 (parameter No. PC06)

0 1 0 Internal speed limit 2 (parameter No. PC07)

0 1 1 Internal speed limit 3 (parameter No. PC08)

1 0 0 Internal speed limit 4 (parameter No. PC31)

1 0 1 Internal speed limit 5 (parameter No. PC32)

1 1 0 Internal speed limit 6 (parameter No. PC33)

1 1 1 Internal speed limit 7 (parameter No. PC34)

Note. 0: off

1: on

0 0

Internal speed limit 0 (parameter No. PC05)

When the speed is limited by the internal speed limits 0 to 7, the speed does not vary with the ambient
temperature.

(c) Limiting speed (VLC)

VLC turns on when the servo motor speed reaches the speed limited by the internal speed limits 0 to 7.

Speed limit value

3 - 30

3. SIGNALS AND WIRING

3.6.4 Position/speed control change mode

Set parameter No. PA01 to "

1 " to switch to the position/internal speed control change mode.

(1) Control change (LOP)

By using the control change (LOP), control mode can be switched between the position control and the
internal speed control modes from an external contact. Relationships between LOP and control modes are
indicated below.

(Note) LOP Control mode

0 Position control mode

1 Internal speed control mode

Note. 0: off

1: on

The control mode may be switched in the zero speed status. To ensure safety, switch the control mode
after the servo motor has stopped. When the control mode is switched to the internal speed control mode
from the position control mode, droop pulses are cleared.
Even if the speed is decreased to the zero speed or below after switching LOP, the control mode cannot be
switched. A change timing chart is shown below.

Servo motor speed

Position

control mode

Zero speed
level

Internal speed

control mode

Position

control mode

Zero speed (ZSP)

Control change (LOP)

Note. When ZSP is not on, control cannot be changed if LOP is switched on-off.

If ZSP switches on after that, control cannot be changed.

ON

OFF

ON

OFF

(2) Torque limit in position control mode

As in section 3.6.1 (4).

(3) Speed setting in internal speed control mode

As in section 3.6.2 (1).

(4) Speed reached (SA)

As in section 3.6.2 (2).

(Note)

(Note)

3 - 31

3. SIGNALS AND WIRING

3.6.5 Internal speed/internal torque control change mode

Set No. PA01 to "

3 " to switch to the internal speed/internal torque control change mode.

(1) Control change (LOP)

By using the control change (LOP), the control mode can be switched between the internal speed control
and the internal torque control mode from an external contact. Relationships between LOP and control
modes are indicated below.

(Note) LOP Servo control mode

0 Internal speed control mode

1 Internal torque control mode

Note. 0: off

1: on

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

Internal speed

control mode

Control change (LOP)

Internal torque command
(parameter No. PC12)

Servo motor speed

Internal speed

control mode

ON

OFF

Internal torque

control mode

Note. When the start (ST1, ST2) is switched off as soon as the mode is changed to internal speed control,

the servo motor comes to a stop according to the deceleration time constant.

(2) Speed setting in internal speed control mode

As in section 3.6.2 (1).

(3) Torque limit in internal speed control mode

As in section 3.6.1 (4).

(4) Speed limit in internal torque control mode

As in section 3.6.3 (3).

(5) Internal torque control setting in internal torque control mode

As in section 3.6.3 (1).

(6) Torque limit in internal torque control mode

As in section 3.6.3 (2).

(Note)

3 - 32

3. SIGNALS AND WIRING

3.6.6 Internal torque/position control change mode

Set parameter No. PA01 to "

5 " to switch to the internal torque/position control change mode.

(1) Control change (LOP)

By using the control change (LOP), the control mode can be switched between the internal torque control
and the position control modes from an external contact. Relationships between LOP and control modes
are indicated below.

(Note) LOP Servo control mode

0 Internal torque control mode

1 Position control mode

Note. 0: off

1: on

The control mode may be switched in the zero speed status.
To ensure safety, switch the control mode after the servo motor has stopped. When the control mode is
switched to the internal torque control mode from the position control mode, droop pulses are cleared.
Even if the speed is decreased to the zero speed or below after switching LOP, the control mode cannot be
switched. A change timing chart is shown below.

Internal torque

control mode

Position

control mode

Servo motor speed

Position

control mode

Zero speed
level

Internal torque command
(parameter No. PC12)

Zero speed (ZSP)

Control change (LOP)

ON

OFF

ON

OFF

(2) Speed limit in internal torque control mode

As in section 3.6.3 (3).

(3) Internal torque control setting in internal torque control mode

As in section 3.6.3 (1).

(4) Torque limit in internal torque control mode

As in section 3.6.3 (2).

(5) Torque limit in position control mode

As in section 3.6.1 (4).

3 - 33

3. SIGNALS AND WIRING

3.7 Alarm occurrence timing chart

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

CAUTION

operation.

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

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

(Note 1)
Main circuit

Base circuit

Dynamic brake

Servo-on
(SON)

Ready
(RD)

Trouble
(ALM)

Reset
(RES)

Note 1. Shut off the main circuit power as soon as an alarm occurs.

2. Changes depending on the operating status.

ON

OFF

ON

OFF

Valid

Invalid

ON

OFF

ON

OFF

ON

OFF

ON

OFF

Brake operation

1s

Alarm occurs.

Remove cause of trouble.

(1) Overcurrent, overload 1 or overload 2

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

(2) Regenerative alarm

If operation is repeated by switching control circuit power off, then on to reset the regenerative (30.

) alarm after its occurrence, the regenerative resistor will generate heat, resulting in an accident.

(3) Instantaneous power failure

If power failure has occurred in the control circuit power supply, undervoltage (10.1) occurs when the
power is recovered.

(4) In-position control mode

Once an alarm occurs, the servo motor command rejects the command pulse. When resuming the
operation after resetting the alarm, make a home position return.

50ms or more

Power off

Brake operation

15 to 60ms or more (Note 2)

Power on

),

3 - 34

3. SIGNALS AND WIRING

3.8 Interfaces

3.8.1 Internal connection diagram

(Note

3)

(Note
2, 4)

24VDC

USB

(Note 1)

PST
SON SON SON
RES RES RES 3
EM1 EM1 EM1 8

LSP ST1 6

LSN ST2 7

CR 5

SP1

OPC 2

DOCOM
PP 23
PG 22
NP 25
NG 24

(Note 1)

PST

CP/CL

SON
MD0
EM1

ST1

RS2

ST2

RS1

DI0

SP1

OPC

DICOM

DI1

DOG

CP/CL

VBUS 1

D-

D+

GND

CN1

Approx. 5.6k

4

Approx. 5.6k

1

13

Approx. 100

Approx. 100 Approx. 1.2k

CN3

2
3
5

Approx. 1.2k

Servo amplifier

<Isolated>

(Note 1)

PS

CN1

ALM ALM

9

INP

10

11

RD

RD

12

MBRSAMBR MBR

(Note 1)

CN1 P S T

15
16
17
18
19
20
21
14

CN2 P S T

7
8
3
4
2

CNP1

LA

LAR

LB

LBR

LZ

LZR

OP
LG

(Note 1)

MD

MDR

MR

MRR

LG

T

ALM

RD

CP/CL

ALM

INP

RD

MBR

CP/CL

CP/CL

E

RA

(Note

3)

RA

Differential line
driver output
(35mA or less)

Open collector
output

Servo motor

Encoder

M

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

CP: Positioning mode (Point table method) CL: Positioning mode (Program method)

2. This diagram is for the open collector pulse train input. When inputting the differential line driver pulse train in the position
control mode, make the following connection.

DOC 46

24VDC

OPC 2

DICOM

DOCOM

1

13
PP 23
PG 22
NP 25

NG 24

3. For sink I/O interface. For source I/O interface, refer to section 3.8.3.

4. When assigning the input device to the CN1-23 pin or CN1-25 pin in the internal speed control mode, internal torque control
mode, or positioning mode, use it at sink input interface. It cannot be used at source input interface. For the positioning mode,
the input devices (DI1, DOG) are assigned to the initial values.

3 - 35

A

3. SIGNALS AND WIRING

3.8.2 Detailed description 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 equipment.

(1) Digital input interface DI-1

Give a signal with a relay or open collector transistor. The following figure is for sink input. Refer to section

3.8.3 for source input.

For transistor

Approx. 5mA

TR

CES 1.0V

V

100

I

CEO

Switch

24VDC 10%
200mA

Servo amplifier

SON,

Approx. 5.6k

etc.

DICOM

(2) Digital output interface DO-1

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: 40mA or less, maximum current: 50mA or
less, inrush current: 100mA or less) A maximum of 2.6V voltage drop occurs in the servo amplifier.
The following figure is for the sink output. Refer to section 3.8.3 for the source output.

Servo amplifier

If polarity of diode is
reversed, servo

ALM,
etc.

DOCOM

(Note) 24VDC 10%
200mA

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

voltage (maximum of 26.4V) from external source.

Load

amplifier will fail.

3 - 36

3. SIGNALS AND WIRING

(3) Pulse train input interface DI-2

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

(a) Open collector system

1) Interface

Servo amplifier

Max. input pulse
frequency 200kpps

Approx. 1.2k

(Note)

24VDC

2m or less

OPC

PP, NP

DOCOM

SD

Note. Pulse train input interface is comprised of a photo coupler.

Therefore, it may be any malfunctions since the current is reduced when connect a

resistance to a pulse train signal line.

2) Input pulse condition

tHL

PP

NP

0.9

0.1

tc

tc tLH

tF

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

(b) Differential line driver type

1) Interface

Servo amplifier

Max. input pulse

10m or less

(Note)

Am26LS31 or equivalent

VOH: 2.5V

OL

: 0.5V

V

Note. Pulse train input interface is comprised of a photo coupler.

Therefore, it may be any malfunctions since the current is reduced when connect a

resistance to a pulse train signal line.

frequency 1Mpps

PP(NP)

Approx. 100

PG(NG)

SD

3 - 37

3. SIGNALS AND WIRING

2) Input pulse condition

PP PG

0.9

0.1

tHL

tc

tLH=tHL<0.1 s
tc>0.35 s
tF>3 s

NP NG

(4) Encoder output pulse DO-2

(a) Open collector system

Interface
Max. output current: 35mA

Servo amplifier

OP

LG

SD

tc tLH

tF

Servo amplifier

OP

LG

SD

5 to 24VDC

Photocoupler

(b) Differential line driver type

1) Interface
Max. output current: 35mA

Servo amplifier Servo amplifier

LA
(LB, LZ)

LAR
(LBR, LZR)

LG

SD

Am26LS32 or equivalent

150

LA
(LB, LZ)

LAR
(LBR, LZR)

SD

100

High-speed
photocoupler

3 - 38

A

3. SIGNALS AND WIRING

2) Output pulse

Servo motor CCW rotation

LA

LAR

LB

LBR

LZ

LZR

OP

T

/2

400 s or more

Time cycle (T) is determined by the settings
of parameter No.PA15 and PC13.

3.8.3 Source I/O interfaces

In this servo amplifier, source type I/O interfaces can be used. In this case, all DI-1 input signals and DO-1
output signals are of source type. Perform wiring according to the following interfaces.

(1) Digital input interface DI-1

Servo amplifier

SON,

Approx. 5.6k

etc.

Switch

Approx. 5mA

V

CES 1.0V

100

I

CEO

24VDC 10%
200mA

(2) Digital output interface DO-1

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

Servo amplifier

ALM,
etc.

DOCOM

(Note)

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

(maximum of 26.4V) from external source.

Load

24 VDC ± 10%
200 mA

DICOM

If polarity of diode is
reversed, servo
amplifier will fail.

3 - 39

3. SIGNALS AND WIRING

3.9 Treatment of cable shield external conductor

In the case of the CN1 and CN2 connectors, securely connect the shielded external conductor of the cable to
the ground plate as shown in this section and fix it to the connector shell.

SheathExternal conductor

Strip the sheath.

(1) For CN1 connector (3M connector)

Ground plate

Screw

Screw

Cable

Core

External conductor

Pull back the external conductor to cover the sheath.

Sheath

(2) For CN2 connector (3M or Molex connector)

Ground plate

Cable

Screw

3 - 40

3. SIGNALS AND WIRING

3.10 Connection of servo amplifier and servo motor

Connect the servo amplifier power output (U/V/W) to the servo motor power input

CAUTION

(U/V/W) directly. Do not connect a magnetic contactor and others between them.
Otherwise, it may cause a malfunction.

3.10.1 Connection instructions

WARNING

To avoid an electric shock, insulate the connections of the power supply terminals.

Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier
and servo motor. Not doing so may cause unexpected operation.

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

CAUTION

may occur.

Do not use the 24VDC interface and control circuit power supplies for the
electromagnetic brake. Always use the power supply designed exclusively for the
electromagnetic brake. Otherwise, a fault may occur.

POINT

Refer to section 11.1 for the selection of the encoder cable.

This section indicates the connection of the servo motor power supply (U, V, W). Use of the optional cable or
the connector set is recommended for connection between the servo amplifier and the servo motor. Refer to
section 11.1 for details of the options.

For grounding, connect the earth cable of the servo motor to the protective earth (PE) terminal of the servo
amplifier and connect the ground cable of the servo amplifier to the earth via the protective earth of the control
box. Do not connect them directly to the protective earth of the control panel.

Control box

Servo

amplifier

PE terminal

Servo motor

3 - 41

3. SIGNALS AND WIRING

3.10.2 Power supply cable wiring diagrams

(1) HF-KN series

HF-KP G1/G5/G7 HG-KR G1/G5/G7 servo motor

(a) When cable length is 10m or less

Servo amplifier

(b) When cable length exceeds 10m

When the cable length exceeds 10m, fabricate an extension cable as shown below. In this case, the
motor power supply cable should be within 2m long.
Refer to section 11.5 for the wire used for the extension cable.

Servo amplifier

CNP1

U

V

W

CNP1

U
V

W

50m or less

Extension cable

10m or less

MR-PWS1CBL M-A1-L
MR-PWS1CBL M-A2-L
MR-PWS1CBL M-A1-H
MR-PWS1CBL M-A2-H

AWG 19(red)
AWG 19(white)
AWG 19(black)
AWG 19(green/yellow)

MR-PWS1CBL2M-A1-L
MR-PWS1CBL2M-A2-L
MR-PWS1CBL2M-A1-H
MR-PWS1CBL2M-A2-H
MR-PWS2CBL03M-A1-L
MR-PWS2CBL03M-A2-L

AWG 19(red)
AWG 19(white)
AWG 19(black)
AWG 19(green/yellow)

Servo motor

W

2m or less

U
V

M

Servo motor

U
V

M

W

(Note)
a) Relay connector for
extension cable

Note. Use of the following connectors is recommended when ingress protection (IP65) is necessary.

(Note)
b) Relay connector for motor
power supply cable

Relay connector

a) Relay connector for
extension cable

b) Relay connector for
motor power supply
cable

Connector: RM15WTPZ-4P(71)
Cord clamp: JR13WCC-5(72)
(Hirose Electric)

Connector: RM15WTJZ-4S(81)
Cord clamp: JR13WCC-8(72)
(Hirose Electric)

Description IP rating

IP65

Numeral changes depending on the cable OD.

IP65

Numeral changes depending on the cable OD.

3 - 42

3. SIGNALS AND WIRING

3.11 Servo motor with an electromagnetic brake

3.11.1 Safety precautions

Configure an electromagnetic brake operation circuit which interlocks with an
external emergency stop switch.

CAUTION

Shut off the servo motor when
Servo-on (SON), Malfunction
(ALM), or Electromagnetic brake
interlock (MBR) are turned OFF.

Servo motor

B

Electromagnetic brake

SON RA

Circuit must be opened
with the emergency stop
switch.

24VDC

The electromagnetic brake is provided for holding purpose and must not be used
for ordinary braking.

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

Do not use the 24VDC interface and control circuit power supplies for the
electromagnetic brake. Always use the power supply designed exclusively for the
electromagnetic brake. Otherwise, a fault may occur.

POINT

Refer to chapter 12 for specifications such as the power supply capacity and
operation delay time of the electromagnetic brake.

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

Refer to (3) in section 12.1.3 for the selection of the surge absorbers for the
electromagnetic brake.

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

1) Always assign the electromagnetic brake interlock (MBR) to CN1-12 pin by parameter No. PD18.
(MBR is assigned to CN1-12 pin by default.)

2) The electromagnetic brake operates when the power (24VDC) turns off.

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

3.11.2 Setting

(1) Set "

05 " to parameter No. PD18 to assign the electromagnetic brake interlock (MBR) to CN1-12 pin.

(2) Using parameter No. PC09 (electromagnetic brake sequence output), set a time delay (Tb) at servo-off

from electromagnetic brake operation to base circuit shut-off as in the timing chart shown in section

3.11.3 (1).

3 - 43

3. SIGNALS AND WIRING

3.11.3 Timing charts

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

Tb [ms] after the servo-on (SON) signal is switched off, the servo lock is released and the servo motor
coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter.
Therefore, when using the electromagnetic brake in a vertical lift application or the like, set Tb to about the
same as the electromagnetic brake operation delay time to prevent a drop.

Servo motor speed

Base circuit

Electromagnetic
brake interlock
(MBR)

Servo-on (SON)

Position command
(Note 4)

Electromagnetic
brake

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

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

external circuit relay. For the release delay time of electromagnetic brake, refer to section 12.5.3, 12.6.3.

3. Give a position command after the electromagnetic brake is released.

4. For the position control mode.

0 r/min

ON

OFF

(Note 1) ON

OFF

ON

OFF

0 r/min

Release

Activate

(95ms)

(95ms)

(Note 3)

Release delay time and external relay (Note 2)

Coasting

Tb

Electromagnetic brake
sequence output
(parameter No. PC09)

Electromagnetic
brake operation
delay time

(2) Forced stop (EM1) ON/OFF

Deceleration starts after the forced stop (EM1) turns OFF. (Note 2)

Dynamic brake

Dynamic brake

Servo motor speed

Base circuit

Electromagnetic
brake interlock (MBR)

ON

OFF

(Note 1) ON

OFF

(10ms)

Tb

Electromagnetic brake

Electromagnetic brake

Electromagnetic brake sequence

output (parameter No. PC09)

Electromagnetic brake
operation delay time

Electromagnetic brake release

(210ms)

(210ms)

Forced stop (EM1)

Invalid (ON)

Valid (OFF)

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

2. The operation differs from the timing chart of MR-J3-

A servo amplifier.

3 - 44

3. SIGNALS AND WIRING

(3) Alarm occurrence

Dynamic brake

Dynamic brake

Servo motor speed

(10ms)

Base circuit (Note 1)

Electromagnetic
brake interlock (MBR)

Trouble (ALM)

Note 1. Electromagnetic brake sequence output (parameter No. PC09) is invalid.

2. ON: Electromagnetic brake is not activated.

(Note 2)

OFF: Electromagnetic brake is activated.

ON

OFF

ON

OFF

No (ON)

Yes (OFF)

Electromagnetic brake

Electromagnetic brake

Electromagnetic brake
operation delay time

(4) Both main and control circuit power supplies off

(10ms)

Servo motor speed

(Note 1)

Base circuit

10 to 60ms

ON

OFF

Dynamic brake

Dynamic brake
Electromagnetic brake

Electromagnetic brake

Electromagnetic
brake interlock
(MBR)

Trouble (ALM)

Main circuit

Control circuit

Note 1. Changes with the operating status.

(Note 2)

ON

OFF

No (ON)

Yes (OFF)

power
supply

2. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

ON

OFF

Electromagnetic brake
operation delay time

3 - 45

3. SIGNALS AND WIRING

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

Deceleration starts after the trouble (ALM) turns OFF. (Note 2)

Dynamic brake

Dynamic brake
Electromagnetic brake

Electromagnetic brake

Servo motor speed

(10ms)

Base circuit

Electromagnetic
brake interlock
(MBR)

Trouble (ALM)

Main circuit power
supply

ON

OFF

ON

(Note 1)

OFF

No (ON)

Yes (OFF)

ON

OFF

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

2. The operation differs from the timing chart of MR-J3-

3.11.4 Wiring diagrams (HF-KN series

(1) When cable length is 10m or less

24VDC power
supply for
electromagnetic
brake

(Note 3)

Electromagnetic

brake interlock

(MBR)

Electromagnetic brake sequence output
(parameter No. PC09)

Electromagnetic brake
operation delay time

10 to 60ms

A servo amplifier.

HF-KP G1/G5/G7 HG-KR G1/G5/G7 servo motor)

10m or less

MR-BKS1CBL M-A1-L
MR-BKS1CBL M-A2-L

Trouble

(ALM)

(Note 5)
RA

(Note 1)

MR-BKS1CBL M-A1 -H
MR-BKS1CBL M- A2-H

AWG20

U

AWG20

Servo motor

(Note 2)

B1

B

B2

Note 1. Connect a surge absorber as close to the servo motor as possible.

2. There is no polarity in electromagnetic brake terminals (B1 and B2).

3. When using a servo motor with an electromagnetic brake, always assign the electromagnetic brake

interlock (MBR) to CN1-12 pin by parameter No. PD18.

4. Do not use the 24VDC interface power supply for the electromagnetic brake.

5. Switch off the circuit interlocking with the emergency stop switch.

When fabricating the motor brake cable MR-BKS1CBL

M-H, refer to section 11.1.4.

3 - 46

3. SIGNALS AND WIRING

(2) When cable length exceeds 10m

When the cable length exceeds 10m, fabricate an extension cable as shown below on the customer side. In
this case, the motor brake cable should be within 2m long.
Refer to section 11.5 for the wire used for the extension cable.

2m or less

MR-BKS1CBL2M-A1-L
MR-BKS1CBL2M-A2-L
MR-BKS1CBL2M-A1-H
MR-BKS1CBL2M-A2-H
MR-BKS2CBL03M-A1-L
MR-BKS2CBL03M-A2-L

U

AWG20

AWG20

Servo motor

(Note 3)

B1

B

B2

(Note 5)

24VDC power supply for

electromagnetic brake

(Note 4)

Electromagnetic

brake interlock

(MBR)

50m or less

Extension cable
(To be fabricated)

Trouble

(ALM)

(Note 6)

RA

(Note 1)

Note 1. Connect a surge absorber as close to the servo motor as possible.

Relay connector

a) Relay connector for
extension cable

b) Relay connector for
motor brake cable

(Note 2)
a) Relay connector for
extension cable

2. Use of the following connectors is recommended when ingress protection (IP65) is necessary.

Description

CM10-CR2P­(DDK)

(DDK)

3. There is no polarity in electromagnetic brake terminals (B1 and B2).

4. When using a servo motor with an electromagnetic brake, always assign the electromagnetic brake interlock (MBR)

to CN1-12 pin by parameter No. PD18.

5. Do not use the 24VDC interface power supply for the electromagnetic brake.

6. Switch off the circuit interlocking with the emergency stop switch.

Wire size: S, M, L

Wire size: S, M, L

(Note 2)
b) Relay connector for motor
brake cable

IP65

IP65CM10-SP2S-

IP rating

3 - 47

x

3. SIGNALS AND WIRING

3.12 Grounding

Ground the servo amplifier and servo motor securely.

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

WARNING

(terminal marked

) of the servo amplifier with the protective earth (PE) of the

control box.

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

Control bo

(Note)
Main circuit
power supply

MCCB

Line filter

(Note)
Control
circuit
power
supply

Circuit
protector

MC

Servo amplifier

L

1

L2

+24V

0V

CN1

logiccontroller

Programmable

Servo motor

CN2

Encoder

U

V

W

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

U

M

V
W

Outer

Protective earth (PE)

box

Note. For the specification of power supply, refer to section 1.3.

3 - 48

4. PARAMETERS

4. PARAMETERS

Never make a drastic adjustment or change to the parameter values, as doing so
will make the operation unstable.
Do not change the parameter settings as described below. Doing so may cause an

CAUTION

In this servo amplifier, the parameters are classified into the following groups on a function basis.

Parameter group Main description

Basic setting parameters

(No. PA

Gain/filter parameters

(No. PB

Extension setting parameters

(No. PC

I/O setting parameters

(No. PD

Positioning setting parameters

(No. PE

When using this servo in the position control mode, mainly setting the basic setting parameters (No. PA )
allows the setting of the basic parameters at the time of introduction.

)

)

)

)

)

unexpected condition, such as failing to start up the servo amplifier.

Changing the values of the parameters for manufacturer setting.
Setting out-of-range values.
Changing the fixed values in the digits of a parameter.

POINT
For the positioning mode, refer to section 13.7.
Positioning mode is supported by servo amplifier with software version B0 or
later.

Make basic setting with these parameters when using this servo amplifier in the position control

mode.

Use these parameters when making gain adjustment manually.

Use these parameters mainly when using this servo amplifier in the internal speed control mode or

in the internal torque control mode.

Use these parameters when changing the I/O signals of the servo amplifier.

Use these parameters only for the positioning mode.

(Refer to section 13.7.5.)

4 - 1

4. PARAMETERS

4.1 Basic setting parameters (No. PA

)

POINT
For any parameter whose symbol is preceded by *, set the parameter value and
switch power off once, then switch it on again to make that parameter setting
valid.

Never change parameters for manufacturer setting.

4.1.1 Parameter list

No. Symbol Name

PA01 *STY Control mode 000h

PA02 *REG Regenerative option 000h

PA03

PA04 *AOP1 Tough drive function selection 000h

PA05 *FBP Number of command input pulses per revolution

PA06 CMX

PA07 CDV

PA08 ATU Auto tuning mode 001h

PA09 RSP Auto tuning response 6

PA10 INP In-position range

PA11 TLP Forward torque limit 100 %

PA12 TLN Reverse torque limit 100 %

PA13 *PLSS Command input pulse form 000h

PA14 *POL Rotation direction selection 0

PA15 *ENR Encoder output pulses 4000 pulse/rev

PA16 *ENR2 Encoder output pulse electronic gear 0

PA17 For manufacturer setting 000h

PA18 000h

PA19 *BLK Parameter write inhibit 00Eh

For manufacturer setting 000h

Electronic gear numerator

(Command input pulse multiplying factor numerator)

Electronic gear denominator

(Command input pulse multiplying factor denominator)

Initial

value

100

1

1

100 Refer to

Unit

100

pulse/rev

section

4.1.9.

Control mode

Internal

Position

speed

Internal

torque

4 - 2

4. PARAMETERS

4.1.2 Parameter write inhibit

Parameter

No. Symbol Name Position

PA19 *BLK Parameter write inhibit 00Eh

Initial

value

Setting

range

Refer to

the text.

Unit

Control mode

Internal

speed

POINT
This parameter is made valid when power is switched off, then on after setting.

In the factory setting, this servo amplifier allows to change all the setting parameters. With the setting of
parameter No. PA19, writing can be disabled to prevent accidental changes.
The following table indicates the parameters which are enabled for reference and writing by the setting of
parameter No. PA19. Operation can be performed for the parameters marked

.

Positioning

setting
parameters
No. PE

Parameter No. PA19

setting

000h

00Ah

00Bh

00Ch

00Eh

(initial value)

10Bh

10Ch

10Eh

Setting

operation

Reference

Writing

Reference

Writing

Reference

Writing

Reference

Writing

Reference

Writing

Reference

Writing

Reference

Writing

Reference

Writing

Basic setting

parameters
No. PA

Parameter No.

PA19 only

Parameter No.

PA19 only

Parameter No.

PA19 only

Parameter No.

PA19 only

Parameter No.

PA19 only

Gain/Filter

parameters

No. PB

Extension setting

parameters
No. PC

I/O setting

parameters

No. PD

Internal

torque

4 - 3