MR-J4 - GF - (-RJ) : General-Purpose AC Servo

General-Purpose AC Servo
MR-J4-_GF_(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL (MOTION MODE)

CC-Link IE Field Network Interface
MODEL
MR-J4-_GF_(-RJ)
SERVO AMPLIFIER
INSTRUCTION MANUAL
(MOTION MODE)
MR-J4-GF-(RJ)
MODEL INSTRUCTIONMANUALMOTIONMODE
MODEL
CODE 1CW861
C
C
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
This Instruction Manual uses recycled paper.

SH(NA)030218ENG-C(1612)MEE Printed in Japan Specifications are subject to change without notice.
Safety Instructions
Please read the instructions carefully before using the equipment.
To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until
you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not
use the equipment until you have a full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
Indicates that incorrect handling may cause hazardous conditions,

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

CAUTION resulting in medium or slight injury to personnel or may cause physical
damage.
Note that the CAUTION level may lead to a serious consequence according to conditions.
Please follow the instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.
Indicates what must not be done. For example, "No Fire" is indicated by .
Indicates what must be done. For example, grounding is indicated by .
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so
on are classified into "POINT".
After reading this Instruction Manual, keep it accessible to the operator.
A- 1
1. To prevent electric shock, note the following
WARNING
Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp
turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others.
Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or
not, always confirm it from the front of the servo amplifier.
Ground the servo amplifier and servo motor securely.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it
may cause an electric shock.
Do not operate switches with wet hands. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric
shock.
During power-on or operation, do not open the front cover of the servo amplifier. Otherwise, it may cause
an electric shock.
Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging
area are exposed and you may get an electric shock.
Except for wiring and periodic inspection, do not remove the front cover of the servo amplifier even if the
power is off. The servo amplifier is charged and you may get an electric shock.
To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo
amplifier to the protective earth (PE) of the cabinet.
To avoid an electric shock, insulate the connections of the power supply terminals.
2. To prevent fire, note the following

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

CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a
burst, damage, etc. may occur.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.
A- 2
CAUTION
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot while the power is on
and for some time after power-off. Take safety measures such as providing covers to avoid accidentally
touching them by hands and parts such as cables.
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric
shock, fire, etc.
(1) Transportation and installation

CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the specified number of product packages is not allowed.
Do not hold the front cover when transporting the servo amplifier. Otherwise, it may drop.
Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction
Manual.
Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.
The equipment must be installed in the specified direction.
Leave specified clearances between the servo amplifier and the cabinet walls or other equipment.
Do not install or operate the servo amplifier and servo motor which have been damaged or have any
parts missing.
Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction.
Do not drop or strike the servo amplifier and servo motor. Isolate them from all impact loads.
When you keep or use the equipment, please fulfill the following environment.
Items Environment
Ambient Operation 0 °C to 55 °C (non-freezing)
temperature Storage -20 °C to 65 °C (non-freezing)
Ambient Operation
5 %RH to 90 %RH (non-condensing)
humidity Storage
Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude Max. 2000 m above sea level (Contact your local sales office for the altitude for options.)
Vibration resistance 5.9 m/s2 at 10 Hz to 55 Hz (directions of X, Y, and Z axes)
When the product has been stored for an extended period of time, contact your local sales office.
When handling the servo amplifier, be careful about the edged parts such as corners of the servo
amplifier.
The servo amplifier must be installed in 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.
A- 3
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Do not install a power capacitor, surge killer, or radio noise filter (Optional FR-BIF(-H)) on the servo
amplifier output side.
To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier
and servo motor.
Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do
not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
Servo amplifier Servo motor Servo amplifier Servo motor
U U
U U
V V
V M V M
W W
W W
The connection diagrams in this instruction manual are shown for sink interfaces, unless stated
otherwise.
The surge absorbing diode installed to the DC relay for control output should be fitted in the specified
direction. Otherwise, the emergency stop and other protective circuits may not operate.
Servo amplifier Servo amplifier
24 V DC 24 V DC
DOCOM DOCOM
Control output Control output

RA
signal signal RA
For sink output interface For source output interface
When the cable is not tightened enough to the terminal block, the cable or terminal block may generate
heat because of the poor contact. Be sure to tighten the cable with specified torque.
Connecting a servo motor for different axis to the U, V, W, or CN2 may cause a malfunction.
Configure a circuit to turn off EM2 or EM1 when the main circuit power is turned off to prevent an
unexpected restart of the servo amplifier.
(3) Test run and adjustment

CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.
Never adjust or change the parameter values extremely as it will make operation unstable.
Do not close to moving parts at servo-on status.
A- 4
(4) Usage
CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
off immediately.
Do not disassemble, repair, or modify the equipment.
Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a
sudden restart. Otherwise, it may cause an accident.
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic
interference may be given to the electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be
used for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor
are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,
install a stopper on the machine side.
(5) Corrective actions

CAUTION
Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may
cause an accident.
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with an electromagnetic brake or external brake to prevent the condition.
Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.
Contacts must be opened when ALM Contacts must be opened
(Malfunction) or MBR (Electromagnetic with the Emergency stop switch.
brake interlock) turns off.
Servo motor
RA
B 24 V DC
Electromagnetic brake
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.
A- 5
(6) Maintenance, inspection and parts replacement
CAUTION
Make sure that the emergency stop circuit operates properly such that an operation can be stopped
immediately and a power is shut off by the emergency stop switch.
It is recommended that the servo amplifier be replaced every 10 years when it is used in general
environment.
When using a servo amplifier whose power has not been turned on for a long time, contact your local
sales office.
(7) General instruction

To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn
without covers and safety guards. When the equipment is operated, the covers and safety guards must
be installed as specified. Operation must be performed in accordance with this Specifications and
Instruction Manual.
A- 6
DISPOSAL OF WASTE
Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and
regulations.
EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the
EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Write to the EEP-ROM due to device changes
STO function of the servo amplifier

When using the STO function of the servo amplifier, refer to chapter 13.
For the MR-J3-D05 safety logic unit, refer to app. 5.
Compliance with global standards

For the compliance with global standards, refer to app. 4.
A- 7
«About the manuals»
You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare
them to use the servo safely.
Relevant manuals
Manual name Manual No.

MELSERVO MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (I/O Mode) SH(NA)030221ENG
MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030109ENG
MELSERVO MR-D30 Instruction Manual (Note 5) SH(NA)030132ENG
MELSERVO Servo Motor Instruction Manual (Vol. 3) (Note 1) SH(NA)030113ENG
MELSERVO Linear Servo Motor Instruction Manual (Note 2) SH(NA)030110ENG
MELSERVO Direct Drive Motor Instruction Manual (Note 3) SH(NA)030112ENG
MELSERVO Linear Encoder Instruction Manual (Note 2, 4) SH(NA)030111ENG
EMC Installation Guidelines IB(NA)67310ENG
Note 1. It is necessary for using a rotary servo motor.

2. It is necessary for using a linear servo motor.
3. It is necessary for using a direct drive motor.
4. It is necessary for using a fully closed loop system.
5. It is necessary for using an MR-D30 functional safety unit.
«Wiring»
Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 °C.
«U.S. customary units»
U.S. customary units are not shown in this manual. Convert the values if necessary according to the
following table.
Quantity SI (metric) unit U.S. customary unit
Mass 1 [kg] 2.2046 [lb]
Length 1 [mm] 0.03937 [inch]
Torque 1 [N•m] 141.6 [oz•inch]
Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2]
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [°C] × 9/5 + 32 N [°F]
A- 8
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-50
1.1 Summary ........................................................................................................................................... 1- 1

1.2 Function block diagram..................................................................................................................... 1- 3
1.3 Servo amplifier standard specifications ........................................................................................... 1-12
1.4 Combinations of servo amplifiers and servo motors ....................................................................... 1-16
1.5 Function list ...................................................................................................................................... 1-18
1.6 Model designation ............................................................................................................................ 1-20
1.7 Structure .......................................................................................................................................... 1-21
1.7.1 Parts identification ..................................................................................................................... 1-21
1.7.2 Removal and reinstallation of the front cover............................................................................ 1-34
1.8 Configuration including peripheral equipment ................................................................................. 1-36
2. INSTALLATION 2- 1 to 2- 6
2.1 Installation direction and clearances ................................................................................................ 2- 2

2.2 Keeping out of foreign materials ....................................................................................................... 2- 4
2.3 Encoder cable stress ........................................................................................................................ 2- 4
2.4 Inspection items ................................................................................................................................ 2- 4
2.5 Parts having service life .................................................................................................................... 2- 5
2.6 Restrictions when using the servo amplifiers at altitude exceeding 1000 m and up to 2000 m above
sea level ............................................................................................................................................ 2- 6
3. SIGNALS AND WIRING 3- 1 to 3-42
3.1 Connection example of power circuit ................................................................................................ 3- 3

3.1.1 200 V class ................................................................................................................................. 3- 4
3.1.2 400 V class ................................................................................................................................ 3-10
3.2 I/O signal connection example......................................................................................................... 3-14
3.2.1 For sink I/O interface ................................................................................................................. 3-14
3.2.2 For source I/O interface ............................................................................................................ 3-16
3.3 Explanation of power supply system ............................................................................................... 3-17
3.3.1 Signal explanations ................................................................................................................... 3-17
3.3.2 Power-on sequence .................................................................................................................. 3-18
3.3.3 Wiring CNP1, CNP2, and CNP3 ............................................................................................... 3-19
3.4 Connectors and pin assignment ...................................................................................................... 3-23
3.5 Signal (device) explanations ............................................................................................................ 3-24
3.5.1 Input device ............................................................................................................................... 3-24
3.5.2 Output device ............................................................................................................................ 3-26
3.5.3 Output signal ............................................................................................................................. 3-27
3.5.4 Power supply ............................................................................................................................. 3-27
3.6 Forced stop deceleration function ................................................................................................... 3-28
3.6.1 Forced stop deceleration function ............................................................................................. 3-28
3.6.2 Base circuit shut-off delay time function ................................................................................... 3-29
3.6.3 Vertical axis freefall prevention function ................................................................................... 3-30
3.6.4 Residual risks of the forced stop function (EM2) ...................................................................... 3-30
3.7 Alarm occurrence timing chart ......................................................................................................... 3-31
3.7.1 When you use the forced stop deceleration function ................................................................ 3-31
3.7.2 When you do not use the forced stop deceleration function ..................................................... 3-32
1
3.8 Interfaces ......................................................................................................................................... 3-33
3.8.1 Internal connection diagram ...................................................................................................... 3-33
3.8.2 Detailed explanation of interfaces ............................................................................................. 3-34
3.8.3 Source I/O interfaces ................................................................................................................ 3-36
3.9 Servo motor with an electromagnetic brake .................................................................................... 3-37
3.9.1 Safety precautions .................................................................................................................... 3-37
3.9.2 Timing chart............................................................................................................................... 3-38
3.10 Grounding ...................................................................................................................................... 3-42
4. STARTUP 4- 1 to 4-46
4.1 Switching power on for the first time ................................................................................................. 4- 2

4.1.1 Startup procedure ...................................................................................................................... 4- 2
4.1.2 Wiring check ............................................................................................................................... 4- 3
4.1.3 Surrounding environment ........................................................................................................... 4- 5
4.1.4 Settings of GX Works ................................................................................................................. 4- 6
4.2 Startup .............................................................................................................................................. 4- 7
4.3 Switch setting and display of the servo amplifier .............................................................................. 4- 9
4.3.1 Switches ..................................................................................................................................... 4- 9
4.3.2 Scrolling display ........................................................................................................................ 4-10
4.3.3 Status display of a station ......................................................................................................... 4-11
4.3.4 CC-Link IE Field status display LED ......................................................................................... 4-12
4.4 Test operation .................................................................................................................................. 4-13
4.5 Test operation mode ........................................................................................................................ 4-13
4.5.1 Test operation mode in MR Configurator2 ................................................................................ 4-14
4.5.2 Motor-less operation in controller.............................................................................................. 4-17
4.6 Home position return mode ............................................................................................................. 4-19
4.6.1 Outline of home position return ................................................................................................. 4-20
4.6.2 CiA 402-type homing method.................................................................................................... 4-25
4.6.3 Operation example of Manufacturer-specific Homing method ................................................. 4-37
5. PARAMETERS 5- 1 to 5-72
5.1 Parameter list .................................................................................................................................... 5- 1

5.1.1 Basic setting parameters ([Pr. PA_ _ ])...................................................................................... 5- 2
5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ............................................................................... 5- 3
5.1.3 Extension setting parameters ([Pr. PC_ _ ]) .............................................................................. 5- 4
5.1.4 I/O setting parameters ([Pr. PD_ _ ]) ......................................................................................... 5- 7
5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])............................................................................ 5- 8
5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ............................................................................ 5- 9
5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 5-11
5.1.8 Positioning control parameters ([Pr. PT_ _ ]) ............................................................................ 5-12
5.1.9 Network setting parameters ([Pr. PN_ _ ]) ................................................................................ 5-14
5.2 Detailed list of parameters ............................................................................................................... 5-15
5.2.1 Basic setting parameters ([Pr. PA_ _ ])..................................................................................... 5-15
5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) .............................................................................. 5-27
5.2.3 Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 5-39
5.2.4 I/O setting parameters ([Pr. PD_ _ ]) ........................................................................................ 5-47
5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])........................................................................... 5-52
5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 5-56
5.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 5-61
2
5.2.8 Positioning control parameters ([Pr. PT_ _ ]) ............................................................................ 5-65
5.2.9 Network setting parameters ([Pr. PN_ _ ]) ................................................................................ 5-70
5.3 Software limit ................................................................................................................................... 5-72
6. NORMAL GAIN ADJUSTMENT 6- 1 to 6-20
6.1 Different adjustment methods ........................................................................................................... 6- 1

6.1.1 Adjustment on a single servo amplifier ...................................................................................... 6- 1
6.1.2 Adjustment using MR Configurator2 .......................................................................................... 6- 2
6.2 One-touch tuning .............................................................................................................................. 6- 3
6.2.1 One-touch tuning flowchart ........................................................................................................ 6- 3
6.2.2 Display transition and operation procedure of one-touch tuning ............................................... 6- 4
6.2.3 Caution for one-touch tuning ...................................................................................................... 6- 7
6.2.4 One-touch tuning via a network ................................................................................................. 6- 8
6.3 Auto tuning ....................................................................................................................................... 6-10
6.3.1 Auto tuning mode ...................................................................................................................... 6-10
6.3.2 Auto tuning mode basis............................................................................................................. 6-11
6.3.3 Adjustment procedure by auto tuning ....................................................................................... 6-12
6.3.4 Response level setting in auto tuning mode ............................................................................. 6-13
6.4 Manual mode ................................................................................................................................... 6-14
6.5 2 gain adjustment mode .................................................................................................................. 6-17
7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7-38
7.1 Filter setting ...................................................................................................................................... 7- 1

7.1.1 Machine resonance suppression filter ....................................................................................... 7- 2
7.1.2 Adaptive filter II........................................................................................................................... 7- 5
7.1.3 Shaft resonance suppression filter............................................................................................. 7- 7
7.1.4 Low-pass filter ............................................................................................................................ 7- 8
7.1.5 Advanced vibration suppression control II ................................................................................. 7- 8
7.1.6 Command notch filter ................................................................................................................ 7-13
7.2 Gain switching function .................................................................................................................... 7-15
7.2.1 Applications ............................................................................................................................... 7-15
7.2.2 Function block diagram ............................................................................................................. 7-16
7.2.3 Parameter.................................................................................................................................. 7-17
7.2.4 Gain switching procedure ......................................................................................................... 7-20
7.3 Tough drive function ........................................................................................................................ 7-24
7.3.1 Vibration tough drive function.................................................................................................... 7-24
7.3.2 Instantaneous power failure tough drive function ..................................................................... 7-26
7.4 Compliance with SEMI-F47 standard .............................................................................................. 7-30
7.5 Model adaptive control disabled ...................................................................................................... 7-33
7.6 Lost motion compensation function ................................................................................................. 7-34
7.7 Super trace control .......................................................................................................................... 7-37
8. TROUBLESHOOTING 8- 1 to 8-16
8.1 Explanation for the lists ..................................................................................................................... 8- 1

8.2 Alarm list ........................................................................................................................................... 8- 2
8.3 Warning list ...................................................................................................................................... 8-12
8.4 Troubleshooting at power on ........................................................................................................... 8-15
3
9. DIMENSIONS 9- 1 to 9-18
9.1 Servo amplifier .................................................................................................................................. 9- 2

9.2 Connector ........................................................................................................................................ 9-17
10. CHARACTERISTICS 10- 1 to 10-14
10.1 Overload protection characteristics .............................................................................................. 10- 1

10.2 Power supply capacity and generated loss .................................................................................. 10- 5
10.3 Dynamic brake characteristics ...................................................................................................... 10- 8
10.3.1 Dynamic brake operation ....................................................................................................... 10- 8
10.3.2 Permissible load to motor inertia when the dynamic brake is used ...................................... 10-11
10.4 Cable bending life ........................................................................................................................ 10-12
10.5 Inrush currents at power-on of main circuit and control circuit .................................................... 10-13
11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-112
11.1 Cable/connector sets .................................................................................................................... 11- 1

11.1.1 Combinations of cable/connector sets ................................................................................... 11- 2
11.1.2 MR-D05UDL3M-B STO cable ................................................................................................ 11- 6
11.1.3 Battery cable/junction battery cable ....................................................................................... 11- 7
11.1.4 Ethernet cable ........................................................................................................................ 11- 8
11.2 Regenerative options .................................................................................................................... 11- 9
11.2.1 Combination and regenerative power .................................................................................... 11- 9
11.2.2 Selection of regenerative option ........................................................................................... 11-11
11.2.3 Parameter setting .................................................................................................................. 11-14
11.2.4 Selection of regenerative option ........................................................................................... 11-14
11.2.5 Dimensions ........................................................................................................................... 11-19
11.3 FR-BU2-(H) brake unit ................................................................................................................. 11-23
11.3.1 Selection................................................................................................................................ 11-23
11.3.2 Brake unit parameter setting ................................................................................................. 11-24
11.3.3 Connection example ............................................................................................................. 11-25
11.3.4 Dimensions ........................................................................................................................... 11-33
11.4 FR-RC-(H) power regeneration converter ................................................................................... 11-36
11.5 FR-CV-(H) power regeneration common converter .................................................................... 11-40
11.5.1 Model designation ................................................................................................................. 11-41
11.5.2 Selection................................................................................................................................ 11-41
11.6 Junction terminal block PS7DW-20V14B-F (recommended) ...................................................... 11-49
11.7 MR Configurator2 ........................................................................................................................ 11-50
11.7.1 Specifications ........................................................................................................................ 11-50
11.7.2 System configuration............................................................................................................. 11-51
11.7.3 Precautions for using USB communication function ............................................................. 11-52
11.8 Battery .......................................................................................................................................... 11-53
11.8.1 Selection of battery ............................................................................................................... 11-53
11.8.2 MR-BAT6V1SET-A battery ................................................................................................... 11-53
11.8.3 MR-BAT6V1BJ battery for junction battery cable ................................................................. 11-58
11.8.4 MR-BT6VCASE battery case ................................................................................................ 11-62
11.8.5 MR-BAT6V1 battery .............................................................................................................. 11-68
11.9 Selection example of wires .......................................................................................................... 11-69
11.10 Molded-case circuit breakers, fuses, magnetic contactors ....................................................... 11-73
11.11 Power factor improving DC reactors.......................................................................................... 11-76
4
11.12 Power factor improving AC reactors .......................................................................................... 11-78
11.13 Relay (recommended) ............................................................................................................... 11-81
11.14 Noise reduction techniques ....................................................................................................... 11-82
11.15 Earth-leakage current breaker ................................................................................................... 11-91
11.16 EMC filter (recommended) ........................................................................................................ 11-94
11.17 External dynamic brake ........................................................................................................... 11-101
11.18 Panel through attachment (MR-J4ACN15K/MR-J3ACN) ........................................................ 11-107
12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12- 6
12.1 Summary....................................................................................................................................... 12- 1

12.1.1 Features ................................................................................................................................. 12- 1
12.1.2 Structure ................................................................................................................................. 12- 2
12.1.3 Parameter setting ................................................................................................................... 12- 2
12.1.4 Confirmation of absolute position detection data ................................................................... 12- 3
12.2 Battery ........................................................................................................................................... 12- 4
12.2.1 Using MR-BAT6V1SET-A battery .......................................................................................... 12- 4
12.2.2 Using MR-BAT6V1BJ battery for junction battery cable ........................................................ 12- 5
12.2.3 Using MR-BT6VCASE battery case....................................................................................... 12- 6
13. USING STO FUNCTION 13- 1 to 13-12
13.1 Introduction ................................................................................................................................... 13- 1

13.1.1 Summary ................................................................................................................................ 13- 1
13.1.2 Terms related to safety .......................................................................................................... 13- 1
13.1.3 Cautions ................................................................................................................................. 13- 1
13.1.4 Residual risks of the STO function......................................................................................... 13- 2
13.1.5 Specifications ......................................................................................................................... 13- 3
13.1.6 Maintenance ........................................................................................................................... 13- 4
13.2 STO I/O signal connector (CN8) and signal layouts..................................................................... 13- 4
13.2.1 Signal layouts ......................................................................................................................... 13- 4
13.2.2 Signal (device) explanations .................................................................................................. 13- 5
13.2.3 How to pull out the STO cable ............................................................................................... 13- 5
13.3 Connection example ..................................................................................................................... 13- 6
13.3.1 Connection example for CN8 connector ................................................................................ 13- 6
13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit .................... 13- 7
13.3.3 External I/O signal connection example using an external safety relay unit ......................... 13- 9
13.4 Detailed description of interfaces ................................................................................................ 13-10
13.4.1 Sink I/O interface................................................................................................................... 13-10
13.4.2 Source I/O interface .............................................................................................................. 13-12
14. USING A LINEAR SERVO MOTOR 14- 1 to 14-32
14.1 Functions and configuration ......................................................................................................... 14- 1

14.1.1 Summary ................................................................................................................................ 14- 1
14.1.2 Servo system with auxiliary equipment .................................................................................. 14- 2
14.2 Signals and wiring ......................................................................................................................... 14- 6
14.3 Operation and functions................................................................................................................ 14- 8
14.3.1 Startup .................................................................................................................................... 14- 8
14.3.2 Magnetic pole detection ........................................................................................................ 14-11
14.3.3 Home position return ............................................................................................................. 14-19
5
14.3.4 Test operation mode in MR Configurator2 ............................................................................ 14-23
14.3.5 Operation from controller ...................................................................................................... 14-24
14.3.6 Function................................................................................................................................. 14-25
14.3.7 Absolute position detection system....................................................................................... 14-27
14.4 Characteristics ............................................................................................................................. 14-28
14.4.1 Overload protection characteristics ...................................................................................... 14-28
14.4.2 Power supply capacity and generated loss .......................................................................... 14-29
14.4.3 Dynamic brake characteristics .............................................................................................. 14-30
14.4.4 Permissible load to motor mass ratio when the dynamic brake is used ............................... 14-31
15. USING A DIRECT DRIVE MOTOR 15- 1 to 15-20

15.1.1 Summary ................................................................................................................................ 15- 1
15.1.2 Servo system with auxiliary equipment .................................................................................. 15- 2
15.2 Signals and wiring ......................................................................................................................... 15- 3
15.3.1 Startup procedure .................................................................................................................. 15- 5
15.3.2 Magnetic pole detection ......................................................................................................... 15- 6
15.3.4 Function................................................................................................................................. 15-14
15.4 Characteristics ............................................................................................................................. 15-16
15.4.1 Overload protection characteristics ...................................................................................... 15-16
15.4.2 Power supply capacity and generated loss .......................................................................... 15-18
15.4.3 Dynamic brake characteristics .............................................................................................. 15-19
16. FULLY CLOSED LOOP SYSTEM 16- 1 to 16-24

16.1.1 Function block diagram .......................................................................................................... 16- 1
16.1.2 Selecting procedure of control mode ..................................................................................... 16- 3
16.1.3 System configuration.............................................................................................................. 16- 4
16.2 Load-side encoder ........................................................................................................................ 16- 6
16.2.1 Linear encoder ....................................................................................................................... 16- 6
16.2.2 Rotary encoder....................................................................................................................... 16- 6
16.2.3 Configuration diagram of encoder cable ................................................................................ 16- 6
16.2.4 MR-J4FCCBL03M branch cable ............................................................................................ 16- 8
16.3.1 Startup .................................................................................................................................... 16- 9
16.3.2 Home position return ............................................................................................................. 16-16
16.3.4 Fully closed loop control error detection functions................................................................ 16-20
16.3.5 Auto tuning function .............................................................................................................. 16-21
16.3.6 Machine analyzer function .................................................................................................... 16-21
16.3.7 Test operation mode ............................................................................................................. 16-21
16.3.8 Absolute position detection system under fully closed loop system ..................................... 16-22
16.3.9 About MR Configurator2 ....................................................................................................... 16-23
17. APPLICATION OF FUNCTIONS 17- 1 to 17-32
17.1 Scale measurement function ........................................................................................................ 17- 1
6
17.1.1 Functions and configuration ................................................................................................... 17- 1
17.1.2 Scale measurement encoder ................................................................................................. 17- 4
17.1.3 How to use scale measurement function ............................................................................... 17- 7
17.1.4 Controller setting of the scale measurement function ........................................................... 17- 9
17.2 Touch probe ................................................................................................................................. 17-11
17.3 Backup/restoration function ......................................................................................................... 17-14
17.4 Parameter object ......................................................................................................................... 17-16
17.4.1 Definition of parameter objects ............................................................................................. 17-16
17.4.2 Enabling parameters ............................................................................................................. 17-17
17.5 Machine diagnosis function ......................................................................................................... 17-18
17.5.1 Function summary................................................................................................................. 17-18
17.5.2 How to set the function.......................................................................................................... 17-18
17.5.3 Friction vibration estimation function..................................................................................... 17-22
17.5.4 Failure prediction function ..................................................................................................... 17-24
APPENDIX App.- 1 to App.-65
App. 1 When using the servo amplifier with the DC power supply input.......................................... App.- 1
App. 2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the
Transport of Dangerous Goods ............................................................................................ App.- 5
App. 3 Symbol for the new EU Battery Directive .............................................................................. App.- 8
App. 4 Compliance with global standards ........................................................................................ App.- 9
App. 5 MR-J3-D05 Safety logic unit ................................................................................................ App.-25
App. 6 EC declaration of conformity ................................................................................................ App.-43
App. 7 How to replace servo amplifier without magnetic pole detection ......................................... App.-45
App. 8 Two-wire type encoder cable for HG-MR/HG-KR ................................................................ App.-46
App. 9 Analog monitor ..................................................................................................................... App.-48
App. 10 Special specification............................................................................................................. App.-52
App. 11 Driving on/off of main circuit power supply with DC power supply ...................................... App.-56
App. 12 List of registration objects .................................................................................................... App.-58
App. 13 Status of general-purpose AC servo products for compliance with the China RoHS
directive ................................................................................................................................ App.-64
7
MEMO
8
1. FUNCTIONS AND CONFIGURATION
1.1 Summary
The Mitsubishi general-purpose AC servo MELSERVO-J4 series have further higher performance and
higher functions compared to the previous MELSERVO-J3 series.
MR-J4-_GF_ servo amplifier can be connected to controllers, such as a simple motion module on CC-Link IE
Field Network. CC-Link IE Field Network is an open network using Ethernet (1000BASE-T), allowing high-
speed and large-capacity communication. A communication speed of 1 Gbps achieves high-speed control of
field devices and high-speed communication between facilities, thus shortening operating cycle.
MELSERVO-J4 series compatible rotary servo motor is equipped with 22-bit (4194304 pulses/rev) high-
resolution absolute encoder. In addition, speed frequency response is increased to 2.5 kHz. Thus, faster and
more accurate control is enabled as compared to MELSERVO-J3 series.
MR-J4-_GF_ servo amplifier operates MELSERVO-J4 series compatible rotary servo motors, linear servo
motors, and direct drive motors as standard.
With one-touch tuning and real-time auto tuning, you can easily adjust the servo gains according to the
machine.
The tough drive function and the drive recorder function, which are well-received in the MELSERVO-JN
series, have been improved. The MR-J4 servo amplifier supports the improved functions. Additionally, the
preventive maintenance support function detects an error in the machine parts. This function provides strong
support for the machine maintenance and inspection.
MR-J4-_GF_ servo amplifier supports the Safe Torque Off (STO) function. By combining with optional MR-
J3-D05, the servo amplifier supports Safe stop 1 (SS1) function.
The MR-J4W_-B servo amplifier has a USB communication interface. Therefore, you can connect the servo
amplifier to the personal computer with MR Configurator2 installed to perform the parameter setting, test
operation, gain adjustment, and others.
In the MELSERVO-J4 series, servo amplifiers with the CN2L connector are also available as MR-J4-_GF_-
RJ.
By using the CN2L connector, an A/B/Z-phase differential output type external encoder can be connected to
the servo amplifier. In a fully closed loop system, a four-wire type external encoder is connectable as well.
The following table indicates the communication method of the external encoder compatible with MR-J4-
_GF_ and MR-J4-_GF_-RJ servo amplifiers.
1- 1
Table 1.1 Connectors to connect from external encoders

External encoder Connector
Operation
communication
mode MR-J4-_GF_ MR-J4-_GF_-RJ
method
Two-wire type
CN2 (Note 1) CN2 (Note 1)
Linear servo Four-wire type
motor system A/B/Z-phase
(Note 5) differential output CN2L (Note 4)
method
CN2
Two-wire type
(Note 2, 3)
Fully closed
Four-wire type
loop system CN2L
(Note 5) A/B/Z-phase
differential output
method
CN2
Two-wire type
Scale (Note 2, 3)
measurement Four-wire type
CN2L
function A/B/Z-phase
(Note 5) differential output
method
Note 1. The MR-J4THCBL03M branch cable is necessary.

2. The MR-J4FCCBL03M branch cable is necessary.
3. When the communication method of the servo motor encoder is four-wire type,
MR-J4-_GF_ cannot be used. Use an MR-J4-_GF_-RJ.
4. Connect a thermistor to CN2.
5. This is used with servo amplifiers with software version A1 or later.
1- 2
1.2 Function block diagram
The function block diagram of this servo is shown below.
POINT
The diagram shows for MR-J4-_GF_-RJ as an example. MR-J4-_GF_ servo
amplifier does not have CN2L connector.
(1) 200 V class

(a) MR-J4-500B(-RJ) or less
(Note 6)
Power factor improving Regenerative
DC reactor option
Servo amplifier P3 P4 (Note 4) P+ C D N- Servo motor

Diode Dynamic
(Note 1) brake
stack Relay
MCCB MC circuit U U
L1
(Note 2) U
Current V V
Power L2 Regene-
+ encoder M
supply U U rative
L3 TR W W
CHARGE
Cooling fan lamp
(Note 3)
RA B1
L11 Control Electromagnetic
+ circuit 24 V DC B brake
L21 power
supply STO B2
circuit
STO
CN8
switch Base Voltage Current

CN2
Overcurrent
amplifier detection protection detection
Encoder
Position Virtual
command Step-
encoder down
input Model Model circuit
position speed
control control
Virtual
motor
CN4
Model position Model speed Model torque

Battery
(for absolute position
detection system)
Actual Actual Current

position speed control
control control
CN2L
External encoder
(Note 5)
USB D/A
I/F Control
CN1A CN1B CN5 CN3
Controller or Controller or Personal Analog monitor Digital I/O

servo amplifier servo amplifier computer (2 channels) control
USB
1- 3
Note 1. The built-in regenerative resistor is not provided for MR-J4-10GF(-RJ).

2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open.
Refer to section 1.3 for the power supply specifications.
3. Servo amplifiers MR-J4-70GF(-RJ) or more have a cooling fan.
4. MR-J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit. They are different from P1 and
P2 of MR-J3 servo amplifiers.
5. This is for MR-J4-_GF-RJ servo amplifier. MR-J4-_GF servo amplifier does not have CN2L connector.
6. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4.
1- 4
(b) MR-J4-700GF(-RJ)
(Note 4)
Power factor improving Regenerative
DC reactor option
Servo amplifier P3 P4 (Note 2) P+ C N- Servo motor

Diode Dynamic
stack Relay brake
MCCB MC circuit U U
L1
(Note 1) U
V V
L2 Regene- Current
Power + M
supply rative encoder
L3
U U
TR W W
CHARGE
lamp
Cooling fan
RA B1
L21 power
supply STO B2
circuit
STO
CN8
CN2
Overcurrent
Encoder
Position Virtual
command Step-
encoder down
position speed
control control
Virtual
motor
CN4
Model position Model speed Model torque Battery
detection system)

control control
CN2L
External encoder
(Note 3)
USB D/A
I/F Control
CN1A CN1B CN5 CN3
Personal Analog monitor Digital I/O

Controller or Controller or computer
servo amplifier servo amplifier (2 channels) control
USB
Note 1. Refer to section 1.3 for the power supply specifications.

1- 5
(c) MR-J4-11KGF(-RJ)/MR-J4-15KGF(-RJ)/MR-J4-22KGF(-RJ)
(Note 5) External regenerative
Power factor improving resistor or (Note 4, 6)
DC reactor regenerative option
External dynamic
brake (optional)

Diode
Thyristor
stack
MCCB MC L1 U U
(Note 1) U
Power L2 Regene-
Current V V
+ encoder M
supply U U rative
L3 TR W W
CHARGE
Cooling fan lamp
RA B1
L21 power
supply STO B2
circuit
STO
CN8
CN2
Overcurrent
Encoder
Position Virtual
command Step-
encoder down
position speed
control control
Virtual
motor
CN4
Battery
detection system)

control control
CN2L
External encoder
(Note 3)
USB D/A
I/F Control
CN1A CN1B CN5 CN3
Controller or Controller or Personal Analog monitor Digital I/O

servo amplifier servo amplifier computer (2 channels) control
USB
1- 6

4. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does
not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop. Ensure the
safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 8.
6. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake
interlock) in [Pr. PD07] to [Pr. PD09]. Failure to do so will cause the servo amplifier to become servo-off when an
instantaneous power failure occurs.
1- 7
(2) 400 V class

(a) MR-J4-350GF4(-RJ) or less
(Note 5)
Power factor
improving Regenerative
DC reactor option
Servo amplifier P3 P4 (Note 3) P+ C D N- Servo motor

Diode Dynamic
stack Relay brake
MCCB MC circuit U U
L1
(Note 1) U
V V
L2 Current
Power + M
supply Regene- detector
L3
U U
rative W W
TR
Charge
lamp
Cooling fan
(Note 2)
RA B1
L21 power
supply STO B2
circuit
STO
CN8
CN2
Overcurrent
Encoder
Position Virtual
command encoder Step-
down
position speed
control control
Virtual
motor CN4

Battery
(For absolute
position detection
system)
control control
CN2L
External encoder
(Note 4)
USB D/A
IF Control
CN1A CN1B CN5 CN3

USB
Note 1. Refer to section 1.3 for the power supply specification.

2. Servo amplifiers MR-J4-200GF4(-RJ) or more have a cooling fan.
4. This is for MR-J4-_GF4-RJ servo amplifier. MR-J4-_GF4 servo amplifier does not have CN2L connector.
1- 8
(b) MR-J4-500GF4(-RJ)/MR-J4-700GF4(-RJ)
(Note 4)
Power factor
improving Regenerative
DC reactor option

Diode Dynamic
stack Relay brake
MCCB MC circuit U U
L1
(Note 1) U
V V
L2 Current
Power + Regene- M
supply detector
L3
U U
rative W W
TR
Charge
lamp
Cooling fan
RA B1
L21 power
supply STO B2
circuit
STO
CN8
CN2
Overcurrent
Encoder
Position Virtual
down
position speed
control control
Virtual
motor
CN4

Battery
(For absolute
position detection
system)
control control
CN2L
External encoder
(Note 3)
USB D/A
IF Control
CN1A CN1B CN5 CN3

USB

1- 9
(c) MR-J4-11KGF4(-RJ)/MR-J4-15KGF4(-RJ)/MR-J4-22KGF4(-RJ)
(Note 5) External
Power factor regenerative resistor
improving or (Note 4, 6)
DC reactor regenerative option External
dynamic brake
(optional)
Diode
Thyristor
stack
MCCB MC L1 U U
(Note 1) U
V V
L2 Current
Power + Regene- M
supply detector
L3
U U
rative W W
TR
Charge
lamp
Cooling fan
RA B1
L11 Control
+ circuit 24 V DC B Electromagnetic
brake
L21 power
supply STO B2
circuit
STO
CN8
CN2
Overcurrent
Encoder
Position Virtual
down
position speed
control control
Virtual
motor
CN4
Model position Model speed Model torque Battery

(For absolute
position detection
system)
control control
CN2L
External encoder
(Note 3)
USB D/A
IF Control
CN1A CN1B CN5 CN3

USB
1 - 10

safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 8.
1 - 11
1.3 Servo amplifier standard specifications
(1) 200 V class

Model: MR-J4-_(-RJ) 10GF 20GF 40GF 60GF 70GF 100GF 200GF 350GF 500GF 700GF 11KGF 15KGF 22KGF
Rated voltage 3-phase 170 V AC
Rated current [A] 1.1 1.5 2.8 3.2 5.8 6.0 11.0 17.0 28.0 37.0 68.0 87.0 126.0
Output Output frequency Less than 590 Hz
Output frequency
±0.01%
accuracy
3-phase or 1-
phase 200 V
At AC 3-phase or 1-phase
AC to 240 V 3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
input 200 V AC to 240 V AC, 50 Hz/60 Hz
Voltage/ AC, 50 Hz/60
Frequency Hz (Note 7)
At DC
input 283 V DC to 340 V DC
(Note 8)
3.2
Rated current (Note 5)[A] 0.9 1.5 2.6 3.8 5.0 10.5 16.0 21.7 28.9 46.0 64.0 95.0
(Note 6)
Main circuit 3-phase or 1-
power supply At AC 3-phase or 1-phase phase 170 V
input 3-phase 170 V AC to 264 V AC
Permissible input 170 V AC to 264 V AC AC to 264 V
voltage AC (Note 7)
fluctuation At DC
(Note 8)
Permissible frequency
Within ±5%
fluctuation
Power supply capacity
Refer to section 10.2.
[kVA]
Inrush current [A] Refer to section 10.5.
At AC
1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
input
Voltage/
At DC
Frequency
(Note 8)
Rated current [A] 0.2 0.3
Control circuit At AC
1-phase 170 V AC to 264 V AC
power supply Permissible input
input voltage At DC
fluctuation input 241 V DC to 374 V DC
(Note 8)
Within ±5%
fluctuation
Power consumption [W] 30 45
Interface power Voltage 24 V DC ± 10%
supply Current capacity [A] 0.3 (including CN8 connector signals) (Note 1)
Control method Sine-wave PWM control, current control method
External option
Dynamic brake Built-in
(Note 13, 14)
CC-Link IE Field communication cycle
0.5 ms, 1.0 ms, 2.0 ms, 4.0 ms
(Note 12)
Fully closed loop control Compatible (Note 15)
Scale measurement function Compatible (Note 15)
Load-side encoder interface (Note 11) Mitsubishi Electric serial interface
Communication function USB: connection to a personal computer or others (MR Configurator2-compatible)
Encoder output pulses Compatible (A/B/Z-phase pulse)
Analog monitor Two channels
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal),
servo motor overheat protection, encoder error protection, regenerative error protection,
Protective functions
undervoltage protection, instantaneous power failure protection, overspeed protection,
error excessive protection, magnetic pole detection protection, and linear servo control fault protection
Functional safety STO (IEC/EN 61800-5-2)
1 - 12
Model: MR-J4-_(-RJ) 10GF 20GF 40GF 60GF 70GF 100GF 200GF 350GF 500GF 700GF 11KGF 15KGF 22KGF
Standards certified by
EN ISO 13849-1 category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, and EN 61800-5-2
CB (Note 10)
Response performance 8 ms or less (STO input off → energy shut off)
Test pulse input (STO) Test pulse interval: 1 Hz to 25 Hz
(Note 3) Test pulse off time: Up to 1 ms
Safety Mean time to dangerous
performance MTTFd ≥ 100 [years] (314a)
failure (MTTFd)
Diagnostic coverage
DC = Medium, 97.6 [%]
(DC)
Average probability of
dangerous failures per PFH = 6.4 × 10-9 [1/h]
hour (PFH)
LVD: EN 61800-5-1
Compliance
CE marking EMC: EN 61800-3
to global
MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
standards
UL standard UL 508C
Structure (IP rating) Natural cooling, open (IP20) Force cooling, open (IP20) Force cooling, open (IP20) (Note 4)
3-phase power supply
Possible Impossible
Close mounting input
(Note 2) 1-phase power supply
Possible Impossible
input
Ambient Operation
Environment humidity Storage
Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
Altitude 2000 m or less above sea level (Note 9)
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
Mass [kg] 1.0 1.4 2.1 2.3 4.0 6.2 13.4 13.4 18.2
Note 1. 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points.
2. When closely mounting the servo amplifier, operate it at an ambient temperature of 0 ˚C to 45 ˚C or at 75% or smaller effective
load ratio.
3. Test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuit to
self-diagnose.
4. Except for the terminal block.
5. This value is applicable when a 3-phase power supply is used.
6. The rated current is 2.9 A when the servo amplifier is used with a UL or CSA compliant servo motor.
7. When using 1-phase 200 V AC to 240 V AC power supply, operate the servo amplifier at 75% or smaller effective load ratio.
8. The DC power supply input is available only with MR-J4-_GF-RJ servo amplifiers. For the connection example of the power
circuit when a DC input is used, refer to app. 1.
9. Follow the restrictions in section 2.6 when using the servo amplifiers at altitude exceeding 1000 m and up to 2000 m above
sea level.
10. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input
diagnosis by TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in section 5.2.6.
11. The MR-J4-_GF servo amplifier is compatible only with the two-wire type. The MR-J4-_GF-RJ servo amplifier is compatible
with the two-wire type, four-wire type, and A/B/Z-phase differential output method. Refer to table 1.1 for details.
12. The communication cycle depends on the controller specifications and the number of axes connected.
not stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment.
interlock) in [Pr. PD07] to [Pr. PD09]. Doing so will cause the servo amplifier to become servo-off when an instantaneous
power failure occurs.
1 - 13
(2) 400 V class

Model: MR-J4-_(-RJ) 60GF4 100GF4 200GF4 350GF4 500GF4 700GF4 11KGF4 15KGF4 22KGF4
Rated voltage 3-phase 323 V AC
Rated current [A] 1.5 2.8 5.4 8.6 14.0 17.0 32.0 41.0 63.0
Output
Output frequency Less than 590 Hz
Output frequency accuracy ±0.01%
Voltage/Frequency 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz
Rated current [A] 1.4 2.5 5.1 7.9 10.8 14.4 23.1 31.8 47.6
Permissible voltage
3-phase 323 V AC to 528 V AC
Main circuit fluctuation
power supply Permissible frequency
Within ±5%
input fluctuation
Refer to section 10.2.
[kVA]
Voltage/Frequency 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz
Rated current [A] 0.1 0.2
Permissible voltage
Control circuit 1-phase 323 V AC to 528 V AC
fluctuation
power supply
input Within ±5%
fluctuation
Power consumption [W] 30 45
Interface power Voltage 24 V DC ± 10%
supply Current capacity [A] 0.3 (including CN8 connector signals) (Note 1)
Dynamic brake Built-in External option (Note 8, 9)
CC-Link IE Field communication cycle
0.5 ms, 1.0 ms, 2.0 ms, 4.0 ms
(Note 7)
Fully closed loop control Compatible (Note 10)
Scale measurement function Compatible (Note 10)
Load-side encoder interface (Note 6) Mitsubishi Electric serial interface
Communication function USB: connection to a personal computer or others (MR Configurator2-compatible)
Encoder output pulses Compatible (A/B/Z-phase pulse)
Analog monitor Two channels
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal),
servo motor overheat protection, encoder error protection, regenerative error protection,
Protective functions
undervoltage protection, instantaneous power failure protection, overspeed protection,
error excessive protection, magnetic pole detection protection, and linear servo control fault protection
Standards certified by CB
EN ISO 13849-1 category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, and EN 61800-5-2
(Note 5)
Test pulse input (STO) Test pulse interval: 1 Hz to 25 Hz
(Note 2) Test pulse off time: Up to 1 ms
Safety
performance Mean time to dangerous
MTTFd ≥ 100 [years] (314a)
failure (MTTFd)
Diagnostic coverage (DC) DC = Medium, 97.6 [%]
Average probability of
dangerous failures per hour PFH = 6.4 × 10-9 [1/h]
(PFH)
LVD: EN 61800-5-1
Compliance to
global
MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
standards
UL standard UL 508C
Close mounting Impossible
Natural cooling, open Force cooling, open
Structure (IP rating) Force cooling, open (IP20) (Note 3)
(IP20) (IP20)
1 - 14
Model: MR-J4-_(-RJ) 60GF4 100GF4 200GF4 350GF4 500GF4 700GF4 11KGF4 15KGF4 22KGF4
Operation
Ambient humidity 5 %RH to 90 %RH (non-condensing)
Storage
Environment
Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
Altitude 2000 m or less above sea level (Note 4)
Vibration 2
5.9 m/s , at 10 Hz to 55 Hz (directions of X, Y and Z axes)
resistance
Mass [kg] 1.7 2.1 3.6 4.3 6.5 13.4 13.4 18.2
Note 1. 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points.
2. Test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuit to
self-diagnose.
3. Except for the terminal block.
4. Follow the restrictions in section 2.6 when using the servo amplifiers at altitude exceeding 1000 m and up to 2000 m above
sea level.
5. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and whether STO input
diagnosis by TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in section 5.2.6.
6. The MR-J4-_GF servo amplifier is compatible only with the two-wire type. The MR-J4-_GF-RJ servo amplifier is compatible
with the two-wire type, four-wire type, and A/B/Z-phase differential output method. Refer to table 1.1 for details.
7. The communication cycle depends on the controller specifications and the number of axes connected.
not stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment.
interlock) in [Pr. PD07] to [Pr. PD09]. Doing so will cause the servo amplifier to become servo-off when an instantaneous
power failure occurs.
1 - 15
1.4 Combinations of servo amplifiers and servo motors
POINT
The linear servo motor and direct drive motor are available for servo amplifiers
with software version A1 or later.
When a 1-phase 200 V AC input is used, the maximum torque of 400% cannot
be achieved with HG-JR series servo motor.
When you use the MR-J4-100GF(-RJ) or MR-J4-200GF(-RJ) with the 1-phase
200 V AC input, contact your local sales office for the torque characteristics of
the HG-UR series and HG-RR series servo motors.
(1) 200 V class

Rotary servo motor
HG-JR
Linear servo motor
Servo amplifier (When the Direct drive motor
HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR (primary side)
maximum torque
is 400%)
MR-J4-20GF(-RJ) LM-U2PAB-05M-0SS0 TM-RFM002C20
23 23
LM-U2PBB-07M-1SS0
MR-J4-40GF(-RJ) LM-H3P2A-07P-BSS0 TM-RFM004C20
LM-H3P3A-12P-CSS0
43 43 LM-K2P1A-01M-2SS1
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
MR-J4-60GF(-RJ) 51 LM-U2PBD-15M-1SS0 TM-RFM006C20
53
52 TM-RFM006E20
MR-J4-70GF(-RJ) LM-H3P3B-24P-CSS0 TM-RFM012E20
LM-H3P3C-36P-CSS0 TM-RFM012G20
73 73 72 73 LM-H3P7A-24P-ASS0 TM-RFM040J10
LM-K2P2A-02M-1SS1
LM-U2PBF-22M-1SS0
MR-J4-100GF(-RJ) 81 TM-RFM018E20
103 53
102
MR-J4-200GF(-RJ) LM-H3P3D-48P-CSS0
121 LM-H3P7B-48P-ASS0
201 103 153 73 LM-H3P7C-72P-ASS0
152
152 153 203 103 LM-FP2B-06M-1SS0
202 LM-K2P1C-03M-2SS1
LM-U2P2B-40M-2SS0
MR-J4-350GF(-RJ) LM-H3P7D-96P-ASS0 TM-RFM048G20
301 153 LM-K2P2C-07M-1SS1 TM-RFM072G20
202 203 353
352 203 LM-K2P3C-14M-1SS1 TM-RFM120J10
LM-U2P2C-60M-2SS0
MR-J4-500GF(-RJ) LM-FP2D-12M-1SS0 TM-RFM240J10
LM-FP4B-12M-1SS0
421 352 353
503 353 LM-K2P2E-12M-1SS1
502 502 503
LM-K2P3E-24M-1SS1
LM-U2P2D-80M-2SS0
MR-J4-700GF(-RJ) 601 LM-FP2F-18M-1SS0
702 701M 503 LM-FP4D-24M-1SS0
703
MR-J4-11KGF(-RJ) 801 LM-FP4F-36M-1SS0
12K1
11K1M
903
MR-J4-15KGF(-RJ) 15K1 LM-FP4F-48M-1SS0
15K1M
MR-J4-22KGF(-RJ) 20K1
25K1
22K1M
1 - 16
(2) 400 V class

Rotary servo motor
HG-JR
Servo amplifier Linear servo motor (primary side)
HG-SR HG-JR (When the maximum
torque is 400%)
MR-J4-60GF4(-RJ) 524 534
734
MR-J4-100GF4(-RJ) 1024 534
1034
1524 1534 734
MR-J4-200GF4(-RJ)
2024 2034 1034
1534
MR-J4-350GF4(-RJ) 3524 3534
2034
MR-J4-500GF4(-RJ) 5024 5034 3534
6014
MR-J4-700GF4(-RJ) 7024 701M4 5034
7034
8014
12K14
MR-J4-11KGF4(-RJ)
11K1M4
9034
15K14
MR-J4-15KGF4(-RJ)
15K1M4
20K14
MR-J4-22KGF4(-RJ) 25K14 LM-FP5H-60M-1SS0
22K1M4
1 - 17
1.5 Function list
The following table lists the functions of this servo. For details of the functions, refer to each section of the
detailed description field.
Detailed
Function Description
explanation
This realizes a high response and stable control following the ideal model. The two-
degrees-of-freedom-model model adaptive control enables you to set a response to
Model adaptive control
the command and response to the disturbance separately. Additionally, this function
can be disabled. Refer to section 7.5 for disabling this function.
Cyclic synchronous position
Operation is performed in the cyclic synchronous position mode.
mode (CSP)
Cyclic synchronous velocity
Operation is performed in the cyclic synchronous velocity mode.
mode (CSV)
Cyclic synchronous torque
Operation is performed in the cyclic synchronous torque mode.
mode (CST)
When the touch probe signal is turned on, the current position is latched. This is used
Touch probe Section 17.2
with servo amplifiers with software version A1 or later.
High-resolution encoder of 4194304 pulses/rev is used as the encoder of the rotary
High-resolution encoder
servo motor compatible with the MELSERVO-J4 series.
Absolute position detection Merely setting a home position once makes home position return unnecessary at
Chapter 12
system every power-on.
You can switch gains during rotation and during stop, and can use an input device to
Gain switching function Section 7.2
switch gains during operation.
Advanced vibration
This function suppresses vibration at the arm end or residual vibration. Section 7.1.5
suppression control II
Machine resonance This is a filter function (notch filter) which decreases the gain of the specific frequency
Section 7.1.1
suppression filter to suppress the resonance of the mechanical system.
When a load is mounted to the servo motor shaft, resonance by shaft torsion during
Shaft resonance suppression
driving may generate a mechanical vibration at high frequency. The shaft resonance Section 7.1.3
filter
suppression filter suppresses the vibration.
Servo amplifier detects mechanical resonance and sets filter characteristics
Adaptive filter II Section 7.1.2
automatically to suppress mechanical vibration.
Suppresses high-frequency resonance which occurs as servo system response is
Low-pass filter Section 7.1.4
increased.
Analyzes the frequency characteristic of the mechanical system by simply connecting
Machine analyzer function a MR Configurator2 installed personal computer and servo amplifier.
MR Configurator2 is necessary for this function.
This function provides better disturbance response in case low response level that
Robust filter [Pr. PE41]
load to motor inertia ratio is high for such as roll send axes.
Slight vibration suppression
Suppresses vibration of ±1 pulse produced at a servo motor stop. [Pr. PB24]
control
Automatically adjusts the gain to optimum value if load applied to the servo motor
Auto tuning Section 6.3
shaft varies.
Used when the regenerative option cannot provide enough regenerative power.
Brake unit Section 11.3
Can be used for the 5 kW or more servo amplifier.
Used when the regenerative option cannot provide enough regenerative power.
Power regeneration converter Section 11.4
Can be used for the 5 kW or more servo amplifier.
Used when the built-in regenerative resistor of the servo amplifier does not have
Regenerative option Section 11.2
sufficient regenerative capability for the regenerative power generated.
Alarm history clear Alarm history is cleared. [Pr. PC21]
Input signal selection (device LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end) and other input [Pr. PD03] to
settings) device can be assigned to any pins. [Pr. PD05]
Output signal selection The output devices including MBR (Electromagnetic brake interlock) can be assigned [Pr. PD07] to
(device settings) to certain pins of the CN3 connector. [Pr. PD09]
1 - 18
Detailed
explanation
Output signal (DO) forced Output signal can be forced on/off independently of the servo status. Section 4.5.1
output Use this function for checking output signal wiring, etc. (1) (d)
[Pr. PA11]
Torque limit Servo motor torque can be limited to any value.
[Pr. PA12]
Speed limit Servo motor speed can be limited to any value. [Pr. PT67]
Jog operation, positioning operation, motor-less operation, DO forced output, and
Test operation mode program operation Section 4.5
[Pr. PC09],
Analog monitor output Servo status is output in terms of voltage in real time.
[Pr. PC10]
Using a personal computer, you can perform the parameter setting, test operation,
MR Configurator2 Section 11.7
monitoring, and others.
Linear servo system can be configured using a linear servo motor and linear encoder.
Linear servo system Chapter 14
This is used with servo amplifiers with software version A1 or later.
Direct drive servo system can be configured to drive a direct drive motor. This is used
Direct drive servo system Chapter 15
Fully closed loop system can be configured using the load-side encoder. This is used
Fully closed loop system Chapter 16
Gain adjustment is performed just by one click on a certain button on MR
One-touch tuning Configurator2. Section 6.2
Also, the one-touch tuning can be used through network.
Enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged [Pr. PA20]
in the capacitor in case that an instantaneous power failure occurs during operation.
SEMI-F47 function [Pr. PF25]
Use a 3-phase for the input power supply of the servo amplifier. Using a 1-phase 100
Section 7.4
V AC/200 V AC for the input power supply will not comply with SEMI-F47 standard.
This function makes the equipment continue operating even under the condition that
an alarm occurs.
Tough drive function Section 7.3
The tough drive function includes two types: the vibration tough drive and the
instantaneous power failure tough drive.
This function continuously monitors the servo status and records the status transition
before and after an alarm for a fixed period of time. You can check the recorded data
on the drive recorder window on MR Configurator2 by clicking the "Graph" button.
However, the drive recorder will not operate on the following conditions.
Drive recorder function 1. You are using the graph function of MR Configurator2. [Pr. PA23]
2. You are using the machine analyzer function.
3. [Pr. PF21] is set to "-1".
4. The controller is not connected (except the test operation mode).
5. An alarm related to the controller is occurring.
This function is a functional safety that complies with IEC/EN 61800-5-2. You can
STO function Chapter 13
create a safety system for the equipment easily.
You can check the cumulative energization time and the number of on/off times of the
Servo amplifier life diagnosis inrush relay. This function gives an indication of the replacement time for parts of the
function servo amplifier including a capacitor and a relay before they malfunction.
This function calculates the power running energy and the regenerative power from
the data in the servo amplifier such as speed and current.
Power monitoring function
Also, the servo amplifier life diagnosis function can be used through network. Refer to
app. 13 for details.
From the data in the servo amplifier, this function estimates the friction and vibrational
component of the drive system in the equipment and recognizes an error in the
machine parts, including a ball screw and bearing.
Machine diagnosis function
Also, the machine diagnosis function can be used through network. Refer to app. 13
for details.
The function transmits position information of a scale measurement encoder to the
Scale measurement function controller by connecting the scale measurement encoder in semi closed loop control. Section 17.1
Home position return mode The servo amplifier operates in the home position return mode. Section 17.2
Lost motion compensation This function improves the response delay occurred when the machine moving
Section 7.6
function direction is reversed.
1 - 19
Detailed
explanation
This function sets constant and uniform acceleration/deceleration droop pulses to
Super trace control Section 7.7
almost 0.
This function is to back up and restore all parameter data and point table data in the
Backup/restoration function servo amplifier to GOT using SLMP. This is used with servo amplifiers with software Section 17.3
version A1 or later.
MR-D30 can be used to expand the safety observation function. This is available with
Functional safety unit
servo amplifiers with software version A3 or later.
"Selected Station Communication Status Monitor" is available. This is available with
CC-Link IE Field diagnosis servo amplifiers with software version A3 or later. "Operation Test", "Information
Confirmation/Set", and "Selected Station Operation" are not available.
1.6 Model designation
(1) Rating plate

The following shows an example of rating plate for explanation of each item.
AC SERVO
SER.A5X001001 Serial number
MODEL MR-J4-10GF Model
POWER :100W Capacity
INPUT : 3AC/AC200-240V 0.9A/1.5A 50/60Hz Applicable power supply
OUTPUT: 3PH170V 0-360Hz 1.1A Rated output current
STD.: IEC/EN 61800-5-1 MAN.: IB(NA)0300175 Standard, Manual number
Max. Surrounding Air Temp.: 55°C Ambient temperature
IP20 IP rating
KCC-REI-MEK-TC301A079G51 DATE:2015-10
KC certification number, The year and month of manufacture
TOKYO 100-8310, JAPAN MADE IN JAPAN
Country of origin
(2) Model
The following describes what each block of a model name indicates. Not all combinations of the symbols
are available.
Series Special specifications

Symbol Special specifications
Rated output None Standard
Symbol Rated output [kW]
-RJ Fully closed loop control four-wire type/load-side encoder
10 0.1 A/B/Z-phase input compatible
20 0.2 -ED MR-J4-_GF_ without a dynamic brake (Note 2)
40 0.4 -RU MR-J4-_GF_-RJ without a dynamic brake (Note 2)
60 0.6 -PX MR-J4-_GF_ without regenerative resistor (Note 1)
70 0.75 -RZ MR-J4-_GF_-RJ without regenerative resistor (Note 1)
100 1 -EB MR-J4-_GF_ with a special coating specification (3C2) (Note 3)
200 2 -KS MR-J4-_GF_-RJ with a special coating specification (3C2) (Note 3)
350 3.5
Power supply
500 5
Symbol Power supply
700 7
11K 11 None 3-phase or 1-phase
200 V AC to 240 V AC
15K 15
4 3-phase 380 V AC to 480 V AC
22K 22
CC-Link IE Field Network
Note 1. Indicates a servo amplifier of 11 kW to 22 kW that does not use a regenerative resistor as standard accessory.
Refer to Appendix 10.2 for details.
2. Dynamic brake which is built in 7 kW or smaller servo amplifiers is removed. Refer to Appendix 10.1 for details.
3. Type with a specially-coated servo amplifier board (IEC 60721-3-3 Class 3C2). Refer to Appendix 10.3 for details.
1 - 20
1.7 Structure
1.7.1 Parts identification
The CN1A and CN1B connectors are designed for CC-Link IE Field Network only.
CAUTION Do not connect these connectors to other than CC-Link IE Field Network. Doing
so may cause a malfunction.
1 - 21
(1) 200 V class

(a) MR-J4-200GF(-RJ) or less
The diagram shows MR-J4-10GF-RJ.
No. Name/Application Detailed

explanation
(3) Display
(1) (1) The 3-digit, 7-segment LED shows the servo status
and the alarm number.
ON
(2)
1 2
Station number setting rotary switch (SW2/SW3)
(2) Used to set the station number of the servo Section 4.3
amplifier.
Mode select switch (SW1)
(3) To change mode to the test operation mode, set the
switch. (SW1-1)
Inside of the display cover
USB communication connector (CN5) Section
(4) 11.7
Used to connect a personal computer.
(20) (19) I/O signal connector (CN3) Section 3.2
(5)
Used to connect digital I/O signals. Section 3.4
STO input signal connector (CN8) Chapter 13
(6) Used to connect the MR-J3-D05 safety logic unit
App. 5
and external safety relay.
Ethernet cable connector (CN1A)
(7)
(4) Used to connect the controller or the servo amplifier. Section 3.2
(6) Ethernet cable connector (CN1B) Section 3.4
(8)
(13) Used to connect the controller or the servo amplifier.
Encoder connector (CN2) Section 3.4
(5)
(9) Used to connect the servo motor encoder or "Servo
(15)
(Note external encoder. Refer to table 1.1 for the Motor
(7) 2) compatible external encoders. Instruction
Manual
(16) (Vol. 3)"
Battery connector (CN4)
(8) (10) Used to connect the battery for absolute position Chapter 12
(9) data backup.
(17) Battery holder
(11) Used to house the battery for absolute position data Section
(18) 12.2
backup.
(10) (12) Protective earth (PE) terminal
(14) Section 3.1
Main circuit power connector (CNP1)
Side (13) Section 3.3
(11) Used to connect the input power supply.
Bottom (12) (14) Rating plate Section 1.6
Control circuit power connector (CNP2)
(15) Used to connect the control circuit power supply and
regenerative option. Section 3.1
Section 3.3
Servo motor power output connector (CNP3)
(16)
Used to connect the servo motor.
Charge lamp
(17) When the main circuit is charged, this will light up.
While this lamp is lit, do not reconnect the cables.
External encoder connector (CN2L) Section 3.4
(18) Used to connect the external encoder. Refer to table "Linear
(Note 1.1 for the compatible external encoders. Encoder
1, 2) Instruction
Manual"
Optional unit connector 1 (CN7)
(19) This connector is used for connection with an
optional unit. The connector is attached only on MR-
J4-_GF_-RJ.
optional unit. The connector is attached only on MR-
J4-_GF_-RJ.
Note 1. This is for MR-J4-_GF-RJ servo amplifier. MR-J4-_GF servo amplifier does not have CN2L connector.
2. "External encoder" is a term for linear encoder used in the linear servo system, load-side encoder used in the fully closed loop
system, and scale measurement encoder used with the scale measurement function in this manual.
1 - 22
The broken line area is the same as Detailed
MR-J4-200GF(-RJ) or less. No. Name/Application
explanation
Main circuit power connector (CNP1) Section 3.1
(1)
Connect the input power supply. Section 3.3
(2) Rating plate Section 1.6
(3)
Connect the servo motor.
(1) Section 3.1
Section 3.3
(4) Connect the control circuit power supply and
regenerative option.
(3) Charge lamp
(5) When the main circuit is charged, this will light.
(2) While this lamp is lit, do not reconnect the cables.
Side
Protective earth (PE) terminal Section 3.1
(4) (6)
Section 3.3
(5)
Battery holder Section
(7)
(7) Install the battery for absolute position data backup. 12.2
(6)
1 - 23
(c) MR-J4-500GF(-RJ)
POINT
The servo amplifier is shown with the front cover open. The front cover cannot
be removed.

explanation
Control circuit terminal block (TE2)
(1)
Used to connect the control circuit power supply. Section 3.1
Main circuit terminal block (TE1) Section 3.3
(2)
Connect the input power supply.
(3)
Install the battery for absolute position data backup. 12.2
(1)
Regenerative option/power factor improving reactor
terminal block (TE3)
(5)
Used to a connect a regenerative option and a Section 3.1
(2) power factor improving DC reactor. Section 3.3
Servo motor power output terminal block (TE4)
(6)
(3) Charge lamp
(Note)
(4)
Side Protective earth (PE) terminal Section 3.1
(8)
Section 3.3
(5)
(6)
(7)
(8)
Note. Lines for slots around the battery holder are omitted from the illustration.
1 - 24
(d) MR-J4-700GF(-RJ)
POINT
The servo amplifier is shown without the front cover. For removal of the front
cover, refer to section 1.7.2.

explanation
Power factor improving reactor terminal block (TE3)
(1)
Used to connect the DC reactor.
Main circuit terminal block (TE1)
(2) Used to connect the input power supply, Section 3.1
(6) regenerative option, and servo motor. Section 3.3
(7) Control circuit terminal block (TE2)
(3)
Used to connect the control circuit power supply.
(4) Protective earth (PE) terminal
(5) Battery holder Section
(Note) (5)
Charge lamp
(1)
(2)
(4)
(3)
1 - 25
(e) MR-J4-11KGF(-RJ)/MR-J4-15KGF(-RJ)
POINT
The diagram is for MR-J4-11KGF-RJ and MR-J4-15KGF-RJ.

explanation
Power factor improving reactor terminal block (TE1-
2)
(1)
Used to connect a power factor improving DC
reactor and a regenerative option.
Section 3.1
Main circuit terminal block (TE1-1)
(7) (2) Section 3.3
Used to connect input power and servo motor.
(3)
(6)
Battery holder
Section
(5) Used to house the battery for absolute position data
12.2
backup.
(5) Charge lamp
(Note)
(2)
(3)
(4)
(1)
1 - 26
(f) MR-J4-22KGF(-RJ)
POINT
The diagram shows MR-J4-22KGF-RJ.

explanation
2)
(1)
reactor and a regenerative option.
(7) Section 3.1
(2) Section 3.3
(5) Used to connect input power and servo motor.
(Note) Control circuit terminal block (TE2)
(3)
Battery holder
Section
12.2
backup.
Charge lamp
(2) (7) When the main circuit is charged, this will light up.
(3)
(1)
(4)
1 - 27
(2) 400 V class

(a) MR-J4-200GF4(-RJ) or less
The diagram shows MR-J4-60GF4-RJ.
Detailed
No. Name/Application
explanation
(3) Display
(1) ON (1) The 3-digit, 7-segment LED shows the servo status
(2) and the alarm number.
1 2
Station number setting rotary switch (SW2/SW3)

(2) Section 4.3
Set the station number of the servo amplifier.
Mode select switch (SW1)
(3) To change mode to the test operation mode, set the
Inside of the display cover switch. (SW1-1)
USB communication connector (CN5) Section
(4)
Used to connect a personal computer. 11.7
I/O signal connector (CN3) Section 3.2
(5)
Used to connect digital I/O signals. Section 3.4
STO input signal connector (CN8)
Chapter 13
(20) (19) (6) Used to connect the MR-J3-D05 safety logic unit
App. 5
(4) and external safety relay.
(17) Ethernet cable connector (CN1A)
(7)
(6) Used to connect the controller or the servo amplifier. Section 3.2
Ethernet cable connector (CN1B) Section 3.4
(5) (8)
Used to connect the controller or the servo amplifier.
(13) Encoder connector (CN2) Section 3.4
(7) (9) Used to connect the servo motor encoder or "Servo
external encoder. Refer to table 1.1 for the Motor
(15) (Note
compatible external encoders. Instruction
2)
(8) Manual
(Vol. 3)"
(9) Battery connector (CN4)
(16) (10) Used to connect the battery for absolute position Chapter 12
data backup.
(18)
Battery holder
Section
12.2
backup.
(14)
Side (10) (12) Protective earth (PE) terminal
Section 3.1
Main circuit power connector (CNP1)
(11) (12) (13) Section 3.3
Bottom Used to connect the input power supply.
(15) Used to connect the control circuit power supply and
Section 3.1
Section 3.3
(16)
Used to connect the servo motor.
Charge lamp
External encoder connector (CN2L) Section 3.4
(18) Used to connect the external encoder. Refer to table "Linear
(Note 1.1 for the compatible external encoders. Encoder
1, 2) Instruction
Manual"
optional unit. This connector is attached only on MR-
J4-_GF_-RJ.
optional unit. This connector is attached only on MR-
J4-_GF_-RJ.
Note 1. This is for MR-J4-_GF4-RJ servo amplifier. MR-J4-_GF4 servo amplifier does not have CN2L connector.
2. "External encoder" is a term for linear encoder used in the linear servo system, load-side encoder used in the fully closed loop
system, and scale measurement encoder used with the scale measurement function in this manual.
1 - 28
(b) MR-J4-350GF4(-RJ)
MR-J4-200GF4(-RJ) or less. No. Name/Application
explanation
Main circuit power connector (CNP1) Section 3.1
(1)
Connect the input power supply. Section 3.3
(3) Connect the control circuit power supply and
Section 3.1
(1) regenerative option.
Section 3.3
(4)
(7) Charge lamp
(Note) (5) When the main circuit is charged, this will light.
(3) While this lamp is lit, do not reconnect the cables.
(6)
Section 3.3
(7)
(2)
Side
(5)
(6)
1 - 29
(c) MR-J4-500GF4(-RJ)
POINT

explanation
(1)
Section 3.1
(6) Section 3.3
(2) Used to connect the input power supply,
regenerative option, and servo motor.
(4) (3)
(3) Section 3.1
(Note) (5) Used to connect a power factor improving DC
Section 3.3
reactor.
Charge lamp
(5) (7)
Section 3.3
(1)
(2)
(7)
1 - 30
(d) MR-J4-700GF4(-RJ)
POINT

explanation
(1)
Used to connect the DC reactor.
(2) Used to connect the input power supply, Section 3.1
(6) regenerative option, and servo motor. Section 3.3
(7) Control circuit terminal block (TE2)
(3)
(Note) (5)
Charge lamp
(1)
(2)
(4)
(3)
1 - 31
(e) MR-J4-11KGF4(-RJ)/MR-J4-15KGF4(-RJ)
POINT
The diagram is for MR-J4-11KGF4-RJ and MR-J4-15KGF4-RJ.

explanation
2)
(1)
reactor or a regenerative option.
Section 3.1
(7) (2) Section 3.3
Used to connect input power and servo motor.
(3)
(6)
Battery holder
Section
12.2
backup.
(5) Charge lamp
(Note)
(2)
(3)
(4)
(1)
1 - 32
(f) MR-J4-22KGF4(-RJ)
POINT
The diagram shows MR-J4-22KGF4-RJ.

explanation
2)
(1)
reactor or a regenerative option.
(7) Section 3.1
(2) Section 3.3
(5) Used to connect input power and servo motor.
(Note) Control circuit terminal block (TE2)
(3)
Battery holder
Section
12.2
backup.
Charge lamp
(2) (7) When the main circuit is charged, this will light up.
(3)
(1)
(4)
1 - 33
1.7.2 Removal and reinstallation of the front cover
Before removing or installing the front cover, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Then, confirm that the voltage
WARNING between P+ and N- is safe with a voltage tester and others. Otherwise, an electric
shock may occur. In addition, when confirming whether the charge lamp is off or
The following shows how to remove and reinstall the front cover of MR-J4-700GF(-RJ) to MR-J4-22KGF(-
RJ) and MR-J4-500GF4(-RJ) to MR-J4-22KGF4(-RJ).
The diagram is for MR-J4-700GF-RJ.
(1) Removal of the front cover
A)
A)
1) Hold the ends of lower side of the front cover with 2) Pull up the cover, supporting at point A).
both hands.
3) Pull out the front cover to remove.
1 - 34
(2) Reinstallation of the front cover
Front cover A)
setting tab
A)
1) Insert the front cover setting tabs into the sockets of 2) Push down the cover, supporting at point A).
servo amplifier (2 places).
Setting tab
3) Press the cover against the terminal box until the

installing knobs click.
1 - 35
1.8 Configuration including peripheral equipment
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo

amplifier may cause a malfunction.
CAUTION The CN1A and CN1B connectors are designed for CC-Link IE Field Network only.
Do not connect these connectors to other than CC-Link IE Field Network. Doing
POINT
Equipment other than the servo amplifier and servo motor are optional or
recommended products.
When using the MR-J4-_GF-RJ servo amplifier with the DC power supply input,
refer to app. 1.
(1) 200 V class

(a) MR-J4-200GF(-RJ) or less
RS T
(Note 2)
Power supply
Personal
Molded-case computer
circuit breaker MR Configurator2
(MCCB) CN5
(Note 3)
Magnetic CN8 To safety relay or MR-J3-D05
contactor safety logic unit
(MC)
(Note 1)
CN3 Junction terminal

block
Line noise
filter
(FR-BSF01)
D (Note 5)
CN1A Servo system controller or
servo amplifier
U
L1
V
L2 CN1B Servo system controller or
L3 W servo amplifier
Power factor P3 CN2

improving DC
reactor Servo motor
P4 CN2L (Note 4)
(FR-HEL)
P+ CN4
Regenerative Battery
option
C
L11
L21
1 - 36
Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. Refer to section 1.3 for the power
supply specifications.
3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn
off the magnetic contactor.
4. This is for MR-J4-_GF-RJ servo amplifier. MR-J4-_GF servo amplifier does not have CN2L connector. When using MR-J4-
_GF-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this
connector. Refer to table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.
5. Always connect between P+ and D terminals. When using the regenerative option, refer to section 11.2.
1 - 37
RS T
(Note 2)
Power supply
Molded-case
circuit breaker
(MCCB)
Personal
computer
MR Configurator2
CN5
(Note 3)
Magnetic
contactor
(MC)
(Note 1)
CN8 To safety relay or MR-J3-D05
safety logic unit
Line noise
filter CN3 Junction terminal
(FR-BSF01) block
U CN1A Servo system controller or

L1 V servo amplifier
L2 W
servo amplifier
Power factor P3
improving DC CN2
reactor P4 D (Note 5)
(FR-HEL) CN2L (Note 4)
P+
Regenerative CN4
option Battery
C
L11
L21
Servo motor
2. Refer to section 1.3 for the power supply specifications.
1 - 38
RS T
(Note 2)
Power supply
Molded-case
circuit breaker
(MCCB)
Personal
computer
MR Configurator2
CN5
(Note 3)
Magnetic
contactor L11
(MC)
(Note 1) L21
safety logic unit
Line noise
filter CN3 Junction terminal
(FR-BLF) block

servo amplifier
L1
L3 servo amplifier
P3 D (Note 5) CN2
Power factor
improving DC U
reactor CN2L (Note 4)
P4
(FR-HEL) V
P+ CN4
Regenerative W Battery
option
C
Servo motor
1 - 39
RS T
(Note 2)
Power supply
Personal
(MCCB) CN5
(Note 3)
(MC)
(Note 1)
block
Line noise
filter CN1A
(FR-BLF) Servo system controller or
servo amplifier
CN1B Servo system controller or
L21 servo amplifier
L11 CN2
Power factor
improving DC
reactor
(FR-HEL) CN2L (Note 4)
P3
CN4
Battery
P4
L3
L2
L1
U V W
P+ C
(Note 5) Regenerative
option
Servo motor
5. When using the regenerative option, refer to section 11.2.
1 - 40
(e) MR-J4-11KGF(-RJ)/MR-J4-15KGF(-RJ)
RS T
(Note 2) Personal
Power supply computer
MR Configurator2
Molded-case CN5
circuit breaker
(MCCB)

(Note 3) safety logic unit
Magnetic
contactor
(MC) CN3 Junction terminal
(Note 1) block

Line noise servo amplifier
filter CN1B
servo amplifier
CN2
L21 CN2L (Note 4)
L11 CN4
Battery
L3
L2
L1
U V W
Power factor
improving DC
reactor
(FR-HEL)
P3
P4
P+ C
option
Servo motor
1 - 41
(f) MR-J4-22KGF(-RJ)
The diagram shows MR-J4-22KGF-RJ.
RS T
(Note 2)
Power supply
Molded-case
circuit breaker Personal
(MCCB) computer
MR Configurator2
CN5
(Note 3)
Magnetic
contactor
(MC) CN8 To safety relay or MR-J3-D05

block
Line noise
filter
(FR-BLF)
servo amplifier

servo amplifier
L11
L3 CN2
L2
CN2L (Note 4)
L1
CN4
Battery
U V W
Power factor
improving DC
reactor
(FR-HEL)
P3
P4 P+ C
option
Servo motor
1 - 42
(2) 400 V class

(a) For MR-J4-200GF4(-RJ) or less
The diagram is for MR-J4-60GF4-RJ and MR-J4-100GF4-RJ.
RS T
(Note 2)
Power supply
Personal
(MCCB) CN5
(Note 3)
(MC)
(Note 1)

block
Line noise
filter
(FR-BSF01)

servo amplifier
L1 D (Note 5)
L3 servo amplifier
U
Power factor P3 CN2
improving DC V
reactor P4 CN2L (Note 4)
(FR-HEL-H) W
P+ CN4
Regenerative Battery
option
C
L11
L21
Servo motor
2. Refer to section 1.3 for the power supply specification.
4. This is for MR-J4-_GF4-RJ servo amplifier. MR-J4-_GF4 servo amplifier does not have CN2L connector. When using MR-J4-
_GF4-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this
connector. Refer to Table 1.1 and "Linear Encoder Instruction Manual" for the compatible external encoders.
1 - 43
(b) MR-J4-350GF4(-RJ)
RS T
(Note 2)
Power supply
Molded-case
circuit breaker
(MCCB)
Personal
computer
MR Configurator2
(Note 3) CN5
Magnetic
contactor
(MC)
(Note 1)

safety logic unit
Line noise
filter
(FR-BSF01) CN3 Junction terminal
block

L1 servo amplifier
L2
D (Note 5) CN1B Servo system controller or
L3
servo amplifier
Power factor P3 CN2

improving DC
reactor U
P4 CN2L (Note 4)
(FR-HEL-H)
V
P+ CN4
Regenerative W Battery
option
C
L11
L21
Servo motor
1 - 44
1 - 45
(c) MR-J4-500GF4(-RJ)
RS T
(Note 2)
Power supply
Molded-case
circuit breaker
(MCCB) Personal
computer
MR Configurator2
CN5
(Note 3)
Magnetic
contactor
(MC)
Power factor
improving DC
reactor
(FR-HEL-H) CN3 Junction terminal
Line noise
filter P3 block
(FR-BSF01)
P4 CN1A Servo system controller or

servo amplifier
servo amplifier
CN2L (Note 4)
CN4
Battery
L21
L3 L11
L2
L1
U V W
P+ C
option
Servo motor
1 - 46
(d) MR-J4-700GF4(-RJ)
RS T
(Note 2)
Power supply
Personal
(MCCB) CN5
(Note 3)
(MC)
(Note 1)
block
Line noise
filter CN1A
servo amplifier
L21 servo amplifier
L11 CN2
Power factor
improving DC
reactor
(FR-HEL-H) CN2L (Note 4)
P3
CN4
Battery
P4
L3
L2
L1
U V W
P+ C
option
Servo motor
1 - 47
(e) MR-J4-11KGF4(-RJ)/MR-J4-15KGF4(-RJ)
RS T
(Note 2) Personal
Power supply computer
MR Configurator2
Molded-case CN5
circuit breaker
(MCCB)

Magnetic
contactor
(MC) CN3 Junction terminal
(Note 1) block

Line noise servo amplifier
filter CN1B
servo amplifier
CN2
L21 CN2L (Note 4)
L11 CN4
Battery
L3
L2
L1
U V W
Power factor
improving DC
reactor
(FR-HEL-H)
P3
P4
P+ C
option
Servo motor
1 - 48
(f) MR-J4-22KGF4(-RJ)
The diagram shows MR-J4-22KGF4-RJ.
RS T
(Note 2)
Power supply
Molded-case
circuit breaker Personal
(MCCB) computer
MR Configurator2
CN5
(Note 3)
Magnetic
contactor
(MC) CN8 To safety relay or MR-J3-D05

Line noise block
filter
(FR-BLF)
servo amplifier

servo amplifier
L11
L3 CN2
L2
CN2L (Note 4)
L1
CN4
Battery
U V W
Power factor
improving DC
reactor
(FR-HEL-H)
P3
P4 P+ C
option
Servo motor
1 - 49
MEMO
1 - 50
2. INSTALLATION
2. INSTALLATION
WARNING To prevent electric shock, ground each equipment securely.
Stacking in excess of the specified number of product packages is not allowed.

Install the equipment on incombustible material. Installing it directly or close to
combustibles will lead to a fire.
Install the servo amplifier and the servo motor in a load-bearing place in
accordance with the Instruction Manual.
Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.
Use the equipment within the specified environment. For the environment, refer to
section 1.3.
Provide an adequate protection to prevent screws and other conductive matter, oil
and other combustible matter from entering the servo amplifier.
Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it
may cause a malfunction.
Do not drop or strike the servo amplifier. Isolate it from all impact loads.
CAUTION Do not install or operate the servo amplifier which have been damaged or have
any parts missing.
When the equipment has been stored for an extended period of time, contact your
local sales office.
When handling the servo amplifier, be careful about the edged parts such as
corners of the servo amplifier.
The servo amplifier must be installed in 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, it may

cause a malfunction.
CAUTION Leave specified clearances between the servo amplifier and the cabinet walls or
other equipment. Otherwise, it may cause a malfunction.
(1) Installation clearances of the servo amplifier

(a) Installation of one servo amplifier
Cabinet Cabinet
40 mm or more
Wiring allowance
Servo amplifier 80 mm or more
10 mm 10 mm
or more or more Top
(Note 2)
Bottom
40 mm
or more
(Note 1)
Note 1. For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and ground will be 120 mm or more.
2. When mounting MR-J4-500GF(-RJ), maintain a minimum clearance of 25 mm on the left side.
2- 2
2. INSTALLATION
(b) Installation of two or more servo amplifiers
POINT
Close mounting is possible depending on the capacity of the servo amplifier.
Refer to section 1.3 for availability of close mounting.
When closely mounting multiple servo amplifiers, the servo amplifier on the right
must have a larger depth than that on the left. Otherwise, the CNP1, CNP2, and
CNP3 connectors cannot be removed.
Leave a large clearance between the top of the servo amplifier and the cabinet walls, and install a
cooling fan to prevent the internal temperature of the cabinet from exceeding the environment.
When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo
amplifiers in consideration of mounting tolerances. In this case, keep the ambient temperature within
0 ˚C to 45 ˚C or use the servo amplifier with 75% or less of the effective load ratio.
Cabinet Cabinet
100 mm or more 100 mm or more

10 mm or more
(Note 2) 1 mm 1 mm
30 mm 30 mm 30 mm Top
or more or more or more
Bottom
40 mm or more 40 mm or more
(Note 1)
Leaving clearance Mounting closely
Note 1. For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and ground will be 120 mm or more.
2. When mounting MR-J4-500GF(-RJ), maintain a minimum clearance of 25 mm between the MR-J4-500GF(-RJ) and a servo
amplifier mounted on the left side.
(2) Others
When using heat generating equipment such as the regenerative option, install them with full
consideration of heat generation so that the servo amplifier is not affected.
Install the servo amplifier on a perpendicular wall in the correct vertical direction.
2- 3
2. INSTALLATION
2.2 Keeping out of foreign materials
(1) When drilling in the cabinet, prevent drill chips and wire fragments from entering the servo amplifier.
(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the cabinet or
a cooling fan installed on the ceiling.
(3) When installing the cabinet in a place where toxic gas, dirt and dust exist, conduct an air purge (force
clean air into the cabinet from outside to make the internal pressure higher than the external pressure) to
prevent such materials from entering the cabinet.
2.3 Encoder cable stress
(1) The way of clamping the cable must be fully examined so that bending stress and cable's own weight
stress are not applied to the cable connection.
(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, and
brake) with having some slack from the connector connection part of the servo motor to avoid putting
stress on the connector connection part. Use the optional encoder cable within the bending life range.
Use the power supply and brake wiring cables within the bending life of the cables.
(3) Avoid any probability that the cable insulator 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 bending radius should be made as large
as possible. Refer to section 10.4 for the bending life.
2.4 Inspection items
Before starting maintenance and/or inspection, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Then, confirm that the voltage
between P+ and N- is safe with a voltage tester and others. Otherwise, an electric
WARNING shock may occur. In addition, when confirming whether the charge lamp is off or
To avoid an electric shock, only qualified personnel should attempt inspections.
For repair and parts replacement, contact your local sales office.
Do not perform insulation resistance test on the servo amplifier. Otherwise, it may
CAUTION cause a malfunction.
Do not disassemble and/or repair the equipment on customer side.
It is recommended that the following points periodically be checked.
(1) Check for loose terminal block screws. Retighten any loose screws.
(2) Check the cables and the like for scratches or cracks. Inspect them periodically according to operating
conditions especially when the servo motor is movable.
2- 4
2. INSTALLATION
(3) Check that the connector is securely connected to the servo amplifier.
(4) Check that the wires are not coming out from the connector.
(5) Check for dust accumulation on the servo amplifier.
(6) Check for unusual noise generated from the servo amplifier.
(7) Make sure that the emergency stop circuit operates properly such that an operation can be stopped
2.5 Parts having service life
Service life of the following parts is listed below. However, the service life varies depending on operation and
environment. If any fault is found in the parts, they must be replaced immediately regardless of their service
life. For parts replacement, please contact your local sales office.
Part name Life guideline
Smoothing capacitor 10 years
Number of power-on, forced stop by EM1 (Forced
stop 1), and sudden stop command from
Relay
controller: 100,000 times
Number of on and off for STO: 1,000,000 times
Cooling fan 10,000 hours to 30,000 hours (2 years to 3 years)
Absolute position battery Refer to section 12.2.
(1) Smoothing capacitor

The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the
capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach
the end of its life in 10 years of continuous operation in air-conditioned environment (40 ˚C surrounding
air temperature or less).
(2) Relays
Contact faults will occur due to contact wear arisen from switching currents. Relays reach the end of
their lives when the power has been turned on, forced stop by EM1 (Forced stop 1) has occurred, and
sudden stop command from controller has been executed 100,000 times in total, or when the STO has
been turned on and off 1,000,000 times while the servo motor is stopped under servo-off state.
However, the lives of relays may depend on the power supply capacity.
(3) Servo amplifier cooling fan

The cooling fan bearings reach the end of their life in 10,000 hours to 30,000 hours. Normally, therefore,
the cooling fan must be replaced in a few years of continuous operation as a guideline. It must also be
changed if unusual noise or vibration is found during inspection.
The life indicates under the yearly average ambient temperature of 40 ˚C, free from corrosive gas,
flammable gas, oil mist, dust and dirt.
2- 5
2. INSTALLATION
2.6 Restrictions when using the servo amplifiers at altitude exceeding 1000 m and up to 2000 m above sea
level
(1) Effective load ratio and regenerative load ratio

Heat dissipation effects decrease in proportion to decreasing air density, and hence use the servo
amplifiers with the effective load ratio and the regenerative load ratio within the following range.
Regenerative load ratio
[%]
Effective load ratio
100
95
0
0 1000 2000 [m]
Altitude
When closely mounting the servo amplifiers, operate them at the ambient temperatures of 0 ˚C to 45 ˚C
or at 75% or smaller effective load ratio. (Refer to section 2.1.)
(2) Input voltage

Generally, withstand voltage decreases as increasing altitude; however, there is no restriction on the
withstand voltage. Use in the same manner as in 1000 m or less. (Refer to section 1.3.)
(3) Parts having service life

(a) Smoothing capacitor
The capacitor will reach the end of its life in 10 years of continuous operation in air-conditioned
environment (30 ˚C surrounding air temperature or less).
(b) Relays
There is no restriction. Use in the same manner as in 1000 m or less. (Refer to section 2.5.)
(c) Servo amplifier cooling fan

There is no restriction. Use in the same manner as in 1000 m or less. (Refer to section 2.5.)
2- 6
3. SIGNALS AND WIRING
Any person who is involved in wiring should be fully competent to do the work.
Before wiring, turn off the power and wait for 15 minutes or more until the charge
lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a
voltage tester and others. Otherwise, an electric shock may occur. In addition,
when confirming whether the charge lamp is off or not, always confirm it from the
front of the servo amplifier.
WARNING Ground the servo amplifier and servo motor securely.
Do not attempt to wire the servo amplifier and servo motor until they have been
installed. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it
To avoid an electric shock, insulate the connections of the power supply
terminals.
Wire the equipment correctly and securely. Otherwise, the servo motor may
operate unexpectedly, resulting in injury.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may
occur.
The surge absorbing diode installed to the DC relay for control output should be
fitted in the specified direction. Otherwise, the emergency stop and other
protective circuits may not operate.
24 V DC 24 V DC
DOCOM DOCOM

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

Electromagnetic interference may be given to the electronic equipment used near
the servo amplifier.
Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF(-
H)) with the power line of the servo motor.
When using the regenerative resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative resistor,
causing a fire.
Do not modify the equipment.
3- 1
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
Servo amplifier Servo motor Servo amplifier Servo motor
U U
U U
CAUTION V
V
M V
V
M
W W
W W

POINT
When you use a linear servo motor, replace the following left words to the right
words.
Load to motor inertia ratio → Load mass
Torque → Thrust
3- 2
3.1 Connection example of power circuit
Always connect a magnetic contactor between the power supply and the main
circuit power supply (L1/L2/L3) of the servo amplifier, in order to configure a
circuit that shuts down the power supply on the side of the servo amplifier’s power
supply. If a magnetic contactor is not connected, continuous flow of a large
current may cause a fire when the servo amplifier malfunctions.
Use ALM (Malfunction) to switch main circuit power supply off. Not doing so may
cause a fire when a regenerative transistor malfunctions or the like may overheat
the regenerative resistor.
Check the servo amplifier model, and then input proper voltage to the servo
CAUTION amplifier power supply. If input voltage exceeds the upper limit, the servo amplifier
will break down.
The servo amplifier has a built-in surge absorber (varistor) to reduce exogenous
noise and to suppress lightning surge. Exogenous noise or lightning surge
deteriorates the varistor characteristics, and the varistor may be damaged. To
prevent a fire, use a molded-case circuit breaker or fuse for input power supply.
The N- terminal is not a neutral point of the power supply. Incorrect wiring will
cause a burst, damage, etc.
POINT
Even if alarm has occurred, do not switch off the control circuit power supply.
When the control circuit power supply has been switched off, network
communication is interrupted. Therefore, the next servo amplifier displays "AA"
at the indicator and turns into base circuit shut-off. The servo motor stops with
starting dynamic brake.
EM2 has the same function as EM1 in the torque mode.
refer to app. 1.
Configure the wiring so that the main circuit power supply is shut off and the servo-on command turns off
after deceleration to a stop due to an alarm occurring, an enabled servo forced stop, or a sudden stop
command from controller. A molded-case circuit breaker (MCCB) must be used with the input cables of the
main circuit power supply.
3- 3
3.1.1 200 V class
(1) For 3-phase 200 V AC to 240 V AC power supply of MR-J4-10GF(-RJ) to MR-J4-350GF(-RJ)

(Note 4)
Malfunction OFF
RA1 ON
MC
MC
SK
Emergency stop switch
Servo amplifier Servo motor
MC
MCCB (Note 7) CNP1
L1 (Note 11)
3-phase CNP3 (Note 6)
200 V AC to L2 U U
Motor
240 V AC
L3 V V
M
N- W W
P3
(Note 10) (Note 1)
P4
CNP2
P+
(Note 2) C
D (Note 11) (Note 3)
CN2 Encoder Encoder
L11 cable
L21
(Note 8)
Main circuit power supply CN3 CN3 24 V DC (Note 12)
(Note 5) Forced stop 2 EM2 DOCOM
DICOM ALM RA1 Malfunction (Note 4) (Note 5)

24 V DC (Note 12)
(Note 9) CN8
Short-circuit connector
(Packed with the servo amplifier)
Note 1. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar
between P3 and P4. Refer to section 11.11 for details. Additionally, a power factor improving DC reactor and power factor
improving AC reactor cannot be used simultaneously.
2. Always connect between P+ and D terminals. (factory-wired) When using the regenerative option, refer to section 11.2.
3. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "Servo Motor Instruction Manual
(Vol. 3)".
4. If disabling ALM (Malfunction) output with the parameter, configure up the power supply circuit which switches off the magnetic
contactor after detection of alarm occurrence on the controller side.
5. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.8.3.
6. For connecting servo motor power wires, refer to "Servo Motor Instruction Manual (Vol. 3)".
7. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may
cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not
required, slow the time to turn off the magnetic contactor.
8. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier.
9. When not using the STO function, attach the short-circuit connector came with a servo amplifier.
10. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker. (Refer to
section 11.10.)
11. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
12. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one.
3- 4
(2) For 1-phase 200 V AC to 240 V AC power supply of MR-J4-10GF(-RJ) to MR-J4-200GF(-RJ)

(Note 4)
Malfunction OFF
RA1 ON
MC
MC
Emergency stop switch SK
MC Servo amplifier Servo motor

MCCB (Note 7) CNP1
1-phase (Note 11)
200 V AC to L1
CNP3 (Note 6)
240 V AC L2 U U
Motor
L3 V V
M
N- W W
P3
(Note 10) (Note 1)
P4
CNP2
P+
(Note 2) C
D (Note 11) (Note 3)
CN2 Encoder Encoder
L11 cable
L21
(Note 8)
Main circuit power supply CN3
(Note 5) Forced stop 2 EM2 CN3 24 V DC (Note 12)
DICOM DOCOM
24 V DC (Note 12) ALM RA1 Malfunction (Note 4) (Note 5)

CN8
(Note 9)
(Vol. 3)".
amplifier.
10. When wires used for L11 and L21 are thinner than wires used for L1, and L3, use a molded-case circuit breaker. (Refer to
section 11.10.)
3- 5
(3) MR-J4-500GF(-RJ)
(Note 4)
Malfunction OFF
RA1 ON
MC
MC
SK
MC
MCCB (Note 7)
L1 (Note 11)
3-phase (Note 6)
200 V AC to L2 U U
Motor
240 V AC
L3 V V
M
N- W W
(Note 10)
L11
L21
P3
(Note 1) (Note 11)
P4 (Note 3)
CN2 Encoder Encoder
P+ cable
C
(Note 2)
D
(Note 8)

24 V DC (Note 12)
(Note 9) CN8
(Vol. 3)".
amplifier.
section 11.10.)
3- 6
(4) MR-J4-700GF(-RJ)
(Note 4)
Malfunction OFF
RA1 ON
MC
MC
SK

MC
MCCB (Note 7)
L1 (Note 11)
3-phase (Note 6)
200 V AC to L2 Built-in U U
regenerative Motor
240 V AC L3 resistor V V
M
(Note 2) P+ W W
(Note 10) C
L11
L21
N- (Note 11) (Note 3)

CN2 Encoder Encoder
P3 cable
(Note 1)
P4
(Note 8)

24 V DC (Note 12)
(Note 9) CN8
(Vol. 3)".
amplifier.
section 11.10.)
3- 7
(5) MR-J4-11KGF(-RJ)/MR-J4-15KGF(-RJ)/MR-J4-22KGF(-RJ)
(Note 4)
Malfunction OFF
RA1 ON
MC
MC
Emergency stop switch SK (Note 14)
Cooling fan
power supply
(Note 15, 16)
Servo amplifier External Servo motor
MC
MCCB (Note 7) dynamic
brake (optional)
L1 (Note 11)
3-phase
200 V AC to L2 U U
Motor
240 V AC
L3 V V MCCB
M
P+ W W
(Note 6)
(Note 10) (Note 2) C
L11
L21
(Note 11) (Note 3)

N- Encoder
CN2 Encoder
P3 cable
(Note 1)
P4
BU
BV
BW
Cooling fan (Note 13)
(Note 8)

24 V DC (Note 12)
(Note 9) CN8
3- 8
(Vol. 3)".
amplifier.
section 11.10.)
13. For the servo motor with a cooling fan.
14. For the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)".
safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 8. For wiring
of the external dynamic brake, refer to section 11.17.
3- 9
3.1.2 400 V class
(1) MR-J4-60GF4(-RJ) to MR-J4-350GF4(-RJ)

(Note 4)
Malfunction OFF
RA1 ON
MC
MC
(Note 12)
Step-down
transformer Servo amplifier Servo motor
CNP1
(Note 11)
(Note 7) N-
MCCB MC CNP3 (Note 6)
L1 U U
3-phase Motor
380 V AC to L2 V V
480 V AC M
L3 W W
P3
(Note 10) (Note 1)
P4
CNP2
P+
(Note 2) C
(Note 11)
D
CN2 (Note 3) Encoder
L11 Encoder cable
L21
(Note 8)
(Note 4)
DICOM ALM RA1 Malfunction (Note 5)
24 V DC (Note 13)
(Note 9) CN8
(Vol. 3)".
amplifier.
section 11.10.)
11. Connecting a servo motor for different axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
12. Stepdown transformer is required when the coil voltage of the magnetic contactor is 200 V class.
3 - 10
(2) MR-J4-500GF4(-RJ)/MR-J4-700GF4(-RJ)
(Note 4)
Malfunction OFF
RA1 ON
MC
MC
(Note 12)
Step-down
transformer Servo amplifier Servo motor
(Note 7)
MCCB MC
L1 (Note 11)
3-phase (Note 6)
380 V AC to L2 Built-in U U
480 V AC regenerative Motor
L3 resistor V V
M
(Note 2) P+ W W
(Note 10) C
L11
L21
(Note 11)
N-
CN2 (Note 3) Encoder
P3 Encoder cable
(Note 1)
P4
(Note 8)
DICOM ALM RA1 (Note 4) (Note 5)

24 V DC (Note 13) Malfunction
(Note 9) CN8
(Vol. 3)".
amplifier.
section 11.10.)
3 - 11
(3) MR-J4-11KGF4(-RJ) to MR-J4-22KGF4(-RJ)

(Note 4)
Malfunction OFF
RA1 ON
MC
MC (Note 14)
(Note 12) Emergency stop switch SK Cooling fan
Step-down power supply
transformer (Note 16, 17)
Servo amplifier External Servo motor
(Note 7)
MCCB MC dynamic brake
(optional)
L1 (Note 11)
3-phase
380 V AC to L2 U U
480 V AC Motor
L3 V V MCCB
M
P+ W W
(Note 6)
(Note 10) C
(Note 2)
L11
L21
(Note 11)
N- (Note 3)
CN2 Encoder
P3 Encoder cable
(Note 1)
P4
BU
BV
BW
Cooling fan (Note 13)
(Note 8)
DICOM ALM RA1

(Note 4) (Note 5)
24 V DC (Note 15) Malfunction
(Note 9) CN8
3 - 12
(Vol. 3)".
5. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.8.3 in MR-J4-_B(-RJ) Servo Amplifier
Instruction Manual.
amplifier.
section 11.10.)
12. Stepdown transformer is required for coil voltage of magnetic contactor more than 200 V class servo amplifiers.
13. For the servo motor with a cooling fan.
14. For the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)".
safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 8. For wiring
of the external dynamic brake, refer to section 11.17.
3 - 13
3.2 I/O signal connection example
The CN1A and CN1B connectors are designed for CC-Link IE Field Network only.
CAUTION Do not connect these connectors to other than CC-Link IE Field Network. Doing
POINT
When the servo amplifier is used in the motion mode, use the switching hub
DT135TX (Mitsubishi Electric System & Service) to branch a CC-Link IE Field
Network.
3.2.1 For sink I/O interface

Servo amplifier
10 m or less 10 m or less
(Note 8) (Note 12) (Note 12)
Main circuit (Note 10)
(Note 3) CN3 CN3 24 V DC
power supply
Forced stop 2 EM2 20 3 DOCOM
(Note 2)
(Note 4) Forward rotation stroke end LSP 2 (Note 14)
13 MBR RA1 Electromagnetic brake
(Note 6) Reverse rotation stroke end LSN 12 interlock
(Note 13)
9 INP RA2 In-position
Proximity dog DOG 19
15 ALM RA3 Malfunction (Note 11)
Touch probe 1 TPR1 10
(Note 7)
DICOM 5 6 LA Encoder A-phase pulse
(Note 10) 24 V DC 16 LAR (differential line driver)
Personal 7 LB Encoder B-phase pulse

(Note 5) computer USB cable 17 LBR (differential line driver)
MR Configurator2 MR-J3USBCBL3M 8 LZ Encoder Z-phase pulse
(option) (differential line driver)
CN5 18 LZR
+ 11 LG Control common
4 MO1 Analog monitor 1

± 10 V DC
± 10 V DC
(Note 9)
Short-circuit connector CN8 Plate SD
(Packed with the servo amplifier) 2 m or less
CN1A CN1B
CC-Link IE Field Network CC-Link IE Field Network
3 - 14
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the
protective earth (PE) of the cabinet.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output
signals, disabling EM2 (Forced stop 2) and other protective circuits.
3. If the controller does not have forced stop function, always install the forced stop 2 switch (normally closed contact).
4. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation
stroke end). (Normally closed contact) When FLS (Upper stroke limit) and RLS (Lower stroke limit) are used through a
controller, wiring LSP and LSN is unnecessary. In that case, set [Pr. PD41].
5. Use SW1DNC-MRC2-_. (Refer to section 11.7.)
6. You can change devices of these pins with [Pr. PD03], [Pr. PD05], and [Pr. PD06].
7. The device is available only with MR-J4-_GF_-RJ.
amplifier.
10. Supply 24 V DC ± 10% for interfaces from outside. Set the total current capacity to 300 mA. 300 mA is the value applicable
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section
3.8.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided
between input signal and output signal for convenience. However, they can be configured by one.
11. ALM (Malfunction) turns on in normal alarm-free condition. (Normally closed contact)
12. The pins with the same signal name are connected in the servo amplifier.
13. You can change devices of these pins with [Pr. PD07], [Pr. PD08], and [Pr. PD09].
14. When you use a linear servo motor or direct drive motor, use MBR (Electromagnetic brake interlock) for an external brake
mechanism.
3 - 15
3.2.2 For source I/O interface
POINT
For notes, refer to section 3.2.1.
Servo amplifier
10 m or less 10 m or less
Main circuit (Note 10)
(Note 3) CN3 CN3 24 V DC
power supply
Forced stop 2 EM2 20 3 DOCOM
(Note 2)
(Note 4) Forward rotation stroke end LSP 2 (Note 14)
13 MBR RA1 Electromagnetic brake
(Note 6) Reverse rotation stroke end LSN 12 interlock
(Note 13)
9 INP RA2 In-position
Proximity dog DOG 19
15 ALM RA3 Malfunction (Note 11)
(Note 7)
DICOM 5 6 LA Encoder A-phase pulse
(Note 10) 24 V DC 16 LAR (differential line driver)
Personal 7 LB Encoder B-phase pulse

(Note 5) computer USB cable 17 LBR (differential line driver)
MR Configurator2 MR-J3USBCBL3M 8 LZ Encoder Z-phase pulse
(option) (differential line driver)
CN5 18 LZR
+ 11 LG Control common

± 10 V DC
± 10 V DC
(Note 9)
CN8 Plate SD
(Packed with the servo amplifier) 2 m or less
CN1A CN1B
CC-Link IE Field Network CC-Link IE Field Network
3 - 16
3.3 Explanation of power supply system
3.3.1 Signal explanations
POINT
For the layout of connector and terminal block, refer to chapter 9 DIMENSIONS.
refer to app. 1.
Connection target
Symbol Description
(application)
Supply the following power to L1, L2, and L3. For 1-phase 200 V AC to 240 V AC, connect the
power supply to L1 and L3. Leave L2 open.
Servo amplifier MR-J4-10GF(-RJ) MR-J4-350GF(-RJ) MR-J4-60GF4(-RJ)

to to to
Power MR-J4-200GF(-RJ) MR-J4-22KGF(-RJ) MR-J4-22KGF4(-RJ)
Main circuit power 3-phase 200 V AC to
L1/L2/L3 L1/L2/L3
supply 240 V AC, 50 Hz/60 Hz
1-phase 200 V AC to
L1/L3
240 V AC, 50 Hz/60 Hz
3-phase 380 V AC to
L1/L2/L3
480 V AC, 50 Hz/60 Hz
When not using the power factor improving DC reactor, connect P3 and P4. (factory-wired)
Power factor When using the power factor improving DC reactor, disconnect P3 and P4, and connect the
P3/P4
improving DC reactor power factor improving DC reactor to P3 and P4.
Refer to section 11.11 for details.
(1) 200 V class
1) MR-J4-500GF(-RJ) or less
When using a servo amplifier built-in regenerative resistor, connect P+ and D. (factory-
wired)
When using a regenerative option, disconnect P+ and D, and connect the regenerative
option to P+ and C.
2) MR-J4-700GF(-RJ) to MR-J4-22KGF(-RJ)
MR-J4-700GF(-RJ) to MR-J4-22KGF(-RJ) do not have D.
When using a servo amplifier built-in regenerative resistor, connect P+ and C. (factory-
wired)
When using a regenerative option, disconnect wires of P+ and C for the built-in
regenerative resistor. And then connect wires of the regenerative option to P+ and C.
P+/C/D Regenerative option (2) 400 V class
1) MR-J4-350GF4(-RJ) or less
When using a servo amplifier built-in regenerative resistor, connect P+ and D. (factory-
wired)
When using a regenerative option, disconnect P+ and D, and connect the regenerative
option to P+ and C.
2) MR-J4-500GF4(-RJ) to MR-J4-22KGF4(-RJ)
MR-J4-500GF4(-RJ) to MR-J4-22KGF4(-RJ) do not have D.
When using a servo amplifier built-in regenerative resistor, connect P+ and C. (factory-
wired)
When using a regenerative option, disconnect wires of P+ and C for the built-in
regenerative resistor. And then connect wires of the regenerative option to P+ and C.
3 - 17
Connection target
Symbol Description
(application)
Supply the following power to L11 and L21.
Servo amplifier MR-J4-10GF(-RJ) to MR-J4-60GF4(-RJ) to

Power MR-J4-22KGF(-RJ) MR-J4-22KGF4(-RJ)
1-phase 200 V AC to
Control circuit power L11/L21
L11/L21 240 V AC, 50 Hz/60 Hz
supply
1-phase 380 V AC to
L11/L21
480 V AC, 50 Hz/60 Hz
1-phase 100 V AC to
120 V AC, 50 Hz/60 Hz
Servo motor power Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W)
U/V/W
output directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
Power regeneration This terminal is used for a power regeneration converter, power regeneration common
converter converter and brake unit.
N- Power regeneration Refer to section 11.3 to 11.5 for details.
common converter
Brake unit
Connect it to the grounding terminal of the servo motor and to the protective earth (PE) of the
Protective earth (PE)
cabinet for grounding.
3.3.2 Power-on sequence
POINT
The output signal, etc. may be unstable at power-on.
(1) Power-on procedure

1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with
the main circuit power supply (L1/L2/L3). Configure up an external sequence to switch off the
magnetic contactor as soon as an alarm occurs.
2) Switch on the control circuit power supply (L11/L21) simultaneously with the main circuit power
supply or before switching on the main circuit power supply. If the control circuit power supply is
turned on with the main circuit power supply off, and then the servo-on command is transmitted,
[AL. E9 Main circuit off warning] will occur. Turning on the main circuit power supply stops the
warning and starts the normal operation.
3) The servo amplifier receives the servo-on command in 3 s to 4 s + network initial communication
time after the main circuit power supply is switched on.
(Refer to (2) in this section.)
3 - 18
(2) Timing chart

Servo-on command accepted
(Note 1)
(3 s to 4 s + network initial communication time)
Main circuit ON
power supply
Control circuit OFF
ON
Base circuit
OFF
95 ms (Note 2) 10 ms 95 ms
Servo-on command ON
(from controller) OFF
Note 1. This range will be "5 s to 6 s" + network initial communication time for the linear servo system and fully
closed loop system.
2. The time will be longer during the magnetic pole detection of a linear servo motor and direct drive motor.
3.3.3 Wiring CNP1, CNP2, and CNP3
POINT
For the wire sizes used for wiring, refer to section 11.9.
MR-J4-500GF(-RJ) or more and MR-J4-500GF4(-RJ) or more do not have these
connectors.
Use the servo amplifier power connector for wiring CNP1, CNP2, and CNP3.
(1) Connector
(a) MR-J4-10GF(-RJ) to MR-J4-100GF(-RJ)
Servo amplifier
CNP1
CNP2
CNP3
Table 3.1 Connector and applicable wire

Applicable wire Stripped Manufa
Connector Receptacle assembly Open tool
Size Insulator OD length [mm] cturer
CNP1 06JFAT-SAXGDK-H7.5 J-FAT-OT (N)
CNP2 05JFAT-SAXGDK-H5.0 AWG 18 to 14 39 mm or shorter 9 or JST
CNP3 03JFAT-SAXGDK-H7.5 J-FAT-OT
3 - 19
(b) MR-J4-200GF(-RJ)/MR-J4-350GF(-RJ)
MR-J4-200GF(-RJ) MR-J4-350GF(-RJ)
CNP1
CNP1
CNP2 CNP3
CNP3 CNP2

CNP1 06JFAT-SAXGFK-XL
AWG 16 to 10 47 mm or shorter 11.5
CNP3 03JFAT-SAXGFK-XL J-FAT-OT-EXL JST
CNP2 05JFAT-SAXGDK-H5.0 AWG 18 to 14 39 mm or shorter 9
(c) MR-J4-60GF4(-RJ) to MR-J4-350GF4(-RJ)

Servo amplifier
(Note)
CNP1
CNP2
CNP3
Note. A pin for preventing improper connection is inserted to N- of CNP1 connector.

CNP1 06JFAT-SAXGDK-HT10.5
CNP2 05JFAT-SAXGDK-HT7.5 AWG 16 to 14 3.9 mm or shorter 10 J-FAT-OT-XL JST
CNP3 03JFAT-SAXGDK-HT10.5
3 - 20
(2) Cable connection procedure

(a) Fabrication on cable insulator
Refer to table 3.1 to 3.3 for stripped length of cable insulator. The appropriate stripped length of
cables depends on their type, etc. Set the length considering their status.
Insulator Core
Stripped length
Twist strands lightly and straighten them as follows.
Loose and bent strands Twist and straighten

the strands.
3 - 21
You can also use a ferrule to connect with the connectors. When using a ferrule, select a ferrule and
crimping tool listed in the table below.
Ferrule model (Phoenix Contact) Crimping tool
Servo amplifier Wire size
For one For two (Phoenix Contact)
MR-J4-10GF(-RJ) to AWG 16 AI1.5-10BK AI-TWIN2×1.5-10BK
MR-J4-100GF(-RJ) AWG 14 AI2.5-10BU
AWG 16 AI1.5-10BK AI-TWIN2×1.5-10BK
MR-J4-200GF(-RJ) to
AWG 14 AI2.5-10BU AI-TWIN2×2.5-10BU CRIMPFOX-ZA3
MR-J4-350GF(-RJ)
AWG 12 AI4-10GY
MR-J4-60GF4(-RJ) to AWG 16 AI1.5-10BK AI-TWIN2×1.5-10BK
MR-J4-350GF4(-RJ) AWG 14 AI2.5-10BU
(b) Inserting wire

Insert the open tool as follows and push down it to open the spring. While the open tool is pushed
down, insert the stripped wire into the wire insertion hole. Check the insertion depth so that the cable
insulator does not get caught by the spring.
Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely connected.
The following shows a connection example of the CNP3 connector for MR-J4-200GF(-RJ) and MR-
J4-350GF(-RJ).
1) Push down the open tool.
3) Release the open tool to fix the wire.
2) Insert the wire.
3 - 22
3.4 Connectors and pin assignment
POINT
The pin assignment of the connectors is as viewed from the cable connector
wiring section.
For the STO I/O signal connector (CN8), refer to chapter 13.
For the CN3 connector, securely connect the shielded external conductor of the
cable to the ground plate and fix it to the connector shell.
Screw
Cable
Screw
Ground plate
The servo amplifier front view shown is that of the MR-J4-60GF-RJ or less. Refer to chapter 9 DIMENSIONS
for the appearances and connector layouts of the other servo amplifiers.
CN5 (USB connector)
Refer to section 11.7
CN3
1 11
2 12
CN8 TPR2 LG
For the STO I/O signal LSP LSN
connector, refer to section 13.2. 3 13
4 14
DOCOM MBR
MO1 MO2
5 15
6 16
DICOM ALM
LA LAR
(Note) CN2 7 17
8 18
2 6 10 LB LBR
LG 4 THM2 8 LZ LZR
MRR MXR
9 19
1 5 9 10 20
INP DOG
P5 3 THM1 7 BAT
MR MX TPR1 EM2
The frames of the CN2, CN2L, and CN3 CN4

connectors are connected to the protective (Battery connector)
earth terminal in the servo amplifier. Refer to section 11.8
CN2L (Note 1) CN2L (Note 1, 2)

(for using serial encoder) (for using A/B/Z-phase pulse encoder)
2 6 10 2 6 10
LG 4 8 LG 4 PBR 8 PSEL
MRR2 MXR2 PAR PZR
1 5 9 1 5 9
P5 3 7 BAT P5 3 PB 7
MR2 MX2 PA PZ
Note 1. The MR-J4-_GF_ servo amplifier does not have CN2L connector.
2. This is a connector of 3M. Refer to table 1.1 for connections of external encoders.
3 - 23
3.5 Signal (device) explanations
For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.8.2.
The pin numbers in the connector pin No. column are those in the initial status.
3.5.1 Input device
(1) Input device pin

The following shows the input device pins and parameters for setting devices.
Connector pin No. Parameter Initial device I/O division
CN3-2 [Pr. PD03] LSP
CN3-12 [Pr. PD04] LSN
DI-1
CN3-19 [Pr. PD05] DOG
CN3-20 [Pr. PA04] EM2
(2) Input device explanations

Connector I/O
Device Symbol Function and application
pin No. division
Forced stop 2 EM2 CN3-20 Turn off EM2 (open between commons) to decelerate the servo motor to a stop DI-1
with commands.
Turn EM2 on (short between commons) in the forced stop state to reset that
state.
Set [Pr. PA04] to "2 1 _ _" to disable EM2.
The following shows the setting of [Pr. PA04].
[Pr. PA04] Deceleration method

EM2/EM1
setting EM2 or EM1 is off Alarm occurred
MBR (Electromagnetic MBR (Electromagnetic
brake interlock) turns off brake interlock) turns off
00__ EM1
without the forced stop without the forced stop
deceleration. deceleration.
MBR (Electromagnetic MBR (Electromagnetic
20__ EM2
after the forced stop after the forced stop
MBR (Electromagnetic
Not using
brake interlock) turns off
01__ EM2 or
without the forced stop
EM1
deceleration.
MBR (Electromagnetic
Not using
brake interlock) turns off
21__ EM2 or
after the forced stop
EM1
deceleration.
EM2 and EM1 are mutually exclusive.

Forced stop 1 EM1 (CN3-20) When using EM1, set [Pr. PA04] to "0 0 _ _" to enable EM1. DI-1
When EM1 is turned off (open between commons), the base circuit shuts off,
and the dynamic brake operates to decelerate the servo motor to a stop.
The forced stop will be reset when EM1 is turned on (short between commons).
Set [Pr. PA04] to "0 1 _ _" to disable EM1.
Touch probe 1 TPR1 CN3-10 The device is available only with MR-J4-_GF_-RJ. DI-1
The touch probe function is available to latch the current position by sensor
Touch probe 2 TPR2 CN3-1 DI-1
input. Turn it on to latch the current position. Refer to section 17.2 for the touch
probe function.
3 - 24
Connector I/O
pin No. division
Forward rotation LSP CN3-2 To start the operation, turn on LSP and LSN. Turn it off to bring the servo motor DI-1
stroke end to a slow stop and make it servo-locked.
Reverse rotation LSN CN3-12 (Note) Input device Operation

stroke end CCW CW
direction direction
LSP LSN
Positive Negative
direction direction
1 1
0 1
1 0
0 0
Note. 0: Off
1: On
Setting [Pr. PD01] as follows turn the signals on automatically (always

connected) in the servo amplifier.
Status
[Pr. PD01]
LSP LSN
Automatic
_4__
on
Automatic
_8__
on
Automatic Automatic
_C__
on on
When LSP or LSN is turned off, [AL. 99 Stroke limit warning] occurs.
In the torque mode, this device cannot be used during normal operation. It can
be used during the magnetic pole detection in the linear servo motor control
mode and the DD motor control mode. Also, when the magnetic pole detection
in the torque mode is completed, this signal will be disabled.
Proximity dog DOG CN3-19 Turning off DOG will detect a proximity dog. The polarity for dog detection can DI-1
be changed with [Pr. PT29].
Polarity for proximity dog

[Pr. PT29]
detection
___0 Detection with off
___1 Detection with on
Proportional control PC Turn PC on to switch the speed amplifier from the proportional integral type to DI-1
the proportional type.
If the servo motor at a stop is rotated even one pulse due to any external factor,
it generates torque to compensate for a position shift. When the servo motor
shaft is to be locked mechanically after positioning completion (stop), switching
on the PC (Proportion control) upon positioning completion will suppress the
unnecessary torque generated to compensate for a position shift.
When the shaft is to be locked for a long time, switch on the PC (Proportion
control) at the same time to make the torque less than the rated one.
Do not use PC (Proportional control) in the torque mode. When PC
(Proportional control) is used in the torque mode, operation may be performed
at a speed exceeding the speed limit value.
Gain switching CDP Turn on CDP to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. DI-1
PB60] as the load to motor inertia ratio and gain values.
Fully closed loop CLD This is used when the semi closed loop control/fully closed loop control DI-1
selection switching is enabled with [Pr. PE01].
Turn off CLD to select the semi closed loop control, and turn on CLD to select
the fully closed loop control.
3 - 25
3.5.2 Output device
(1) Output device pin

The following shows the output device pins and parameters for assigning devices.
Connector pin No. Parameter Initial device I/O division
CN3-13 [Pr. PD07] MBR
CN3-9 [Pr. PD08] INP DO-1
CN3-15 [Pr. PD09] ALM
(2) Output device explanations

Electromagnetic MBR When using the device, set operation delay time of the electromagnetic brake in [Pr. PC02].
brake interlock When a servo-off status or alarm occurs, MBR will turn off.
Malfunction ALM When the protective circuit is activated to shut off the base circuit, ALM will turn off.
When an alarm does not occur, ALM will turn on after 2.5 s to 3.5 s after power-on.
In-position INP When the number of droop pulses is in the in-position range, INP will turn on. The in-position range
can be changed using [Pr. PA10]. When the in-position range is increased, INP may be on during
low-speed rotation.
The device cannot be used in the velocity mode and torque mode.
Dynamic brake DB When using the signal, enable it by the setting of [Pr. PD07] to [Pr. PD09].
interlock DB turns off when the dynamic brake needs to operate. When using the external dynamic brake on
the servo amplifier of 11 kW or more, this device is required. (Refer to section 11.17.)
For the servo amplifier of 7 kW or less, it is not necessary to use this device.
The external dynamic brake cannot be used with 11 kW or more servo amplifier for compliance
with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD07] to [Pr. PD09].
Failure to do so will cause the servo amplifier to become servo-off when an instantaneous power
failure occurs.
Ready RD Enabling servo-on to make the servo amplifier ready to operate will turn on RD.
Speed reached SA SA will turn off during servo-off. When the servo motor speed reaches the following range, SA will
turn on. Set speed ± ((Set speed × 0.05) + 20) r/min
When the preset speed is 20 r/min or less, SA always turns on.
The device cannot be used in the position mode and torque mode.
Limiting speed VLC When the speed reaches the speed limit value in the torque mode, VLC will turn on. When the
servo is off, TLC will be turned off.
The device cannot be used in the position mode and velocity mode.
Zero speed detection ZSP ZSP turns on when the servo motor speed is zero speed (50 r/min) or less. Zero speed can be
changed with [Pr. PC07].
OFF level 1)
Forward 70 r/min 3)
rotation 2) 20 r/min
direction ON level (Hysteresis width)
50 r/min
[Pr. PC07]
Servo motor 0 r/min
speed
[Pr. PC07]
Reverse ON level
rotation -50 r/min
20 r/min
direction OFF level (Hysteresis width)
-70 r/min 4)
ZSP ON
(Zero speed OFF
detection)
ZSP will turn on when the servo motor is decelerated to 50 r/min (at 1)), and will turn off when the
servo motor is accelerated to 70 r/min again (at 2)).
ZSP will turn on when the servo motor is decelerated again to 50 r/min (at 3)), and will turn off
when the servo motor speed has reached -70 r/min (at 4)).
The range from the point when the servo motor speed has reached on level, and ZSP turns on, to
the point when it is accelerated again and has reached off level is called hysteresis width.
Hysteresis width is 20 r/min for this servo amplifier.
When you use a linear servo motor, [r/min] explained above will be [mm/s].
3 - 26

Limiting torque TLC When the torque reaches the torque limit value during torque generation, TLC will turn on. When
the servo is off, TLC will be turned off.
This device cannot be used in the torque mode.
Warning WNG When warning has occurred, WNG turns on. When a warning is not occurring, turning on the power
will turn off WNG after 2.5 s to 3.5 s.
Battery warning BWNG BWNG turns on when [AL. 92 Battery cable disconnection warning] or [AL. 9F Battery warning] has
occurred. When the battery warning is not occurring, turning on the power will turn off BWNG after
2.5 s to 3.5 s.
Variable gain CDPS CDPS will turn on during variable gain.
selection
Absolute position ABSV ABSV turns on when the absolute position is undetermined.
undetermined The device cannot be used in the velocity mode and torque mode.
During tough drive MTTR When a tough drive is enabled in [Pr. PA20], activating the instantaneous power failure tough drive
will turn on MTTR.
During fully closed CLDS CLDS turns on during fully closed loop control.
loop control This is used with servo amplifiers with software version A1 or later.
3.5.3 Output signal
Connector
Signal name Symbol Function and application
pin No.
Encoder A-phase LA CN3-6 These devices output pulses of encoder output set in [Pr. PA15] and [Pr. PA16] in the
pulse (differential line LAR CN3-16 differential line driver type.
driver) In CCW rotation of the servo motor, the encoder B-phase pulse lags the encoder A-
Encoder B-phase LB CN3-7 phase pulse by a phase angle of π/2.
pulse (differential line LBR CN3-17 The relation between rotation direction and phase difference of the A-phase and B-
driver) phase pulses can be changed with [Pr. PC03].
Output pulse specification, dividing ratio setting, and electronic gear setting can be
selected.
Encoder Z-phase LZ CN3-8 The encoder zero-point signal is output in the differential line driver type. One pulse is
pulse (differential line LZR CN3-18 output per servo motor revolution. This turns on when the zero-point position is
driver) reached. (negative logic)
The minimum pulse width is about 400 μs. For home position return using this pulse,
set the creep speed to 100 r/min or less.
Analog monitor 1 MO1 CN3-4 This is used to output the data set in [Pr. PC09] to between MO1 and LG in terms of
voltage.
Resolution: 10 bits or equivalent
Analog monitor 2 MO2 CN3-14 This signal output the data set in [Pr. PC10] to between MO2 and LG in terms of
voltage.
Resolution: 10 bits or equivalent
3.5.4 Power supply
Connector
Signal name Symbol Function and application
pin No.
Digital I/F power DICOM CN3-5 Input 24 V DC (24 V DC ± 10% 300 mA) for I/O interface. The power supply capacity
supply input changes depending on the number of I/O interface points to be used.
For sink interface, connect + of 24 V DC external power supply.
For source interface, connect - of 24 V DC external power supply.
Digital I/F common DOCOM CN3-3 Common terminal of input signal such as EM2 of the servo amplifier. This is separated
from LG.
For sink interface, connect - of 24 V DC external power supply.
For source interface, connect + of 24 V DC external power supply.
Monitor common LG CN3-11 Common terminal of MO1 and MO2.
Shield SD Plate Connect the external conductor of the shielded wire.
3 - 27
3.6 Forced stop deceleration function
POINT
When alarms not related to the forced stop function occur, control of motor
deceleration cannot be guaranteed. (Refer to chapter 8.)
When network communication is shut-off, forced stop deceleration will operate.
(Refer to section 3.7.1 (3).)
In the torque mode, the forced stop deceleration function is not available.
3.6.1 Forced stop deceleration function
When EM2 is turned off, dynamic brake will start to stop the servo motor after forced stop deceleration.
During this sequence, the display shows [AL. E6 Servo forced stop warning].
During normal operation, do not use EM2 (Forced stop 2) to alternate stop and drive. The servo amplifier life
may be shortened.
(1) Connection diagram

Servo amplifier
24 V DC
DICOM
(Note)
Forced stop 2 EM2
Note. This diagram shows sink I/O interface. For source I/O interface, refer to section
3.8.3.
(2) Timing chart

When EM2 (Forced stop 2) is turned off, the motor will decelerate according to [Pr. PC24 Forced stop
deceleration time constant]. Once the motor speed is below [Pr. PC07 Zero speed], base power is cut
and the dynamic brake activates.
ON
EM2 (Forced stop 2)
OFF (Enabled)
Dynamic brake
Ordinary Forced stop +
operation deceleration Electromagnetic brake
Rated Speed
Servo motor speed

Command Zero speed
([Pr. PC07])
0 r/min
Deceleration time
[Pr. PC24]
Base circuit ON
(Energy supply to
the servo motor) OFF
MBR ON
(Electromagnetic OFF (Enabled)
brake interlock)
3 - 28
3.6.2 Base circuit shut-off delay time function
The base circuit shut-off delay time function is used to prevent vertical axis from dropping at a forced stop
(EM2 goes off), alarm occurrence, or network communication shut-off due to delay time of the
electromagnetic brake. Set the time from MBR (Electromagnetic brake interlock) off to base circuit shut-off
with [Pr. PC02].
(1) Timing chart

ON When EM2 (Forced stop 2) turns off or an
EM2 (Forced stop 2)
OFF (Enabled) alarm occurs during driving, the servo
motor will decelerate based on the
deceleration time constant. MBR
(Electromagnetic brake interlock) will turn
Servo motor speed off, and then after the delay time set in
[Pr. PC02], the servo amplifier will be
0 r/min base circuit shut-off status.
Base circuit ON
(Energy supply to
[Pr. PC02]
MBR ON
(Electromagnetic
brake interlock) OFF (Enabled)
(2) Adjustment
While the servo motor is stopped, turn off EM2 (Forced stop 2), adjust the base circuit shut-off delay
time in [Pr. PC02], and set the value to approximately 1.5 times of the smallest delay time in which the
servo motor shaft does not freefall.
3 - 29
3.6.3 Vertical axis freefall prevention function
The vertical axis freefall prevention function avoids machine damage by pulling up the shaft slightly like the
following case.
When the servo motor is used for operating vertical axis, the servo motor electromagnetic brake and the
base circuit shut-off delay time function avoid dropping axis at forced stop. However, the functions may not
avoid dropping axis a few μm due to the backlash of the servo motor electromagnetic brake.
The vertical axis freefall prevention function is enabled with the following conditions.
Other than "0" is set to [Pr. PC31 Vertical axis freefall prevention compensation amount].
EM2 (Forced stop 2) turned off, an alarm occurred, or network communication shut-off occurred while
the servo motor speed is zero speed or less.
The base circuit shut-off delay time function is enabled.
(1) Timing chart

ON
EM2 (Forced stop 2)
OFF (Enabled)
Position Travel distance
Base circuit ON
(Energy supply to
MBR ON Set the base circuit shut-off delay time. ([Pr. PC02])
(Electromagnetic
brake interlock) OFF (Enabled)
Actual operation of Disabled
electromagnetic
brake Enabled
(2) Adjustment
Set the freefall prevention compensation amount in [Pr. PC31].
While the servo motor is stopped, turn off the EM2 (Forced stop 2). Adjust the base circuit shut-off
delay time in [Pr. PC02] in accordance with the travel distance ([Pr. PC31). Adjust it considering the
freefall prevention compensation amount by checking the servo motor speed, torque ripple, etc.
3.6.4 Residual risks of the forced stop function (EM2)
(1) The forced stop function is not available for alarms that activate the dynamic brake when the alarms
occur.
(2) When an alarm that activates the dynamic brake during forced stop deceleration occurs, the braking
distance until the servo motor stops will be longer than that of normal forced stop deceleration without
the dynamic brake.
(3) If STO is turned off during forced stop deceleration, [AL. 63 STO timing error] will occur.
3 - 30
3.7 Alarm occurrence timing chart
When an alarm has occurred, remove its cause, make sure that the operation
CAUTION signal is not being input, ensure safety, and reset the alarm before restarting
operation.
POINT
To deactivate the alarm, cycle the control circuit power, give the error reset command from the controller, or
perform network communication reset. However, the alarm cannot be deactivated unless its cause is
removed.
3.7.1 When you use the forced stop deceleration function
POINT
To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].
(1) When the forced stop deceleration function is enabled

Alarm occurrence
(Note)
Model speed command 0
and equal to or less than
Servo motor speed zero speed
0 r/min
Controller command is not received.
Base circuit ON
(Energy supply to
Servo amplifier
display No alarm Alarm No.
MBR ON
(Electromagnetic
brake interlock) OFF
ON (no alarm)
ALM (Malfunction)
OFF (alarm)
Note. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration
of the servo motor.
3 - 31
(2) When the forced stop deceleration function is not enabled

Alarm occurrence
Braking by the dynamic brake

Dynamic brake
+ Braking by the electromagnetic brake
Servo motor speed
0 r/min
Base circuit ON
(Energy supply to
Servo amplifier
display No alarm Alarm No.
Operation delay time of the electromagnetic brake
MBR ON
(Electromagnetic
ON (no alarm)
ALM (Malfunction)
OFF (alarm)
(3) When network communication is shut-off

The dynamic brake may operate depending on the communication shut-off status.
Network communication
is shut-off.
(Note)
0 r/min
Base circuit ON
(Energy supply to
Servo amplifier
display No alarm (d1) 8D
MBR ON
(Electromagnetic
ON (no alarm)
ALM (Malfunction)
OFF (alarm)
Note. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration
of the servo motor.
3.7.2 When you do not use the forced stop deceleration function
POINT
To disable the function, set "0 _ _ _" in [Pr. PA04].
The timing chart that shows the servo motor condition when an alarm or network communication shut-off
occurs is the same as section 3.7.1 (2).
3 - 32
3.8 Interfaces
3.8.1 Internal connection diagram
POINT
Refer to section 13.3.1 for the CN8 connector.
Servo amplifier
Forced stop 2 CN3 CN3 (Note 1)

Approximately
6.2 kΩ 24 V DC
EM2 20 3 DOCOM
LSP 2 13 MBR RA
(Note 2) (Note 3)
LSN 12 9 INP
Approximately
6.2 kΩ
DOG 19 15 ALM RA
(Note 3) Approximately
4.3 kΩ
(Note 5)
TPR1 10 Approximately
4.3 kΩ
(Note 5)
1
TPR2
DICOM 5 Isolated
(Note 1) CN3
24 V DC 6 LA
16 LAR
7 LB
Differential line
17 LBR driver output
8 LZ (35 mA or less)
18 LZR
11 LG
Analog monitor
CN3
±10 V DC
CN5 4 MO1 ±10 V DC
D- 2
USB D+ 3 14 MO2
GND 5
Servo motor
CN2 Encoder
7 MX
8 MXR
3 MR
4 MRR
2 LG
PE
M
External encoder
(Note 4) CN2L
Encoder
7 MX2
8 MXR2
3 MR2
4 MRR2
2 LG
Note 1. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
2. The signal cannot be used in the velocity mode and torque mode.
4. Refer to table 1.1 for connections of external encoders.
5. The device is available only with MR-J4-_GF_-RJ.
3 - 33
3.8.2 Detailed explanation of interfaces
This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in
section 3.5. Refer to this section and make connection with the external device.
(1) Digital input interface DI-1

This is an input circuit whose photocoupler cathode side is input terminal. Transmit signals from sink
(open-collector) type transistor output, relay switch, etc. The following is a connection diagram for sink
input. Refer to section 3.8.3 for source input.
For transistor Servo amplifier

Approximately EM2,
5 mA etc.
(Note) Approximately
6.2 kΩ
Switch
TR
DICOM
VCES 1.0 V 24 V DC ± 10%
ICEO 100 µA 300 mA
Note. It will be approximately 4.3 kΩ for interface of CN3-1 and CN3-10 pins.
(2) Digital output interface DO-1

This is a circuit in which the collector of the output transistor is the output terminal. When the output
transistor is turned on, the current will flow to the collector terminal.
A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush
current suppressing resistor (R) for a lamp load.
(Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A
maximum of 2.6 V voltage drop occurs in the servo amplifier.
The following shows a connection diagram for sink output. Refer to section 3.8.3 for source output.
Servo amplifier
If polarity of diode is
reversed, servo amplifier
will malfunction.
ALM, Load
etc.
DOCOM
(Note) 24 V DC ± 10%
300 mA
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high
voltage (maximum of 26.4 V) from external source.
3 - 34
(3) Encoder output pulses DO-2 (differential line driver type)

(a) Interface
Maximum output current: 35 mA
LA LA
(LB, LZ) Am26LS32 or equivalent (LB, LZ) 100 Ω
150 Ω
LAR LAR High-speed photocoupler

(LBR, LZR) (LBR, LZR)
LG
SD SD
(b) Output pulse

Servo motor CCW rotation
LA Time cycle (T) is determined by the settings of
[Pr. PA15] and [Pr. PC03].
LAR T
LB
LBR
/2
400 µs or more
LZ
LZR
(4) Analog output

Servo amplifier
MO1
(MO2)
Output voltage: ±10 V
Maximum output current: 1 mA
LG Resolution: 10 bits or equivalent
Note. Output voltage range varies depending on the output contents.
3 - 35
3.8.3 Source I/O interfaces
In this servo amplifier, source type I/O interfaces can be used.

This is an input circuit whose photocoupler anode side is input terminal. Transmit signals from source
(open-collector) type transistor output, relay switch, etc.
Servo amplifier
For transistor
EM2,
etc.
(Note) Approximately
6.2 kΩ
TR Switch
DICOM
Approximately 24 V DC ± 10%
5 mA 300 mA
VCES 1.0 V
ICEO 100 µA
Note. It will be approximately 4.3 kΩ for interface of CN3-1 and CN3-10 pins.

This is a circuit in which the emitter of the output transistor is the output terminal. When the output
transistor is turned on, the current will flow from the output terminal to a load. When the output transistor
is turned on, current will be applied from the output to a load.
A maximum of 2.6 V voltage drop occurs in the servo amplifier.
Servo amplifier
will malfunction.
ALM, Load
etc.
DOCOM
(Note) 24 V DC ± 10%
300 mA
3 - 36
3.9 Servo motor with an electromagnetic brake
3.9.1 Safety precautions
Configure an electromagnetic brake circuit which is interlocked with an external

emergency stop switch.
Contacts must be opened when ALM Contacts must be opened
(Malfunction) or MBR (Electromagnetic with the Emergency stop switch.
brake interlock) turns off.
Servo motor
RA
B 24 V DC
The electromagnetic brake is provided for holding purpose and must not be used
CAUTION
for ordinary braking.
Before operating the servo motor, be sure to confirm that the electromagnetic
brake operates properly.
Do not use the 24 V DC interface power supply for the electromagnetic brake.
Always use the power supply designed exclusively for the electromagnetic brake.
Otherwise, it may cause a malfunction.
When using EM2 (Forced stop 2), use MBR (Electromagnetic brake interlock) for
operating the electromagnetic brake. Operating the electromagnetic brake without
using MBR during deceleration to a stop will saturate servo motor torques at the
maximum value due to brake torque of the electromagnetic brake. This can result
in delay of the deceleration to a stop from a set value.
POINT
Refer to "Servo Motor Instruction Manual (Vol. 3)" for specifications such as the
power supply capacity and operation delay time of the electromagnetic brake.
Refer to "Servo Motor Instruction Manual (Vol. 3)" for the selection of a surge
absorber for the electromagnetic brake.
Note the following when the servo motor with an electromagnetic brake is used.
1) The brake will operate when the power (24 V DC) turns off.
2) Turn off the servo-on command after the servo motor stopped.
3 - 37

Servo amplifier
(Note 2)
24 V DC MBR ALM Servo motor
RA1 (Malfunction) (Note 1) B1
DOCOM
MBR RA1 24 V DC U B
B2
Note 1. Create the circuit in order to shut off by interlocking with the emergency stop switch.
2. Do not use the 24 V DC interface power supply for the electromagnetic brake.
(2) Setting
In [Pr. PC02 Electromagnetic brake sequence output], set a delay time (Tb) from MBR (Electromagnetic
brake interlock) off to base circuit shut-off at a servo-off as in the timing chart in section 3.9.2.
3.9.2 Timing chart
(1) When you use the forced stop deceleration function
POINT
To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].
(a) Servo-on command (from controller) on/off

When servo-on command is turned off, the servo lock will be released after Tb [ms], and the servo
motor will coast. If the electromagnetic brake is enabled during servo-lock, the brake life may be
shorter. Therefore, set Tb about 1.5 times of the minimum delay time where the moving part will not
drop down for a vertical axis system, etc.
Tb [Pr. PC02 Electromagnetic brake sequence output]
Coasting
Servo motor speed 0 r/min
Approx. 95 ms
ON
Base circuit
OFF
Approx. 95 ms Operation delay time of
MBR ON the electromagnetic brake
(Electromagnetic (Note 1)
Servo-on command ON
Ready-on command ON
(Note 3)
Operation command
(from controller) 0 r/min
Electromagnetic Release
brake Activate Release delay time and external relay, etc. (Note 2)
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 "Servo Motor Instruction Manual (Vol. 3)".
3. Give the operation command from the controller after the electromagnetic brake is released.
3 - 38
(b) Off/on of the sudden stop command (from controller) or EM2 (Forced stop 2)
POINT
(Note 2)
0 r/min
Base circuit ON
(Energy supply to
Sudden stop command Disabled (ON)
(from controller) or EM2
(Forced stop 2) Enabled (OFF)
MBR ON
ON (no alarm)
ALM (Malfunction)
OFF (alarm)

2. The model speed command is a speed command generated in the servo amplifier for forced stop
deceleration of the servo motor.
(c) Alarm occurrence

The operation status during an alarm is the same as section 3.7.
(d) Both main and control circuit power supplies off

Dynamic brake
Dynamic brake
Approx. 10 ms + Electromagnetic brake
Servo motor speed
0 r/min
(Note 1)
ON
Base circuit
OFF
MBR ON
Operation delay time of
No alarm the electromagnetic brake
Alarm
[AL. 10 Undervoltage] Alarm
Main circuit ON
Control circuit power supply OFF
Note 1. Variable according to the operation status.

2. ON: Electromagnetic brake is not activated.
3 - 39
(e) Main circuit power supply off during control circuit power supply on
POINT
Forced stop deceleration

Dynamic brake
The time until a voltage Dynamic brake
Servo motor speed drop is detected. + Electromagnetic brake
0 r/min
Approx. 10 ms
Main circuit ON
power supply OFF (Note 2)
Base circuit ON
(Energy supply to
MBR ON
the electromagnetic brake
ALM (Malfunction) ON (no alarm)
OFF (alarm)

2. Variable according to the operation status.
(f) Ready-off command from controller

Dynamic brake
Dynamic brake
Servo motor speed Electromagnetic brake
0 r/min
ON
Base circuit
OFF
MBR
(Electromagnetic ON
(Note)
ON the electromagnetic brake
Ready-on command
Note. ON: Electromagnetic brake is not activated.

3 - 40
(2) When you do not use the forced stop deceleration function
POINT
To disable the function, set "0 _ _ _" in [Pr. PA04].
(a) Servo-on command (from controller) on/off

It is the same as (1) (a) in this section.
(b) Off/on of the sudden stop command (from controller) or EM1 (Forced stop 1)
Dynamic brake
Dynamic brake
+ Electromagnetic brake Electromagnetic brake
Servo motor speed has released.
0 r/min
Approx. 10 ms Approx. 210 ms
ON
Base circuit
OFF
Operation delay time Approx. 210 ms
MBR ON of the electromagnetic
(Electromagnetic (Note) brake
Sudden stop command Disabled (ON)

(from controller) or EM2
(Forced stop 1) Enabled (OFF)
Note. ON: Electromagnetic brake is not activated.

(c) Alarm occurrence

The operation status during an alarm is the same as section 3.7.
(d) Both main and control circuit power supplies off

It is the same as (1) (d) in this section.
(e) Main circuit power supply off during control circuit power supply on
Dynamic brake
Dynamic brake
Servo motor speed
0 r/min
(Note 1)
ON
Base circuit
OFF
MBR ON
No alarm the electromagnetic brake
Alarm
[AL. 10 Undervoltage] Alarm
Main circuit ON
power supply OFF
Note 1. Variable according to the operation status.

2. ON: Electromagnetic brake is not activated.
3 - 41
(f) Ready-off command from controller

It is the same as (1) (f) in this section.
3.10 Grounding
Ground the servo amplifier and servo motor securely.

WARNING To prevent an electric shock, always connect the protective earth (PE) terminal
(marked ) of the servo amplifier to the protective earth (PE) of the cabinet.
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 "EMC Installation Guidelines".
Cabinet
CN2
MCCB MC
L1
Line filter
(Note)
Encoder
Power L2
supply
L3
L11
L21 U U
V V M
W W
CN1A
Controller
Ensure to connect the wire to the

PE terminal of the servo amplifier.
Do not connect the wire directly to
the protective earth of the cabinet.
Outer
box
Note. For the power supply specifications, refer to section 1.3.
3 - 42
4. STARTUP
4. STARTUP
Do not operate the switches with wet hands. Otherwise, it may cause an electric
WARNING shock.
Before starting operation, check the parameters. Improper settings may cause
some machines to operate unexpectedly.
The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot
while the power is on and for some time after power-off. Take safety measures
CAUTION such as providing covers to avoid accidentally touching them by hands and parts
such as cables.
During operation, never touch the rotor of the servo motor. Otherwise, it may
cause injury.
POINT
words.
Load to motor inertia ratio → Load to motor mass ratio
Torque → Thrust
4- 1
4. STARTUP
4.1 Switching power on for the first time
POINT
To use the servo amplifier in the motion mode, set [Pr. PN03] to "_ _ _ 0" (initial
value).
To use the servo amplifier in the motion mode changed from the I/O mode,
settings must be configured on GX Works. Refer to section 4.1.4 for settings
with GX Works.
When switching power on for the first time, follow this section to make a startup.
4.1.1 Startup procedure
Wiring check Check whether the servo amplifier and servo motor are wired correctly using visual inspection,
DO forced output function (section 4.5.1), etc. (Refer to section 4.1.2.)
Check the surrounding environment of the servo amplifier and servo motor. (Refer to section
Surrounding environment check
4.1.3.)
Set the station number with the station number setting rotary switch (SW2/SW3). (Refer to
Station No. setting
section 4.3.1 (2).)
Parameter setting Set the parameters as necessary, such as the used operation mode and regenerative option
selection. (Refer to chapter 5.)
When a simple motion module QD77GF_ or RD77GF_ is used as a controller, set [Pr. PD41] to
"_ 1 _ _" (enabled only for home position return mode).
For the test operation, with the servo motor disconnected from the machine and operated at the
Test operation of the servo motor
alone in test operation mode speed as low as possible, check whether the servo motor rotates correctly. (Refer to section
4.5.)
For the test operation with the servo motor disconnected from the machine and operated at the
Test operation of the servo
motor alone by commands speed as low as possible, give commands to the servo amplifier and check whether the servo
motor rotates correctly.
After connecting the servo motor with the machine, check machine motions with sending
Test operation with the servo
motor and machine connected operation commands from the controller.
Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)
Gain adjustment
Actual operation
Stop Stop giving commands and stop operation.
4- 2
4. STARTUP
4.1.2 Wiring check
(1) Power supply system wiring

Before switching on the main circuit and control circuit power supplies, check the following items.
(a) Power supply system wiring

1) The power supplied to the power input terminals (L1/L2/L3/L11/L21) of the servo amplifier should
satisfy the defined specifications. (Refer to section 1.3.)
2) When the power factor improving DC reactor is not used, between P3 and P4 should be
connected.
Servo amplifier
P3
P4
(b) Connection of servo amplifier and servo motor

1) The servo amplifier power output (U/V/W) should match in phase with the servo motor power
input terminals (U/V/W).
U
U
V
V M
W
W
2) The power supplied to the servo amplifier should not be connected to the servo motor power
terminals (U/V/W). Doing so will fail the servo amplifier and servo motor.

U
L1 U
V
L2 V M
W
L3 W
3) The grounding terminal of the servo motor is connected to the PE terminal of the servo amplifier.
4) The CN2 connector of the servo amplifier should be connected to the encoder of the servo motor
securely using the encoder cable.
4- 3
4. STARTUP
(c) When you use an option and auxiliary equipment

1) 200 V class
a) When you use a regenerative option for 5 kW or less servo amplifiers
The lead wire between P+ terminal and D terminal should not be connected.
The regenerative option wire should be connected between P+ and C terminal.
Twisted wires should be used. (Refer to section 11.2.4.)
b) When you use a regenerative option for 7 kW or more servo amplifiers

For 7 kW servo amplifiers, the lead wire of the built-in regenerative resistor connected to P+
terminal and C terminal should not be connected.
The regenerative option wire should be connected between P+ and C terminal.
c) When you use a brake unit and power regeneration converter for 5 kW or more servo
amplifiers
For 5 kW or less servo amplifiers, the lead wire between P+ terminal and D terminal should
not be connected.
For 7 kW servo amplifiers, the lead wire of the built-in regenerative resistor connected to P+
Brake unit, power regeneration converter should be connected to P+ terminal and N-
terminal. (Refer to section 11.3 and 11.4.)
Twisted wires should be used when wiring is over 5 m and equal to or less than 10 m using
a brake unit. (Refer to section 11.3)
d) When you use a power regeneration common converter

For 5 kW or less servo amplifiers, the lead wire between P+ terminal and D terminal should
not be connected.
For 7 kW servo amplifiers, the lead wire of built-in regenerative resistor connected to P+
The wire of power regeneration common converter should be connected to P4 terminal and
N- terminal. (Refer to section 11.5.)
e) The power factor improving DC reactor should be connected between P3 and P4. (Refer to
section 11.11.)
Servo amplifier
Power factor improving
DC reactor
P3
(Note)
P4
Note. Always disconnect between P3 and P4 terminals.
2) 400 V class
a) When you use a regenerative option for 3.5 kW or less servo amplifiers
The lead wire between P+ terminal and D terminal should not be connected.
The regenerative option should be connected to P+ terminal and C terminal.
b) When you use a regenerative option for 5 kW or more servo amplifiers

For 5 kW or 7 kW servo amplifiers, the lead wire of the built-in regenerative resistor
connected to P+ terminal and C terminal should not be connected.
The regenerative option should be connected to P+ terminal and C terminal.
4- 4
4. STARTUP
c) When you use a brake unit and power regeneration converter for 5 kW or more servo
amplifiers
For 5 kW or 7 kW servo amplifiers, the lead wire of the built-in regenerative resistor
connected to P+ terminal and C terminal should not be connected.
Brake unit, power regeneration converter should be connected to P+ terminal and N-
terminal. (Refer to section 11.3 and 11.4.)
Twisted wires should be used when wiring is over 5 m and equal to or less than 10 m using
a brake unit. (Refer to section 11.3)
d) When you use a power regeneration common converter for 11 kW or more servo amplifiers
Power regeneration common converter should be connected to P4 terminal and N- terminal.
(Refer to section 11.5.)
e) The power factor improving DC reactor should be connected between P3 and P4. (Refer to
section 11.11.)
Servo amplifier
Power factor improving
DC reactor
P3
(Note)
P4
Note. Always disconnect between P3 and P4.
(2) I/O signal wiring

(a) The I/O signals should be connected correctly.
Use DO forced output to forcibly turn on/off the pins of the CN3 connector. You can use the function
to check the wiring. In this case, switch on the control circuit power supply only.
Refer to section 3.2 for details of I/O signal connection.
(b) 24 V DC or higher voltage is not applied to the pins of the CN3 connector.
(c) Plate and DOCOM of the CN3 connector is not shorted.

Servo amplifier
CN3
DOCOM
Plate
4.1.3 Surrounding environment
(1) Cable routing

(a) The wiring cables should not be stressed.
(b) The encoder cable should not be used in excess of its bending life. (Refer to section 10.4.)
(c) The connector of the servo motor should not be stressed.
(2) Environment
Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.
4- 5
4. STARTUP
4.1.4 Settings of GX Works
To use GX Works2 or GX Works3, make settings as indicated in this section.
(1) Station-specific mode setting

Make "Station-specific mode setting" in the "CC IE Field Configuration" window according to the
operation mode to be used.
(2) Precautions for "Detect Now"

With GX Works, connected devices can be automatically configured by performing "Detect Now" in the
"CC IE Field Configuration" window. However, the contents of "Station-specific mode setting" in [Pr.
PN03] and the operation mode setting cannot be discriminated. Make "Station-specific mode setting"
according to (1) in this section.
4- 6
4. STARTUP
4.2 Startup
Connect the servo motor with a machine after confirming that the servo motor operates properly alone.
(1) Power on
When the main and control circuit power supplies are turned on, "b01" (for the first station) appears on
the servo amplifier display.
When the absolute position detection system is used in a rotary servo motor, first power-on results in
[AL. 25 Absolute position erased] and the servo-on cannot be ready. The alarm can be deactivated by
then switching power off once and on again.
Also, if power is switched on at the servo motor speed of 3000 r/min or higher, position mismatch may
occur due to external force or the like. Power must therefore be switched on when the servo motor is at
a stop.
(2) Parameter setting
POINT
The following encoder cables are of four-wire type. When using any of these
encoder cables, set [Pr. PC04] to "1 _ _ _" to select the four-wire type. Incorrect
setting will result in [AL. 16 Encoder initial communication error 1].
MR-EKCBL30M-L
MR-EKCBL30M-H
MR-EKCBL40M-H
MR-EKCBL50M-H
Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for
details.
After setting the above parameters, turn power off as necessary. Then switch power on again to enable
the parameter values.
(3) Servo-on
Enable the servo-on with the following procedure.
(a) Switch on main circuit power supply and control circuit power supply.
(b) Transmit the servo-on command with the controller.
When the servo-on status is enabled, the servo amplifier is ready to operate and the servo motor is
locked.
(4) Home position return

Always perform home position return before starting positioning operation. (Refer to section 4.6.)
4- 7
4. STARTUP
(5) Stop
If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and
brings it to a stop.
Refer to section 3.9 for the servo motor with an electromagnetic brake.
Operation/command Stopping condition
Servo-off command The base circuit is shut off and the servo motor coasts.
The base circuit is shut off and the dynamic brake operates to
Controller Ready-off command
bring the servo motor to a stop.
Quick stop command The servo motor decelerates to a stop with the command.
The servo motor decelerates to a stop with the command. With
Alarm occurrence some alarms, however, the dynamic brake operates to bring the
servo motor to a stop. (Refer to chapter 8. (Note))
The servo motor decelerates to a stop with the command. [AL.
Servo amplifier E6 Servo forced stop warning] occurs. EM2 has the same
EM2 (Forced stop 2) off
function as EM1 in the torque mode. Refer to section 3.5 for
EM1.
The base circuit is shut off and the dynamic brake operates to
STO (STO1, STO2) off
bring the servo motor to a stop.
Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier
Instruction Manual (Troubleshooting)" for details of alarms and warnings.
(6) CC-Link IE Field Network connection

(a) Network disconnection procedure
Always make the servo-off status before turning off the system power and disconnecting the servo
amplifier from the network. Otherwise, [AL. 8D] may occur. For the detection conditions of [AL. 8D],
refer to [Pr. PN06].
(b) Network configuration change

If the network configuration in the same network as the servo amplifier is changed, such as adding
or disconnecting a slave station, and adding a hub, all connected slave stations may be
disconnected. Always make the servo-off status before changing the network configuration.
Otherwise, [AL. 8D] may occur or the servo amplifier may not be reconnected.
(c) Restrictions on CC-Link IE Field diagnosis

The following shows restrictions on CC-Link IE Field diagnosis.
Diagnosis item Restrictions
Communication Test Not compatible.
IP Communication Test Not compatible.
Operation Test Cable Test Not compatible.
Not compatible. If the link start/stop function is used, [AL. 8D]
Link Start/Stop
may occur.
Reserved Station When the servo amplifier is set as a reserved station, [AL. 8D]
Function Enable will occur.
Information Even if the servo amplifier is set as a temporary error invalid
Confirmation/Set Enable/Disable Ignore station, [AL. 8D] may occur when the servo amplifier is
Station Errors disconnected from the network. When setting the servo amplifier
as a temporary error invalid station, make the servo-off status.
Selected Station
Remote Operation Not compatible.
Operation
(d) Model code

The following shows the vendor code and model code.
Vendor code Model code Model
0002 1002 MR-J4-_GF
4- 8
4. STARTUP
4.3 Switch setting and display of the servo amplifier
Switching to the test operation mode and setting station No. are enabled with switches on the servo
amplifier.
On the servo amplifier display (three-digit, seven-segment LED), check the status of communication with the
controller at power-on, and the station number, and diagnose a malfunction at occurrence of an alarm. The
communication status of the CN1A connector and CN1B connector can be checked with the LED.
4.3.1 Switches
When switching the station number setting rotary switch (SW2/SW3) and mode
select switch (SW1), use insulated screw driver. Do not use a metal screw driver.
WARNING Touching patterns on electronic boards, lead of electronic parts, etc. may cause
an electric shock.
POINT
Turning "ON (up)" all the mode select switches (SW1) enables an operation
mode for manufacturer setting and displays "off". The mode is not available. Set
the mode select switches (SW1) correctly according to this section.
Cycling the main circuit power supply and control circuit power supply enables
the setting of each switch.
The following explains the mode select switches (SW1) and the station number setting rotary switch.
3-digit, 7-segment LED Mode select switch (SW1)
ON ON
1 2
1 2
For manufacturer setting (SW1-2)

Test operation select switch (SW1-1)
Station number setting rotary switch (upper) (SW2) Station number setting rotary switch (lower) (SW3)
(1) Test operation select switch (SW1-1)

To use the test operation mode, turn "ON (up)" the switch. Turning "ON (up)" the switch enables the test
operation mode. In the test operation mode, the functions such as JOG operation, positioning operation,
and machine analyzer are available with MR Configurator2.
(2) Station number setting rotary switch (SW2/SW3)

Set the station number of the servo amplifier in hexadecimal. When the station number is set to a value
other than "01h (1)" to "78h (120)", [AL. 11.1 Station number setting error] will occur.
4- 9
4. STARTUP
4.3.2 Scrolling display
Station number will be displayed in hexadecimal.
(1) Normal display

When there is no alarm, the station No. is displayed.
Status Station No.

(1 digit) (2 digits)
"b" : Indicates ready-off and servo-off status.

"C": Indicates ready-on and servo-off status.
"d" : Indicates ready-on and servo-on status.
(2) Alarm display

When an alarm occurs, the alarm number (two digits) and the alarm detail (one digit) are displayed
following the status display. For example, the following shows when [AL. 32 Overcurrent] is occurring.
After 0.8 s After 0.8 s
Status Alarm No. Blank
After 0.2 s
Status Station No. Alarm No. Alarm detail

(1 digit) (2 digits) (2 digits) (1 digit)
"n": Indicates that an alarm is occurring.
If an alarm occurs during initial communication through a network, the status, the alarm number (two
digits) and alarm detail (one digit), and the network initial communication status are displayed, in that
order. For example, the following shows when [AL. 16.1 Encoder initial communication - Receive data
error 1] is occurring.
After 0.8 s After 0.8 s After 0.2 s After 1.6 s
Status Alarm No. Blank Network initial Blank

communication
status
After 0.2 s
Status Station No. Alarm No. Alarm detail

(1 digit) (2 digits) (2 digits) (1 digit)
"n": Indicates that an alarm is occurring.
4 - 10
4. STARTUP
4.3.3 Status display of a station
(1) Display sequence

Servo amplifier power on
System check in progress
Waiting for controller power to switch on

(Network communication)
Controller power on
(Network communication begins)
Initial data communication

with the controller
(initialization communication)
When an alarm No. or warning No. is displayed

(Note 1) Ready-off and servo-off Example: When [AL. 50 Overload 1]
occurs at station No. 1
Flickering
Ready-on After 0.8 s
Flickering
(Note 1) Ready-on and servo-off After 0.8 s
When alarm occurs,
its alarm code Blank
appears.
Servo-on
Example: When [AL. E1 Overload warning 1]
occurs at station No. 1
(Note 1) Ready-on and servo-on Flickering
After 0.8 s
Flickering
Ordinary operation
After 0.8 s
Blank
Controller power off (Note 2)
During a non servo-off causing warning,

the decimal point on the third digit LED
shows the servo-on status.
Alarm reset or warning cleared

Controller power on
Note 1. The segment of the last 2 digits shows the station number
Station Station
No. 1 No. 2
2. Always make the servo-off status before turning off the controller power. Otherwise, [AL. 8D] may occur.
4 - 11
4. STARTUP
(2) Indication list

Indication Status Description
Initializing System check in progress
A b Initializing No connection with the controller

AC Initializing During initial communication with the controller
A A Initializing standby Communication disconnection with the controller
(Note 1) b # # Ready-off The ready-off signal from the controller was received.
(Note 1) d # # Servo-on The ready-off signal from the controller was received.
(Note 1) C # # Servo-off The ready-off signal from the controller was received.
(Note 1) n # # Alarm occurring An alarm or warning has occurred in the servo amplifier.
The alarm No. and the warning No. that occurred are displayed. (Refer to chapter 8.
(Note 2) * * * Alarm and warning
(Note 4))
8 8 8 CPU error CPU watchdog error has occurred.
(Note 1) b # #.
(Note 3) JOG operation, positioning operation, program operation, output signal (DO) forced
d # #.
Test operation mode output, motor-less operation, or single-step feed was set.
C # #.
Note 1. ## is displayed in hexadecimal. The following table shows the description.
## Description
01 Station No. 1
78 Station No. 120
2. ** indicates the alarm No. and the warning No.

3. Requires the MR Configurator2.
4. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual
(Troubleshooting)" for details of alarms and warnings.
4.3.4 CC-Link IE Field status display LED
The following shows the CC-Link IE Field status display LED.
Table 4.1 LED indication list

LED Name Lighting Description
Red (L ER) status
Green (LINK) L ER Line error status Lit Erroneous data is being received.
(CN1A/CN1B)
Red (L ER)
LINK Link status Lit Linking up
Green (LINK) (CN1A/CN1B)
4 - 12
4. STARTUP
4.4 Test operation
Before starting actual operation, perform test operation to make sure that the machine operates normally.
Refer to section 4.2 for the power on and off methods of the servo amplifier.
POINT
If necessary, verify controller program by using motor-less operation. Refer to
section 4.5.2 for the motor-less operation.
Test operation of the servo motor In this step, confirm that the servo amplifier and servo motor operate
alone in JOG operation of test
operation mode normally. With the servo motor disconnected from the machine, use the test
operation mode and check whether the servo motor rotates correctly. Refer
to section 4.5 for the test operation mode.
Test operation of the servo motor In this step, confirm that the servo motor rotates correctly under the
alone by commands
commands from the controller.
Give a low speed command at first and check the rotation direction, etc. of
the servo motor. If the machine does not operate in the intended direction,
check the input signal.
Test operation with the servo motor In this step, connect the servo motor with the machine and confirm that the
and machine connected
machine operates normally under the commands from the controller.
Give a low speed command at first and check the operation direction, etc. of
the machine. If the machine does not operate in the intended direction,
check the input signal.
Check any problems with the servo motor speed, load ratio, and other status
display items with MR Configurator2.
Then, check automatic operation with the program of the controller.
4.5 Test operation mode
The test operation mode is designed for checking servo operation. It is not for
checking machine operation. Do not use this mode with the machine. Always use
CAUTION the servo motor alone.
If the servo motor operates abnormally, use EM2 (Forced stop 2) to stop it.
POINT
The content described in this section indicates that the servo amplifier and a
personal computer are directly connected.
By using a personal computer and MR Configurator2, you can execute jog operation, positioning operation,
DO forced output program operation.
4 - 13
4. STARTUP
4.5.1 Test operation mode in MR Configurator2
POINT
When the test operation mode is selected with the test operation select switch
(SW1-1), the Network communication for the servo amplifier in the test operation
mode and the following servo amplifiers is blocked.
(1) Test operation mode

(a) Jog operation
Jog operation can be performed without using the controller. Use this operation with the forced stop
reset. This operation may be used independently of whether the servo is on or off and whether the
controller is connected or not.
Exercise control on the jog operation screen of MR Configurator2.
1) Operation pattern
Item initial value Setting range
Motor speed [r/min] 200 0 to max. speed
Acceleration/deceleration
1000 0 to 50000
time constant [ms]
2) Operation method
a) When the check box of "Rotation only while the CCW or CW button is being pushed." is
checked.
Operation Screen control
Forward rotation start Keep pressing "Forward".
Reverse rotation start Keep pressing "Reverse".
Stop Release "Forward" or "Reverse".
Forced stop Click "Forced stop".
b) When the check box of "Rotation only while the CCW or CW button is being pushed." is not
checked.
Forward rotation start Click "Forward".
Reverse rotation start Click "Reverse".
Stop Click "Stop".
4 - 14
4. STARTUP
(b) Positioning operation

Positioning operation can be performed without using the controller. Use this operation with the
forced stop reset. This operation may be used independently of whether the servo is on or off and
whether the controller is connected or not.
Exercise control on the positioning operation screen of MR Configurator2.
Item initial value Setting range
Travel distance [pulse] 4000 0 to 99999999
Motor speed [r/min] 200 0 to max. speed
1000 0 to 50000
time constant [ms]
Fwd. rot. (CCW) to rev. rot. (CW)
Fwd. rot. (CCW) to Fwd. rot. (CCW) to fwd. rot. (CCW)
Repeat pattern
rev. rot. (CW) Rev. rot. (CW) to fwd. rot. (CCW)
Rev. rot. (CW) to rev. rot. (CW)
Dwell time [s] 2.0 0.1 to 50.0
Number of repeats [time] 1 1 to 9999
2) Operation method
Forward rotation start Click "Forward".
Reverse rotation start Click "Reverse".
Pause Click "Pause".
Stop Click "Stop".
(c) Program operation

Positioning operation can be performed in two or more operation patterns combined, without using
the controller. Use this operation with the forced stop reset. This operation may be used
independently of whether the servo is on or off and whether the controller is connected or not.
Exercise control on the program operation screen of MR Configurator2. For full information, refer to
the MR Configurator2 Installation Guide.
Start Click "Start".
Stop Click "Stop".
(d) Output signal (DO) forced output

Output signals can be switched on/off forcibly independently of the servo status. Use this function for
output signal wiring check, etc. Exercise control on the DO forced output screen of MR
Configurator2.
4 - 15
4. STARTUP
(2) Operation procedure

1) Turn off the power.
2) Turn "ON (up)" SW1-1.
ON ON
1 2
1 2
Set SW1-1 to "ON (up)".
Turning "ON (up)" SW1-1 during power-on will not start the test operation mode.
3) Turn on the servo amplifier.

When initialization is completed, the decimal point on the first digit will flicker.
After 1.6 s
Flickering
After 0.2 s
When an alarm or warning also occurs during the test operation, the decimal point on the first
digit will flicker as follows.
After 0.8 s After 0.8 s
Flickering Flickering
After 0.2 s
4) Start operation with the personal computer.
4 - 16
4. STARTUP
4.5.2 Motor-less operation in controller
POINT
Connect the controller to the servo amplifier before the motor-less operation.
The motor-less operation cannot be used in the fully closed loop control mode,
linear servo motor control mode, or DD motor control mode.
(1) Motor-less operation

Without connecting the servo motor to the servo amplifier, output signals or status displays can be
provided in response to the controller commands as if the servo motor is actually running. This operation
may be used to check the controller sequence. Use this operation with the forced stop reset. Use this
operation with the servo amplifier connected to the controller.
To stop the motor-less operation, set "Disabled (_ _ _ 0)" of "Motor-less operation selection" in [Pr.
PC05]. The motor-less operation will be disabled from the next power-on.
(a) Load conditions

Load item Condition
Load torque 0
[Pr. PB06 Load to motor inertia ratio/load to motor mass
Load to motor inertia ratio
ratio]
(b) Alarms
The following alarms and warning do not occur. However, the other alarms and warnings occur as
when the servo motor is connected.
[AL. 16 Encoder initial communication error 1]
[AL. 1E Encoder initial communication error 2]
[AL. 1F Encoder initial communication error 3]
[AL. 20 Encoder normal communication error 1]
[AL. 21 Encoder normal communication error 2]
[AL. 25 Absolute position erased]
[AL. 92 Battery cable disconnection warning]
[AL. 9F Battery warning]
4 - 17
4. STARTUP

1) Set the servo amplifier to the servo-off status.
2) Set [Pr. PC05] to "_ _ _ 1", turn "OFF" the test operation mode switch (SW1-1), and then turn on
the power supply.
ON ON
1 2
1 2
Set SW2-1 to "OFF (down)".
3) Start the motor-less operation with the controller.

The display shows the following screen.
The decimal point flickers.
4 - 18
4. STARTUP
4.6 Home position return mode
POINT
Before performing the home position return, make sure that the limit switch
operates.
Check the home position return direction. An incorrect setting will cause a
reverse running.
Check the input polarity of the proximity dog. Otherwise, it may cause an
unexpected operation.
In the following cases, make sure that the Z-phase has been passed through
once before performing a home position return.
When using an incremental linear encoder in the linear servo motor control
mode
When using an incremental external encoder in the fully closed loop control
mode
For the use in the DD motor control mode
Z-phase unpassed will trigger [AL. 90.5 Z-phase unpassed].
To execute a home position return securely, start a home position return after
moving the linear servo motor to the opposite stroke end.
4 - 19
4. STARTUP
4.6.1 Outline of home position return
A home position return is performed to match the command coordinates with the machine coordinates.
Under the incremental method, each power-on of the input power supply requires the home position return.
Contrastingly, in the absolute position detection system, once you have performed the home position return
at machine installation, the current position will be retained even if the power supply is shut off. Therefore,
the home position return is unnecessary when the power supply is switched on again.
This section shows the home position return types of the servo amplifier. Select the optimum method
according to the configuration and uses of the machine.
When a home position return is started with the controller, Controlword bit 4 will turn on. For details of the
home position return, refer to the controller instruction manual.
(1) Home position return types

Select the optimum home position return type according to the machine type or others.
Home position return Rotation
Method No. Description
type direction
Forward Deceleration starts at the front end of the proximity dog. After
-1
Dog type rotation the rear end is passed, the position specified by the first Z-
(Rear end detection, Z- phase signal, or the position of the first Z-phase signal shifted
Reverse
-33 phase reference) by the specified home position shift distance is used as the
rotation
home position.
Forward A workpiece is pressed against a mechanical stopper, and the
-4 Stopper type
rotation position where it is stopped is set as the home position.
(Stopper position
Reverse
-36 reference)
rotation
Forward At the front end of the proximity dog, deceleration starts. After
-2
Count type rotation the front end is passed, the position specified by the first Z-
(Front end detection, Z- phase signal after the set distance or the position of the Z-
Reverse
-34 phase reference) phase signal shifted by the set home position shift distance is
rotation
set as a home position.
Forward Deceleration starts from the front end of the proximity dog.
-6
Dog type rotation After the rear end is passed, the position is shifted by the
(Rear end detection, rear travel distance after proximity dog and the home position shift
Reverse
-38 end reference) distance. The position after the shifts is set as the home
rotation
position.
Forward Deceleration starts from the front end of the proximity dog.
-7 Count type
rotation The position is shifted by the travel distance after proximity
(Front end detection, dog and the home position shift distance. The position after
Reverse
-39 front end reference) the shifts is set as the home position.
rotation
Forward A position, which is specified by the first Z-phase signal after
-8
rotation the front end of the proximity dog is detected, is set as the
Dog cradle type
Reverse home position.
-40
rotation
Forward After the front end of the proximity dog is detected, the
-9
rotation position is shifted away from the proximity dog in the reverse
Dog type last Z-phase
direction. Then, the position specified by the first Z-phase
reference Reverse
-41 signal or the position of the first Z-phase signal shifted by the
rotation
home position shift distance is used as the home position.
Forward Starting from the front end of the proximity dog, the position is
-10
Dog type front end rotation shifted by the travel distance after proximity dog and the home
reference Reverse position shift distance. The position after the shifts is set as
-42 the home position.
rotation
Forward The position specified by the first Z-phase signal, or the
-11
Dogless Z-phase rotation position of the first Z-phase signal shifted by the home
reference Reverse position shift distance is used as the home position.
-43
rotation
4 - 20
4. STARTUP

type direction
Same as the dog type last Z-phase reference home position
return.
Homing on positive home Forward
3 Note that if the stroke end is detected during home position
switch and index pulse rotation
return, [AL. 90 Home position return incomplete warning]
occurs.
Same as the dog cradle type home position return.
Homing on positive home Forward Note that if the stroke end is detected during home position
4
switch and index pulse rotation return, [AL. 90 Home position return incomplete warning]
occurs.
Same as the dog type last Z-phase reference home position
Homing on negative return.
Reverse
5 home switch and index Note that if the stroke end is detected during home position
rotation
pulse return, [AL. 90 Home position return incomplete warning]
occurs.
Same as the dog cradle type home position return.
Homing on negative
Reverse Note that if the stroke end is detected during home position
6 home switch and index
rotation return, [AL. 90 Home position return incomplete warning]
pulse
occurs.
Homing on home switch Forward Same as the dog type last Z-phase reference home position
7
and index pulse rotation return.
Homing on home switch Forward Same as the dog cradle type home position return.
8
and index pulse rotation
Homing on home switch Reverse Same as the dog type last Z-phase reference home position
11
and index pulse rotation return.
Homing on home switch Reverse Same as the dog cradle type home position return.
12
and index pulse rotation
Same as the dog type front end reference home position
return.
Homing without index Forward
pulse rotation
occurs.
Although this type is the same as the dog cradle type home
position return, the stop position is not on the Z-phase.
Starting from the front end of the dog, the position is shifted by
Homing without index Forward the travel distance after proximity dog and the home position
20
pulse rotation shift distance. The position after the shifts is set as the home
position.
If the stroke end is detected during home position return, [AL.
90 Home position return incomplete warning] occurs.
Same as the dog type front end reference home position
return.
Homing without index Reverse
pulse rotation
occurs.
Starting from the front end of the dog, the position is shifted by
Homing without index Reverse the travel distance after proximity dog and the home position
22
pulse rotation shift distance. The position after the shifts is set as the home
position.
If the stroke end is detected during home position return, [AL.
90 Home position return incomplete warning] occurs.
Homing without index Forward Same as the dog type front end reference home position
23
pulse rotation return.
Homing without index Forward Starting from the front end of the dog, the position is shifted by
24
pulse rotation the travel distance after proximity dog and the home position
shift distance. The position after the shifts is set as the home
position.
Homing without index Reverse Same as the dog type front end reference home position
27
pulse rotation return.
4 - 21
4. STARTUP

type direction
Homing without index Reverse Starting from the front end of the dog, the position is shifted by
28
pulse rotation the travel distance after proximity dog and the home position
shift distance. The position after the shifts is set as the home
position.
Although this type is the same as the dogless Z-phase
Reverse
33 Homing on index pulse reference home position return, the creep speed is applied as
rotation
the movement start speed.
Although this type is the same as the dogless Z-phase
Forward
34 Homing on index pulse reference home position return, the creep speed is applied as
rotation
the movement start speed.
Homing on current The current position is set as the home position. This type can
35
position be executed not in the Operational enabled state.
Homing on current The current position is set as the home position. This type can
37
position be executed not in the Operational enabled state.
4 - 22
4. STARTUP
(2) Parameters for home position return

To perform the home position return, set each parameter as follows.
(a) Select the home position return type and home position return direction with [Pr. PT45 Home
position return type].
Setting
Home position return direction Home position return type
value
Dog type
-1
(rear end detection, Z-phase reference)
Count type
-2
(front end detection, Z-phase reference)
Stopper type
-4
(stopper position reference)
Dog type
-6 Address increasing direction (rear end detection, rear end reference)
Count type
-7
(front end detection, front end reference)
-8 Dog cradle type
-9 Dog type last Z-phase reference
-10 Dog type front end reference
-11 Dogless Z-phase reference
Dog type
-33
(rear end detection, Z-phase reference)
Count type
-34
(front end detection, Z-phase reference)
-36 Stopper type (stopper position reference)
Dog type
-38
Address decreasing direction (rear end detection, rear end reference)
Count type
-39
(front end detection, front end reference)
-40 Dog cradle type
-41 Dog type last Z-phase reference
-42 Dog type front end reference
-43 Dogless Z-phase reference
Setting
Home position return direction Home position return type
value
3 Method 3
Address increasing direction
4 Method 4
5 Method 5
Address decreasing direction
6 Method 6
7 Method 7
8 Method 8
11 Method 11
12 Method 12
19 Method 19
20 Method 20
21 Method 21
22 Method 22
23 Method 23
24 Method 24
27 Method 27
28 Address decreasing direction Method 28
33 Method 33
34 Address increasing direction Method 34
35 Method 35
37 Method 37 (Data set type)
4 - 23
4. STARTUP
(b) Select the polarity where the proximity dog is detected with the DOG (Proximity dog) polarity
selection of [Pr. PT29 Function selection T-3].
Setting "0" detects a proximity dog when DOG (Proximity dog) is switched off. Setting "1" detects a
proximity dog when DOG (Proximity dog) is switched on.
[Pr. PT29]
0 0 0
DOG (Proximity dog) polarity selection

0: Dog detection with off
1: Dog detection with on
4 - 24
4. STARTUP
4.6.2 CiA 402-type homing method
(1) Home position return type in CiA 402 type

The following shows the CiA 402-type home position return.
(a) Method 3 and 4: Homing on positive home switch and index pulse
These home position return types use the front end of the proximity dog as reference and set the Z-
phase right before and right after the dog as a home position.
Method 3 has the operation of the dog type last Z-phase reference home position return, and
Method 4 has the operation of the dog cradle type home position return at a forward rotation start.
However, if the stroke end is detected during home position return, [AL. 90] occurs.
Index Pulse
Home Switch
(b) Method 5 and 6: Homing on negative home switch and index pulse
These home position return types use the front end of the proximity dog as reference and set the Z-
phase right before and right after the dog as a home position. Method 5 and 6 differ from Method 3
and Method 4 in the starting direction: the starting direction of Method 5 and 6 is the reversed
direction.
4 - 25
4. STARTUP
(c) Method 7, 8, 11, 12: Homing on home switch and index pulse
These types include the operation at stroke end detection in addition to the operation of Method 3 to
Method 6. Thus, the home position is the same as that of Method 3 to Method 6. Method 7 has the
operation of the dog type last Z-phase reference home position return. Method 8 has the operation
of the dog cradle type home position return at a forward rotation start. Method 11 and 12 differ from
Method 7 and Method 8 only in the starting direction: the starting direction of Method 11 and 12 is
the reversed direction.
Index Pulse
Home Switch
Positive Limit Switch
(d) Method 17 to 30: Homing without index pulse

Method 17 to 30 have the operation of Method 1 to Method 14; however, these types set the home
position not on the Z-phase but on the dog. The following figure shows the operation of the home
position return type of Method 19 and Method 20. Method 19 and Method 20 have the operation of
Method 3 and Method 4; however, these types set the home position not on the Z-phase but on the
dog. Method 19 has the operation of the dog type front end reference home position return. Method
20 has the operation of the dog cradle type home position return; however, the stop position is not
on the Z-phase but on the dog.
19
19
20
20
Home Switch
4 - 26
4. STARTUP
(e) Method 33 and 34: Homing on index pulse

These home position return types set the Z-phase detected first as a home position. The operation is
the same as that of the dogless Z-phase reference home position return except that the creep speed
is applied at the start.
33
34
Index Pulse
(f) Method 35 and 37: Homing on current position

These home position return types set the current position as a home position. Refer to (2) (j) in this
section for details.
4 - 27
4. STARTUP
(2) Operation example of the CiA 402-type Homing method

The following shows an operation example of the home position return in the CiA 402-type Homing
method.
(a) Method 3 (Homing on positive home switch and index pulse) and Method 5 (Homing on negative
home switch and index pulse)
The following figure shows the operation of Homing method 3. The operation direction of Homing
method 5 is opposite to that of Homing method 3.
Statusword bit 10 ON
Target reached OFF
Homing attained OFF
Acceleration time Home position return speed

constant Deceleration time constant
Home position return position data
Forward
rotation
Reverse 3 ms or shorter
rotation Creep speed
Home position shift distance
Proximity dog
ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Controlword bit 4 ON
Homing operation start OFF
Home position
return direction Proximity dog

Reverse
rotation Home position return start position
After retracting to before proximity dog,

the home position return starts from here.
When a home position return is started from the proximity dog
Home position
return direction Stroke end
Forward
rotation
Home position return start position The servo motor stops due to
the occurrence of [AL. 90].
When the stroke end is detected
4 - 28
4. STARTUP
(b) Method 4 (Homing on positive home switch and index pulse) and Method 6 (Homing on negative
home switch and index pulse)
Target reached OFF
Homing attained OFF
Acceleration time constant

Deceleration time constant Home position
Home position return speed
shift distance
Creep speed
Forward
rotation
rotation Home position return
position data
Proximity dog
ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Home position
Home position
Forward return position data
rotation
Reverse
rotation
Home position Home position return start position

shift distance
Home position
Forward
rotation
4 - 29
4. STARTUP
(c) Method 7 and Method 11 (Homing on home switch and index pulse)
Target reached OFF
Homing attained OFF

Forward
rotation
Proximity dog
ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Home position

Reverse

Home position
return direction Proximity dog Stroke end (Note)
Forward Home position return start position

rotation
Reverse
rotation
The home position return starts from here.
Note. This is not available with the software limit.
When the movement is returned at the stroke end
4 - 30
4. STARTUP
(d) Method 8 and Method 12 (Homing on home switch and index pulse)
Target reached OFF
Homing attained OFF

shift distance
Creep speed
Forward
rotation
position data
Proximity dog
ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Home position
Home position
rotation
Reverse
rotation

shift distance
Home position
Proximity dog return direction Stroke end (Note)
Home position return Home position return
Forward position data start position
rotation
Reverse
rotation
Home position
shift distance
4 - 31
4. STARTUP
(e) Method 19 and Method 21 (Homing without index pulse)

Target reached OFF
Homing attained OFF
Home position Deceleration time constant
Acceleration time return speed
constant Travel distance after proximity dog
+
Forward Home position return position data
rotation
rotation
Creep speed
Proximity dog
ON
DOG (Proximity dog)
OFF
Home position

Reverse

Home position
Forward
rotation
4 - 32
4. STARTUP
(f) Method 20 and Method 22 (Homing without index pulse)

Target reached OFF
Homing attained OFF
Acceleration time +
constant Deceleration time constant Travel distance after proximity dog
Home position
Creep speed
Forward
rotation
position data
Proximity dog
ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Home position
Home position
rotation
Reverse
rotation
Home position return start position
+
Travel distance after proximity dog
Home position
Forward
rotation
4 - 33
4. STARTUP
(g) Method 23 and Method 27 (Homing without index pulse)

Target reached OFF
Homing attained OFF
+
rotation
rotation
Creep speed
Proximity dog
ON
DOG (Proximity dog)
OFF
Home position

Reverse

Home position

rotation
Reverse
rotation
4 - 34
4. STARTUP
(h) Method 24 and Method 28 (Homing without index pulse)

Target reached OFF
Homing attained OFF
Acceleration time +
constant Deceleration time constant Travel distance after proximity dog
Home position
Creep speed
Forward
rotation
position data
Proximity dog
ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Home position
Home position
rotation
Reverse
rotation
Home position return start position
+
Travel distance after proximity dog
Home position
rotation
Reverse
rotation
Home position
shift distance
4 - 35
4. STARTUP
(i) Method 33 and Method 34 (Homing on index pulse)

Target reached OFF
Homing attained OFF
Acceleration time
Creep speed
Forward
rotation
rotation
Home position return Creep speed
position data
ON Home position shift distance
Z-phase
OFF
Home position
Forward
rotation
(j) Method 35 and Method 37 (Homing on current position)

The following figure shows the operation of Homing method 35 and Homing method 37. These
methods can be performed in the servo-off status.
Target reached OFF
Homing attained OFF
Home position return

Forward position data
rotation
Reverse
rotation
4 - 36
4. STARTUP
4.6.3 Operation example of Manufacturer-specific Homing method
The following shows an operation example of the Manufacturer-specific home position return.
(1) Method -1 and -33 (Dog type home position return)

The following figure shows the operation of Homing method -1. The operation direction of Homing
method -33 is opposite to that of Homing method -1.
Target reached OFF
Homing attained OFF
Acceleration time
Home position return speed Home position shift distance
Creep speed
Forward
rotation
Reverse 3 ms or shorter td
position data
(Note) Proximity dog
ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Note. After the front end of the proximity dog is detected, if the distance after proximity dog is traveled without reaching the creep speed,
[AL. 90] occurs. Set the travel distance after proximity dog enough for deceleration from the home position return speed to the
creep speed.
Home position

Reverse

Home position

rotation
Reverse
rotation
4 - 37
4. STARTUP
(2) Method -2 and -34 (Count type home position return)
POINT
For the count type home position return, after the front end of the proximity dog
is detected, the position is shifted by the distance set in the travel distance
after proximity dog. Then, the first Z-phase is set as the home position.
Therefore, when the on-time of the proximity dog is 10 ms or more, the length
of the proximity dog has no restrictions. Use this home position return type
when the dog type home position return cannot be used because the length of
the proximity dog cannot be reserved or other cases.
Target reached OFF
Homing attained OFF
Acceleration time
Home position return speed Home position shift distance
Creep speed
Forward
rotation
rotation
Home position return
Travel distance after position data
proximity dog Proximity dog
ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Note. After the front end of the proximity dog is detected, if the distance after proximity dog is traveled without reaching the creep speed,
[AL. 90] occurs. Set the travel distance after proximity dog enough for deceleration from the home position return speed to the
creep speed.
4 - 38
4. STARTUP
Home position

Reverse

Home position

rotation
Reverse
rotation
4 - 39
4. STARTUP
(3) Method -4 and -36 (stopper type home position return)
POINT
Since the workpiece collides with the mechanical stopper, the home position
return speed must be low enough.
ON
Statusword bit 10
Target reached OFF
ON
Statusword bit 12
Homing attained OFF
Acceleration time
Forward constant Home position return speed Home position return
rotation position data
rotation Stopper
Homing operation start 5 ms or longer
OFF
ON Stopper time [Pr. PT10]
TLC (Limiting torque) (Note 2)
OFF
Torque limit value Torque limit value (Note 1) [Pr. PT11] Torque limit value (Note 1)
Note 1. When Method -4 is set, the torque limit value (Positive torque limit value) is applied. When Method -36 is set, the torque limit
value (Negative torque limit value) is applied.
2. If the torque limit value is reached, TLC remains on after the home position return is completed.
Home position
Forward
rotation
4 - 40
4. STARTUP
(4) Method -6 and -38 (dog type rear end reference home position return)
POINT
This home position return type depends on the timing of reading DOG (Proximity
dog) that has detected the rear end of the proximity dog. Therefore, when the
creep speed is set to 100 r/min and a home position return is performed, the
home position has an error of ± (Encoder resolution) × 100/65536 [pulse]. The
higher the creep speed, the greater the error of the home position.
Target reached OFF
Homing attained OFF
Acceleration time Travel distance
constant Deceleration time constant after proximity dog
Home position return speed +
Home position
Creep speed shift distance
Forward
rotation
position data
Proximity dog
ON
DOG (Proximity dog)
OFF
Note. After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without reaching the creep
speed, [AL. 90] occurs. Check the length of the proximity dog or check the home position return speed and creep speed.
Home position

Reverse


Home position

rotation
Reverse
rotation
4 - 41
4. STARTUP
(5) Method -7 and -39 (count type front end reference home position return)
POINT
This home position return type depends on the timing of reading DOG (Proximity
dog) that has detected the front end of the proximity dog. Therefore, when the
creep speed is set to 100 r/min and a home position return is performed, the
home position has an error of ± (Encoder resolution) × 100/65536 [pulse]. The
faster home position return speed sets a larger error in the home position.
Target reached OFF
Homing attained OFF
Acceleration time Travel distance
constant Deceleration time constant after proximity dog
Home position return speed +
Creep speed Home position
Forward shift distance
rotation
position data
Proximity dog
ON
DOG (Proximity dog)
OFF
Home position

Reverse

Home position

rotation
Reverse
rotation
4 - 42
4. STARTUP
(6) Method -8 and -40 (dog cradle type home position return)
Target reached OFF
Homing attained OFF

shift distance
Creep speed
Forward
rotation
position data
Proximity dog
ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Home position
Home position
rotation
Reverse
rotation

shift distance
Home position
rotation
Reverse
rotation
Home position
shift distance
4 - 43
4. STARTUP
(7) Method -9 and -41 (dog type last Z-phase reference home position return)
Target reached OFF
Homing attained OFF

Forward
rotation
Proximity dog
ON
Z-phase
OFF
ON
DOG (Proximity dog)
OFF
Note. After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without stop, [AL. 90] occurs.
Check the length of the proximity dog or check the home position return speed and creep speed.
Home position

Reverse

Home position

rotation
Reverse
rotation
4 - 44
4. STARTUP
(8) Method -10 and -42 (dog type front end reference home position return)
Target reached OFF
Homing attained OFF
+
rotation
rotation
Creep speed
Proximity dog
ON
DOG (Proximity dog)
OFF
Note. After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without reaching the creep
speed, [AL. 90] occurs. Check the length of the proximity dog or check the home position return speed and creep speed.
Home position

Reverse

Home position

rotation
Reverse
rotation
4 - 45
4. STARTUP
(9) Method -11 and -43 (dogless Z-phase reference home position return)
Target reached OFF
Homing attained OFF
Deceleration time constant
constant

rotation
rotation
Creep speed
ON
Z-phase
OFF
Home position
Forward
rotation
4 - 46
5. PARAMETERS
5. 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 unexpected condition, such as failing to start up the servo amplifier.
Changing the values of the parameters for manufacturer setting
CAUTION Setting a value out of the range
Changing the fixed values in the digits of a parameter
When you write parameters with the controller, make sure that the station No. of
the servo amplifier is set correctly. Otherwise, the parameter settings of another
station may be written, possibly causing the servo amplifier to be an unexpected
condition.
5.1 Parameter list
POINT
The parameter whose symbol is preceded by * is enabled with the following
conditions:
*: After setting the parameter, cycle the power or reset the controller.
**: After setting the parameter, cycle the power.
Abbreviations of operation modes indicate the followings. Operation modes
other than the standard mode is used with servo amplifiers with software version
A1 or later.
Standard: Standard (semi closed loop system) use of the rotary servo motor
Full.: Fully closed loop system use of the rotary servo motor
Lin.: Linear servo motor use
DD: Direct drive (DD) motor use
5- 1
5. PARAMETERS
5.1.1 Basic setting parameters ([Pr. PA_ _ ])

Operation
mode
Initial
Standard
No. Symbol Name Unit
value
Full.
Lin.
DD
PA01 **STY Operation mode 1000h
PA02 **REG Regenerative option 0000h
PA03 *ABS Absolute position detection system 0000h
PA04 *AOP1 Function selection A-1 2000h
PA05 For manufacturer setting 10000
PA06 1
PA07 1
PA08 ATU Auto tuning mode 0001h
PA09 RSP Auto tuning response 16
PA10 INP In-position range 1600 [pulse]
PA11 TLP Forward rotation torque limit/positive direction thrust limit 1000.0 [%]
PA12 TLN Reverse rotation torque limit/negative direction thrust limit 1000.0 [%]
PA13 For manufacturer setting 0000h
PA14 *POL Rotation direction selection/travel direction selection 0
PA15 *ENR Encoder output pulses 4000 [pulse/rev]
PA16 *ENR2 Encoder output pulses 2 1
PA17 **MSR Servo motor series setting 0000h
PA18 **MTY Servo motor type setting 0000h
PA19 *BLK Parameter writing inhibit 00ABh
PA20 *TDS Tough drive setting 0000h
PA22 **PCS Position control composition selection 0000h
PA23 DRAT Drive recorder arbitrary alarm trigger setting 0000h
PA24 AOP4 Function selection A-4 0000h
PA25 OTHOV One-touch tuning - Overshoot permissible level 0 [%]
PA27 For manufacturer setting 0000h
PA28 0000h
PA29 0000h
PA30 0000h
PA31 0000h
PA32 0000h
5- 2
5. PARAMETERS
5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])

Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h
PB02 VRFT Vibration suppression control tuning mode (advanced vibration 0000h
suppression control II)
PB03 For manufacturer setting 18000
PB04 FFC Feed forward gain 0 [%]
PB06 GD2 Load to motor inertia ratio/load to motor mass ratio 7.00 [Multiplier]
PB07 PG1 Model loop gain 15.0 [rad/s]
PB08 PG2 Position loop gain 37.0 [rad/s]
PB09 VG2 Speed loop gain 823 [rad/s]
PB10 VIC Speed integral compensation 33.7 [ms]
PB11 VDC Speed differential compensation 980
PB12 OVA Overshoot amount compensation 0 [%]
PB13 NH1 Machine resonance suppression filter 1 4500 [Hz]
PB14 NHQ1 Notch shape selection 1 0000h
PB17 NHF Shaft resonance suppression filter 0000h
PB18 LPF Low-pass filter setting 3141 [rad/s]
PB19 VRF11 Vibration suppression control 1 - Vibration frequency 100.0 [Hz]
PB20 VRF12 Vibration suppression control 1 - Resonance frequency 100.0 [Hz]
PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping 0.00
PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping 0.00
PB23 VFBF Low-pass filter selection 0000h
PB24 *MVS Slight vibration suppression control 0000h
PB25 *BOP1 Function selection B-1 0000h
PB26 *CDP Gain switching function 0000h
PB27 CDL Gain switching condition 10 [kpulse/s]/
[pulse]/
[r/min]
PB28 CDT Gain switching time constant 1 [ms]
PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain switching 7.00 [Multiplier]
PB30 PG2B Position loop gain after gain switching 0.0 [rad/s]
PB31 VG2B Speed loop gain after gain switching 0 [rad/s]
PB32 VICB Speed integral compensation after gain switching 0.0 [ms]
PB33 VRF11B Vibration suppression control 1 - Vibration frequency after gain switching 0.0 [Hz]
PB34 VRF12B Vibration suppression control 1 - Resonance frequency after gain 0.0 [Hz]
switching
PB35 VRF13B Vibration suppression control 1 - Vibration frequency damping after gain 0.00
switching
PB36 VRF14B Vibration suppression control 1 - Resonance frequency damping after 0.00
gain switching
PB38 0.00
PB39 0.00
PB40 0.00
PB41 0000h
PB42 0000h
PB43 0000h
PB44 0.00
PB45 CNHF Command notch filter 0000h
5- 3
5. PARAMETERS
Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PB52 VRF21 Vibration suppression control 2 - Vibration frequency 100.0 [Hz]
PB53 VRF22 Vibration suppression control 2 - Resonance frequency 100.0 [Hz]
PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping 0.00
PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping 0.00
PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching 0.0 [Hz]
PB57 VRF22B Vibration suppression control 2 - Resonance frequency after gain 0.0 [Hz]
switching
PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain 0.00
switching
PB59 VRF24B Vibration suppression control 2 - Resonance frequency damping after 0.00
gain switching
PB60 PG1B Model loop gain after gain switching 0.0 [rad/s]
PB61 For manufacturer setting 0.0
PB62 0000h
PB63 0000h
PB64 0000h
5.1.3 Extension setting parameters ([Pr. PC_ _ ])

Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PC01 ERZ Error excessive alarm level 0 [rev]/
[mm]
PC02 MBR Electromagnetic brake sequence output 0 [ms]
PC03 *ENRS Encoder output pulse selection 0000h
PC04 **COP1 Function selection C-1 0000h
PC06 *COP3 Function selection C-3 0000h
PC07 ZSP Zero speed 50 [r/min]/
[mm/s]
PC08 OSL Overspeed alarm detection level 0 [r/min]/
[mm/s]
PC09 MOD1 Analog monitor 1 output 0000h
PC10 MOD2 Analog monitor 2 output 0001h
PC11 MO1 Analog monitor 1 offset 0 [mV]
PC12 MO2 Analog monitor 2 offset 0 [mV]
PC13 For manufacturer setting 0
PC14 0
PC15 0
PC16 0000h
5- 4
5. PARAMETERS
Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PC21 *BPS Alarm history clear 0000h
PC23 0000h
PC24 RSBR Forced stop deceleration time constant 100 [ms]
(Note)

(Note)
PC28 For manufacturer setting 0000h

PC29 *COPB Function selection C-B 1000h
PC31 RSUP1 Vertical axis freefall prevention compensation amount 0 [0.0001rev]/
[0.01mm]
PC33 0
PC34 100
PC35 0000h
PC36 0000h
PC37 0000h
PC38 ERW Error excessive warning level 0 [rev]/[mm]
PC40 0000h
PC41 0000h
PC42 0000h
PC43 0000h
PC44 0000h
PC45 0000h
PC46 0000h
PC47 0000h
PC48 0000h
PC49 0000h
PC50 0000h
PC51 0000h
PC52 0000h
PC53 0000h
PC54 0000h
PC55 0000h
PC56 0000h
PC57 0000h
PC58 0000h
PC59 0000h
PC60 0000h
PC61 0000h
PC62 0000h
PC63 0000h
PC64 0000h
PC65 50.00
PC66 10
PC67 FEWL Following error output level 0000h [pulse]
PC68 FEWH 00C0h
5- 5
5. PARAMETERS
Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PC69 FEWF Following error output filtering time 10 [ms]
PC71 10
PC72 20.00
PC73 10
PC74 10.0
PC75 10
PC76 *COPE Function selection C-E 0001h
PC77 For manufacturer setting 0.0
PC78 0000h
PC79 0000h
PC80 0000h
Note. It is available when the scale measurement function is enabled ([Pr. PA22] is "1 _ _ _" or "2 _ _ _").
5- 6
5. PARAMETERS
5.1.4 I/O setting parameters ([Pr. PD_ _ ])

Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PD01 *DIA1 Input signal automatic on selection 1 0000h
PD02 For manufacturer setting 0000h
PD03 *DI1 Input device selection 1 000Ah
PD04 *DI2 Input device selection 2 000Bh
PD05 *DI3 Input device selection 3 0022h
PD07 *DO1 Output device selection 1 0005h
PD11 *DIF Input filter setting 0004h
PD12 *DOP1 Function selection D-1 0101h
PD16 0000h
PD17 0000h
PD18 0000h
PD19 0000h
PD20 0
PD21 0
PD22 0
PD23 0
PD24 0000h
PD25 0000h
PD26 0000h
PD27 0000h
PD28 0000h
PD29 0000h
PD30 0
PD31 0
PD32 0
PD33 0000h
PD34 0000h
PD35 0000h
PD36 0000h
PD37 *TPOP Touch probe function selection 0000h
PD38 For manufacturer setting 002Ch
PD39 002Dh
PD40 0
PD43 0000h
PD44 0000h
PD45 0000h
PD46 0000h
PD47 0000h
PD48 0000h
5- 7
5. PARAMETERS
5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])

Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PE01 **FCT1 Fully closed loop function selection 1 0000h
PE02 For manufacturer setting 0000h
PE03 *FCT2 Fully closed loop function selection 2 0003h
PE04 **FBN Fully closed loop control - Feedback pulse electronic gear 1 - Numerator 1
PE05 **FBD Fully closed loop control - Feedback pulse electronic gear 1 - Denominator 1
PE06 BC1 Fully closed loop control - Speed deviation error detection level 400 [r/min]
PE07 BC2 Fully closed loop control - Position deviation error detection level 100 [kpulse]
PE08 DUF Fully closed loop dual feedback filter 10 [rad/s]
PE10 FCT3 Fully closed loop function selection 3 0000h
PE12 0000h
PE13 0000h
PE14 0111h
PE15 20
PE16 0000h
PE17 0000h
PE18 0000h
PE19 0000h
PE20 0000h
PE21 0000h
PE22 0000h
PE23 0000h
PE24 0000h
PE25 0000h
PE26 0000h
PE27 0000h
PE28 0000h
PE29 0000h
PE30 0000h
PE31 0000h
PE32 0000h
PE33 0000h
PE34 **FBN2 Fully closed loop control - Feedback pulse electronic gear 2 - Numerator 1
PE35 **FBD2 Fully closed loop control - Feedback pulse electronic gear 2 - 1
Denominator
PE36 For manufacturer setting 0.0
PE37 0.00
PE38 0.00
PE39 20
PE40 0000h
PE41 EOP3 Function selection E-3 0000h
PE42 For manufacturer setting 0
PE43 0.0
PE44 LMCP Lost motion compensation positive-side compensation value selection 0 [0.01%]
PE45 LMCN Lost motion compensation negative-side compensation value selection 0 [0.01%]
PE46 LMFLT Lost motion filter setting 0 [0.1 ms]
PE47 TOF Torque offset 0 [0.01%]
PE48 *LMOP Lost motion compensation function selection 0000h
PE49 LMCD Lost motion compensation timing 0 [0.1 ms]
PE50 LMCT Lost motion compensation non-sensitive band 0 [pulse]/
[kpulse]
5- 8
5. PARAMETERS
Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PE52 0000h
PE53 0000h
PE54 0000h
PE55 0000h
PE56 0000h
PE57 0000h
PE58 0000h
PE59 0000h
PE60 0000h
PE61 0.00
PE62 0.00
PE63 0.00
PE64 0.00
5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])

Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PF01 For manufacturer setting 0000h
PF02 0000h
PF03 0000h
PF04 0
PF05 0000h
PF06 *FOP5 Function selection F-5 0000h
PF08 0000h
PF09 0
PF10 0
PF11 0
PF12 DBT Electronic dynamic brake operating time 2000 [ms]
PF14 10
PF15 0000h
PF16 0000h
PF17 0000h
PF18 **STOD STO diagnosis error detection time 10 [s]
PF19 TSL Friction failure prediction - Compensation coefficient 1 0 [0.001%/°C]
PF20 TIC Friction failure prediction - Compensation coefficient 2 0 [0.1%]
PF21 DRT Drive recorder switching time setting 0 [s]
PF22 For manufacturer setting 200
PF23 OSCL1 Vibration tough drive - Oscillation detection level 50 [%]
PF24 *OSCL2 Vibration tough drive function selection 0000h
PF25 CVAT SEMI-F47 function - Instantaneous power failure detection time 200 [ms]
PF27 0
PF28 0
5- 9
5. PARAMETERS
Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PF30 0
PF31 FRIC Machine diagnosis function - Friction judgement speed 0 [r/min]/
[mm/s]
PF33 0000h
PF34 *MFP Machine diagnosis function selection 0000h
PF36 0000h
PF37 0000h
PF38 0000h
PF39 0000h
PF40 MFPP Friction failure prediction parameter 0000h
PF41 FPMT Failure prediction - Servo motor total travel distance 0 [rev]/[m]
PF42 PAV Friction failure prediction - Average characteristic 0 [0.1%]
PF43 PSD Friction failure prediction - Standard deviation 0 [0.1%]
PF45 VAV Vibration failure prediction - Average characteristic 0 [0.1%]
PF46 VSD Vibration failure prediction - Standard deviation 0 [0.1%]
PF48 0000h
PF49 100
PF50 100
PF51 0000h
PF52 0000h
PF53 0
PF54 0
PF55 0
PF56 0
PF57 0000h
PF58 0000h
PF59 0000h
PF60 0000h
PF61 0000h
PF62 0000h
PF63 0000h
PF64 0000h
5 - 10
5. PARAMETERS
5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])

Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PL01 **LIT1 Linear servo motor/DD motor function selection 1 0301h
PL02 **LIM Linear encoder resolution - Numerator 1000 [µm]
PL03 **LID Linear encoder resolution - Denominator 1000 [µm]
PL04 *LIT2 Linear servo motor/DD motor function selection 2 0003h
PL05 LB1 Position deviation error detection level 0 [mm]/
[0.01rev]
PL06 LB2 Speed deviation error detection level 0 [mm/s]/
[r/min]
PL07 LB3 Torque/thrust deviation error detection level 100 [%]
PL08 *LIT3 Linear servo motor/DD motor function selection 3 0010h
PL09 LPWM Magnetic pole detection voltage level 30 [%]
PL10 For manufacturer setting 5
PL11 100
PL12 500
PL13 0000h
PL14 0000h
PL15 20
PL16 0
PL17 LTSTS Magnetic pole detection - Minute position detection method - Function 0000h
selection
PL18 IDLV Magnetic pole detection - Minute position detection method - Identification 0 [%]
signal amplitude
PL19 For manufacturer setting 0
PL20 0
PL21 0
PL22 0
PL23 0000h
PL24 0
PL25 0000h
PL26 0000h
PL27 0000h
PL28 0000h
PL29 0000h
PL30 0000h
PL31 0000h
PL32 0000h
PL33 0000h
PL34 0000h
PL35 0000h
PL36 0000h
PL37 0000h
PL38 0000h
PL39 0000h
PL40 0000h
PL41 0000h
PL42 0000h
PL43 0000h
PL44 0000h
PL45 0000h
5 - 11
5. PARAMETERS
Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PL46 For manufacturer setting 0000h
PL47 0000h
PL48 0000h
5.1.8 Positioning control parameters ([Pr. PT_ _ ])

Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PT01 For manufacturer setting 0300h
PT02 0001h
PT03 0000h
PT04 0000h
PT05 ZRF Home position return speed 100.00 [r/min]/
[mm/s]
PT06 CRF Creep speed 10.00 [r/min]/
[mm/s]
PT07 ZST Home position shift distance 0 [pulse]
PT08 For manufacturer setting 0
PT09 DCT Travel distance after proximity dog 0 [pulse]
PT10 ZTM Stopper type home position return stopper time 100 [ms]
PT11 ZTT Stopper type home position return torque limit value 15.0 [%]
PT13 100
PT14 0
PT15 LMPL Software limit + 0000h [pulse]
PT16 LMPH 0000h
PT17 LMNL Software limit - 0000h [pulse]
PT18 LMNH 0000h
PT20 0000h
PT21 0000h
PT22 0000h
PT23 0
PT24 0
PT25 0
PT26 0000h
PT27 0000h
PT28 8
PT29 *TOP3 Function selection T-3 0000h
PT31 0000h
5 - 12
5. PARAMETERS
Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PT33 0000h
PT34 0000h
PT35 0000h
PT36 0000h
PT37 10
PT38 0000h
PT39 100
PT40 0
PT41 ORP Home position return inhibit function selection 0000h
PT43 0
PT44 0000h
PT45 HMM Home position return type 37
PT47 0000h
PT48 0000h
PT49 0
PT50 0
PT51 0
PT52 0
PT53 0.0
PT54 0
PT55 *TOP8 Function selection T-8 0000h
PT56 HMA Home position return acceleration time constant 0 [ms]
PT57 HMB Home position return deceleration time constant 0 [ms]
PT58 For manufacturer setting 100.00
PT59 500.00
PT60 1000.00
PT61 200.00
PT62 0000h
PT63 0000h
PT64 0000h
PT65 100.00
PT66 20000.00
PT67 VLMT Speed limit 500.00 [r/min]/
[mm/s]
PT69 ZSTH Home position shift distance (extension parameter) 0 [pulse]
PT71 DCTH Travel distance after proximity dog (extension parameter) 0 [pulse]
PT73 0000h
PT74 0000h
PT75 0000h
PT76 0000h
PT77 0000h
PT78 0000h
PT79 0000h
PT80 0000h
5 - 13
5. PARAMETERS
5.1.9 Network setting parameters ([Pr. PN_ _ ])

Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PN01 For manufacturer setting 0
PN02 CERT Communication error detection time 0 [ms]
PN03 **NWMD Communication mode setting for CC-Link IE communication 0000h
PN04 **NWNO CC-Link IE communication network number 0
PN05 CERI Communication error detection frequency setting 0 [%]
PN06 NOP1 Function selection N-1 0000h
PN07 For manufacturer setting 0000h
PN08 0000h
PN09 0000h
PN10 0000h
PN11 0000h
PN12 0000h
PN13 0000h
PN14 0000h
PN15 0000h
PN16 0000h
PN17 0000h
PN18 0000h
PN19 0000h
PN20 0000h
PN21 0000h
PN22 0000h
PN23 0000h
PN24 0000h
PN25 0000h
PN26 0000h
PN27 0000h
PN28 0000h
PN29 0000h
PN30 0000h
PN31 0000h
PN32 0000h
5 - 14
5. PARAMETERS
5.2 Detailed list of parameters
POINT
Set a value to each "x" in the "Setting digit" columns.
5.2.1 Basic setting parameters ([Pr. PA_ _ ])

Initial
No./ Setting
Function value
symbol/name digit
[unit]
PA01 ___x Control mode selection 0h
**STY Select a control mode.
Operation 0: Automatic selection
mode 8: Positioning mode (indexer method)
When "0" is set, either of the following control modes is set depending on the setting
value of [Pr. PN03].
[Pr. PN03] Control mode

Cyclic synchronous mode
_ _ _ 0 (motion mode)
(position/velocity/torque)
_ _ _ 1 (I/O mode) Positioning mode (point table method)
When "8" is set, if [Pr. PN03] is set to "_ _ _ 0", [AL. 37] will occur.
Refer to "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (I/O Mode)" for
details of the positioning mode.
This digit is available with servo amplifier with software version A3 or later.
__x_ Operation mode selection 0h
0: Standard control mode
1: Fully closed loop control mode
4. Linear servo motor control mode
6: DD motor control mode
Setting other than above will trigger [AL. 37 Parameter error].
The setting of this digit is used by servo amplifier with software version A1 or later.
_x__ For manufacturer setting 0h
x___ 1h
5 - 15
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PA02 __xx Regenerative option 00h
**REG Select a regenerative option.
Regenerative Incorrect setting may cause the regenerative option to burn.
option If a selected regenerative option is not for use with the servo amplifier, [AL. 37
Parameter error] occurs.
00: Regenerative option is not used.

For the servo amplifiers of 100 W, a regenerative resistor is not used.
For servo amplifier of 0.2 kW to 7 kW, built-in regenerative resistor is used.
Supplied regenerative resistors or regenerative option is used with the servo
amplifier of 11 kW to 22 kW.
01: FR-RC-(H)/FR-CV-(H)/FR-BU2-(H)
When you use FR-RC-(H) or FR-CV-(H), select "1" of "[AL. 10 Undervoltage]
detection method selection" in [Pr. PC20].
02: MR-RB032
03: MR-RB12
04: MR-RB32
05: MR-RB30
06: MR-RB50 (Cooling fan is required.)
08: MR-RB31
09: MR-RB51 (Cooling fan is required.)
0B: MR-RB3N
0C: MR-RB5N (Cooling fan is required.)
80: MR-RB1H-4
81: MR-RB3M-4 (Cooling fan is required.)
82: MR-RB3G-4 (Cooling fan is required.)
84: MR-RB34-4 (Cooling fan is required.)
91: MR-RB3U-4 (Cooling fan is required.)
FA: When the supplied regenerative resistors or the regenerative option is cooled by
the cooling fan to increase the ability with the servo amplifier of 11 kW to 22 kW.
x___ 0h
PA03 ___x Absolute position detection system selection 0h
*ABS Set this digit when using the absolute position detection system.
Absolute 0: Disabled (incremental system)
position 1:Enabled (absolute position detection system)
detection The absolute position detection system cannot be used when an incremental type
system linear encoder is used or the semi closed loop/fully closed loop switching is enabled.
Enabling the absolute position detection system will trigger [AL. 37].
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h
5 - 16
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PA04 ___x For manufacturer setting 0h
*AOP1 __x_ 0h
Function _x__ Servo forced stop selection 0h
selection A-1 0: Enabled (The forced stop input EM2 or EM1 is used.)
1: Disabled (The forced stop input EM2 and EM1 are not used.)
Refer to table 5.2 for details.
x___ Forced stop deceleration function selection 2h
0: Forced stop deceleration function disabled (EM1)
2: Forced stop deceleration function enabled (EM2)
Table 5.2 Deceleration method

Setting Deceleration method
EM2/EM1
value EM2 or EM1 is off Alarm occurred
00__ EM1 MBR (Electromagnetic MBR (Electromagnetic
without the forced stop without the forced stop
20__ EM2 MBR (Electromagnetic MBR (Electromagnetic
after the forced stop after the forced stop
0 1 _ _ Not using MBR (Electromagnetic
EM2 or EM1 brake interlock) turns off
without the forced stop
deceleration.
2 1 _ _ Not using MBR (Electromagnetic
EM2 or EM1 brake interlock) turns off
after the forced stop
deceleration.
5 - 17
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PA08 ___x Gain adjustment mode selection 1h
ATU Select the gain adjustment mode.
Auto tuning 0: 2 gain adjustment mode 1 (interpolation mode)
mode 1: Auto tuning mode 1
2: Auto tuning mode 2
3: Manual mode
4: 2 gain adjustment mode 2
_x__ 0h
x___ 0h
Table 5.3 Gain adjustment mode selection

Setting Gain adjustment
Automatically adjusted parameter
value mode
_ _ _ 0 2 gain adjustment [Pr. PB06 Load to motor inertia ratio/load to
mode 1 (interpolation motor mass ratio]
mode) [Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
_ _ _ 1 Auto tuning mode 1 [Pr. PB06 Load to motor inertia ratio/load to
motor mass ratio]
[Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
_ _ _ 2 Auto tuning mode 2 [Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
_ _ _ 3 Manual mode
_ _ _ 4 2 gain adjustment [Pr. PB08 Position loop gain]
mode 2 [Pr. PB09 Speed loop gain]
5 - 18
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PA09 Set the auto tuning response. 16
RSP
Auto tuning Machine characteristic Machine characteristic
response Guideline for Guideline for
Setting Setting
machine machine
value Response value Response
resonance resonance
frequency [Hz] frequency [Hz]
1 Low 2.7 21 Middle 67.1
2 response 3.6 22 response 75.6
3 4.9 23 85.2
4 6.6 24 95.9
5 10.0 25 108.0
6 11.3 26 121.7
7 12.7 27 137.1
8 14.3 28 154.4
9 16.1 29 173.9
10 18.1 30 195.9
11 20.4 31 220.6
12 23.0 32 248.5
13 25.9 33 279.9
14 29.2 34 315.3
15 32.9 35 355.1
16 37.0 36 400.0
17 41.7 37 446.6
18 47.0 38 501.2
19 Middle 52.9 39 High 571.5
20 response 59.6 40 response 642.7
Setting range: 1 to 40
PA10 Set an in-position range per command pulse. 1600
INP To change it to the servo motor encoder pulse unit, set [Pr. PC06]. [pulse]
In-position In the motion mode, the in-position range is the range where INP is outputted. The
range unit is fixed to [pulse].
5 - 19
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PA11 You can limit the torque or thrust generated by the servo motor. 1000.0
TLP When you output the torque or thrust with analog monitor output, the larger value of [%]
Forward [Pr. PA11 Forward rotation torque limit/positive direction thrust limit] or [Pr. PA12
rotation Reverse rotation torque limit/negative direction thrust limit] will be the maximum
torque output voltage (8 V).
limit/positive Set the parameter on the assumption that the rated torque or continuous thrust is
direction 100.0 [%]. The parameter is for limiting the torque of the servo motor in the CCW
thrust limit power running or CW regeneration, or limiting the thrust of the linear servo motor in
the positive direction power running or negative direction regeneration. Set this
parameter to "0.0" to generate no torque or thrust.
The polarity of torque limit can be changed depending on the setting values of [Pr.
PA14 Rotation direction selection/travel direction selection] and [Pr. PC29 POL
reflection selection at torque mode].
Setting range: 0.0 to 1000.0

PA12 You can limit the torque or thrust generated by the servo motor. 1000.0
TLN When you output the torque or thrust with analog monitor output, the larger value of [%]
Reverse [Pr. PA11 Forward rotation torque limit/positive direction thrust limit] or [Pr. PA12
rotation Reverse rotation torque limit/negative direction thrust limit] will be the maximum
torque output voltage (8 V).
limit/negative Set the parameter on the assumption that the rated torque or continuous thrust is
direction 100.0 [%]. The parameter is for limiting the torque of the servo motor in the CW
thrust limit power running or CCW regeneration, or limiting the thrust of the linear servo motor in
the negative direction power running or positive direction regeneration. Set this
parameter to "0.0" to generate no torque or thrust.
The polarity of torque limit can be changed depending on the setting values of [Pr.
PA14 Rotation direction selection/travel direction selection] and [Pr. PC29 POL
reflection selection at torque mode].
5 - 20
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PA14 Select a rotation direction or travel direction. 0
*POL The torque polarity can be changed with the combination of this parameter and [Pr.
Rotation PC29 Torque POL reflection selection].
direction At position mode/velocity mode
selection/
travel direction Servo motor rotation direction/linear servo motor
selection travel direction
Position mode Position mode
Setting Positioning address Positioning address
value increase/ decrease/
Velocity mode Velocity mode
Speed command: Speed command:
Positive Negative
CCW or positive
0 CW or negative direction
direction
CCW or positive
1 CW or negative direction
direction
At torque mode
Setting value Servo motor rotation direction/travel direction

Torque mode Torque mode
[Pr. PA14] [Pr. PC29] Torque command: Torque command:
Positive Negative
0 0 _ _ _: CCW or positive CW or negative
Enabled direction direction
1 _ _ _: CCW or positive CW or negative
Disabled direction direction
1 0 _ _ _: CW or negative CCW or positive
The following shows the servo motor rotation directions.
Forward rotation (CCW)
Reverse rotation (CW)
The positive/negative directions of the linear servo motor are as follows.

Negative direction Secondary side
Negative direction
Secondary side
Positive direction Positive direction
Primary side Table
Positive direction
Primary side
Secondary side
Negative direction Primary side
LM-H3/LM-F series LM-U2 series LM-K2 series
Setting range: 0, 1
5 - 21
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PA15 Set the encoder output pulses from the servo amplifier by using the number of 4000
*ENR output pulses per revolution, dividing ratio, or electronic gear ratio. (after [pulse/
Encoder multiplication by 4) rev]
output pulses Selecting "Dividing ratio setting (_ _ 1 _)" of "Encoder output pulse setting selection"
in [Pr. PC03] will divide the travel distance [pulse] of the linear encoder by the setting
value.
Set a numerator of the electronic gear for the A/B-phase pulse output when selecting
"A-phase/B-phase pulse electronic gear setting (_ _ 3 _)" of "Encoder output pulse
setting selection" in [Pr. PC03].
The maximum output frequency is 4.6 Mpulses/s. Set the parameter within this
range.

PA16 Set a denominator of the electronic gear for the A/B-phase pulse output. 1
*ENR2 Set a denominator of the electronic gear when selecting "A-phase/B-phase pulse
Encoder electronic gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr.
output pulses PC03].
2 Selecting "Dividing ratio setting (_ _ 1 _)" of "Encoder output pulse setting selection"
in [Pr. PC03] will disable the setting value.
5 - 22
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PA17 When using a linear servo motor, select any linear servo motor with [Pr. PA17] and 0000h
**MSR [Pr. PA18]. Set this and [Pr. PA18] at a time.
Servo motor Refer to the following table for settings.
series setting
Parameter
Linear servo motor Linear servo motor
[Pr. PA17] [Pr. PA18]
series (Primary side)
setting setting
LM-H3P2A-07P-BSS0 2101h
LM-H3P3A-12P-CSS0 3101h
LM-H3P3B-24P-CSS0 3201h
LM-H3P3C-36P-CSS0 3301h
LM-H3 LM-H3P3D-48P-CSS0 00BBh 3401h
LM-H3P7A-24P-ASS0 7101h
LM-H3P7B-48P-ASS0 7201h
LM-H3P7C-72P-ASS0 7301h
LM-H3P7D-96P-ASS0 7401h
LM-U2PAB-05M-0SS0 A201h
LM-U2PAD-10M-0SS0 A401h
LM-U2PAF-15M-0SS0 A601h
LM-U2PBB-07M-1SS0 B201h
LM-U2 LM-U2PBD-15M-1SS0 00B4h B401h
LM-U2PBF-22M-1SS0 2601h
LM-U2P2B-40M-2SS0 2201h
LM-U2P2C-60M-2SS0 2301h
LM-U2P2D-80M-2SS0 2401h
LM-FP2B-06M-1SS0 2201h
(natural cooling)
LM-FP2D-12M-1SS0 2401h
(natural cooling)
LM-FP2F-18M-1SS0 2601h
(natural cooling)
(natural cooling)
(natural cooling)
(natural cooling)
LM-FP4H-48M-1SS0 4801h
(natural cooling)
(natural cooling)
LM-F 00B2h
(liquid-cooling)
(liquid-cooling)
(liquid-cooling)
(liquid-cooling)
(liquid-cooling)
(liquid-cooling)
(liquid-cooling)
(liquid-cooling)
LM-K2P1A-01M-2SS1 1101h
LM-K2P1C-03M-2SS1 1301h
LM-K2P2A-02M-1SS1 2101h
LM-K2 LM-K2P2C-07M-1SS1 00B8h 2301h
LM-K2P2E-12M-1SS1 2501h
LM-K2P3C-14M-1SS1 3301h
LM-K2P3E-24M-1SS1 3501h
PA18 When using a linear servo motor, select any linear servo motor with [Pr. PA17] and 0000h
**MTY [Pr. PA18]. Set this and [Pr. PA17] at a time.
Servo motor Refer to the table of [Pr. PA17] for settings.
type setting
5 - 23
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PA19 Select a reference range and writing range of the parameter. 00ABh
*BLK Refer to table 5.4 for settings.
Parameter
writing inhibit
Table 5.4 [Pr. PA19] setting value and reading/writing range
Setting
PA19 PA PB PC PD PE PF PL PT PN
operation
Other than Reading
below Writing
Reading Only 19
000Ah
Writing Only 19
Reading
000Bh
Writing
Reading
000Ch
Writing
Reading
000Fh
Writing
Reading
00AAh
Writing
00ABh Reading
(initial
Writing
value)
Reading
100Bh
Writing Only 19
Reading
100Ch
Writing Only 19
Reading
100Fh
Writing Only 19
Reading
10AAh
Writing Only 19
Reading
10ABh
Writing Only 19
PA20 Alarms may not be avoided with the tough drive function depending on the situations of the power
*TDS supply and load fluctuation.
Tough drive You can assign MTTR (During tough drive) to pins CN3-9, CN3-13, and CN3-15 with [Pr. PD07] to [Pr.
setting PD09].
_ _ _ x For manufacturer setting 0h
_ _ x _ Vibration tough drive selection 0h
0: Disabled
1: Enabled
Selecting "1" enables to suppress vibrations by automatically changing the setting

values of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine
resonance suppression filter 2] in case that the vibration exceeds the value of the
oscillation level set in [Pr. PF23].
The parameter will operate when [Pr. PB13 Machine resonance suppression filter 1]
and [Pr. PB15 Machine resonance suppression filter 2] are enabled.
_x__ SEMI-F47 function selection 0h
0: Disabled
1: Enabled
Selecting "1" enables to avoid triggering [AL. 10 Undervoltage] using the electrical
energy charged in the capacitor in case that an instantaneous power failure occurs
during operation. In [Pr. PF25 SEMI-F47 function - Instantaneous power failure
detection time], set the time until the occurrence of [AL. 10.1 Voltage drop in the
control circuit power].
x___ For manufacturer setting 0h
5 - 24
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PA21 ___x One-touch tuning function selection 1h
*AOP3 0: Disabled
Function 1: Enabled
selection A-3
When the digit is "0", the one-touch tuning with MR Configurator2 will be disabled.
_x__ 0h
x___ 0h
PA22 ___x For manufacturer setting 0h
**PCS __x_ Super trace control selection 0h
Position 0: Disabled
control 2: Enabled
composition _ x _ _ For manufacturer setting 0h
selection
x _ _ _ Scale measurement function selection 0h
0: Disabled
1: Used in absolute position detection system
2: Used in incremental system
The absolute position detection system cannot be used while an incremental type
encoder is used. Enabling absolute position detection system will trigger [AL. 37
Parameter error].
Additionally, the setting is enabled only in the standard control mode. Setting other
than "0" in other operation modes triggers [AL. 37 Parameter error].
PA23 _ _ x x Alarm detail No. setting 00h
DRAT Set the digits when you execute the trigger with arbitrary alarm detail No. for the
Drive drive recorder function.
recorder When these digits are "0 0", only the arbitrary alarm No. setting will be enabled.
arbitrary x x _ _ Alarm No. setting 00h
alarm trigger Set the digits when you execute the trigger with arbitrary alarm No. for the drive
setting recorder function.
When "0 0" are set, arbitrary alarm trigger of the drive recorder will be disabled.
Setting example:
To activate the drive recorder when [AL. 50 Overload 1] occurs, set "5 0 0 0".
To activate the drive recorder when [AL. 50.3 Thermal overload error 4 during operation] occurs, set "5
0 0 3".
PA24 _ _ _ x Vibration suppression mode selection 0h
AOP4 0: Standard mode
Function 1: 3 inertia mode
selection A-4 2: Low response mode
When you select the standard mode or low response mode, "Vibration suppression
control 2" is not available.
When you select the 3 inertia mode, the feed forward gain is not available.
Before changing the control mode during the 3 inertia mode or low response mode,
stop the motor.
_x__ 0h
x___ 0h
5 - 25
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PA25 Set a permissible value of overshoot amount for one-touch tuning as a percentage of 0
OTHOV the in-position range. [%]
One-touch Note that setting "0" will be 50%.
tuning -
Overshoot
permissible
level Setting range: 0 to 100
PA26 ___x Torque limit function selection at instantaneous power failure 0h
*AOP5 0: Disabled
Function 1: Enabled
selection A-5 When an instantaneous power failure occurs during operation, you can save electric
energy charged in the capacitor in the servo amplifier by limiting torque at
acceleration. You can also delay the time until [AL. 10.2 Voltage drop in the main
circuit power] occurs with instantaneous power failure tough drive function. Doing
this will enable you to set a longer time in [Pr. PF25 SEMI-F47 function -
Instantaneous power failure detection time].
The torque limit function at instantaneous power failure is enabled when "SEMI-F47
function selection" in [Pr. PA20] is "Enabled (_ 1 _ _)".
_x__ 0h
x___ 0h
5 - 26
5. PARAMETERS
5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])

Initial
No./ Setting
Function value
symbol/name digit
[unit]
PB01 ___x Filter tuning mode selection 0h
FILT Set the adaptive tuning.
Adaptive Select the adjustment mode of the machine resonance suppression filter 1. Refer to
tuning mode section 7.1.2 for details.
(adaptive 0: Disabled
filter II) 1: Automatic setting
2: Manual setting
_x__ 0h
x___ 0h
PB02 ___x Vibration suppression control 1 tuning mode selection 0h
VRFT Select the tuning mode of the vibration suppression control 1. Refer to section 7.1.5
Vibration for details.
suppression 0: Disabled
control tuning 1: Automatic setting
mode 2: Manual setting
(advanced __x_ Vibration suppression control 2 tuning mode selection 0h
vibration
Select the tuning mode of the vibration suppression control 2. To enable the digit,
suppression
set "Vibration suppression mode selection" to "3 inertia mode (_ _ _ 1)" in [Pr.
control II)
PA24]. Refer to section 7.1.5 for details.
0: Disabled
1: Automatic setting
2: Manual setting
x___ 0h
5 - 27
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PB04 Set the feed forward gain. 0
FFC When the setting is 100%, the droop pulses during operation at constant speed will [%]
Feed forward be almost 0. When the super trace control is enabled, constant speed and uniform
gain acceleration/deceleration droop pulses will be almost 0. However, sudden
acceleration/deceleration will increase the overshoot. As a guideline, when the feed
forward gain setting is 100%, set 1 s or more for the acceleration time constant to
the rated speed.

PB06 Set a load to motor inertia ratio or load to motor mass ratio. 7.00
GD2 Setting a value considerably different from the actual load moment of inertia or load [times]
Load to motor mass may cause an unexpected operation such as an overshoot.
inertia The setting of this parameter will be automatic or manual depending on the setting of
ratio/load to [Pr. PA08]. Refer to the following table for details. When the parameter is set to
motor mass automatic, the value will vary between 0.00 and 100.00.
ratio
Pr. PA08 This parameter

_ _ _ 0 (2 gain adjustment mode 1 Automatic setting
(interpolation mode))
_ _ _ 1: (Auto tuning mode 1)
_ _ _ 2: (Auto tuning mode 2) Manual setting
_ _ _ 3 (Manual mode)
_ _ _ 4: (2 gain adjustment mode 2)
PB07 Set the response gain to the target position. 15.0

PG1 Increasing the setting value will also increase the response level to the position [rad/s]
Model loop command but will be liable to generate vibration and noise.
gain The setting of this parameter will be automatic or manual depending on the setting of
[Pr. PA08]. Refer to the following table for details.

_ _ _ 0 (2 gain adjustment mode 1 Manual setting
_ _ _ 1: (Auto tuning mode 1) Automatic setting
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4: (2 gain adjustment mode 2)
PB08 Set the gain of the position loop. 37.0

PG2 Set this parameter to increase the position response to level load disturbance. [rad/s]
Position loop Increasing the setting value will also increase the response level to the load
gain disturbance but will be liable to generate vibration and noise.
The setting of this parameter will be automatic or manual depending on the setting of
[Pr. PA08]. Refer to the following table for details.

_ _ _ 0 (2 gain adjustment mode 1 Automatic setting
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4: (2 gain adjustment mode 2) Automatic setting
5 - 28
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PB09 Set the gain of the speed loop. 823
VG2 Set this parameter when vibration occurs on machines of low rigidity or with large [rad/s]
Speed loop backlash. Increasing the setting value will also increase the response level but will
gain be liable to generate vibration and noise.
The setting of this parameter will be automatic or manual depending on the setting of
[Pr. PA08]. Refer to the table of [Pr. PB08] for details.

PB10 Set the integral time constant of the speed loop. 33.7
VIC Decreasing the setting value will increase the response level but will be liable to [ms]
Speed generate vibration and noise.
integral The setting of this parameter will be automatic or manual depending on the setting of
compensation [Pr. PA08]. Refer to the table of [Pr. PB08] for details.

PB11 Set the differential compensation. 980
VDC To enable the parameter at all times, select "Continuous PID control enabled (_ _ 3
Speed _)" of "PI-PID switching control selection" in [Pr. PB24].
differential To enable it, turn on PC (Proportional control) or PID switching signal from
compensation controller.

PB12 Set a percentage of viscous friction torque against the servo motor rated value or 0
OVA thrust against the linear servo motor rated value. [%]
Overshoot When the response level is low or when the torque/thrust is limited, the efficiency of
amount the parameter may be lower.
compensation
PB13 Set the notch frequency of the machine resonance suppression filter 1. 4500
NH1 When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. [Hz]
Machine PB01], this parameter will be adjusted automatically by adaptive tuning.
resonance When "Filter tuning mode selection" is set to "Manual setting (_ _ _ 2)" in [Pr. PB01],
suppression the setting value will be enabled.
filter 1
PB14 Set forms of the machine resonance suppression filter 1.
NHQ1 When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB01], this parameter
Notch shape will be adjusted automatically by adaptive tuning.
selection 1 When "Filter tuning mode selection" is set to "Manual setting (_ _ _ 2)" in [Pr. PB01], the setting value
will be enabled.
_ _ _ x For manufacturer setting 0h
_ _ x _ Notch depth selection 0h
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
_ x _ _ Notch width selection 0h
0: α = 2
1: α = 3
2: α = 4
3: α = 5
x _ _ _ For manufacturer setting 0h
NH2 To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance [Hz]
Machine suppression filter 2 selection" in [Pr. PB16].
resonance
suppression
filter 2 Setting range: 10 to 4500
5 - 29
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
NHQ2 _ _ _ x Machine resonance suppression filter 2 selection 0h
Notch shape 0: Disabled
selection 2 1: Enabled
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
0: α = 2
1: α = 3
2: α = 4
3: α = 5
PB17 Set the shaft resonance suppression filter.
NHF Use this to suppress a low-frequency machine vibration.
Shaft When you select "Automatic setting (_ _ _ 0)" of "Shaft resonance suppression filter selection" in [Pr.
resonance PB23], the value will be calculated automatically from the servo motor you use and load to motor inertia
suppression ratio. It will not be automatically calculated for the linear servo motor. When "Manual setting (_ _ _ 1)" is
filter selected, the setting written to the parameter is used.
When "Shaft resonance suppression filter selection" is set to "Disabled (_ _ _ 2)" in [Pr. PB23], the
setting value of this parameter will be disabled.
When "Machine resonance suppression filter 4 selection" is set to "Enabled (_ _ _ 1)" in [Pr. PB49], the
shaft resonance suppression filter is not available.
When "Shaft resonance suppression filter selection" is set to "Disabled (_ _ _ 2)" in [Pr. PB23], the
performance may be reduced.
_ _ x x Shaft resonance suppression filter setting frequency selection 00h
Refer to table 5.5 for settings.
Set the value closest to the frequency you need.
_ x _ _ Notch depth selection 0h
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
Table 5.5 Shaft resonance suppression filter setting frequency selection

Setting Setting
Frequency [Hz] Frequency [Hz]
value value
__00 Disabled __10 562
__01 Disabled __11 529
__02 4500 __12 500
__03 3000 __13 473
__04 2250 __14 450
__05 1800 __15 428
__06 1500 __16 409
__07 1285 __17 391
__08 1125 __18 375
__09 1000 __19 360
__0A 900 __1A 346
__0B 818 __1B 333
__0C 750 __1C 321
__0D 692 __1D 310
__0E 642 __1E 300
__0F 600 __1F 290
5 - 30
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PB18 Set the low-pass filter. 3141
LPF The following shows a relation of a required parameter to this parameter. [rad/s]
Low-pass
filter setting Setting range: 100 to 18000
[Pr. PB23] [Pr. PB18]

_ _ 0 _ (Initial value) Automatic setting
__1_ Setting value
enabled
__2_ Setting value
disabled
PB19 Set the vibration frequency for vibration suppression control 1 to suppress low- 100.0
VRF11 frequency machine vibration. [Hz]
Vibration When "Vibration suppression control 1 tuning mode selection" is set to "Automatic
suppression setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. When
control 1 - "Manual setting (_ _ _ 2)" is selected, the setting written to the parameter is used.
Vibration Refer to section 7.1.5 for details.
frequency
PB20 Set the resonance frequency for vibration suppression control 1 to suppress low- 100.0
Resonance Refer to section 7.1.5 for details.
frequency
PB21 Set a damping of the vibration frequency for vibration suppression control 1 to 0.00
VRF13 suppress low-frequency machine vibration.
Vibration Refer to section 7.1.5 for details.
frequency
damping Setting range: 0.00 to 0.30
PB22 Set a damping of the resonance frequency for vibration suppression control 1 to 0.00
Resonance Refer to section 7.1.5 for details.
frequency
damping Setting range: 0.00 to 0.30
PB23 ___x Shaft resonance suppression filter selection 0h
VFBF Select the shaft resonance suppression filter.
Low-pass 0: Automatic setting
filter selection 1: Manual setting
2: Disabled
When you select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4
selection" in [Pr. PB49], the shaft resonance suppression filter is not available.
__x_ Low-pass filter selection 0h
Select the low-pass filter.
1: Manual setting
2: Disabled
x___ 0h
5 - 31
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PB24 ___x Slight vibration suppression control selection 0h
*MVS Select the slight vibration suppression control.
Slight 0: Disabled
vibration 1: Enabled
suppression To enable the slight vibration suppression control, set "Gain adjustment mode
control selection" to "Manual mode (_ _ _ 3)" in [Pr. PA08]. Slight vibration suppression
control selection cannot be used in the velocity mode.
__x_ PI-PID switching control selection 0h
0: PI control enabled
(Switching is enabled by PID switching signal from controller and Input device PC
(Proportional control).)
3: Continuous PID control enabled
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), enabling PID control and
completing positioning simultaneously will suppress the unnecessary torque
generated to compensate for a position shift.
x___ 0h
PB25 ___x Model adaptive control selection 0h
*BOP1 0: Enabled (model adaptive control)
Function 2: Disabled (PID control)
selection B-1 Refer to section 7.5 for details.
_x__ 0h
x___ 0h
PB26 Select a gain switching condition.
*CDP Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr.
Gain PB60].
switching _ _ _ x Gain switching selection 0h
function 0: Disabled
1: Switching is enabled by control command from controller and Input device CDP
(Gain switching).
2: Command frequency
3: Droop pulses
4: Servo motor speed
_ _ x _ Gain switching condition selection 0h
0: Gain after switching is enabled with gain switching condition or more
1: Gain after switching is enabled with gain switching condition or less
_ x _ _ Gain switching time constant disabling condition selection 0h
0: Switching time constant enabled
1: Switching time constant disabled
2: Return time constant disabled
Refer to section 7.2.4 for details.
PB27 This is used to set the value of gain switching (command frequency, droop pulses, 10
CDL and servo motor speed) selected in [Pr. PB26]. [kpulse/s]/
Gain The set value unit differs depending on the switching condition item. (Refer to [pulse]/
switching section 7.2.3.) [r/min]
condition The unit "r/min" will be "mm/s" for linear servo motors.

PB28 Set the time constant at which the gains will change in response to the conditions 1
CDT set in [Pr. PB26] and [Pr. PB27]. [ms]
Gain
switching
time constant Setting range: 0 to 100
5 - 32
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PB29 Set a load to motor inertia ratio/load to motor mass ratio for when gain switching is 7.00
GD2B enabled. [times]
Load to motor This parameter is enabled only when "Gain adjustment mode selection" is set to
inertia "Manual mode (_ _ _ 3)" in [Pr. PA08].
ratio/load to
motor mass
ratio after gain
switching Setting range: 0.00 to 300.00
PB30 Set the position loop gain for when the gain switching is enabled. 0.0
PG2B When a value less than 1.0 rad/s is set, the value will be the same as that of [Pr. [rad/s]
Position loop PB08].
gain after This parameter is enabled only when "Gain adjustment mode selection" is set to
gain "Manual mode (_ _ _ 3)" in [Pr. PA08].
switching
PB31 Set the speed loop gain for when the gain switching is enabled. 0
VG2B When a value less than 20 rad/s is set, the value will be the same as that of [Pr. [rad/s]
Speed loop PB09].
gain after This parameter is enabled only when "Gain adjustment mode selection" is set to
gain "Manual mode (_ _ _ 3)" in [Pr. PA08].
switching
PB32 Set the speed integral compensation for when the gain switching is enabled. 0.0
VICB When a value less than 0.1 ms is set, the value will be the same as that of [Pr. [ms]
Speed PB10].
integral This parameter is enabled only when "Gain adjustment mode selection" is set to
compensation "Manual mode (_ _ _ 3)" in [Pr. PA08].
after gain
switching Setting range: 0.0 to 5000.0
PB33 Set the vibration frequency for vibration suppression control 1 for when the gain 0.0
VRF11B switching is enabled. [Hz]
Vibration When a value less than 0.1 Hz is set, the value will be the same as that of [Pr.
suppression PB19].
control 1 - This parameter will be enabled only when the following conditions are fulfilled.
Vibration "Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in [Pr. PA08].
frequency "Vibration suppression control 1 tuning mode selection" is set to "Manual setting (_
after gain _ _ 2)" in [Pr. PB02].
switching "Gain switching selection" is set to "Switching is enabled by control command from
controller and Input device CDP (Gain switching). (_ _ _ 1)" in [Pr. PB26].
Switching during driving may cause a shock. Be sure to switch them after the servo
motor stops.

PB34 Set the resonance frequency for vibration suppression control 1 for when the gain 0.0
suppression PB20].
Resonance "Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in [Pr. PA08].
after gain _ _ 2)" in [Pr. PB02].
motor stops.
5 - 33
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PB35 Set a damping of the vibration frequency for vibration suppression control 1 when 0.00
VRF13B the gain switching is enabled.
Vibration This parameter will be enabled only when the following conditions are fulfilled.
suppression "Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in [Pr. PA08].
control 1 - "Vibration suppression control 1 tuning mode selection" is set to "Manual setting (_
Vibration _ _ 2)" in [Pr. PB02].
frequency "Gain switching selection" is set to "Switching is enabled by control command from
damping after controller and Input device CDP (Gain switching). (_ _ _ 1)" in [Pr. PB26].
gain Switching during driving may cause a shock. Be sure to switch them after the servo
switching motor stops.

PB36 Set a damping of the resonance frequency for vibration suppression control 1 when 0.00
control 1 - "Vibration suppression control 1 tuning mode selection" is set to "Manual setting (_
Resonance _ _ 2)" in [Pr. PB02].
frequency "Gain switching selection" is set to "Switching is enabled by control command from
damping after controller and Input device CDP (Gain switching). (_ _ _ 1)" in [Pr. PB26].
gain Switching during driving may cause a shock. Be sure to switch them after the servo
switching motor stops.
5 - 34
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PB45 Set the command notch filter.
CNHF _ _ x x Command notch filter setting frequency selection 00h
Command Refer to table 5.6 for the relation of setting values to frequency.
notch filter _ x _ _ Notch depth selection 0h
Table 5.6 Command notch filter setting frequency selection

Setting Setting Setting
Frequency [Hz] Frequency [Hz] Frequency [Hz]
value value value
__00 Disabled __20 70 __40 17.6
__01 2250 __21 66 __41 16.5
__02 1125 __22 62 __42 15.6
__03 750 __23 59 __43 14.8
__04 562 __24 56 __44 14.1
__05 450 __25 53 __45 13.4
__06 375 __26 51 __46 12.8
__07 321 __27 48 __47 12.2
__08 281 __28 46 __48 11.7
__09 250 __29 45 __49 11.3
__0A 225 __2A 43 __4A 10.8
__0B 204 __2B 41 __4B 10.4
__0C 187 __2C 40 __4C 10
__0D 173 __2D 38 __4D 9.7
__0E 160 __2E 37 __4E 9.4
__0F 150 __2F 36 __4F 9.1
__10 140 __30 35.2 __50 8.8
__11 132 __31 33.1 __51 8.3
__12 125 __32 31.3 __52 7.8
__13 118 __33 29.6 __53 7.4
__14 112 __34 28.1 __54 7.0
__15 107 __35 26.8 __55 6.7
__16 102 __36 25.6 __56 6.4
__17 97 __37 24.5 __57 6.1
__18 93 __38 23.4 __58 5.9
__19 90 __39 22.5 __59 5.6
__1A 86 __3A 21.6 __5A 5.4
__1B 83 __3B 20.8 __5B 5.2
__1C 80 __3C 20.1 __5C 5.0
__1D 77 __3D 19.4 __5D 4.9
__1E 75 __3E 18.8 __5E 4.7
__1F 72 __3F 18.2 __5F 4.5
Table 5.7 Notch depth selection

Setting Setting
Depth [dB] Depth [dB]
value value
_0__ -40.0 _8__ -6.0
_1__ -24.1 _9__ -5.0
_2__ -18.1 _A__ -4.1
_3__ -14.5 _B__ -3.3
_4__ -12.0 _C__ -2.5
_5__ -10.1 _D__ -1.8
_6__ -8.5 _E__ -1.2
_7__ -7.2 _F__ -0.6
5 - 35
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
NH3 To enable the setting value, set "Machine resonance suppression filter 3 selection" [Hz]
Machine to "Enabled (_ _ _ 1)" in [Pr. PB47].
resonance
suppression
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
0: α = 2
1: α = 3
2: α = 4
3: α = 5
resonance
suppression
When "Enabled" is set, [Pr. PB17 Shaft resonance suppression filter] is not
available.
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
0: α = 2
1: α = 3
2: α = 4
3: α = 5
resonance
suppression
5 - 36
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
NHQ5 When "Robust filter selection" is set to "Enabled (_ _ _ 1)" in [Pr. PE41], the machine resonance
Notch shape suppression filter 5 is not available.
selection 5 _ _ _ x Machine resonance suppression filter 5 selection 0h
0: Disabled
1: Enabled
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
0: α = 2
1: α = 3
2: α = 4
3: α = 5
PB52 Set the vibration frequency for vibration suppression control 2 to suppress low- 100.0
suppression setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. When
control 2 - "Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used.
Vibration To enable the setting value, set "Vibration suppression mode selection" to "3 inertia
frequency mode (_ _ _ 1)" in [Pr. PA24].

PB53 Set the resonance frequency for vibration suppression control 2 to suppress low- 100.0
Resonance To enable the setting value, set "Vibration suppression mode selection" to "3 inertia

PB54 Set a damping of the vibration frequency for vibration suppression control 2 to 0.00
Vibration To enable the setting value, set "Vibration suppression mode selection" to "3 inertia
damping
PB55 Set a damping of the resonance frequency for vibration suppression control 2 to 0.00
Resonance To enable the setting value, set "Vibration suppression mode selection" to "3 inertia
damping
5 - 37
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PB56 Set the vibration frequency for vibration suppression control 2 for when the gain 0.0
suppression PB52].
Vibration "Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in [Pr. PA08].
frequency "Vibration suppression mode selection" is set to "3 inertia mode (_ _ _ 1)" in [Pr.
after gain PA24].
switching "Vibration suppression control 2 tuning mode selection" is set to "Manual setting (_
_ 2 _)" in [Pr. PB02].
"Gain switching selection" is set to "Switching is enabled by control command from
motor stops.

PB57 Set the resonance frequency for vibration suppression control 2 for when the gain 0.0
suppression PB53].
Resonance "Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in [Pr. PA08].
frequency "Vibration suppression mode selection" is set to "3 inertia mode (_ _ _ 1)" in [Pr.
after gain PA24].
switching "Vibration suppression control 2 tuning mode selection" is set to "Manual setting (_
_ 2 _)" in [Pr. PB02].
"Gain switching selection" is set to "Switching is enabled by control command from
motor stops.

PB58 Set a damping of the vibration frequency for vibration suppression control 2 when 0.00
control 2 - "Vibration suppression mode selection" is set to "3 inertia mode (_ _ _ 1)" in [Pr.
Vibration PA24].
damping after _ 2 _)" in [Pr. PB02].
gain "Gain switching selection" is set to "Switching is enabled by control command from
switching controller and Input device CDP (Gain switching). (_ _ _ 1)" in [Pr. PB26].
motor stops.

PB59 Set a damping of the resonance frequency for vibration suppression control 2 when 0.00
control 2 - "Vibration suppression mode selection" is set to "3 inertia mode (_ _ _ 1)" in [Pr.
Resonance PA24].
damping after _ 2 _)" in [Pr. PB02].
gain "Gain switching selection" is set to "Switching is enabled by control command from
switching controller and Input device CDP (Gain switching). (_ _ _ 1)" in [Pr. PB26].
motor stops.
5 - 38
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PB60 Set the model loop gain for when the gain switching is enabled. 0.0
PG1B When a value less than 1.0 rad/s is set, the value will be the same as that of [Pr. [rad/s]
Model loop PB07].
gain after This parameter will be enabled only when the following conditions are fulfilled.
gain "Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in [Pr. PA08].
motor stops.
5.2.3 Extension setting parameters ([Pr. PC_ _ ])

Initial
No./ Setting
Function value
symbol/name digit
[unit]
PC01 Set an error excessive alarm level. 0
ERZ The setting unit can be changed with "Error excessive alarm/error excessive warning [rev]/
Error level unit selection" in [Pr. PC06]. [mm]
excessive Set this per rev. for rotary servo motors and direct drive motors. When "0" is set, 3
alarm level rev will be applied. Setting over 200 rev will be clamped to 200 rev. Set this per mm
for linear servo motors. Setting "0" will be 100 mm.

PC02 Set the delay time from when MBR (Electromagnetic brake interlock) turns off till 0
MBR when the base drive circuit is shut-off. [ms]
Electromagne
tic brake
sequence
output Setting range: 0 to 1000
5 - 39
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PC03 ___x Encoder output pulse phase selection 0h
*ENRS Select an encoder pulse direction.
Encoder 0: Increasing A-phase 90° in CCW or positive direction
output pulse 1: Increasing A-phase 90° in CW or negative direction
selection
Servo motor rotation direction/linear servo motor
Setting
travel direction
value
CCW or positive direction CW or negative direction
A-phase A-phase
0
B-phase B-phase
A-phase A-phase
1
B-phase B-phase
__x_ Encoder output pulse setting selection 0h

0: Output pulse setting
When "_ 1 0 _" is set to this parameter, [AL. 37 Parameter error] will occur.
1: Division ratio setting
The setting of [Pr. PA16 Encoder output pulses 2] will be disabled.
3: A-phase/B-phase pulse electronic gear setting
4: A/B-phase pulse through output setting (Note)
The settings of [Pr. PA15 Encoder output pulses] and [Pr. PA16 Encoder output
pulses 2] will be disabled.
"Encoder output pulse phase selection (_ _ _ x)" will be disabled.
The setting will be enabled only when A/B/Z-phase differential output linear
encoder is used. When another encoder is connected, [AL. 37 Parameter error]
will occur.
Setting "Standard control mode (_ _ 0 _)" in [Pr. PA01] will trigger [AL. 37
Parameter error].
For linear servo motors, selecting "0" will output as division ratio setting because the
output pulse setting is not available.
Note. This is used with servo amplifiers with software version A1 or later.
_x__ Selection of the encoders for encoder output pulse 0h

Select an encoder used for the encoder output pulses which the servo amplifier
outputs.
0: Servo motor encoder
1: Load-side encoder
When "_ 1 0 _" is set to this parameter, [AL. 37 Parameter error] will occur.
This is only for the fully closed loop system.
If "1" is set other than in the fully closed loop system, [AL. 37 Parameter error] will
occur.
PC04 ___x For manufacturer setting 0h
**COP1 __x_ 0h
Function _x__ 0h
selection C-1 x___ Encoder cable communication method selection 0h
Select how to execute the encoder cable communication method.
0: Two-wire type
1: Four-wire type
When using an encoder of A/B/Z-phase differential output method, set "0".
If the setting is incorrect, [AL. 16 Encoder initial communication error 1] or [AL. 20
Encoder normal communication error 1] occurs.
5 - 40
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PC05 ___x Motor-less operation selection 0h
**COP2 Set the motor-less operation. The motor-less operation cannot be used in the fully
Function closed loop control mode, linear servo motor control mode, or DD motor control
selection C-2 mode.
0: Disabled
1: Enabled
_x__ 0h
x___ 0h
PC06 ___x In-position range unit selection 0h
*COP3 Select a unit of in-position range.
Function 0: Command input pulse unit
selection C-3 1: Servo motor encoder pulse unit
_x__ 0h
x___ Error excessive alarm/error excessive warning level unit selection 0h
Select units for error excessive alarm level setting with [Pr. PC01] and for error
excessive warning level setting with [Pr. PC38].
0: Per 1 rev or 1 mm
1: Per 0.1 rev or 0.1 mm
2: Per 0.01 rev or 0.01 mm
3: Per 0.001 rev or 0.001 mm
PC07 Set an output range of ZSP (Zero speed detection). 50
ZSP ZSP (Zero speed detection) has hysteresis of 20 r/min or 20 mm/s. [r/min]/
Zero speed [mm/s]
PC08 Set an overspeed alarm detection level. 0
OSL When you set a value more than "servo motor maximum speed × 120%", the set [r/min]/
Overspeed value will be clamped. [mm/s]
alarm When you set "0", the value of "servo motor maximum speed × 120%" will be set.
detection
5 - 41
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PC09 __xx Analog monitor 1 output selection 00h
MOD1 Select a signal to output to MO1 (Analog monitor 1). Refer to app. 10 (3) for detection
Analog point of output selection.
monitor 1 Refer to table 5.8 for settings.
output _x__ For manufacturer setting 0h
x___ 0h
Table 5.8 Analog monitor setting value

Operation
mode (Note 1)
Setting
Standard
Item
value
Full.
Lin.
DD
_ _ 0 0 Servo motor speed
(±8 V/max. speed)
_ _ 0 1 Torque or thrust
(±8 V/max. torque or max. thrust) (Note 3)
_ _ 0 2 Servo motor speed
(+8 V/max. speed)
_ _ 0 3 Torque or thrust
(+8 V/max. torque or max. thrust) (Note 3)
_ _ 0 4 Current command (±8 V/max. current command)
_ _ 0 5 Speed command (±8 V/max. speed)
_ _ 0 6 Servo motor-side droop pulses (±10 V/100 pulses)
(Note 2)
(Note 2)
(Note 2)
(Note 2)
_ _ 0 D Bus voltage (200 V class: +8 V/400 V, 400 V class: +8
V/800 V)
_ _ 0 E Speed command 2 (±8 V/max. speed)
_ _ 1 0 Load-side droop pulses (±10 V/100 pulses) (Note 2)
_ _ 1 4 Load-side droop pulses (±10 V/1 Mpulses) (Note 2)
_ _ 1 5 Servo motor-side/load-side position deviation
(±10 V/100000 pulses)
_ _ 1 6 Servo motor-side/load-side speed deviation
(±8 V/max. speed)
_ _ 1 7 Internal temperature of encoder (±10 V/±128 ˚C)
Note 1. Items with are available for each operation mode. Operation modes other than
the standard mode is used with servo amplifiers with software version A1 or later.
Standard: Standard (semi closed loop system) use of the rotary servo motor
Full.: Fully closed loop system use of the rotary servo motor
Lin.: Linear servo motor use
DD: Direct drive (DD) motor use
2. Encoder pulse unit
3. The value in [Pr. PA11] or [Pr. PA12] whichever is higher is applied for the maximum
torque or maximum thrust.
5 - 42
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PC10 __xx Analog monitor 2 output selection 01h
MOD2 Select a signal to output to MO2 (Analog monitor 2). Refer to app. 10 (3) for detection
Analog point of output selection.
monitor 2 Refer to [Pr. PC09] for settings.
output _x__ For manufacturer setting 0h
x___ 0h
PC11 Set the offset voltage of MO1 (Analog monitor 1). 0
MO1 [mV]
Analog
monitor 1
offset Setting range: -999 to 999
PC12 Set the offset voltage of MO2 (Analog monitor 2). 0
MO2 [mV]
Analog
monitor 2
offset Setting range: -999 to 999
**COP4 __x_ Linear scale multipoint Z-phase input function selection 0h
Function When two or more reference marks exist during the full stroke of the linear encoder,
selection C-4 set "1".
0: Disabled
1: Enabled
x___ 0h
*COP5 __x_ [AL. E3 Absolute position counter warning] selection 1h
Function 0: Disabled
selection C-5 1: Enabled
When "Disabled" is selected, [AL. E3 Absolute position counter warning] does not
occur even if the travel distance from the home position is over 32767 rev. In the
motion mode, select "0" only when configuring an absolute position detection system
by using a simple motion module QD77GF_ or RD77GF_.
x___ [AL. E9 Main circuit off warning] selection 0h
Select an occurring condition of [AL. E9 Main circuit off warning].
0: Detection with ready-on and servo-on command
1: Detection with servo-on command
PC19 ___x [AL. 99 Stroke limit warning] selection 0h
*COP6 Enable or disable [AL. 99 Stroke limit warning].
Function 0: Enabled
selection C-6 1: Disabled
When "Disabled" is selected, [AL. 99 Stroke limit warning] will not occur while LSP
(Forward rotation stroke end) or LSN (Reverse rotation stroke end) is off, but the
operation will be stopped with the stroke limit.
_x__ 0h
x___ 0h
5 - 43
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PC20 ___x [AL. 10 Undervoltage] detection method selection 0h
*COP7 Set this parameter when [AL. 10 undervoltage] occurs due to distorted power supply
Function voltage waveform while using FR-RC-(H) or FR-CV-(H).
selection C-7 0: [AL. 10] not occurrence
1: [AL. 10] occurrence
_x__ Undervoltage alarm selection 0h
Select the alarm and warning that occurs when the bus voltage drops to the
undervoltage alarm level.
0: [AL. 10] regardless of servo motor speed
1: [AL. E9] at servo motor speed 50 r/min (50 mm/s) or less, [AL. 10] at over 50 r/min
(50 mm/s)
PC21 ___x Alarm history clear selection 0h
*BPS This parameter is used to clear the alarm history.
Alarm history 0: Disabled
clear 1: Enabled
When "Enabled" is set, the alarm history will be cleared at the next power-on. After
the alarm history is cleared, the setting is automatically disabled.
_x__ 0h
x___ 0h
PC24 Set a deceleration time constant for the forced stop deceleration function. 100
RSBR Set the time per ms from the rated speed to 0 r/min or 0 mm/s. Setting "0" will be [ms]
Forced stop 100 ms.
deceleration
time constant Dynamic brake
Rated speed Forced stop deceleration deceleration
Servo motor speed
0 r/min
(0 mm/s) [Pr. PC24]
[Precautions]
If the servo motor torque or linear servo motor thrust is saturated at the maximum
value during forced stop deceleration because the set time is too short, the time
to stop will be longer than the set time constant.
[AL. 50 Overload 1] or [AL. 51 Overload 2] may occur during forced stop
deceleration, depending on the set value.
After an alarm that leads to a forced stop deceleration, if an alarm that does not
lead to a forced stop deceleration occurs or if the control circuit power supply is
cut, dynamic braking will start regardless of the deceleration time constant setting.
5 - 44
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
**COP8 __x_ 0h
Function _x__ 0h
selection C-8 x___ Load-side encoder cable communication method selection 0h
Select an encoder cable to be connected to the CN2L connector.
0: Two-wire type
1: Four-wire type
When using a load-side encoder of A/B/Z-phase differential output method, set "0".
Incorrect setting will trigger [AL. 70] and [AL. 71].
PC27 ___x Encoder pulse count polarity selection 0h
**COP9 Select a polarity of the linear encoder or load-side encoder.
Function 0: Encoder pulse increasing direction in the servo motor CCW or positive direction
selection C-9 1: Encoder pulse decreasing direction in the servo motor CCW or positive direction
_x__ Selection of A/B/Z-phase input interface encoder Z-phase connection judgment 0h
function
Select the non-signal detection status for the pulse train signal from the A/B/Z-phase
input interface encoder used as a linear encoder or load-side encoder.
This function is enabled only when you use an A/B/Z-phase input interface encoder.
Detection of
Alarm status
disconnection
Standard
Setting
(scale
value Z-phase-side non-
measurement Full. Lin.
signal
function
enabled)
[AL. 71.6] [AL. 71.6] [AL. 20.6]
0 Enabled
(Z-phase) (Z-phase) (Z-phase)
1 Disabled

*COPB __x_ 0h
Function _x__ 0h
selection C-B x___ Torque POL reflection selection 1h
The torque polarity can be changed with the combination of this parameter and [Pr.
PA14 Rotation direction selection/travel direction selection].
0: Disabled
1: Enabled
Setting value Servo motor rotation direction/travel direction

Torque mode Torque mode
[Pr. PA14] [Pr. PC29] Torque command: Torque command:
Positive Negative
0 0 _ _ _: CCW or positive CW or negative
1 0 _ _ _: CW or negative CCW or positive
The torque command polarity can be changed only when [Pr. PA14] is set to "1", and
"0" is set to this digit.
5 - 45
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PC31 Set the compensation amount of the vertical axis freefall prevention function. 0
RSUP1 Set it per servo motor rotation amount or linear servo motor travel distance. [0.0001
Vertical axis When setting a positive value, the servo motor or linear servo motor moves in the rev]/
freefall direction set with [Pr. PA14] for the forward rotation pulse input. When setting a [0.01
prevention negative value, the servo motor or linear servo motor moves in the direction set with mm]
compensation [Pr. PA14] for the reverse rotation pulse input.
amount For example, when [Pr. PA14 Rotation direction selection/travel direction selection]
is set to "1" and a positive value is set for the compensation amount, the servo motor
pulls up in the CW direction.
The vertical axis freefall prevention function is performed when all of the following
conditions are met.
1) Position mode
2) The setting value of this parameter is other than "0".
3) The forced stop deceleration function is enabled.
4) Alarm occurs or EM2 turns off when the servo motor speed is zero speed or less.
5) MBR (Electromagnetic brake interlock) was enabled in [Pr. PD07] to [Pr. PD09],
and the base circuit shut-off delay time was set in [Pr. PC02].
Setting range: -25000 to 25000

PC38 Set an error excessive warning level. 0
ERW The setting unit can be changed with "Error excessive alarm/error excessive warning [rev]/
Error level unit selection" in [Pr. PC06]. [mm]
excessive Set this per rev. for rotary servo motors and direct drive motors. Setting over 200 rev
warning level will be clamped with 200 rev. Set this per mm for linear servo motors. However,
setting "0" will not trigger [AL. 9B Error excessive warning].
When an error reaches the set value, [AL. 9B Error excessive warning] will occur.
When the error decreases lower than the set value, the warning will be canceled
automatically. The minimum pulse width of the warning signal is 100 [ms].
Set as follows.: [Pr. PC38 Error excessive warning level] < [Pr. PC01 Error
excessive alarm level] When you set as follows, [AL. 52 Error excessive] will occur
earlier than the warning.: [Pr. PC38 Error excessive warning level] ≥ [Pr. PC01 Error
excessive alarm level]

PC67 Set a following error output level. 0000h
FEWL Upper and lower are a set. [pulse]
Following When the state in which droop pulses ≥ the parameter setting value continues for
error output the time set in [Pr. PC69 Following error output filtering time], "Statusword bit 13
level (lower Following error" will be turned on. However, setting "FFFFh FFFFh" will disable it.
four digits) Set the setting value in hexadecimal.
PC68 00C0h
FEWH Setting value: [pulse]
Following
error output Upper four Lower four
digits digits
level (upper
four digits) [Pr. PC67]
[Pr. PC68]
Setting range: 0000h 0000h to FFFFh FFFFh
5 - 46
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PC69 Set the time until the following error output turns on. 10
FEWF When the state in which droop pulses ≥ [Pr. PC67/Pr. PC 68 Following error output [ms]
Following level] continues for the time set in the parameter setting value, "Statusword bit 13
error output Following error" will be turned on.
filtering time This function will be enabled in the profile position mode and cyclic synchronous
position mode.
The following error output will be disabled when both [Pr. PC67] and [Pr. PC 68] are
"FFFFh"

*COPE __x_ ZSP disabled selection at control switching 0h
Function Select whether control mode switching from or to the position mode is performed
selection C-E within the range of ZSP.
0: Enabled (control mode switching within the range of ZSP)
1: Disabled (control mode switching regardless of the range of ZSP)
When "1" is set, a shock may occur at switching control mode.
x___ 0h
5.2.4 I/O setting parameters ([Pr. PD_ _ ])

Initial
No./ Setting
Function value
symbol/name digit
[unit]
PD01 Select input devices to turn on automatically.
*DIA1 _ _ _ x For manufacturer setting 0h
Input signal __x_ 0h
automatic on _ x _ _ _ _ _ x (BIN): For manufacturer setting 0h
selection 1
(HEX) _ _ x _ (BIN): For manufacturer setting
_ x _ _ (BIN): LSP (Forward rotation stroke end)
0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
x _ _ _ (BIN): LSN (Reverse rotation stroke end)
0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
Convert the setting value into hexadecimal as follows.
0 0 0
Initial value
Signal name
BIN HEX
0
0
0
LSP (Forward rotation stroke end) 0
LSN (Reverse rotation stroke end) 0
BIN 0: Use for an external input signal.
BIN 1: Automatic on
When you perform a magnetic pole detection without using LSP (Forward rotation stroke end) and LSN
(Reverse rotation stroke end), setting [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_
1 _ _" allows you to disable LSP and LSN.
The linear servo motor control mode and DD motor control mode are available for servo amplifiers with
software version A1 or later.
5 - 47
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PD03 Any input device can be assigned to the CN3-2 pin.
*DI1 _ _ x x Device selection 0Ah
Input device Refer to table 5.9 for settings.
selection 1 _ x _ _ For manufacturer setting 0h
x___ 0h
Table 5.9 Selectable input devices

Setting
Input device
value
__00
__04 PC (Proportional control)
__0A LSP (Forward rotation stroke end)
__0B LSN (Reverse rotation stroke end)
__0D CDP (Gain switching)
__0E CLD (Fully closed loop selection) (Note)
__22 DOG (Proximity dog)

*DI2 _ _ x x Device selection 0Bh
Input device Refer to table 5.9 in [Pr. PD03] for settings.
x___ 0h
*DI3 _ _ x x Device selection 22h
Input device Refer to table 5.9 in [Pr. PD03] for settings.
x___ 0h
5 - 48
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PD07 __xx Device selection 05h
*DO1 Any output device can be assigned to the CN3-13 pin. As the initial value, MBR
Output device (Electromagnetic brake interlock) is assigned to the pin.
selection 1 Refer to table 5.10 for settings.
x___ 0h
Table 5.10 Selectable output devices

Setting
Output device
value
__00 Always off
__02 RD (Ready)
__03 ALM (Malfunction)
__04 INP (In-position)
__05 MBR (Electromagnetic brake interlock)
__06 DB (Dynamic brake interlock)
__07 TLC (Limiting torque)
__08 WNG (Warning)
__09 BWNG (Battery warning)
__0A SA (Speed reached)
__0B VLC (Limiting speed)
__0C ZSP (Zero speed detection)
__0F CDPS (Variable gain selection)
_ _ 1 0 CLDS (During fully closed loop control) (Note)
__11 ABSV (Absolute position undetermined)
__17 MTTR (During tough drive)
PD08 _ _ x x Device selection 04h

*DO2 Any output device can be assigned to the CN3-9 pin. INP (In-position) is assigned as
Output device the initial value.
selection 2 Refer to table 5.10 in [Pr. PD07] for settings.
_ x _ _ For manufacturer setting 0h
x___ 0h
PD09 _ _ x x Device selection 03h
*DO3 Any output device can be assigned to the CN3-15 pin. ALM (Malfunction) is
Output device assigned as the initial value.
selection 3 Refer to table 5.10 in [Pr. PD07] for settings.
_ x _ _ For manufacturer setting 0h
x___ 0h
PD11 Select a filter for the input signal.
*DIF _ _ _ x Input signal filter selection 4h
Input filter If external input signal causes chattering due to noise, etc., input filter is used to
setting suppress it.
0: None
1: 0.888 [ms]
2: 1.777 [ms]
3: 2.666 [ms]
4: 3.555 [ms]
_ _ x _ For manufacturer setting 0h
_x__ 0h
x___ 0h
5 - 49
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PD12 ___x For manufacturer setting 1h
*DOP1 __x_ 0h
Function _x__ 1h
selection D-1 x___ Servo motor thermistor enabled/disabled selection 0h
0: Enabled
1: Disabled
For servo motors without thermistor, the setting will be disabled.
*DOP2 __x_ 0h
Function _x__ INP (In-position) on condition selection 0h
selection D-2 Select a condition for turning on INP (In-position).
0: Within the in-position range
1: Within the in-position range and at the completion of command output
*DOP3 __x_ Selection of output device at warning occurrence 0h
Function Select WNG (Warning) and ALM (Malfunction) output status at warning occurrence.
selection D-3
Servo amplifier output
Setting
(Note 1) Device status
value
1
WNG
0
0 1
ALM
0
Warning occurrence
1
WNG
0
1 1
ALM
0
Warning occurrence (Note 2)
Note 1. 0: Off
1: On
2. Although ALM is turned off upon occurrence of the warning, the forced
stop deceleration is performed.

x___ 0h
PD37 ___x Touch probe higher precision selection 0h
*TPOP Latches the rising of TPR2 correctly, and detects it accurate to 2 μs.
Touch probe 0: Disabled
function 1: Enabled
selection When "Enabled" is selected, encoder output pulses are disabled.
_x__ 0h
x___ 0h
5 - 50
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
*DOP4 __x_ 0h
Function _x__ Stroke limit enabling condition selection 0h
selection D-4 0: Stroke limit always enabled
1: Enabled only for home position return mode
When "1" is selected, stroke limit is disabled. Do not select it unless the stroke limit
is controlled from the controller. Otherwise, it may cause a collision. The stroke limit
is always enabled at the test operation and magnetic pole detection.
When a simple motion module QD77GF_ or RD77GF_ is used, set "1" to this digit.
x___ Sensor input type selection 0h
Select an input type for proximity dog and stroke limit.
0: Input from servo amplifier (LSP/LSN/DOG) (Note 1)
1: Input from controller (FLS/RLS/DOG) (Note 2)
Note 1. Wire the limit switch installed in CCW direction to LSP, and the limit
switch installed in CW direction to LSN. If wired in reverse, the limit
switches do not stop the servo motor.
2. Wire the limit switch installed in position address increasing direction to
FLS, and the limit switch installed in decreasing direction to RLS. Then,
input signals from the controller. If wired in reverse, the limit switches do
not stop the servo motor. For details, refer to the controller user’s manual.
5 - 51
5. PARAMETERS
5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])

Initial
No./ Setting
Function value
symbol/name digit
[unit]
PE01 ___x Fully closed loop function selection 0h
**FCT1 Select the fully closed loop function.
Fully closed 0: Always enabled
loop function 1: Switching by fully closed loop selection command from controller and Input device
selection 1 CLD (Fully closed loop control selection)
Fully closed loop selection

CLD (Fully closed
Command from Control method
loop selection)
controller
(Note)
Off Off Semi closed loop control
On Off
Off On Fully closed loop control
On On
Note. It is always off when CLD (Fully closed loop selection) is not assigned
in [Pr. PD03] to [Pr. PD05].
To enable the setting, select "Fully closed loop control mode (_ _ 1 _)" of "operation
mode selection" in [Pr. PA01].
When "Absolute position detection system" is "Enabled (_ _ _ 1)" in [Pr. PA03],
setting "1" will trigger [AL. 37 Parameter error].
_x__ 0h
x___ 0h
PE03 ___x Fully closed loop control error detection function selection 3h
*FCT2 0: Disabled
Fully closed 1: Speed deviation error detection
loop function 2: Position deviation error detection
selection 2 3: Speed deviation error/position deviation error detection
__x_ Position deviation error detection system selection 0h
0: Continuous detection system
1: Detection system at stop (detected with command set to "0")
x___ Fully closed loop control error reset selection 0h
0: Reset disabled (reset by powering off/on enabled)
1: Reset enabled
Table 5.11 Fully closed loop control error detection functions

Setting Speed deviation Position deviation error
value error With command 0 command
__00 - - -
__01 - -
__02 -
__03
__10 - - -
__11 - -
__12 - -
__13 -
: Abnormal detection enabled -: Abnormal detection disabled
5 - 52
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PE04 Set a numerator of electronic gear for the servo motor encoder pulse at the fully 1
**FBN closed loop control.
Fully closed Set the electronic gear so that the number of servo motor encoder pulses for one
loop control - servo motor revolution is converted to the resolution of the load-side encoder.
Feedback This parameter is supported with software version A1 or later.
pulse
electronic
gear 1 -
Numerator Setting range: 1 to 65535
PE05 Set a denominator of electronic gear for the servo motor encoder pulse at the fully 1
**FBD closed loop control.
Feedback This parameter is supported with software version A1 or later.
pulse
electronic
gear 1 -
Denominator Setting range: 1 to 65535
PE06 Set [AL. 42.9 Fully closed loop control error by speed deviation] of the fully closed 400
BC1 loop control error detection. When the speed deviation between the servo motor [r/min]
Fully closed encoder and load-side encoder becomes larger than the setting value, the alarm will
loop control - occur.
Speed This parameter is supported with software version A1 or later.
deviation error
detection level Setting range: 1 to 50000
PE07 Set [AL. 42.8 Fully closed loop control error by position deviation] of the fully closed 100
BC2 loop control error detection. When the position deviation between the servo motor [kpulse]
Fully closed encoder and load-side encoder becomes larger than the setting value, the alarm will
loop control - occur.
Position This parameter is supported with software version A1 or later.
deviation error
detection level Setting range: 1 to 20000
PE08 Set a dual feedback filter band. 10
DUF For details, refer to section 16.3.1 (7). [rad/s]
Fully closed This parameter is supported with software version A1 or later.
loop dual
feedback filter Setting range: 1 to 4500
PE10 ___x For manufacturer setting 0h
FCT3 __x_ Fully closed loop control - Position deviation error detection level - Unit selection 0h
Fully closed 0: 1 kpulse unit
loop function 1: 1 pulse unit
selection 3 The setting of this digit is used by servo amplifier with software version A1 or later.
x___ 0h
5 - 53
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PE34 Set a numerator of electronic gear for the servo motor encoder pulse at the fully 1
**FBN2 closed loop control.
Feedback For details, refer to section 16.3.1 (5).
pulse This parameter is supported with software version A1 or later.
electronic
gear 2 -
PE35 Set a denominator of electronic gear for the servo motor encoder pulse at the fully 1
**FBD2 closed loop control.
Feedback For details, refer to section 16.3.1 (5).
pulse This parameter is supported with software version A1 or later.
electronic
gear 2 -
PE41 ___x Robust filter selection 0h
EOP3 0: Disabled
Function 1: Enabled
selection E-3 When "Enabled" is set, the machine resonance suppression filter 5 that is set in [Pr.
PB51] is not available.
_x__ 0h
x___ 0h
5 - 54
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PE44 Set the lost motion compensation for when reverse rotation (CW) switches to 0
LMCP forward rotation (CCW) in increments of 0.01% assuming the rated torque as 100%. [0.01%]
Lost motion
compensation
positive-side
compensation
value
selection Setting range: 0 to 30000
PE45 Set the lost motion compensation for when forward rotation (CCW) switches to 0
LMCN reverse rotation (CW) in increments of 0.01% assuming the rated torque as 100%. [0.01%]
Lost motion
compensation
negative-side
compensation
value
selection Setting range: 0 to 30000
PE46 Set the time constant of the lost motion compensation filter in increments of 0.1 ms. 0
LMFLT If the time constant is "0", the torque is compensated with the value set in [Pr. PE44] [0.1 ms]
Lost motion and [Pr. PE45]. If the time constant is other than "0", the torque is compensated with
filter setting the high-pass filter output value of the set time constant, and the lost motion
compensation will continue.

PE47 Set this when canceling unbalanced torque of vertical axis. Set this assuming the 0
TOF rated torque of the servo motor as 100%. The torque offset does not need to be set [0.01%]
Torque offset for a machine not generating unbalanced torque.
The torque offset cannot be used for linear servo motors and direct drive motors. Set
0.00%.
The torque offset set with this parameter will be enabled in the position mode,
velocity mode, and torque mode. Input commands assuming torque offset for the
torque mode.

PE48 ___x Lost motion compensation selection 0h
*LMOP 0: Disabled
Lost motion 1: Enabled
compensation __x_ Unit setting of lost motion compensation non-sensitive band 0h
function 0: 1 pulse unit
selection 1: 1 kpulse unit
x___ 0h
PE49 Set the lost motion compensation timing in increments of 0.1 ms. 0
LMCD You can delay the timing to perform the lost motion compensation for the set time. [0.1 ms]
Lost motion
compensation
timing Setting range: 0 to 30000
PE50 Set the lost motion compensation non-sensitive band. When the fluctuation of droop 0
LMCT pulses is equal to or less than the setting value, the speed will be "0". Setting can be [pulse]/
Lost motion changed in [Pr. PE48]. Set the parameter per encoder unit. [kpulse]
compensation
non-sensitive
band Setting range: 0 to 65535
5 - 55
5. PARAMETERS
5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])

Initial
No./ Setting
Function value
symbol/name digit
[unit]
PF06 ___x Electronic dynamic brake selection 0h
*FOP5 0: Automatic (enabled only for specified servo motors)
Function 2: Disabled
selection F-5 Refer to the following table for the specified servo motors.
Series Servo motor

HG-KR HG-KR053/HG-KR13/HG-KR23/HG-KR43
HG-MR HG-MR053/HG-MR13/HG-MR23/HG-MR43
HG-SR HG-SR51/HG-SR52

_x__ 0h
x___ 0h
PF12 Set an operating time for the electronic dynamic brake. 2000
DBT [ms]
Electronic
dynamic
brake
operating
time Setting range: 0 to 10000
PF18 Set the time from when the error of the STO input or STO circuit is detected until the 10
**STOD occurrence of [AL. 68.1 Mismatched STO signal error]. [s]
STO When "0" is set, [AL. 68.1 Mismatched STO signal error] is not detected.
diagnosis The safety level depends on the setting values as follows.
error
detection time Setting STO input diagnosis
Safety level
value by TOFB output
0 Execute EN ISO 13849-1 category 3 PL d, IEC
61508 SIL 2,
EN 62061 SIL CL2
Not execute
1 to 60 Execute EN ISO 13849-1 category 3 PL e, IEC
61508 SIL 3,
EN 62061 SIL CL3
Not execute EN ISO 13849-1 category 3 PL d, IEC
61508 SIL 2,
EN 62061 SIL CL2
When you do not use the STO function with the short-circuit connector connected to
the CN8 connector, setting the parameter will not change the safety level.
When MR-D30 functional safety unit is used, the parameter is not available. For
safety levels at the time of using MR-D30, refer to "MR-D30 Instruction Manual".
MR-D30 is used with servo amplifiers with software version A3 or later.
PF19 As the compensation coefficient 1 for friction failure prediction, set a compensation 0
TSL coefficient for compensating the friction torque at rated speed. When the friction [0.001%/
Friction failure failure prediction warning selection is set to the automatic threshold setting, the value °C]
prediction - will be calculated automatically from the estimated friction torque at rated speed.
Compensation This parameter is available with servo amplifiers with software version A3 or later.
coefficient 1
PF20 As the compensation coefficient 2 for friction failure prediction, set a compensation 0
TIC coefficient for compensating the friction torque at rated speed. When the friction [0.1%]
Friction failure failure prediction warning selection is set to the automatic threshold setting, the value
prediction - will be calculated automatically from the estimated friction torque at rated speed.
Compensation This parameter is available with servo amplifiers with software version A3 or later.
coefficient 2
5 - 56
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PF21 Set a drive recorder switching time. 0
DRT When a USB communication is cut during using a graph function, the function will be [s]
Drive changed to the drive recorder function after the setting time of this parameter.
recorder When a value from "1" to "32767" is set, the function will be switched to the drive
switching recorder function after the set time.
time setting However, when "0" is set, it will be switched after 600 s.
When "-1" is set, the drive recorder function is disabled.

PF23 Set a filter readjustment sensitivity of [Pr. PB13 Machine resonance suppression 50
OSCL1 filter 1] and [Pr. PB15 Machine resonance suppression filter 2] while the vibration [%]
Vibration tough drive is enabled.
tough drive - Note that setting "0" will be 50%.
Oscillation Example: When you set "50" to the parameter, the filter will be readjusted at the time
detection of 50% or more oscillation level.
level
PF24 ___x Oscillation detection alarm selection 0h
*OSCL2 Select whether to generate an alarm or a warning when an oscillation continues at a
Vibration filter readjustment sensitivity level of [Pr. PF23].
tough drive The setting is always enabled regardless of the vibration tough drive in [Pr. PA20].
function 0: [AL. 54 Oscillation detection] will occur at oscillation detection.
selection 1: [AL. F3.1 Oscillation detection warning] will occur at oscillation detection.
2: Oscillation detection function disabled
_x__ 0h
x___ 0h
PF25 Set the time of the [AL. 10.1 Voltage drop in the control circuit power] occurrence. 200
CVAT To comply with SEMI-F47 standard, it is unnecessary to change the initial value (200 [ms]
SEMI-F47 ms).
function - When the instantaneous power failure time exceeds 200 ms, and the instantaneous
Instantaneous power failure voltage is less than 70% of the rated input voltage, the power may be
power failure normally turned off even if a value larger than 200 ms is set in the parameter.
detection time To disable the parameter setting value, select "Disabled (_ 0 _ _)" of "SEMI-F47
function selection" in [Pr. PA20].

PF31 Set a servo motor speed that divides a friction estimation area into high and low 0
FRIC during the friction estimation process of the machine diagnosis. [r/min]/
Machine However, setting "0" will be the value half of the rated speed. [mm/s]
diagnosis When your operation pattern is under rated speed, we recommend that you set half
function - value to the maximum speed with this.
Friction
judgement Maximum speed in operation
speed Forward rotation
direction
(Positive direction)
[Pr. PF31] setting
Servo motor 0 r/min

speed (0 mm/s)
Reverse rotation Operation pattern

direction
(Negative direction)
Setting range: 0 to permissible instantaneous speed
5 - 57
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PF34 ___x Friction failure prediction warning selection 0h
*MFP 0: Disabled
Machine 1: Enabled (Automatic threshold setting)
diagnosis 2: Enabled (Manual threshold setting)
function 3: Threshold reset
selection
When "2" is set to this digit, if the friction torque exceeds the set threshold, [AL. F7.2
Friction failure prediction warning] will occur.
When the threshold is reset by setting "3" to this digit, "1" will be automatically set
after the reset.
__x_ Vibration failure prediction warning selection 0h
0: Disabled
1: Enabled (Automatic threshold setting)
2: Enabled (Manual threshold setting)
3: Threshold reset
When "2" is set to this digit, if the vibration level exceeds the set threshold, [AL. F7.1
Vibration failure prediction warning] will occur.
When the threshold is reset by setting "3" to this digit, "1" will be automatically set
after the reset.
_x__ Servo motor total travel distance failure prediction warning selection 0h
0: Disabled
1: Enabled
2: Servo motor total travel distance reset
When "1" is set to this digit, if the servo motor total travel distance exceeds the value
of "Failure prediction - Servo motor total travel distance unit × Failure prediction -
Servo motor total travel distance", [AL. F7.3 Total travel distance failure prediction
warning] will occur.
When the total travel distance is reset by setting "2" to this digit, "1" will be
automatically set after the reset.
x___ Failure prediction - Servo motor total travel distance multiplication selection 0h
0: × 1
1: × 100
2: × 10000
3: × 1000000
4: × 100000000
5 - 58
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PF40 ___x Friction failure prediction - Threshold multiplication 0h
MFPP Set a multiplication for calculating the threshold used in the friction failure prediction
Machine function. Setting a small threshold multiplication for friction failure prediction will
failure decrease the threshold used for friction failure prediction. Thus, this will enable the
prediction prediction of a failure at an early stage, but will increase the possibility of erroneously
parameter detecting a failure.
When "0" is set to this digit, the multiplication will be the same as when "5" is set.
__x_ Vibration failure prediction - Threshold multiplication 0h
Set a multiplication for calculating the threshold used in the vibration failure prediction
function. Setting a small threshold multiplication for vibration failure prediction will
decrease the threshold used for vibration failure prediction. Thus, this will enable the
prediction of a failure at an early stage, but will increase the possibility of erroneously
detecting a failure.
When "0" is set to this digit, the multiplication will be the same as when "5" is set.
_x__ Friction failure prediction - Dynamic friction selection 0h
Select a dynamic friction setting used for friction failure prediction.
1: Dynamic friction at forward rotation torque (at rated speed)
2: Dynamic friction at reverse rotation torque (at rated speed)
3: Absolute value average at forward rotation/reverse rotation torque
When "0" is set to this digit, any of "1" to "3" is set depending on the operation
pattern.
PF41 Set a servo motor total travel distance required for determining the threshold used in 0
FPMT the friction failure prediction function and the servo motor total travel distance failure [rev]/[m]
Failure prediction function. The setting unit can be changed with "Failure prediction - Servo
prediction - motor total travel distance unit selection" in [Pr. PF34].
Servo motor When the servo motor total travel distance exceeds 1/2 of "Failure prediction - Servo
total travel motor total travel distance unit × Failure prediction - Servo motor total travel
distance distance", the threshold will be automatically calculated for the friction failure
prediction function.
When [Pr. PF34 Servo motor total travel distance failure prediction warning
selection] is enabled, if the servo motor total travel distance exceeds the value of
"Failure prediction - Servo motor total travel distance unit × Failure prediction - Servo
motor total travel distance", [AL. F7.3 Total travel distance failure prediction warning]
will occur.
This parameter is available with servo amplifiers with software version A3 or later.

PF42 Set a friction torque average at rated speed. This parameter is enabled only when 0
PAV "Manual threshold setting (_ _ _ 2)" is set in [Pr. PF34 Friction failure prediction [0.1%]
Friction warning selection].
failure When "Automatic threshold setting (_ _ _ 1)" is set in [Pr. PF34 Friction failure
prediction - prediction warning selection], the value will be calculated automatically from the
Average estimated friction torque at rated speed.
characteristic This parameter is available with servo amplifiers with software version A3 or later.

PF43 Set a friction torque standard deviation at rated speed. This parameter is enabled 0
PSD only when "Manual threshold setting (_ _ _ 2)" is set in [Pr. PF34 Friction failure [0.1%]
Friction prediction warning selection].
Standard estimated friction torque at rated speed.
deviation This digit is available with servo amplifier with software version A3 or later.
5 - 59
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PF45 Set a vibration level average during servo motor operation. This parameter is 0
VAV enabled only when "Manual threshold setting (_ _ _ 2)" is set in [Pr. PF34 Friction [0.1%]
Vibration failure prediction warning selection].
Average estimated friction torque at rated speed.
characteristic This parameter is available with servo amplifiers with software version A3 or later.

PF46 Set a vibration level standard deviation during servo motor operation. This 0
VSD parameter is enabled only when "Manual threshold setting (_ _ _ 2)" is set in [Pr. [0.1%]
Vibration PF34 Friction failure prediction warning selection].
Standard estimated friction torque at rated speed.
deviation This parameter is available with servo amplifiers with software version A3 or later.
5 - 60
5. PARAMETERS
5.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])
POINT
The linear servo motor control mode and DD motor control mode are available
for servo amplifiers with software version A1 or later.
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PL01 ___x Linear servo motor/DD motor magnetic pole detection selection 1h
**LIT1 The setting value "0" will be enabled only with absolute position linear encoders.
Linear servo 0: Magnetic pole detection disabled
motor/DD 1: Magnetic pole detection at first servo-on
motor 5: Magnetic pole detection at every servo-on
function __x_ For manufacturer setting 0h
selection 1
_x__ Stop interval selection at the home position return 3h
Set a stop interval for the dog type home position return.
The digit is enabled only for linear servo motors.
13
0: 2 (= 8192) pulses
17
1: 2 (= 131072) pulses
18
2: 2 (= 262144) pulses
20
3: 2 (= 1048576) pulses
22
4: 2 (= 4194304) pulses
24
5: 2 (= 16777216) pulses
26
6: 2 (= 67108864) pulses
PL02 Set a linear encoder resolution per µm with [Pr. PL02] and [Pr. PL03]. 1000
**LIM Set a numerator to [Pr. PL02]. [μm]
Linear This is enabled only for linear servo motors.
encoder
resolution -
PL03 Set a linear encoder resolution per µm with [Pr. PL02] and [Pr. PL03]. 1000
**LID Set a denominator to [Pr. PL03]. [μm]
Linear This is enabled only for linear servo motors.
encoder
resolution -
5 - 61
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PL04 ___x [AL. 42 Servo control error] detection function selection 3h
*LIT2 Refer to the following table.
Linear servo
motor/DD Setting Thrust/torque Speed deviation Position deviation
motor value deviation error (Note) error (Note) error (Note)
function 0 Disabled
selection 2 Disabled
1 Enabled
Disabled
2 Disabled
Enabled
3 Enabled
4 Disabled
Disabled
5 Enabled
Enabled
6 Disabled
Enabled
7 Enabled
Note. Refer to chapter 15 and 16 for details of each deviation error.

_x__ 0h
x___ [AL. 42 Servo control error] detection function controller reset condition selection 0h
0: Reset disabled (reset by powering off/on enabled)
1: Reset enabled
PL05 Set a position deviation error detection level of the servo control error detection. 0
LB1 When the deviation between a model feedback position and actual feedback position [mm]/
Position is larger than the setting value, [AL. 42 Servo control error] will occur. [0.01
deviation However, when "0" is set, the level varies depending on the operation mode in [Pr. rev]
error PA01].
detection Linear servo motor: 50 mm
level Direct drive motor: 0.09 rev

PL06 Set a speed deviation error detection level of the servo control error detection. 0
LB2 When the deviation between a model feedback speed and actual feedback speed is [mm/s]/
Speed larger than the setting value, [AL. 42 Servo control error] will occur. [r/min]
deviation However, when "0" is set, the level varies depending on the operation mode in [Pr.
error PA01].
detection Linear servo motor: 1000 mm/s
level Direct drive motor: 100 r/min

PL07 Set a torque/thrust deviation error detection level of the servo control error detection. 100
LB3 When the deviation between a current command and current feedback is larger than [%]
Torque/thrust the setting value, [AL. 42.3 Servo control error by torque/thrust deviation] will occur.
deviation
error
detection
PL08 ___x Magnetic pole detection method selection 0h
*LIT3 0: Position detection method
Linear servo 4: Minute position detection method
motor/DD __x_ For manufacturer setting 1h
motor _x__ Magnetic pole detection - Stroke limit enabled/disabled selection 0h
function
0: Enabled
selection 3
1: Disabled
5 - 62
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PL09 Set a direct current exciting voltage level during the magnetic pole detection. 30
LPWM If [AL. 32 Overcurrent], [AL. 50 Overload 1], or [AL. 51 Overload 2] occurs during the [%]
Magnetic pole magnetic pole detection, decrease the setting value.
detection If [AL. 27 Initial magnetic pole detection error] occurs during the magnetic pole
voltage level detection, increase the setting value.

PL17 ___x Response selection 0h
LTSTS The digit will be enabled when "Minute position detection method" is selected in [Pr.
Magnetic pole PL08].
detection - Set a response of the minute position detection method.
Minute When reducing a travel distance at the magnetic pole detection, increase the setting
position value.
detection Refer to table 5.12 for settings.
method - __x_ Load to motor mass ratio/load to motor inertia ratio selection 0h
Function
The digit will be enabled when "Minute position detection method" is selected in [Pr.
selection
PL08].
Select a load to mass of the linear servo motor primary-side ratio or load to mass of
the direct drive motor inertia ratio used at the minute position detection method. Set
a closest value to the actual load.
x___ 0h
Table 5.12 Response of minute position detection method at

magnetic pole detection
Setting value Response Setting value Response
___0 Low response ___8 Middle response
___1 ___9
___2 ___A
___3 ___B
___4 ___C
___5 ___D
___6 ___E
___7 Middle response ___F High response
Table 5.13 Load to motor mass ratio/load to motor inertia ratio

Load to motor mass Load to motor mass
Setting value ratio/load to motor Setting value ratio/load to motor
inertia ratio inertia ratio
__0_ 10 times or less __8_ 80 times
__1_ 10 times __9_ 90 times
__2_ 20 times __A_ 100 times
__3_ 30 times __B_ 110 times
__4_ 40 times __C_ 120 times
__5_ 50 times __D_ 130 times
__6_ 60 times __E_ 140 times
__7_ 70 times __F_ 150 times or more
5 - 63
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PL18 Set an identification signal amplitude used in the minute position detection method. 0
IDLV This parameter is enabled only when the magnetic pole detection is the minute [%]
Magnetic pole position detection method.
detection - However, setting "0" will be 100% amplitude.
Minute
position
detection
method -
Identification
signal
amplitude Setting range: 0 to 100
5 - 64
5. PARAMETERS
5.2.8 Positioning control parameters ([Pr. PT_ _ ])

Initial
No./ Setting
Function value
symbol/name digit
[unit]
PT05 Set a servo motor speed at home position return. The fractional portion of the 100.00
ZRF parameter will be rounded down. [r/min]/
Home [mm/s]
position
return speed Setting range: 0.00 to permissible instantaneous speed
PT06 Set a creep speed after proximity dog at home position return. 10.00
CRF The fractional portion of the parameter will be rounded down. [r/min]/
Creep speed [mm/s]
Setting range: 0.00 to permissible instantaneous speed
PT07 Set a shift distance from the Z-phase pulse detection position in the encoder. 0
31
ZST Up to 2 can be set with [Pr. PT69]. [pulse]
Home
position shift
distance Setting range: 0 to 65535
PT09 Set a travel distance after proximity dog for the count type home position return 0
DCT (front end detection, Z-phase reference) (Homing method -2, -34) and the following [pulse]
Travel dog reference home position returns.
distance after Dog type rear end reference home position return (Homing method -6, -38)
proximity dog Count type home position return (Front end reference) (Homing method -7, -39)
Dog type front end reference home position return (Homing method -10, -42)
Homing without index pulse (Homing method 19, 20, 21, 22, 23, 24, 27, 28)
31
Up to 2 can be set with [Pr. PT71].

PT10 Set a time from a moving part touches the stopper and torques reaches to the torque 100
ZTM limit of [Pr. PT11 Stopper type home position return - Torque limit value] to a home [ms]
Stopper type position is set for the stopper type home position return.
home position
return stopper
time Setting range: 5 to 1000
PT11 Set a torque limit value with [%] to the maximum torque at stopper type home 15.0
ZTT position return. [%]
Stopper type
home position
return torque
limit value Setting range: 0.1 to 100.0
5 - 65
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PT15 Set an address increasing side of the software stroke limit. 0000h
LMPL Upper and lower are a set. [pulse]
Software limit Set the setting address in hexadecimal.
+
(lower four Setting address:
digits)
PT16 Upper four Lower four 0000h
digits digits
LMPH [pulse]
Software limit [Pr. PT15]
+ [Pr. PT16]
(upper four
digits)
Setting a same value with "Software limit -" will disable the software limit. (Refer to
section 5.3.)
When changing the parameter setting with MR Configurator2, change it during
servo-off, in the home position return mode, velocity mode, or torque mode.
In the position mode during servo-on, changing the setting by a certain order may
trigger [AL. 35], [AL. 69], or [AL. 98].

PT17 Set an address decreasing side of the software stroke limit. 0000h
LMNL Upper and lower are a set. [pulse]
Software limit Set the setting address in hexadecimal.
-
(lower four Setting address:
digits)
PT18 Upper four Lower four 0000h
digits digits
LMNH [pulse]
Software limit [Pr. PT17]
- [Pr. PT18]
(upper four
digits)
Setting a same value with "Software limit +" will disable the software limit. (Refer to
section 5.3.)
When changing the parameter setting with MR Configurator2, change it during
servo-off, in the home position return mode, velocity mode, or torque mode.
In the position mode during servo-on, changing the setting by a certain order may
trigger [AL. 35], [AL. 69], or [AL. 98].
5 - 66
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PT29 Set the DOG polarity.
*TOP3 _ _ _ x _ _ _ x (BIN): DOG (Proximity dog) polarity selection 0h
Function (HEX) 0: Dog detection with off
selection T-3 1: Dog detection with on
This setting is applied to both the input by a servo amplifier and by a controller.
_ _ x _ (BIN): For manufacturer setting
_ x _ _ (BIN): For manufacturer setting
x _ _ _ (BIN): For manufacturer setting
_ _ x _ For manufacturer setting 0h
_x__ 0h
x___ 0h
Convert the setting value into hexadecimal as follows.
0 0 0
Initial value
Setting
BIN HEX
DOG (Proximity dog) polarity selection 0
0
0
0
0
PT41 ___x Home position return inhibit selection 0h

ORP 0: Disabled (home position return allowed)
Home 1: Enabled (home position return inhibited)
position __x_ For manufacturer setting 0h
return inhibit _x__ 0h
function
x___ 0h
selection
5 - 67
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PT45 Set the home position return method. 37
HMM Refer to the following table for details.
Home Setting a value other than the setting values in the following tables will trigger [AL.
position 37].
return type
Setting Home position How to execute Setting Home position How to execute
value return direction home position value return direction home position
return return
-1 Dog type (rear -33 Dog type (rear
end detection, Z- end detection, Z-
phase reference) phase reference)
-2 Count type (front -34 Count type (front
end detection, Z- end detection, Z-
phase reference) phase reference)
-4 Stopper type -36 Stopper type
(stopper position (stopper position
reference) reference)
-6 Dog type (rear -38 Dog type (rear
end detection, end detection,
Address rear end Address rear end
increasing reference) decreasing reference)
direction direction
-7 Count type (front -39 Count type (front
end detection, end detection,
front end front end
reference) reference)
-8 Dog cradle type -40 Dog cradle type
-9 Dog type last Z- -41 Dog type last Z-
phase reference phase reference
-10 Dog type front -42 Dog type front
end reference end reference
-11 Dogless Z-phase -43 Dogless Z-phase
reference reference
Setting Home position How to execute Setting Home position How to execute
value return direction home position value return direction home position
return return
3 Address Method 3 21 Address Method 21
increasing decreasing
direction direction
direction direction
decreasing increasing
direction direction
direction direction
direction direction
direction direction
decreasing decreasing
direction direction
direction direction
19 Address Method 19 35 Method 35
increasing
direction
20 Address Method 20 37 Method 37 (Data
increasing set type)
direction
5 - 68
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PT55 ___x Home position return - Deceleration time constant selection 0h
*TOP8 Select a parameter used for the acceleration time constant and deceleration time
Function constant at home position return.
selection T-8 0: Using [Pr. PT56] for both acceleration time constant and deceleration time
constant
1: Using [Pr. PT56] for acceleration time constant, and [Pr. PT57] for deceleration
time constant
_x__ 0h
x___ 0h
PT56 Set the acceleration time constant for the home position return. Set an acceleration 0
HMA time from 0 r/min or 0 mm/s to the rated speed. [ms]
Home This function will be enabled in the cyclic synchronous mode and profile mode.
position The parameter is used as a deceleration time constant for the home position return
return when you select "Using [Pr. PT56] for both acceleration time constant and
acceleration deceleration time constant (0 _ _ _)" of "Home position return - Deceleration time
time constant constant selection" in [Pr. PT55].
This parameter corresponds to "Homing acceleration (609Ah)". When mapped using

PDO, it may not be written with MR Configurator2.

PT57 Set the deceleration time constant at the home position return. Set a deceleration 0
HMB time from the rated speed to 0 r/min or 0 mm/s. [ms]
Home This function will be enabled in the cyclic synchronous mode and profile mode.
position The parameter will be enabled when you select "Using [Pr. PT56] for acceleration
return time constant, and [Pr. PT57] for deceleration time constant (1 _ _ _)" of "Home
deceleration position return - Deceleration time constant selection" in [Pr. PT55].
time constant
PT67 Set a maximum speed for the torque mode. 500.00
VLMT [r/min]/
Speed limit Setting range: 0.00 to permissible instantaneous speed [mm/s]
PT69 Set the extension parameter of [Pr. PT07]. 0
ZSTH When [Pr. PT69] is used, the home position shift distance can be calculated as [pulse]
Home follows.
position shift Home position shift distance = [Pr. PT07] + ([Pr. PT69] × 65536)
distance This parameter setting is available with servo amplifiers with software version A1 or
(extension later.
parameter)
PT71 Set the extension parameter of [Pr. PT09]. 0
DCTH When [Pr. PT71] is used, the travel distance after proximity dog can be calculated as [pulse]
Travel follows.
distance after Travel distance after proximity dog = [Pr. PT09] + ([Pr. PT71] × 65536)
proximity dog This parameter setting is available with servo amplifiers with software version A1 or
(extension later.
parameter)
5 - 69
5. PARAMETERS
5.2.9 Network setting parameters ([Pr. PN_ _ ])

Initial
No./ Setting
Function value
symbol/name digit
[unit]
PN02 Set the time until the detection of [AL. 8D.1 CC-Link IE communication error 1] or 0
CERT [AL. 8D.6 CC-Link IE communication error 3]. When the parameter is set to "0", the [ms]
Communication detection time varies depending on the setting value of [Pr. PN03] as shown in the
error detection following table.
time When [Pr. PD41] is set to "_ 1 _ _" or "1 _ _ _", increasing the parameter setting
value may cause a collision at the occurrence of a communication error. Remember
this point when changing the setting value.
Communication Detection
[Pr. PN03]
cycle [ms] time [ms]
0 0.5 8.5
1.0 9.0
2.0 10.0
4.0 12.0
1 10.0

PN03 ___x Station-specific mode setting 0h
**NWMD Select the motion mode for connection with a simple motion module or the I/O mode
Communication for connection with a master/local module.
mode setting 0: Motion mode
for CC-Link IE
1: I/O mode
communication
For the correspondence with the control modes, refer to [Pr. PA01].
_x__ 0h
x___ 0h
PN04 Set the network number of the servo amplifier. 0
**NWNO When "0" is selected, use the network number transmitted from the master station.
CC-Link IE
communication
network
number
PN05 Set the frequency of communication error detection until the detection of [AL. 8D.7 0
CERI CC-Link IE communication error 4] or [AL. 8D.8 CC-Link IE communication error 5]. [%]
Communication When the parameter is set to "0", the frequency will be 8%.
error detection
frequency
setting Setting range: 0 to 100
5 - 70
5. PARAMETERS
Initial
No./ Setting
Function value
symbol/name digit
[unit]
PN06 ___x Communication error alarm history writing selection 0h
NOP1 Select whether [AL. 8D.1 CC-Link IE communication error 1] and [AL. 8D.2 CC-Link
Function IE communication error 2] are recorded in the alarm history at their occurrence.
selection N-1 0: Disabled
1: Enabled
When the parameter is set to "1", follow the correct procedure for turning off the
power to prevent the occurrence of [AL. 8D.1] or [AL. 8D.2] at power supply shut-off
(network disconnection). For details, refer to [Pr. PN06 Communication error
detection method selection].
__x_ Communication error detection method selection 0h
Select the condition for detecting the occurrences of [AL. 8D.1 CC-Link IE
communication error 1] and [AL. 8D.2 CC-Link IE communication error 2].
0: Detected only at servo-on.
1: Continuously detected.
When the parameter is set to "0", [AL. 8D.1] and [AL. 8D.2] are detected only at the
input of servo-on command. When turning off the power, set the servo amplifier to
the servo-off status with commands and then turn off the power.
When the parameter is set to "1", [AL. 8D.1] and [AL. 8D.2] are continuously
detected while data is being linked. When turning off the power, turn off the servo
amplifier first and then the controller.
x___ 0h
5 - 71
5. PARAMETERS
5.3 Software limit
The limit stop with the software limit ([Pr. PT15] to [Pr. PT18]) is the same as the motion of the stroke end.
Exceeding a setting range will stop and servo-lock the shaft. This will be enabled at power-on and will be
disabled in the velocity mode, torque mode, and homing mode. Setting a same value to "Software limit +"
and "Software limit -" will disable this function. Setting a larger value to "Software limit -" than "Software limit
+" will disable this function.
Inhibited range
Movable range
Travel Travel possible
impossible
Current position
Software limit
5 - 72
6. NORMAL GAIN ADJUSTMENT
POINT
In the torque mode, you do not need to make gain adjustment.
Before making gain adjustment, check that your machine is not being operated
at maximum torque of the servo motor. If operated over maximum torque, the
machine may vibrate and may operate unexpectedly. In addition, make gain
adjustment with a safety margin considering characteristic differences of each
machine. It is recommended that generated torque during operation is under
90% of the maximum torque of the servo motor.
words.
Torque → Thrust
6.1 Different adjustment methods
6.1.1 Adjustment on a single servo amplifier
The following table shows the gain adjustment modes that can be set on a single servo amplifier. For gain
adjustment, first execute "Auto tuning mode 1". If you are not satisfied with the result of the adjustment,
execute "Auto tuning mode 2" and "Manual mode" in this order.
(1) Gain adjustment mode explanation

Estimation of load to motor Automatically set Manually set
Gain adjustment mode [Pr. PA08] setting
inertia ratio parameters parameters
Auto tuning mode 1 ___1 Always estimated GD2 ([Pr. PB06]) RSP ([Pr. PA09])
(initial value) PG1 ([Pr. PB07])
PG2 ([Pr. PB08])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
Auto tuning mode 2 ___2 Fixed to [Pr. PB06] value PG1 ([Pr. PB07]) GD2 ([Pr. PB06])
PG2 ([Pr. PB08]) RSP ([Pr. PA09])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
Manual mode ___3 GD2 ([Pr. PB06])
PG1 ([Pr. PB07])
PG2 ([Pr. PB08])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
2 gain adjustment mode 1 ___0 Always estimated GD2 ([Pr. PB06]) PG1 ([Pr. PB07])
(interpolation mode) PG2 ([Pr. PB08]) RSP ([Pr. PA09])
VG2 ([Pr. PB09])
VIC ([Pr. PB10])
2 gain adjustment mode 2 ___4 Fixed to [Pr. PB06] value PG2 ([Pr. PB08]) GD2 ([Pr. PB06])
VG2 ([Pr. PB09]) PG1 ([Pr. PB07])
VIC ([Pr. PB10]) RSP ([Pr. PA09])
6- 1
(2) Adjustment sequence and mode usage
Start
Interpolation Yes 2 gain adjustment mode 1

made for 2 or more (interpolation mode)
axes?
No
The load fluctuation Yes

is large during driving?
No
One-touch tuning Handle the error
Yes
No Error handling No
Finished normally? is possible? Auto tuning mode 1
Yes
Yes
Adjustment OK?
No
Auto tuning mode 2
Yes
Adjustment OK?
No No
Adjustment OK?
2 gain adjustment mode 2

Yes
Yes
Adjustment OK?
No
Manual mode
End
6.1.2 Adjustment using MR Configurator2
This section explains the functions and adjustment using the servo amplifier with MR Configurator2.
Function Description Adjustment
Machine analyzer With the machine and servo motor coupled, You can grasp the machine resonance
the characteristic of the mechanical system frequency and determine the notch
can be measured by giving a random frequency of the machine resonance
vibration command from a personal suppression filter.
computer to the servo and measuring the
machine response.
6- 2
6.2 One-touch tuning
POINT
When executing the one-touch tuning, check the [Pr. PA21 One-touch tuning
function selection] is "_ _ _ 1" (initial value).
Connect Mr Configurator2 and open the one-touch tuning window, and you can use the function. The
following parameters are set automatically with one-touch tuning.
Table 6.1 List of parameters automatically set with one-touch tuning

Parameter Symbol Name Parameter Symbol Name
PA08 ATU Auto tuning mode PB16 NHQ2 Notch shape selection 2
PA09 RSP Auto tuning response PB18 LPF Low-pass filter setting
PB01 FILT Adaptive tuning mode (adaptive filter II) PB19 VRF11 Vibration suppression control 1 - Vibration
PB02 VRFT Vibration suppression control tuning frequency
mode (advanced vibration suppression PB20 VRF12 Vibration suppression control 1 -
control II) Resonance frequency
PB06 GD2 Load to motor inertia ratio/load to motor PB21 VRF13 Vibration suppression control 1 - Vibration
mass ratio frequency damping
PB07 PG1 Model loop gain PB22 VRF14 Vibration suppression control 1 -
PB08 PG2 Position loop gain Resonance frequency damping
PB09 VG2 Speed loop gain PB23 VFBF Low-pass filter selection
PB10 VIC Speed integral compensation PB47 NHQ3 Notch shape selection 3
PB12 OVA Overshoot amount compensation PB48 NH4 Machine resonance suppression filter 4
PB13 NH1 Machine resonance suppression filter 1 PB49 NHQ4 Notch shape selection 4
PB14 NHQ1 Notch shape selection 1 PB51 NHQ5 Notch shape selection 5
PB15 NH2 Machine resonance suppression filter 2 PE41 EOP3 Function selection E-3
6.2.1 One-touch tuning flowchart
Make one-touch tuning as follows.
Start
Startup a system referring to chapter 4.

Startup of the system
Rotate the servo motor by an external controller, etc. (The one-touch tuning cannot be performed if the
Operation servo motor is not operating.)
Start one-touch tuning of MR Configurator2.

One-touch tuning start
Select a response mode (high mode, basic mode, and low mode) in the one-touch tuning window of
Response mode selection MR Configurator2.
Push the start button to start one-touch tuning. Push it during servo motor driving.
One-touch tuning execution When one-touch tuning is completed normally, the parameters described in table 6.1 will be set
automatically.
End
6- 3
6.2.2 Display transition and operation procedure of one-touch tuning
(1) Response mode selection

Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2.
Response mode Explanation

High mode This mode is for high rigid system. (Note)
Basic mode This mode is for standard system.
Low mode This mode is for low rigid system.
Note. When the communication cycle of the controller is 2 ms or more, a higher gain may
be applied. In this case, use the basic mode or low mode to readjust the gain.
Refer to the following table for selecting a response mode.

Response mode Machine characteristic
Response
Low mode Basic mode High mode Guideline of corresponding machine
Low response
Arm robot
General machine tool

Conveyor
Precision working
machine
Inserter
Mounter
Bonder
High response
6- 4
(2) One-touch tuning execution
POINT
For equipment in which overshoot during one-touch tuning is in the permissible
level of the in-position range, changing the value of [Pr. PA25 One-touch tuning
- Overshoot permissible level] will shorten the settling time and improve the
response.
After the response mode is selected in (1) in this section, pushing the start button during driving will start
one-touch tuning. If the start button is pushed while the servo motor stops, "C 0 0 2" or "C 0 0 4" will be
displayed at status in error code. (Refer to (4) in this section for error codes.)
During processing of one-touch tuning, the status will be displayed in the progress window as follows.
One-touch tuning will be finished at 100%.
Completing the one-touch tuning starts writing tuning parameters to the servo amplifier. "0 0 0 0" is
displayed at status in error code. In addition, settling time and overshoot amount will be displayed in
"Adjustment result" after adjustment.
6- 5
(3) One-touch tuning execution

During one-touch tuning, pushing the stop button stops one-touch tuning.
If the one-touch tuning is stopped, "C 0 0 0" will be displayed at status in error code.
(4) If an error occur

If a tuning error occurs during tuning, one-touch tuning will be forcibly terminated. With that, the following
error code will be displayed in status. Check the cause of tuning error.
Error code Name Description Action
C000 Tuning canceled The stop button was pushed during one-touch
tuning.
C001 Overshoot exceeded The overshoot amount is larger than the value Increase the in-position range.
set in [Pr. PA10 In-position range].
C002 Servo-off during tuning The one-touch tuning was attempted during Perform the one-touch tuning after servo-on.
servo-off.
C003 Control mode error The one-touch tuning was attempted while the Select the position mode or velocity mode for
torque mode was selected in the control the control mode from the controller, and then
modes. make one-touch tuning.
C004 Time-out 1. 1 cycle time during the operation has been Set the 1 cycle time during the operation to 30
over 30 s. s or less.
2. The command speed is low. Set the servo motor speed to 100 r/min or
higher.
3. The operation interval of the continuous Maintain the operation interval during motor
operation is short. driving about 200 ms.
C005 Load to motor inertia 1. The estimation of the load to motor inertia Drive the motor with meeting conditions as
ratio misestimated ratio at one-touch tuning was a failure. follows.
The acceleration/deceleration time constant
to reach 2000 r/min (mm/s) is 5 s or less.
Servo motor speed is 150 r/min (mm/s) or
higher.
The load to servo motor (mass of linear
servo motor's primary side or direct drive
motor) inertia ratio is 100 times or less.
The acceleration/deceleration torque is
10% or more of the rated torque.
2. The load to motor inertia ratio was not Set to the auto tuning mode that does not
estimated due to such as an oscillation. estimate the load to motor inertia ratio as
follows, and then execute the one-touch
tuning.
Select "Auto tuning mode 2 (_ _ _ 2)",
"Manual mode (_ _ _ 3)", or "2 gain
adjustment mode 2 (_ _ _ 4)" of "Gain
adjustment mode selection" in [Pr. PA08].
Set [Pr. PB06 Load to motor inertia
ratio/load to motor mass ratio] properly with
manual setting.
C00F One-touch tuning "One-touch tuning function selection" in [Pr. Select "Enabled (_ _ _ 1)".
disabled PA21] is "Disabled (_ _ _ 0)".
(5) If an alarm occur

If an alarm occurs during tuning, one-touch tuning will be forcibly terminated.
Remove the cause of the alarm and execute one-touch tuning again.
(6) If a warning occur

If a warning which continue the motor driving occurs during the tuning, one-touch tuning will be
continued.
If a warning which does not continue the motor driving occurs during the tuning, one-touch tuning will be
stopped.
6- 6
(7) Clearing one-touch tuning

You can clear the parameter values set with one-touch tuning.
Refer to table 6.1 for the parameters which you can clear.
Pushing "Return to value before adjustment" in the one-touch tuning window of MR Configurator2
enables to rewrite the parameter to the value before pushing the start button.
In addition, pushing "Return to initial value" in the one-touch tuning window enables to rewrite the
parameter to the initial value.
Clearing one-touch tuning is completed, the following window will be displayed. (returning to initial value)
6.2.3 Caution for one-touch tuning
(1) The tuning is not available in the torque mode.
(2) The one-touch tuning cannot be executed while an alarm or warning which does not continue the motor
driving is occurring.
6- 7
(3) The tuning is not available during the following test operation mode.
(a) Output signal (DO) forced output
(b) Motor-less operation
(4) If one-touch tuning is performed when the gain switching function is enabled, vibration and/or unusual
noise may occur during the tuning.
6.2.4 One-touch tuning via a network
POINT
One-touch tuning via a network is available with servo amplifiers with software
Refer to section 6.2 for one-touch tuning. Using One-touch tuning mode (2D50h) allows one-touch tuning
from a controller.
When a simple motion module RD77GF is used, the one-touch tuning is available with the servo cyclic
transmission function or servo transient transmission function. For settings of the servo transient
transmission function, refer to the controller instruction manual.
(1) Related object (Servo transient transmission function)

Data
Index Sub Object Name Access Default Description
Type
One-touch tuning command
Setting a value of "1" to "3" starts
one-touch tuning. After one-touch
tuning is completed, the setting
One-touch tuning value automatically changes to "0".
2D50h 0 VAR U8 rw 0
mode
0: During one-touch tuning stop
1: Basic mode
2: High mode
3: Low mode
One-touch tuning status
Regardless of whether one-touch
One-touch tuning tuning is properly completed or not,
2D51h 0 VAR I8 ro 0
status the setting value changes to 100%
at the completion.
Unit: %
One-touch tuning stop command
One-touch tuning
2D52h 0 VAR U16 wo 0 Writing "1EA5h" stops one-touch
Stop
tuning.
The parameter changed in one-
touch tuning can be returned to the
value before the change.
0000h: Restores the initial value.
One-touch tuning
2D53h 0 VAR U16 wo 0 0001h: Restores the value before
Clear
one-touch tuning.
The setting value of the restored
parameter is stored to the EEP-
ROM.
One-touch tuning error code
0000h: Finished normally
C000h: Tuning canceled
C001h: Overshoot exceeded
One-touch tuning C002h: Servo-off during tuning
2D54h 0 VAR U16 ro 0
Error Code C003h: Control mode error
C004h: Time-out
C005h: Load to motor inertia ratio
misestimated
C00Fh: One-touch tuning disabled
6- 8
(2) Procedure of one-touch tuning via a network

Perform one-touch tuning via a network in the following procedure.
Start
Refer to chapter 4 to start the system.

Startup of the system
Operation Rotate the servo motor with a controller. (One-touch tuning cannot be performed if the servo
motor is not operating.)
One-touch tuning execution Write a value corresponding to the response mode (High mode, basic mode, or Low mode) to
perform in One-touch tuning mode (2D50h) during servo motor driving to perform one-touch
tuning.
One-touch tuning in progress Gains and filters will be adjusted automatically. During one-touch tuning, the progress can be
checked with One-touch tuning status (2D51h).
One-touch tuning completion Check whether one-touch tuning is completed normally with One-touch tuning Error Code
(2D54h). When one-touch tuning is completed normally, the parameters will be set
automatically. Refer to section 6.2 for the parameters that are set automatically.
After a tuning error is returned, take the appropriate action according to section 6.2.2 (4).
Check the tuning result.

Tuning result check
If the tuning result is not satisfactory, you can return the parameter to the value before the one-
touch tuning or the initial value using One-touch tuning Clear (2D53h).
End
6- 9
6.3 Auto tuning
6.3.1 Auto tuning mode
The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load to
motor inertia ratio) in real time and automatically sets the optimum gains according to that value. This
function permits ease of gain adjustment of the servo amplifier.
(1) Auto tuning mode 1

The servo amplifier is factory-set to the auto tuning mode 1.
In this mode, the load to motor inertia ratio of a machine is always estimated to set the optimum gains
automatically.
The following parameters are automatically adjusted in the auto tuning mode 1.
Parameter Symbol Name
PB06 GD2 Load to motor inertia ratio/load to motor mass ratio
PB07 PG1 Model loop gain
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation
POINT
The auto tuning mode 1 may not be performed properly if all of the following
conditions are not satisfied.
The acceleration/deceleration time constant to reach 2000 r/min (mm/s) is 5 s
or less.
Servo motor speed is 150 r/min (mm/s) or higher.
The load to servo motor (mass of linear servo motor's primary side or direct
drive motor) inertia ratio is 100 times or less.
The acceleration/deceleration torque is 10% or more of the rated torque.
Under operating conditions which will impose sudden disturbance torque during
acceleration/deceleration or on a machine which is extremely loose, auto tuning
may not function properly, either. In such cases, use the auto tuning mode 2 or
manual mode to make gain adjustment.
(2) Auto tuning mode 2

Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. Since
the load to motor inertia ratio is not estimated in this mode, set the value of a correct load to motor
inertia ratio in [Pr. PB06].
The following parameters are automatically adjusted in the auto tuning mode 2.
6 - 10
6.3.2 Auto tuning mode basis
The block diagram of real-time auto tuning is shown below.
Load moment
Automatic setting of inertia
Encoder
Command + Loop gain +
PG1, PG2, Current
control M
- VG2, VIC -
Current feedback Servo motor
Set 0 or 1 to turn on. Real-time Position/speed

auto tuning section feedback
Load to motor
Gain table inertia ratio
estimation section
Switch Speed feedback
[Pr. PA08] [Pr. PA09] [Pr. PB06 Load to

motor inertia ratio/
0 0 0 load to motor mass ratio]
Gain adjustment mode selection Response

level setting
When a servo motor is accelerated/decelerated, the load to motor inertia ratio estimation section always
estimates the load to motor inertia ratio from the current and speed of the servo motor. The results of
estimation are written to [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio]. These results can be
confirmed on the status display screen of the MR Configurator2.
If you have already known the value of the load to motor inertia ratio or failed to estimate, set "Gain
adjustment mode selection" to "Auto tuning mode 2 (_ _ _ 2)" in [Pr. PA08] to stop the estimation (turning off
the switch in above diagram), and set the load to motor inertia ratio or load to motor mass ratio ([Pr. PB06])
manually.
From the preset load to motor inertia ratio ([Pr. PB06]) value and response ([Pr. PA09]), the optimum loop
gains are automatically set on the basis of the internal gain table.
The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since power-on.
At power-on, auto tuning is performed with the value of each loop gain saved in the EEP-ROM being used
as an initial value.
POINT
If sudden disturbance torque is imposed during operation, the load to motor
inertia ratio may be misestimated temporarily. In such a case, set "Gain
adjustment mode selection" to "Auto tuning mode 2 (_ _ _ 2)" in [Pr. PA08] and
then set the correct load to motor inertia ratio in [Pr. PB06].
When any of the auto tuning mode 1 and auto tuning mode settings is changed
to the manual mode 2 setting, the current loop gains and load to motor inertia
ratio estimation value are saved in the EEP-ROM.
6 - 11
6.3.3 Adjustment procedure by auto tuning
Since auto tuning is enabled before shipment from the factory, simply running the servo motor automatically
sets the optimum gains that match the machine. Merely changing the response level setting value as
required completes the adjustment. The adjustment procedure is as follows.
Auto tuning adjustment
Acceleration/deceleration repeated
Yes Load to motor inertia ratio

estimation value stable?
No
Auto tuning conditions

are not satisfied? (Estimation of No
load to motor inertia ratio is
difficult.)
Yes
Set [Pr. PA08] to "_ _ _ 2" and set
[Pr. PB06 Load to motor inertia
ratio/load to motor mass ratio] manually.
Adjust response level setting so

that desired response is achieved
on vibration-free level.
Acceleration/deceleration repeated
No
Requested performance
satisfied?
Yes
End To 2 gain adjustment

mode 2
6 - 12
6.3.4 Response level setting in auto tuning mode
Set the response of the whole servo system by [Pr. PA09]. As the response level setting is increased, the
track ability and settling time for a command decreases, but a too high response level will generate vibration.
Hence, make setting until desired response is obtained within the vibration-free range.
If the response level setting cannot be increased up to the desired response because of machine resonance
beyond 100 Hz, filter tuning mode selection in [Pr. PB01] or machine resonance suppression filter in [Pr.
PB13] to [Pr. PB16], [Pr. PB46] to [Pr. PB51] may be used to suppress machine resonance. Suppressing
machine resonance may allow the response level setting to increase. Refer to section 7.2 and 7.3 for
settings of the adaptive tuning mode and machine resonance suppression filter.
[Pr. PA09]
Machine characteristic Reference Machine characteristic Reference
Setting Guideline for (setting Setting Guideline for (setting
value Response machine resonance value of value Response machine resonance value of
frequency [Hz] MR-J3) frequency [Hz] MR-J3)
1 Low 2.7 21 Middle 67.1 17
2 response 3.6 22 response 75.6 18
3 4.9 23 85.2 19
4 6.6 24 95.9 20
5 10.0 1 25 108.0 21
6 11.3 2 26 121.7 22
7 12.7 3 27 137.1 23
8 14.3 4 28 154.4 24
9 16.1 5 29 173.9 25
10 18.1 6 30 195.9 26
11 20.4 7 31 220.6 27
12 23.0 8 32 248.5 28
13 25.9 9 33 279.9 29
14 29.2 10 34 315.3 30
15 32.9 11 35 355.1 31
16 37.0 12 36 400.0 32
17 41.7 13 37 446.6
18 47.0 14 38 501.2
19 Middle 52.9 15 39 High 571.5
20 response 59.6 16 40 response 642.7
6 - 13
6.4 Manual mode
If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with
three parameters.
POINT
If machine resonance occurs, filter tuning mode selection in [Pr. PB01] or
machine resonance suppression filter in [Pr. PB13] to [Pr. PB16] and [Pr. PB46]
to [Pr. PB51] may be used to suppress machine resonance. (Refer to section
7.2 to 7.3.)
(1) For speed control

(a) Parameter
The following parameters are used for gain adjustment.
(b) Adjustment procedure

Step Operation Description
1 Brief-adjust with auto tuning. Refer to section 6.2.3.
Change the setting of auto tuning to the manual mode ([Pr.
2
PA08]: _ _ _ 3).
Set the estimated value to the load to motor inertia ratio/load to
3 motor mass ratio. (If the estimate value with auto tuning is
correct, setting change is not required.)
Set a slightly smaller value to the model loop gain
4
Set a slightly larger value to the speed integral compensation.
Increase the speed loop gain within the vibration- and unusual Increase the speed loop
5
noise-free range, and return slightly if vibration takes place. gain.
Decrease the speed integral compensation within the vibration- Decrease the time
6 free range, and return slightly if vibration takes place. constant of the speed
integral compensation.
Increase the model loop gain, and return slightly if overshoot Increase the model loop
7
takes place. gain.
If the gains cannot be increased due to mechanical system Suppression of machine
resonance or the like and the desired response cannot be resonance
8 achieved, response may be increased by suppressing resonance Refer to section 7.2 and
with the adaptive tuning mode or machine resonance 7.3.
suppression filter and then executing steps 3 to 7.
9 While checking the motor status, fine-adjust each gain. Fine adjustment
6 - 14
(c) Parameter adjustment

1) [Pr. PB09 Speed loop gain]
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression.
Speed loop gain

Speed loop response frequency [Hz] =
(1 + Load to motor inertia ratio) × 2
2) [Pr. PB10 Speed integral compensation]

To eliminate stationary deviation against a command, the speed control loop is under proportional
integral control. For the speed integral compensation, set the time constant of this integral
control. Increasing the setting lowers the response level. However, if the load to motor inertia
ratio is large or the mechanical system has any vibratory element, the mechanical system is liable
to vibrate unless the setting is increased to some degree. The guideline is as indicated in the
following expression.
2000 to 3000
Speed integral compensation setting [ms] ≥
Speed loop gain/(1 + Load to motor inertia ratio)
3) [Pr. PB07 Model loop gain]

This parameter determines the response level to a speed command. Increasing the value
improves track ability to a speed command, but a too high value will make overshoot liable to
occur at settling.
Speed loop gain 1 1

Model loop gain guideline ≤ × to
(1 + Load to motor inertia ratio) 4 8
(2) For position control

(a) Parameter
The following parameters are used for gain adjustment.
6 - 15
(b) Adjustment procedure

1 Brief-adjust with auto tuning. Refer to section 6.2.3.
Change the setting of auto tuning to the manual mode ([Pr.
2
PA08]: _ _ _ 3).
Set the estimated value to the load to motor inertia ratio/load to
3 motor mass ratio. (If the estimate value with auto tuning is
correct, setting change is not required.)
Set a slightly smaller value to the model loop gain and the
4 position loop gain.
Set a slightly larger value to the speed integral compensation.
Increase the speed loop gain within the vibration- and unusual Increase the speed loop
5
noise-free range, and return slightly if vibration takes place. gain.
Decrease the speed integral compensation within the vibration- Decrease the time
6 free range, and return slightly if vibration takes place. constant of the speed
integral compensation.
Increase the position loop gain, and return slightly if vibration Increase the position loop
7
takes place. gain.
Increase the model loop gain, and return slightly if overshoot Increase the model loop
8
takes place. gain.
If the gains cannot be increased due to mechanical system Suppression of machine
resonance or the like and the desired response cannot be resonance
9 achieved, response may be increased by suppressing resonance Refer to section 7.2 and
with the adaptive tuning mode or machine resonance 7.3.
suppression filter and then executing steps 3 to 8.
While checking the settling characteristic and motor status, fine- Fine adjustment
10
adjust each gain.
(c) Parameter adjustment

1) [Pr. PB09 Speed loop gain]
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression.
Speed loop gain

Speed loop response frequency [Hz] =
(1 + Load to motor inertia ratio) × 2
2) [Pr. PB10 Speed integral compensation]

To eliminate stationary deviation against a command, the speed control loop is under proportional
integral control. For the speed integral compensation, set the time constant of this integral
control. Increasing the setting lowers the response level. However, if the load to motor inertia
ratio is large or the mechanical system has any vibratory element, the mechanical system is liable
to vibrate unless the setting is increased to some degree. The guideline is as indicated in the
following expression.
Speed integral compensation setting [ms]

2000 to 3000
≥
Speed loop gain/(1 + Load to motor inertia ratio)
6 - 16
3) [Pr. PB08 Position loop gain]

This parameter determines the response level to a disturbance to the position control loop.
Increasing the value increases the response level to the disturbance, but a too high value will
increase vibration of the mechanical system.
Speed loop gain 1 1

Position loop gain guideline ≤ × to
4) [Pr. PB07 Model loop gain]

This parameter determines the response level to a position command. Increasing the value
improves track ability to a position command, but a too high value will make overshoot liable to
occur at settling.
Speed loop gain 1 1

Model loop gain guideline ≤ × to
6.5 2 gain adjustment mode
The 2 gain adjustment mode is used to match the position loop gains of the axes when performing the
interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode,
manually set the model loop gain that determines command track ability. Other parameters for gain
adjustment are set automatically.
(1) 2 gain adjustment mode 1 (interpolation mode)

The 2 gain adjustment mode 1 manually set the model loop gain that determines command track ability.
The mode constantly estimates the load to motor inertia ratio, and automatically set other parameters for
gain adjustment to optimum gains using auto tuning response.
The following parameters are used for 2 gain adjustment mode 1.
(a) Automatically adjusted parameter

The following parameters are automatically adjusted by auto tuning.
(b) Manually adjusted parameter

The following parameters are adjustable manually.
PA09 RSP Auto tuning response
6 - 17
(2) 2 gain adjustment mode 2

Use 2 gain adjustment mode 2 when proper gain adjustment cannot be made with 2 gain adjustment
mode 1. Since the load to motor inertia ratio is not estimated in this mode, set the value of a proper load
to motor inertia ratio in [Pr. PB06].
The following parameters are used for 2 gain adjustment mode 2.
(a) Automatically adjusted parameter

The following parameters are automatically adjusted by auto tuning.
(b) Manually adjusted parameter

The following parameters are adjustable manually.
PA09 RSP Auto tuning response
(3) Adjustment procedure of 2 gain adjustment mode
POINT
Set the same value in [Pr. PB07 Model loop gain] for the axis used in 2 gain
adjustment mode.

Select the auto tuning
1 Set to the auto tuning mode.
mode 1.
During operation, increase the response level setting value in [Pr. Adjustment in auto tuning
2
PA09], and return the setting if vibration occurs. mode 1.
Check value of the model loop gain and the load to motor inertia Check the upper setting
3
ratio in advance. limits.
Set the 2 gain adjustment mode 1 ([Pr. PA08]: _ _ _ 0). Select the 2 gain
4 adjustment mode 1
(interpolation mode).
When the load to motor inertia ratio is different from the design
Check the load to motor
5 value, select the 2 gain adjustment mode 2 ([Pr. PA08]: _ _ _ 4)
inertia ratio.
and then set the load to motor inertia ratio manually in [Pr. PB06].
Set the model loop gain of all the axes to be interpolated to the
6 same value. At that time, adjust to the setting value of the axis, Set model loop gain.
which has the smallest model loop gain.
Considering the interpolation characteristic and motor status,
7 Fine adjustment
fine-adjust the model loop gain and response level setting.
6 - 18
(4) Parameter adjustment

[Pr. PB07 Model loop gain]
This parameter determines the response level of the position control loop. Increasing the value improves
track ability to a position command, but a too high value will make overshoot liable to occur at settling.
The droop pulses value is determined by the following expression.
Position command frequency [pulse/s]

Number of droop pulses [pulse] =
Model loop gain setting
Position command frequency differs depending on the operation mode.
Rotary servo motor and direct drive motor:
Position command frequency

Servo motor speed [r/min]
= × Encoder resolution (number of pulses per servo motor revolution)
60
Linear servo motor:
Position command frequency = Speed [mm/s] ÷ Encoder resolution (travel distance per pulse)
6 - 19
MEMO
6 - 20
7. SPECIAL ADJUSTMENT FUNCTIONS
POINT
The functions given in this chapter need not be used normally. Use them if you
are not satisfied with the machine status after making adjustment in the methods
in chapter 6.
words.
Torque → Thrust
7.1 Filter setting
The following filters are available with MR-J4 servo amplifiers.

Speed [Pr. PB18] [Pr. PB13] [Pr. PB15] [Pr. PB46]
control Machine Machine Machine
Low-pass
Command Command + resonance resonance resonance
filter filter suppression suppression suppression
pulse train - setting filter 1 filter 2 filter 3
Load
[Pr. PB48] [Pr. PB50]
[Pr. PB49] Machine [Pr. PE41] Machine
resonance resonance
suppression suppression Encoder
filter 4 filter 5
[Pr. PB17] PWM M
Shaft
resonance
suppression Robust filter Servo motor
filter
7- 1
7.1.1 Machine resonance suppression filter
POINT
The machine resonance suppression filter is a delay factor for the servo system.
Therefore, vibration may increase if you set an incorrect resonance frequency or
set notch characteristics too deep or too wide.
If the frequency of machine resonance is unknown, decrease the notch
frequency from higher to lower ones in order. The optimum notch frequency is
set at the point where vibration is minimal.
A wider notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
A wider notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
The machine characteristic can be grasped beforehand by the machine analyzer
on MR Configurator2. This allows the required notch frequency and notch
characteristics to be determined.
If a mechanical system has a natural resonance point, increasing the servo system response level may
cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance
frequency. Using the machine resonance suppression filter and adaptive tuning can suppress the resonance
of the mechanical system. The setting range is 10 Hz to 4500 Hz.
7- 2
(1) Function
The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of
the specific frequency to suppress the resonance of the mechanical system. You can set the gain
decreasing frequency (notch frequency), gain decreasing depth and width.
mechanical system
Response of
Machine resonance point
Frequency
characteristics
Notch width
Notch
Notch depth
Frequency
Notch frequency
You can set five machine resonance suppression filters at most.

Parameter that is Parameter
reset with vibration automatically
Filter Setting parameter Precaution
tough drive adjusted with one-
function touch tuning
Machine resonance PB01/PB13/PB14 The filter can be set automatically with PB13 PB01/PB13/PB14
suppression filter 1 "Filter tuning mode selection" in [Pr.
PB01].
Machine resonance PB15/PB16 PB15 PB15/PB16
suppression filter 2
Machine resonance PB46/PB47 PB47
Machine resonance PB48/PB49 Enabling the machine resonance PB48/PB49
suppression filter 4 suppression filter 4 disables the shaft
resonance suppression filter.
Using the shaft resonance suppression
filter is recommended because it is
adjusted properly depending on the
usage situation.
The shaft resonance suppression filter is
enabled for the initial setting.
Machine resonance PB50/PB51 Enabling the robust filter disables the PB51
suppression filter 5 machine resonance suppression filter 5.
The robust filter is disabled for the initial
setting.
7- 3
(2) Parameter
(a) Machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14])
Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1
([Pr. PB13] and [Pr. PB14])
When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the setting
of the machine resonance suppression filter 1 is enabled.
(b) Machine resonance suppression filter 2 ([Pr. PB15] and [Pr. PB16])
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 2 selection" in
[Pr. PB16].
How to set the machine resonance suppression filter 2 ([Pr. PB15] and [Pr. PB16]) is the same as for
the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]).
(c) Machine resonance suppression filter 3 ([Pr. PB46] and [Pr. PB47])
[Pr. PB47].
(d) Machine resonance suppression filter 4 ([Pr. PB48] and [Pr. PB49])
[Pr. PB49]. However, enabling the machine resonance suppression filter 4 disables the shaft
(e) Machine resonance suppression filter 5 ([Pr. PB50] and [Pr. PB51])
[Pr. PB51]. However, enabling the robust filter ([Pr. PE41: _ _ _ 1]) disables the machine resonance
suppression filter 5.
7- 4
7.1.2 Adaptive filter II
POINT
The machine resonance frequency which adaptive filter II (adaptive tuning) can
respond to is about 100 Hz to 2.25 kHz. As for the resonance frequency out of
the range, set manually.
When adaptive tuning is executed, vibration sound increases as an excitation
signal is forcibly applied for several seconds.
When adaptive tuning is executed, machine resonance is detected for a
maximum of 10 seconds and a filter is generated. After filter generation, the
adaptive tuning mode automatically shifts to the manual setting.
Adaptive tuning generates the optimum filter with the currently set control gains.
If vibration occurs when the response setting is increased, execute adaptive
tuning again.
During adaptive tuning, a filter having the best notch depth at the set control
gain is generated. To allow a filter margin against machine resonance, increase
the notch depth in the manual setting.
Adaptive vibration suppression control may provide no effect on a mechanical
system which has complex resonance characteristics.
(1) Function
Adaptive filter II (adaptive tuning) is a function in which the servo amplifier detects machine vibration for
a predetermined period of time and sets the filter characteristics automatically to suppress mechanical
system vibration. Since the filter characteristics (frequency, depth) are set automatically, you need not
be conscious of the resonance frequency of a mechanical system.
mechanical system
mechanical system
Response of
Response of
Machine resonance point Machine resonance point
Frequency Frequency
Notch depth
Notch depth
Frequency Frequency
Notch frequency Notch frequency
When machine resonance is large and When machine resonance is small and
frequency is low frequency is high
(2) Parameter
Select how to set the filter tuning in [Pr. PB01 Adaptive tuning mode (adaptive filter II)].
[Pr. PB01]
0 0 0
Filter tuning mode selection
Setting
value Filter tuning mode selection Automatically set parameter
0 Disabled
1 Automatic setting PB13/PB14
2 Manual setting
7- 5
(3) Adaptive tuning mode procedure
Adaptive tuning
Operation
Yes Is the target response

reached?
No
Increase the response setting.
Has vibration or unusual No

noise occurred?
Yes
Execute or re-execute adaptive

tuning. (Set [Pr. PB01] to "_ _ _ 1".)
Tuning ends automatically after the

predetermined period of time. If assumption fails after tuning is executed at a large vibration or
([Pr. PB01] will be "_ _ _ 2" or oscillation, decrease the response setting temporarily down to
"_ _ _ 0".) the vibration level and execute again.
Yes
Has vibration or unusual
noise been resolved?
No
Factor
Decrease the response until vibration Using the machine analyzer, set the The response has increased to the machine limit.
or unusual noise is resolved. filter manually. The machine is too complicated to provide the
optimum filter.
End
7- 6
7.1.3 Shaft resonance suppression filter
POINT
This filter is set properly by default according to servo motor you use and load
moment of inertia. It is recommended that [Pr. PB23] be set to "_ _ _ 0"
(automatic setting) because changing "Shaft resonance suppression filter
selection" in [Pr. PB23] or [Pr. PB17 Shaft resonance suppression filter] may
lower the performance.
(1) Function
When a load is mounted to the servo motor shaft, resonance by shaft torsion during driving may
generate a mechanical vibration at high frequency. The shaft resonance suppression filter suppresses
the vibration.
When you select "Automatic setting", the filter will be set automatically on the basis of the motor you use
and the load to servo motor inertia ratio. The disabled setting increases the response of the servo
amplifier for high resonance frequency.
(2) Parameter
Set "Shaft resonance suppression filter selection" in [Pr. PB23].
[Pr. PB23]
0 0 0
Shaft resonance suppression filter selection
1: Manual setting
2: Disabled
To set [Pr. PB17 Shaft resonance suppression filter] automatically, select "Automatic setting".
To set [Pr. PB17 Shaft resonance suppression filter] manually, select "Manual setting". The setting
values are as follows.
Shaft resonance suppression filter setting frequency selection

Setting Setting
Frequency [Hz] Frequency [Hz]
value value
__00 Disabled __10 562
__01 Disabled __11 529
__02 4500 __12 500
__03 3000 __13 473
__04 2250 __14 450
__05 1800 __15 428
__06 1500 __16 409
__07 1285 __17 391
__08 1125 __18 375
__09 1000 __19 360
__0A 900 __1A 346
__0B 818 __1B 333
__0C 750 __1C 321
__0D 692 __1D 310
__0E 642 __1E 300
__0F 600 __1F 290
7- 7
7.1.4 Low-pass filter
(1) Function
When a ball screw or the like is used, resonance of high frequency may occur as the response level of
the servo system is increased. To prevent this, the low-pass filter is enabled for a torque command as a
default. The filter frequency of the low-pass filter is automatically adjusted to the value in the following
equation.
VG2
Filter frequency ([rad/s]) = × 10
1 + GD2
However, when an automatically adjusted value is smaller than VG2, the filter frequency will be the VG2
value. To set [Pr. PB18] manually, select "Manual setting (_ _ 1 _)" of "Low-pass filter selection" in [Pr.
PB23].
(2) Parameter
Set "Low-pass filter selection" in [Pr. PB23].
[Pr. PB23]
0 0 0
Low-pass filter selection
1: Manual setting
2: Disabled
7.1.5 Advanced vibration suppression control II
POINT
The function is enabled when "Gain adjustment mode selection" in [Pr. PA08] is
"Auto tuning mode 2 (_ _ _ 2)", "Manual mode (_ _ _ 3)", or "2 gain adjustment
mode 2 (_ _ _ 4)".
The machine resonance frequency supported in the vibration suppression
control tuning mode is 1.0 Hz to 100.0 Hz. As for the vibration out of the range,
set manually.
Stop the servo motor before changing the vibration suppression control-related
parameters. Otherwise, it may cause an unexpected operation.
For positioning operation during execution of vibration suppression control
tuning, provide a stop time to ensure a stop after vibration damping.
Vibration suppression control tuning may not make normal estimation if the
residual vibration at the servo motor side is small.
Vibration suppression control tuning sets the optimum parameter with the
currently set control gains. When the response setting is increased, set vibration
suppression control tuning again.
When using the vibration suppression control 2, set "_ _ _ 1" in [Pr. PA24].
7- 8
(1) Function
Vibration suppression control is used to further suppress load-side vibration, such as work-side vibration
and base shake. The servo motor-side operation is adjusted for positioning so that the machine does not
vibrate.
Position
Position
Servo motor side Servo motor side
Load side Load side
t t
Vibration suppression: off (normal) Vibration suppression control: on
When the advanced vibration suppression control II ([Pr. PB02 Vibration suppression control tuning
mode]) is executed, the vibration frequency at load side is automatically estimated to suppress machine
side vibration two times at most.
In the vibration suppression control tuning mode, this mode shifts to the manual setting after the
positioning operation is performed the predetermined number of times. For manual setting, adjust the
vibration suppression control 1 with [Pr. PB19] to [Pr. PB22] and vibration suppression control 2 with [Pr.
PB52] to [Pr. PB55].
(2) Parameter
Set [Pr. PB02 Vibration suppression control tuning mode (advanced vibration suppression control II)].
When you use a vibration suppression control, set "Vibration suppression control 1 tuning mode
selection". When you use two vibration suppression controls, set "Vibration suppression control 2 tuning
mode selection" in addition.
[Pr. PB02]
0 0
Vibration suppression control 1 tuning mode
Setting Vibration suppression control 1
value tuning mode selection Automatically set parameter
_ _ _ 0 Disabled
_ _ _ 1 Automatic setting PB19/PB20/PB21/PB22
_ _ _ 2 Manual setting
Vibration suppression control 2 tuning mode

Setting Vibration suppression control 2
value tuning mode selection Automatically set parameter
_ _ 0 _ Disabled
_ _ 1 _ Automatic setting PB52/PB53/PB54/PB55
_ _ 2 _ Manual setting
7- 9
(3) Vibration suppression control tuning procedure

The following flow chart is for the vibration suppression control 1. For the vibration suppression control 2,
set "_ _ 1 _" in [Pr. PB02] to execute the vibration suppression control tuning.
Vibration suppression control tuning
Operation
Yes Is the target response

reached?
No
Increase the response setting.
Has vibration of workpiece No

end/device increased?
Yes
Stop operation.
Execute or re-execute vibration

suppression control tuning.
(Set [Pr. PB02] to "_ _ _ 1".)
Resume operation.
Tuning ends automatically after

positioning operation is performed
the predetermined number of times.
([Pr. PB02] will be "_ _ _ 2" or
"_ _ _ 0".)
Has vibration Yes

of workpiece end/device
been resolved?
No
Using a machine analyzer or Factor

Decrease the response until vibration considering load-side vibration Estimation cannot be made as load-side vibration
of workpiece end/device is resolved. waveform, set the vibration has not been transmitted to the servo motor side.
suppression control manually. The response of the model loop gain has
increased to the load-side vibration frequency
(vibration suppression control limit).
End
7 - 10
(4) Vibration suppression control manual mode
POINT
When load-side vibration does not show up in servo motor-side vibration, the
setting of the servo motor-side vibration frequency does not produce an effect.
When the anti-resonance frequency and resonance frequency can be confirmed
using the machine analyzer or external equipment, do not set the same value
but set different values to improve the vibration suppression performance.
Measure work-side vibration and device shake with the machine analyzer or external measuring
instrument, and set the following parameters to adjust vibration suppression control manually.
Vibration suppression Vibration suppression
Setting item
control 1 control 2
Vibration suppression control - Vibration
[Pr. PB19] [Pr. PB52]
frequency
Vibration suppression control - Resonance
[Pr. PB20] [Pr. PB53]
frequency
Vibration suppression control - Vibration
[Pr. PB21] [Pr. PB54]
frequency damping
Vibration suppression control - Resonance
[Pr. PB22] [Pr. PB55]
frequency damping
7 - 11
Step 1 Select "Manual setting (_ _ _ 2)" of "Vibration suppression control 1 tuning mode selection" or
"Manual setting (_ _ 2 _)" of "Vibration suppression control 2 tuning mode selection" in [Pr.
PB02].
Step 2 Set "Vibration suppression control - Vibration frequency" and "Vibration suppression control -
Resonance frequency" as follows.
However, the value of [Pr. PB07 Model loop gain], vibration frequency, and resonance frequency have
the following usable range and recommended range.
Vibration suppression
Usable range Recommended setting range
control
Vibration suppression [Pr. PB19] > 1/2π × (0.9 × [Pr. PB07]) [Pr. PB19] > 1/2π × (1.5 × [Pr. PB07])
control 1 [Pr. PB20] > 1/2π × (0.9 × [Pr. PB07]) [Pr. PB20] > 1/2π × (1.5 × [Pr. PB07])
When [Pr. PB19] < [Pr. PB52],
When [Pr. PB19] < [Pr. PB52],
[Pr. PB52] > (5.0 + 0.1 × [Pr. PB07])
Vibration suppression [Pr. PB52], [Pr. PB53] > 6.25 Hz
[Pr. PB53] > (5.0 + 0.1 × [Pr. PB07])
control 2 1.1 < [Pr. PB52]/[Pr. PB19] < 4
1.1 < [Pr. PB52]/[Pr. PB19] < 5.5
[Pr. PB07] < 1/3 × (4 × [Pr. PB19] + 2 × [Pr. PB52])
[Pr. PB07] < 2π (0.3 × [Pr. PB19] + 1/8 × [Pr. PB52])
(a) When a vibration peak can be confirmed with machine analyzer using MR Configurator2, or external
equipment.
Vibration suppression control 2 -
Vibration frequency
(anti-resonance frequency)
[Pr. PB52]
Resonance frequency
[Pr. PB53]
Gain characteristics
1 Hz 300 Hz
Resonance of more than
Vibration suppression control 1 - 300 Hz is not the target of control.
Vibration frequency Vibration suppression control 1 -
(anti-resonance frequency) Resonance frequency
[Pr. PB19] [Pr. PB20]
Phase
-90 degrees
7 - 12
(b) When vibration can be confirmed using monitor signal or external sensor
Motor-side vibration External acceleration pickup signal, etc.

(droop pulses)
Position command frequency
t t
Vibration suppression control -

Vibration frequency
Vibration cycle [Hz] Vibration suppression control - Vibration cycle [Hz]
Resonance frequency
Set the same value.
Step 3 Fine-adjust "Vibration suppression control - Vibration frequency damping" and "Vibration
suppression control - Resonance frequency damping".
7.1.6 Command notch filter
POINT
By using the advanced vibration suppression control II and the command notch
filter, the load-side vibration of three frequencies can be suppressed.
The frequency range of machine vibration, which can be supported by the
command notch filter, is between 4.5 Hz and 2250 Hz. Set a frequency close to
the machine vibration frequency and within the range.
When [Pr. PB45 Command notch filter] is changed during the positioning
operation, the changed setting is not reflected. The setting is reflected
approximately 150 ms after the servo motor stops (after servo-lock).
(1) Function
Command notch filter has a function that lowers the gain of the specified frequency contained in a
position command. By lowering the gain, load-side vibration, such as work-side vibration and base
shake, can be suppressed. Which frequency to lower the gain and how deep to lower the gain can be
set.
Position
Position
Load side Load side

t t
Command notch filter: disabled Command notch filter: enabled
7 - 13
(2) Parameter
Set [Pr. PB45 Command notch filter] as shown below. For the command notch filter setting frequency,
set the closest value to the vibration frequency [Hz] at the load side.
[Pr. PB45]
0
Notch depth Command notch filter setting frequency
Setting Depth Setting Frequency Setting Frequency Setting Frequency
value [dB] value [Hz] value [Hz] value [Hz]
0 -40.0 00 Disabled 20 70 40 17.6
1 -24.1 01 2250 21 66 41 16.5
2 -18.1 02 1125 22 62 42 15.6
3 -14.5 03 750 23 59 43 14.8
4 -12.0 04 562 24 56 44 14.1
5 -10.1 05 450 25 53 45 13.4
6 -8.5 06 375 26 51 46 12.8
7 -7.2 07 321 27 48 47 12.2
8 -6.0 08 281 28 46 48 11.7
9 -5.0 09 250 29 45 49 11.3
A -4.1 0A 225 2A 43 4A 10.8
B -3.3 0B 204 2B 41 4B 10.4
C -2.5 0C 187 2C 40 4C 10.0
D -1.8 0D 173 2D 38 4D 9.7
E -1.2 0E 160 2E 37 4E 9.4
F -0.6 0F 150 2F 36 4F 9.1
10 140 30 35.2 50 8.8
11 132 31 33.1 51 8.3
12 125 32 31.3 52 7.8
13 118 33 29.6 53 7.4
14 112 34 28.1 54 7.0
15 107 35 26.8 55 6.7
16 102 36 25.6 56 6.4
17 97 37 24.5 57 6.1
18 93 38 23.4 58 5.9
19 90 39 22.5 59 5.6
1A 86 3A 21.6 5A 5.4
1B 83 3B 20.8 5B 5.2
1C 80 3C 20.1 5C 5.0
1D 77 3D 19.4 5D 4.9
1E 75 3E 18.8 5E 4.7
1F 72 3F 18.2 5F 4.5
7 - 14
7.2 Gain switching function
You can switch gains with the function. You can switch gains during rotation and during stop, and can use a
control command from a controller to switch gains during operation.
7.2.1 Applications
The following shows when you use the function.
(1) You want to increase the gains during servo-lock but decrease the gains to reduce noise during rotation.
(2) You want to increase the gains during settling to shorten the stop settling time.
(3) You want to change the gains using a control command from a controller to ensure stability of the servo
system since the load to motor inertia ratio varies greatly during a stop (e.g. a large load is mounted on a
carrier).
7 - 15
7.2.2 Function block diagram
The control gains, load to motor inertia ratio, and vibration suppression control settings are changed
according to the conditions selected by [Pr. PB26 Gain switching function] and [Pr. PB27 Gain switching
condition].
Control command from CDP

controller (C_CDP) and [Pr. PB26]
Input device CDP
(Gain switching).
Command pulse
frequency +
-
Droop pulses +
-
Changing
Model speed +
-
CDL Comparator
[Pr. PB27]
GD2 VRF11
[Pr. PB06] [Pr. PB19]
Enabled Enabled
GD2B GD2 value VRF11B VRF11 value
[Pr. PB29] [Pr. PB33]
PG1 VRF12
[Pr. PB07] [Pr. PB20]
Enabled Enabled
PG1B PG1 value VRF12B VRF12 value
[Pr. PB60] [Pr. PB34]
PG2 VRF13
[Pr. PB08] [Pr. PB21]
Enabled Enabled
PG2B PG2 value VRF13B VRF13 value
[Pr. PB30] [Pr. PB35]
VG2 VRF14
[Pr. PB09] [Pr. PB22]
Enabled Enabled
VG2B VG2 value VRF14B VRF14 value
[Pr. PB31] [Pr. PB36]
VIC VRF21
[Pr. PB10] [Pr. PB52]
Enabled Enabled
VICB VIC value VRF21B VRF21 value
[Pr. PB32] [Pr. PB56]
VRF22
[Pr. PB53]
Enabled
VRF22B VRF22 value
[Pr. PB57]
VRF23
[Pr. PB54]
Enabled
VRF23B VRF23 value
[Pr. PB58]
VRF24
[Pr. PB55]
Enabled
VRF24B VRF24 value
[Pr. PB59]
7 - 16
7.2.3 Parameter
When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment mode
selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning
mode.
(1) Parameter for setting gain switching condition

Parameter Symbol Name Unit Description
PB26 CDP Gain switching function Used to select the changing condition.
PB27 CDL Gain switching condition [kpulse/s] Used to set the changing condition values.
/[pulse]
/[r/min]
PB28 CDT Gain switching time constant [ms] Set the filter time constant for a gain change at changing.
(a) [Pr. PB26 Gain switching function]

Used to set the gain switching condition. Select the switching condition in the first to third digits.
[Pr. PB26]
0
Gain switching selection
0: Disabled
1: Switching is enabled by control command from controller
and Input device CDP (Gain switching)
2: Command frequency
3: Droop pulses
4: Servo motor speed
Gain switching condition

0: Gain after switching is enabled with gain switching condition or more
1: Gain after switching is enabled with gain switching condition or less
Gain switching time constant disabling condition selection

0: Switching time constant enabled
1: Switching time constant disabled
2: Return time constant disabled
(b) [Pr. PB27 Gain switching condition]

Set a level to switch gains with [Pr. PB27] after you select "Command frequency", "Droop pulses", or
"Servo motor speed" with the gain switching selection in [Pr. PB26 Gain switching function].
The setting unit is as follows.
Gain switching condition Unit
Command frequency [kpulse/s]
Droop pulses [pulse]
Servo motor speed [r/min]/[mm/s]
(c) [Pr. PB28 Gain switching time constant]

You can set the primary delay filter to each gain at gain switching. This parameter is used to
suppress shock given to the machine if the gain difference is large at gain switching, for example.
7 - 17
(2) Switchable gain parameter

Before switching After switching
Loop gain
Parameter Symbol Name Parameter Symbol Name
Load to motor inertia PB06 GD2 Load to motor inertia PB29 GD2B Load to motor inertia
ratio/load to motor mass ratio/load to motor mass ratio/load to motor mass
ratio ratio ratio after gain switching
Model loop gain PB07 PG1 Model loop gain PB60 PG1B Model loop gain after gain
switching
Position loop gain PB08 PG2 Position loop gain PB30 PG2B Position loop gain after
gain switching
Speed loop gain PB09 VG2 Speed loop gain PB31 VG2B Speed loop gain after gain
switching
Speed integral PB10 VIC Speed integral PB32 VICB Speed integral
compensation compensation compensation after gain
switching
Vibration suppression PB19 VRF11 Vibration suppression PB33 VRF11B Vibration suppression
control 1 - Vibration control 1 - Vibration control 1 - Vibration
frequency frequency frequency after gain
switching
control 1 - Resonance control 1 - Resonance control 1 - Resonance
switching
frequency damping frequency damping frequency damping after
gain switching
gain switching
switching
switching
gain switching
gain switching
(a) [Pr. PB06] to [Pr. PB10]

These parameters are the same as in ordinary manual adjustment. Gain switching allows the values
of load to motor inertia ratio/load to motor mass ratio, position loop gain, model loop gain, speed loop
gain, and speed integral compensation to be switched.
(b) [Pr. PB19] to [Pr. PB22]/[Pr. PB52] to [Pr. PB55]

These parameters are the same as in ordinary manual adjustment. Executing gain switching while
the servo motor stops, you can change vibration frequency, resonance frequency, vibration
frequency damping, and resonance frequency damping.
7 - 18
(c) [Pr. PB29 Load to motor inertia ratio/load to motor mass ratio after gain switching]
Set the load to motor inertia ratio or load to motor mass ratio after gain switching. If the load to motor
inertia ratio does not change, set it to the same value as [Pr. PB06 Load to motor inertia ratio/load to
motor mass ratio].
(d) [Pr. PB30 Position loop gain after gain switching], [Pr. PB31 Speed loop gain after gain switching],
and [Pr. PB32 Speed integral compensation after gain switching]
Set the values of after switching position loop gain, speed loop gain and speed integral
compensation.
(e) Vibration suppression control after gain switching ([Pr. PB33] to [Pr. PB36]/[Pr. PB56] to [Pr. PB59]),
and [Pr. PB60 Model loop gain after gain switching]
The gain switching vibration suppression control and gain switching model loop gain are used only
with control command from the controller.
You can switch the vibration frequency, resonance frequency, vibration frequency damping,
resonance frequency damping, and model loop gain of the vibration suppression control 1 and
vibration suppression control 2.
7 - 19
7.2.4 Gain switching procedure
This operation will be described by way of setting examples.
(1) When you choose switching by control command from the controller
(a) Setting example
Parameter Symbol Name Setting value Unit
PB06 GD2 Load to motor inertia ratio/load to motor 4.00 [Multiplier]
mass ratio
PB07 PG1 Model loop gain 100 [rad/s]
PB08 PG2 Position loop gain 120 [rad/s]
PB10 VIC Speed integral compensation 20 [ms]
PB19 VRF11 Vibration suppression control 1 - Vibration 50 [Hz]
frequency
PB20 VRF12 Vibration suppression control 1 - 50 [Hz]
Resonance frequency
PB21 VRF13 Vibration suppression control 1 - Vibration 0.20
frequency damping
PB22 VRF14 Vibration suppression control 1 - 0.20
Resonance frequency damping
PB52 VRF21 Vibration suppression control 2 - Vibration 20 [Hz]
frequency
PB53 VRF22 Vibration suppression control 2 - 20 [Hz]
Resonance frequency
PB54 VRF23 Vibration suppression control 2 - Vibration 0.10
frequency damping
PB55 VRF24 Vibration suppression control 2 - 0.10
PB29 GD2B Load to motor inertia ratio/load to motor 10.00 [Multiplier]
mass ratio after gain switching
PB60 PG1B Model loop gain after gain switching 50 [rad/s]
PB30 PG2B Position loop gain after gain switching 84 [rad/s]
PB31 VG2B Speed loop gain after gain switching 4000 [rad/s]
PB32 VICB Speed integral compensation after gain 50 [ms]
switching
PB26 CDP Gain switching function 0001
(Switch by control command
from the controller and Input
device CDP (Gain
switching).)
PB33 VRF11B Vibration suppression control 1 - Vibration 60 [Hz]
frequency after gain switching
PB34 VRF12B Vibration suppression control 1 - 60 [Hz]
Resonance frequency after gain switching
PB35 VRF13B Vibration suppression control 1 - Vibration 0.15
frequency damping after gain switching
PB36 VRF14B Vibration suppression control 1 - 0.15
Resonance frequency damping after gain
switching
PB56 VRF21B Vibration suppression control 2 - Vibration 30 [Hz]
frequency after gain switching
PB57 VRF22B Vibration suppression control 2 - 30 [Hz]
Resonance frequency after gain switching
PB58 VRF23B Vibration suppression control 2 - Vibration 0.05
frequency damping after gain switching
PB59 VRF24B Vibration suppression control 2 - 0.05
Resonance frequency damping after gain
switching
7 - 20
(b) Switching timing chart

Control command OFF OFF
from controller ON
After-switching gain
63.4%
Before-switching gain
Gain switching
CDT = 100 ms
Model loop gain 100 → 50 → 100

Load to motor inertia ratio/load to motor
4.00 → 10.00 → 4.00
mass ratio
Position loop gain 120 → 84 → 120
Speed loop gain 3000 → 4000 → 3000
Speed integral compensation 20 → 50 → 20
Vibration suppression control 1 - Vibration
50 → 60 → 50
frequency
50 → 60 → 50
Resonance frequency
0.20 → 0.15 → 0.20
frequency damping
0.20 → 0.15 → 0.20
20 → 30 → 20
frequency
20 → 30 → 20
Resonance frequency
0.10 → 0.05 → 0.10
frequency damping
0.10 → 0.05 → 0.10
(2) When you choose switching by droop pulses

The vibration suppression control after gain switching and model loop gain after gain switching cannot
be used.
(a) Setting example

Parameter Symbol Name Setting value Unit
PB06 GD2 Load to motor inertia ratio/load to 4.00 [Multiplier]
motor mass ratio
PB08 PG2 Position loop gain 120 [rad/s]
PB10 VIC Speed integral compensation 20 [ms]
PB29 GD2B Load to motor inertia ratio/load to 10.00 [Multiplier]
motor mass ratio after gain
switching
PB30 PG2B Position loop gain after gain 84 [rad/s]
switching
PB31 VG2B Speed loop gain after gain 4000 [rad/s]
switching
PB32 VICB Speed integral compensation after 50 [ms]
gain switching
PB26 CDP Gain switching selection 0003
(switching by droop pulses)
PB27 CDL Gain switching condition 50 [pulse]
7 - 21
(b) Switching timing chart

Command pulses Droop pulses
Command pulses
+CDL
Droop pulses
0
[pulse] -CDL
63.4%
Gain switching
CDT = 100 ms
Load to motor inertia ratio/load to motor

4.00 → 10.00 → 4.00 → 10.00
mass ratio
Position loop gain 120 → 84 → 120 → 84
Speed loop gain 3000 → 4000 → 3000 → 4000
Speed integral compensation 20 → 50 → 20 → 50
(3) When the gain switching time constant is disabled

(a) Switching time constant disabled was selected.
The gain switching time constant is disabled. The time constant is enabled at gain return.
The following example shows for [Pr. PB26 (CDP)] = 0103, [Pr. PB27 (CDL)] = 100 [pulse], and [Pr.
PB28 (CDT)] = 100 [ms].
Command pulses
Droop pulses
+100 pulses
Droop pulses [pulse] 0
-100 pulses
Switching time constant After-switching gain

disabled
Switching at 0 ms
63.4%
Gain switching Before-switching gain
Switching at 0 ms
CDT = 100 ms
Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching off (when returning)
7 - 22
(b) Return time constant disabled was selected.

The gain switching time constant is enabled. The time constant is disabled at gain return.
The following example shows for [Pr. PB26 (CDP)] = 0201, [Pr. PB27 (CDL)] = 0, and [Pr. PB28
(CDT)] = 100 [ms].
OFF OFF
CDP (Gain switching) ON
Return time constant disabled

Switching at 0 ms
63.4%
Gain switching
CDT = 100 ms
Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching on (when switching)
7 - 23
7.3 Tough drive function
POINT
Set enable/disable of the tough drive function with [Pr. PA20 Tough drive
setting]. (Refer to section 5.2.1.)
This function makes the equipment continue operating even under the condition that an alarm occurs.
The tough drive functions are the vibration tough drive and the instantaneous power failure tough drive.
7.3.1 Vibration tough drive function
This function prevent from vibrating by resetting a filter instantaneously when machine resonance occurs
due to varied vibration frequency caused machine aging.
To reset the machine resonance suppression filters with the function, [Pr. PB13 Machine resonance
suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] should be set in advance.
Set [Pr. PB13] and [Pr. PB15] as follows.
(1) One-touch tuning execution (section 6.1)
(2) Manual setting (section 4.2.2)
The vibration tough drive function operates when a detected machine resonance frequency is within ±30%
for a value set in [Pr. PB13 Machine resonance suppression filter 1] or [Pr. PB15 Machine resonance
suppression filter 2].
To set a detection level of the function, set sensitivity in [Pr. PF23 Vibration tough drive - Oscillation
detection level].
POINT
Resetting [Pr. PB13] and [Pr. PB15] by the vibration tough drive function is
performed constantly. However, the number of write times to the EEPROM is
limited to once per hour.
The vibration tough drive function does not reset [Pr. PB46 Machine resonance
suppression filter 3], [Pr. PB48 Machine resonance suppression filter 4], and [Pr.
PB50 Machine resonance suppression filter 5].
The vibration tough drive function does not detect a vibration of 100 Hz or less.
7 - 24
The following shows the function block diagram of the vibration tough drive function.
The function detects machine resonance frequency and compare it with [Pr. PB13] and [Pr. PB15], and reset
a machine resonance frequency of a parameter whose set value is closer.
Parameter that is
reset with vibration
Filter Setting parameter Precaution
tough drive
function
Machine resonance PB01/PB13/PB14 The filter can be set automatically with PB13
suppression filter 1 "Filter tuning mode selection" in [Pr.
PB01].
Machine resonance PB15/PB16 PB15
Machine resonance PB46/PB47
Machine resonance PB48/PB49 Enabling the machine resonance
suppression filter 4 suppression filter 4 disables the shaft
Using the shaft resonance suppression
filter is recommended because it is
adjusted properly depending on the
usage situation.
The shaft resonance suppression filter is
enabled for the initial setting.
Machine resonance PB50/PB51 Enabling the robust filter disables the
suppression filter 5 machine resonance suppression filter 5.
The robust filter is disabled for the initial
setting.
Updates the parameter Vibration tough drive

whose setting is the
closest to the machine
resonance frequency.
[Pr. PB13] [Pr. PB15] [Pr. PB46]

Machine Machine Machine
Command Command + resonance resonance resonance
pulse train filter - suppression suppression suppression
filter 1 filter 2 filter 3
Load
[Pr. PB48] [Pr. PB50]
[Pr. PB49] Machine [Pr. PE41] Machine
resonance resonance
suppression suppression Encoder
filter 4 filter 5
[Pr. PB17] PWM M
Shaft
resonance
suppression Robust filter Servo motor
filter
[Pr. PF23 Vibration tough drive - Oscillation detection level]

Torque
Detects the machine resonance and reconfigures the filter automatically.

ALM ON
(Malfunction) OFF
5s
WNG ON
(Warning) OFF
During tough drive (MTTR) is not turned on in the vibration tough drive function.
MTTR ON
(During tough drive) OFF
7 - 25
7.3.2 Instantaneous power failure tough drive function
The instantaneous power failure tough drive function avoids [AL. 10 Undervoltage] even when an
instantaneous power failure occurs during operation. When the instantaneous power failure tough drive
activates, the function will increase the tolerance against instantaneous power failure using the electrical
energy charged in the capacitor in the servo amplifier and will change an alarm level of [AL. 10
Undervoltage] simultaneously. The [AL. 10.1 Voltage drop in the control circuit power] detection time for the
control circuit power supply can be changed by [Pr. PF25 SEMI-F47 function - Instantaneous power failure
detection time]. In addition, [AL. 10.2 Voltage drop in the main circuit power] detection level for the bus
voltage is changed automatically.
POINT
MBR (Electromagnetic brake interlock) will not turn off during the instantaneous
power failure tough drive.
When selecting "Enabled (_ _ _ 1)" for "Torque limit function selection at
instantaneous power failure" in [Pr. PA26], if an instantaneous power failure
occurs during operation, you can save electric energy charged in the capacitor
in the servo amplifier by limiting torque at acceleration. You can also delay the
time until the occurrence of [AL. 10.2 Voltage drop in the main circuit power].
Doing this will enable you to set a longer time in [Pr. PF25 SEMI-F47 function -
Instantaneous power failure detection time].
When the load of instantaneous power failure is large, [AL. 10.2] caused by the
bus voltage drop may occur regardless of the set value of [Pr. PF25 SEMI-F47
function - Instantaneous power failure detection time].
The external dynamic brake cannot be used for compliance with SEMI-F47
standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD07] to [Pr.
PD09]. Failure to do so will cause the servo amplifier to become servo-off when
an instantaneous power failure occurs.
To comply with SEMI-F47 standard, it is unnecessary to change the initial value
(200 ms) in [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection
time]. When the instantaneous power failure time exceeds 200 ms, and the
instantaneous power failure voltage is less than 70% of the rated input voltage,
the power may be normally turned off even if a value larger than 200 ms is set in
the parameter.
7 - 26
(1) Instantaneous power failure time of the control circuit power supply > [Pr. PF25 SEMI-F47 function -
Instantaneous power failure detection time]
The alarm occurs when the instantaneous power failure time of the control circuit power supply exceeds
[Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time].
MTTR (During tough drive) turns on after detecting the instantaneous power failure.
MBR (Electromagnetic brake interlock) turns off when the alarm occurs.
Instantaneous power failure time of the control circuit power supply
ON (Energization)
Control circuit
power supply OFF (Power failure)
[Pr. PF25]
Bus voltage
Undervoltage level
(Note)
ALM ON
(Malfunction) OFF
WNG ON
(Warning) OFF
MTTR ON
MBR ON
(Electromagnetic
ON
Base circuit
OFF
Note. Refer to table 7.1 for the undervoltage level.
7 - 27
(2) Instantaneous power failure time of the control circuit power supply < [Pr. PF25 SEMI-F47 function -
Instantaneous power failure detection time]
Operation status differs depending on how bus voltage decrease.
(a) When the bus voltage decrease lower than Undervoltage level within the instantaneous power failure
time of the control circuit power supply
[AL. 10 Undervoltage] occurs when the bus voltage decrease lower than Undervoltage level
regardless of the enabled instantaneous power failure tough drive.
Instantaneous power failure time of the control circuit power supply
ON (Energization)
Control circuit
[Pr. PF25]
Bus voltage
Undervoltage level
(Note)
ALM ON
(Malfunction) OFF
WNG ON
(Warning) OFF
MTTR ON
MBR ON
(Electromagnetic
ON
Base circuit
OFF
7 - 28
(b) When the bus voltage does not decrease lower than Undervoltage level within the instantaneous
power failure time of the control circuit power supply
The operation continues without alarming.
Instantaneous power failure time of the
control circuit power supply
ON (Energization)
Control circuit
[Pr. PF25]
Bus voltage
Undervoltage level
(Note)
ALM ON
(Malfunction) OFF
WNG ON
(Warning) OFF
MTTR ON
MBR ON
(Electromagnetic
ON
Base circuit
OFF
7 - 29
7.4 Compliance with SEMI-F47 standard
POINT
The control circuit power supply of the servo amplifier can be possible to comply
with SEMI-F47 standard. However, a back-up capacitor may be necessary for
instantaneous power failure in the main circuit power supply depending on the
power supply impedance and operating situation.
Use a 3-phase for the input power supply of the servo amplifier. Using a 1-
phase 100 V AC/200 V AC for the input power supply will not comply with SEMI-
F47 standard.
standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD07] to [Pr.
PD09]. Failure to do so will cause the servo amplifier to become servo-off when
an instantaneous power failure occurs.
Be sure to perform actual machine tests and detail checks for power supply
instantaneous power failure of SEMI-F47 standard with your equipment.
The following explains the compliance with "SEMI-F47 semiconductor process equipment voltage sag
immunity test" of MR-J4 series.
This function enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged in the
capacitor in case that an instantaneous power failure occurs during operation.

Setting [Pr. PA20] and [Pr. PF25] as follows will enable SEMI-F47 function.
Parameter Setting value Description
PA20 _1__ Enable SEMI-F47 function selection.
Set the time [ms] of the [AL. 10.1 Voltage drop in the control circuit power]
PF25 200
occurrence.
Enabling SEMI-F47 function will change operation as follows.
(a) The voltage will drop in the control circuit power with "Rated voltage × 50% or less". 200 ms later,
[AL. 10.1 Voltage drop in the control circuit power] will occur.
(b) [AL. 10.2 Voltage drop in the main circuit power] will occur when bus voltage is as follows.
Table 7.1 Voltages which trigger [AL. 10.2 Voltage drop in the main circuit power]
Servo amplifier Bus voltage which triggers alarm
MR-J4-10GF(-RJ)
to 158 V DC
MR-J4-700GF(-RJ)
MR-J4-11KGF(-RJ)
to 200 V DC
MR-J4-22KGF(-RJ)
MR-J4-60GF4(-RJ)
to 380 V DC
MR-J4-22KGF4(-RJ)
(c) MBR (Electromagnetic brake interlock) will turn off when [AL. 10.1 Voltage drop in the control circuit
power] occurs.
7 - 30
(2) Requirements conditions of SEMI-F47 standard

Table 7.2 shows the permissible time of instantaneous power failure for instantaneous power failure of
SEMI-F47 standard.
Table 7.2 Requirements conditions of SEMI-F47 standard

Permissible time of
Instantaneous power
instantaneous power
failure voltage
failure [s]
Rated voltage × 80% 1
Rated voltage × 70% 0.5
Rated voltage × 50% 0.2
(3) Calculation of tolerance against instantaneous power failure

Table 7.3 shows tolerance against instantaneous power failure when instantaneous power failure
voltage is "rated voltage × 50%" and instantaneous power failure time is 200 ms.
Table 7.3 Tolerance against instantaneous power failure

(instantaneous power failure voltage = rated voltage × 50%,
instantaneous power failure time = 200 ms)
Tolerance against
Instantaneous maximum instantaneous
Servo amplifier
output [W] power failure [W]
(voltage drop between lines)
MR-J4-10GF(-RJ) 350 250
MR-J4-20GF(-RJ) 700 420
MR-J4-40GF(-RJ) 1400 630
MR-J4-60GF(-RJ) 2100 410
MR-J4-70GF(-RJ) 2625 1150
MR-J4-100GF(-RJ) 3000 1190
MR-J4-200GF(-RJ) 5400 2040
MR-J4-350GF(-RJ) 10500 2600
MR-J4-500GF(-RJ) 15000 4100
MR-J4-700GF(-RJ) 21000 5900
MR-J4-11KGF(-RJ) 40000 2600
MR-J4-15KGF(-RJ) 50000 3500
MR-J4-22KGF(-RJ) 56000 4300
MR-J4-60GF4(-RJ) 1900 190
MR-J4-100GF4(-RJ) 3500 200
MR-J4-200GF4(-RJ) 5400 350
MR-J4-350GF4(-RJ) 10500 730
MR-J4-500GF4(-RJ) 15000 890
MR-J4-700GF4(-RJ) 21000 1500
MR-J4-11KGF4(-RJ) 40000 2400
MR-J4-15KGF4(-RJ) 50000 3200
MR-J4-22KGF4(-RJ) 56000 4200
7 - 31
Instantaneous maximum output means power which servo amplifier can output in maximum torque at
rated speed. You can examine margins to compare the values of following conditions and instantaneous
maximum output.
Even if driving at maximum torque with low speed in actual operation, the motor will not drive with the
maximum output. This can be handled as a margin.
The following shows the conditions of tolerance against instantaneous power failure.
(a) Delta connection

For the 3-phase (L1/L2/L3) delta connection, an instantaneous power failure occurs in the voltage
between a pair of lines (e.g. between L1 and L2) among voltages between three pairs of lines
(between L1 and L2, L2 and L3, or L3 and L1).
(b) Star connection

For the 3-phase (L1/L2/L3/neutral point N) star connection, an instantaneous power failure occurs in
the voltage between a pair of lines (e.g. between L1 and N) among voltages at six locations,
between three pairs of lines (between L1 and L2, L2 and L3, or L3 and L1) and between one of the
lines and the neutral point (between L1 and N, L2 and N, or L3 and N).
7 - 32
7.5 Model adaptive control disabled
POINT
Change the parameters while the servo motor stops.
When setting auto tuning response ([Pr. PA09]), change the setting value one by
one to adjust it while checking operation status of the servo motor.
(1) Summary
The servo amplifier has a model adaptive control. The servo amplifier has a virtual motor model and
drives the servo motor following the output of the motor model in the model adaptive control. At model
adaptive control disabled, the servo amplifier drives the motor with PID control without using the model
adaptive control.
The following shows the available parameters at model adaptive control disabled.

Set [Pr. PB25] to "_ _ _ 2".
(3) Restrictions
The following functions are not available at model adaptive control disabled.
Function Explanation
Disabling the model adaptive control while the forced stop
deceleration function is enabled, [AL. 37] will occur.
Forced stop deceleration function
The forced stop deceleration function is enabled at factory
([Pr. PA04])
setting. Set [Pr. PA04] to "0 _ _ _" (Forced stop
deceleration function disabled).
Vibration suppression control 1
([Pr. PB02]/[Pr. PB19]/[Pr. PB20]) The vibration suppression control uses the model adaptive
control. Disabling the model adaptive control will also
Vibration suppression control 2 disable the vibration suppression control.
([Pr. PB02]/[Pr. PB52]/[Pr. PB53])
The overshoot amount compensation uses data used by
Overshoot amount compensation the model adaptive control. Disabling the model adaptive
([Pr. PB12]) control will also disable the overshoot amount
compensation.
The super trace control uses the model adaptive control.
Super trace control
Disabling the model adaptive control will also disable the
([Pr. PA22])
super trace control.
7 - 33
7.6 Lost motion compensation function
POINT
The lost motion compensation function is enabled only in the position mode.
The lost motion compensation function corrects response delays (caused by a non-sensitive band due to
friction, twist, expansion, and backlash) caused when the machine travel direction is reversed. This function
contributes to improvement for protrusions that occur at a quadrant change and streaks that occur at a
quadrant change during circular cutting.
This function is effective when a high follow-up performance is required such as drawing an arc with an X-Y
table.
Compensation
Travel
direction
The locus before compensation The locus after compensation

Setting [Pr. PE44] to [Pr. PE50] enables the lost motion compensation function.
(a) Lost motion compensation function selection ([Pr. PE48])

Select the lost motion compensation function.
[Pr. PE48]
0 0
Lost motion compensation selection
0: Lost motion compensation disabled
1: Lost motion compensation enabled
Unit setting of lost motion compensation non-sensitive band
0: 1 pulse unit
1: 1 kpulse unit
(b) Lost motion compensation ([Pr. PE44]/[Pr. PE45])

Set the same value for the lost motion compensation for each of when the forward rotation switches
to the reverse rotation and when the reverse rotation switches to the forward rotation. When the
heights of protrusions differ depending on the travel direction, set the different compensation for
each travel direction. Set a value twice the usual friction torque and adjust the value while checking
protrusions.
(c) Torque offset ([Pr. PE47])

For a vertical axis, unbalanced torque occurs due to the gravity. Although setting the torque offset is
usually unnecessary, setting unbalanced torque of a machine as a torque offset cancels the
unbalanced torque. The torque offset does not need to be set for a machine not generating
unbalanced torque. The torque offset cannot be used for linear servo motors and direct drive motors.
Set 0.00%.
7 - 34
(d) Lost motion compensation timing ([Pr. PE49])

You can set the delay time of the lost motion compensation start timing with this parameter. When a
protrusion occurs belatedly, set the lost motion compensation timing corresponding to the protrusion
occurrence timing.
(e) Lost motion compensation non-sensitive band ([Pr. PE50])

When the travel direction reverses frequently around the zero speed, unnecessary lost motion
compensation is triggered by the travel direction switching. By setting the lost motion compensation
non-sensitive band, the speed is recognized as 0 when the fluctuation of the droop pulse is the
setting value or less. This prevents unnecessary lost motion compensation.
When the value of this parameter is changed, the compensation timing is changed. Adjust the value
of Lost motion compensation timing ([Pr. PE49]).
(f) Lost motion filter setting ([Pr. PE46])

Changing the value of this parameter is usually unnecessary. When a value other than 0.0 ms is set
in this parameter, the high-pass filter output value of the set time constant is applied to the
compensation and lost motion compensation continues.
(2) Adjustment procedure of the lost motion compensation function

The following shows the adjustment procedure of the lost motion compensation function.
(a) Measuring the load current

Measure the load currents during the forward direction feed and reverse direction feed with MR
Configurator2.
(b) Setting the lost motion compensation

Calculate the friction torque from the measurement result of (2) (a) in this section and set a value
twice the friction torque in [Pr. PE44] and [Pr. PE45] as lost motion compensation.
|(load current during feed in the forward rotation direction [%]) -

(load current during feed in the reverse rotation direction [%])|
Friction torque [%] =
2
(c) Checking protrusions

Drive the servo motor and check that the protrusions are corrected.
7 - 35
(d) Adjusting the lost motion compensation

When protrusions still occur, the compensation is insufficient. Increase the lost motion compensation
by approximately 0.5% until the protrusions are eliminated. When notches occur, the compensation
is excessive. Decrease the lost motion compensation by approximately 0.5% until the notches are
eliminated. Different values can be set as the compensation for each of when the forward rotation
(CCW) switches to the reverse rotation (CW) and when the reverse rotation (CW) switches to the
forward rotation (CCW).
Compensation
Travel
direction
The locus before compensation The locus after compensation
(e) Adjusting the lost motion compensation timing

When the machine has low rigidity, the speed loop gain is set lower than the standard setting value,
or the servo motor is rotating at high speed, quadrant projections may occur behind the quadrant
change points. In this case, you can suppress the quadrant projections by delaying the lost motion
compensation timing with [Pr. PE49 Lost motion compensation timing]. Increase the setting value of
[Pr. PE49] from 0 ms (Initial value) by approximately 0.5 ms to adjust the compensation timing.
Compensation
Travel
direction
Before timing delay compensation After timing delay compensation
(f) Adjusting the lost motion compensation non-sensitive band

When the lost motion is compensated twice around a quadrant change point, set [Pr. PE50 Lost
motion compensation non-sensitive band]. Increase the setting value so that the lost motion is not
compensated twice. Setting [Pr. PE50] may change the compensation timing. Adjust the lost motion
compensation timing of (2) (e) in this section.
Compensation
Travel
direction
Before timing delay compensation After timing delay compensation
7 - 36
7.7 Super trace control
(1) Summary
In the normal position control, droop pulses are generated against the position control command from
the controller. Using the feed forward gain sets droop pulses at a constant speed to almost 0. However,
droop pulses generated during acceleration/deceleration cannot be suppressed.
With the ideal model in the servo amplifier, the super trace control enables to set constant speed and
uniform acceleration/deceleration droop pulses to almost 0 that cannot be coped with by the feed
forward gain.
Control Position command (the same command) Droop pulses
Servo motor speed
Droop pulses
Normal
control
Time Time
Droop pulses are always generated.
Servo motor speed
Droop pulses
Feed
forward gain
Time Time
Droop pulses are generated during acceleration/
deceleration.
Servo motor speed
Droop pulses
Super trace
control
Time Time
Droop pulses are almost 0 including the time of
acceleration or deceleration.
7 - 37
(2) Adjustment procedure
POINT
In the super trace control, droop pulses are near 0 during the servo motor
control. Thus, the normal INP (In-position) may always be turned on. Be sure to
set "INP (In-position) on condition selection" in [Pr. PD13] to " _ 1 _ _".
When you use the super trace control, it is recommended that the acceleration
time constant up to the rated speed be set to 1 s or more.
The following shows the adjustment procedure.

Step Operation
Execute the gain adjustment with one-touch tuning, auto tuning,
1
etc. Refer to chapter 6 for details.
Change the setting of auto tuning mode to the manual mode ([Pr.
2
PA08]: _ _ _ 3).
Change the setting of feed forward gain ([Pr. PB04]), and adjust
3
that droop pulses will be 0 at a constant speed.
Set the setting of INP (In-position) on condition selection ([Pr.
4
PD13]) to " _ 1 _ _".
5 Enable the super trace control. ([Pr. PA22]: _ _ 2 _)
Change the setting of model loop gain ([Pr. PB07]), and adjust
6
droop pulses during acceleration/deceleration.
7 - 38
8. TROUBLESHOOTING
8. TROUBLESHOOTING
POINT
Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)"
for details of alarms and warnings.
As soon as an alarm occurs, make the Servo-off status and interrupt the main
circuit power.
[AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning])
are not recorded in the alarm history.
In the initial setting, [AL. 8D.1 CC-Link IE communication error 1] and [AL. 8D.2
CC-Link IE communication error 2] are not recorded in the alarm history. The
alarms are recorded by setting [Pr. PN06] to "_ _ _ 1".
When an error occurs during operation, the corresponding alarm and warning are displayed. When an alarm
or warning is displayed, refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" to
remove the failure. When an alarm occurs, ALM will turn off.
8.1 Explanation for the lists
(1) No./Name/Detail No./Detail name

Indicates each No./Name/Detail No./Detail name of alarms or warnings.
(2) Stop method

For the alarms and warnings in which "SD" is written in the stop method column, the servo motor stops
with the dynamic brake after forced stop deceleration. For the alarms and warnings in which "DB" or
"EDB" is written in the stop method column, the servo motor stops with the dynamic brake without forced
stop deceleration.
(3) Alarm deactivation

After its cause has been removed, the alarm can be deactivated in any of the methods marked in the
alarm deactivation column. Warnings are automatically canceled after the cause of occurrence is
removed. Alarms are deactivated with alarm reset, CPU reset, or cycling the power.
Alarm deactivation Explanation
Alarm reset 1. Reset command from controller
2. Click "Occurring Alarm Reset" in the "Alarm Display" window of MR Configurator2
CPU reset Resetting the controller itself
Cycling the power Turning off the power and on again
8- 1
8. TROUBLESHOOTING
8.2 Alarm list

Stop Alarm deactivation
Detail method Cycling
No. Name Detail name Alarm CPU
No. (Note the
reset reset
2, 3) power
Voltage drop in the control
Alarm
10.1 EDB
circuit power
10 Undervoltage
Voltage drop in the main circuit
10.2 SD
power
Axis number setting error/
11.1 DB
Station number setting error
11 Switch setting error
Disabling control axis setting
11.2 DB
error
12.1 RAM error 1 DB
12.2 RAM error 2 DB
Memory error 1 12.3 RAM error 3 DB
12
(RAM) 12.4 RAM error 4 DB
12.5 RAM error 5 DB
12.6 RAM error 6 DB
13.1 Clock error 1 DB
13 Clock error
13.2 Clock error 2 DB
14.1 Control process error 1 DB
Control process
14 14.6 Control process error 6 DB
error
14.A Control process error 10 DB
14.B Control process error 11 DB
15.1 EEP-ROM error at power on DB
EEP-ROM error during
Memory error 2 15.2 DB
15 operation
(EEP-ROM)
Home position information read
15.4 DB
error
Encoder initial communication -
16.1 DB
Receive data error 1
16.2 DB
16.3 DB
16.5 DB
Transmission data error 1
16.6 DB
Encoder initial 16.7 DB
16 communication
error 1 16.A DB
Process error 1
16.B DB
Process error 2
16.C DB
Process error 3
16.D DB
Process error 4
16.E DB
Process error 5
16.F DB
Process error 6
8- 2
8. TROUBLESHOOTING

No. (Note the
reset reset
2, 3) power
17.1 Board error 1 DB
Alarm

17 Board error
17.8 Board error 6 (Note 6) EDB
19.1 Flash-ROM error 1 DB
Memory error 3
19 19.2 Flash-ROM error 2 DB
(Flash-ROM)
19.3 Flash-ROM error 3 DB
Servo motor combination error
1A.1 DB
1
Servo motor Servo motor control mode
1A 1A.2 DB
combination error combination error
Servo motor combination error
1A.4 DB
2
1B Converter error 1B.1 Converter unit error DB
Encoder initial 1E.1 Encoder malfunction DB
1E communication
1E.2 Load-side encoder malfunction DB
error 2
Encoder initial 1F.1 Incompatible encoder DB
1F communication
1F.2 Incompatible load-side encoder DB
error 3
Encoder normal
20.1 communication - Receive data EDB
error 1
Encoder normal
error 2
Encoder normal
error 3
Encoder normal
20.5 communication - Transmission EDB
Encoder normal
data error 1
20 communication
Encoder normal
error 1
data error 2
Encoder normal
data error 3
Encoder normal
error 4
Encoder normal
20.A communication - Receive data EDB
error 5
21.1 Encoder data error 1 EDB
21.2 Encoder data update error EDB
Encoder normal 21.3 Encoder data waveform error EDB
21 communication 21.4 Encoder non-signal error EDB
error 2 21.5 Encoder hardware error 1 EDB
21.6 Encoder hardware error 2 EDB
21.9 Encoder data error 2 EDB
8- 3
8. TROUBLESHOOTING

No. (Note the
reset reset
2, 3) power
Ground fault detected by
Alarm
24.1 DB
hardware detection circuit
24 Main circuit error
Ground fault detected by
24.2 DB
software detection function
Servo motor encoder -
25.1 DB
Absolute position Absolute position erased
25
erased Scale measurement encoder -
25.2 DB
Absolute position erased
Initial magnetic pole detection -
27.1 DB
Abnormal termination
27.2 DB
Time out error
27.3 DB
Limit switch error
Initial magnetic Initial magnetic pole detection -
27 27.4 DB
pole detection error Estimated error
27.5 DB
Position deviation error
27.6 DB
Speed deviation error
27.7 DB
Current error
Linear encoder Linear encoder - Environment
28 28.1 EDB
error 2 error
2A.1 Linear encoder error 1-1 EDB
Linear encoder 2A.4 Linear encoder error 1-4 EDB
2A
error 1 2A.5 Linear encoder error 1-5 EDB
Encoder counter 2B.1 Encoder counter error 1 EDB
2B
error 2B.2 Encoder counter error 2 EDB
30.1 Regeneration heat error DB

30 Regenerative error 30.2 Regeneration signal error DB

Regeneration feedback signal
30.3 DB
error (Note 1) (Note 1) (Note 1)
31 Overspeed 31.1 Abnormal motor speed SD
Overcurrent detected at
32.1 hardware detection circuit DB
(during operation)
32.2 software detection function DB
(during operation)
32 Overcurrent
32.3 hardware detection circuit DB
(during a stop)
32.4 software detection function DB
(during a stop)
33 Overvoltage 33.1 Main circuit voltage error EDB
8- 4
8. TROUBLESHOOTING

No. (Note the
reset reset
2, 3) power
Alarm
34.1 SSCNET receive data error SD

(Note 5)
SSCNET connector connection
34.2 SD
error
SSCNET communication data
34.3 SD
SSCNET receive error
34
error 1 34.4 Hardware error signal detection SD
SSCNET receive data error
34.5 SD
(safety observation function)
SSCNET communication data
34.6 error (safety observation SD
function)
Command
35 35.1 Command frequency error SD
frequency error
Continuous communication
36.1 SD
data error
SSCNET receive
36 Continuous communication
error 2
36.2 data error (safety observation SD
function)
37.1 Parameter setting range error DB
37 Parameter error 37.2 Parameter combination error DB
37.3 Point table setting error DB
39.1 Program error DB
Instruction argument external
39.2 DB
error
39 Program error
39.3 Register No. error DB
Non-correspondence instruction
39.4 DB
error
Inrush current
Inrush current suppression
3A suppression circuit 3A.1 EDB
circuit error
error
Parameter combination error
3D.1 for driver communication on DB
Parameter setting
slave
3D error for driver
Parameter combination error
communication
3D.2 for driver communication on DB
master
Operation mode 3E.1 Operation mode error DB
3E
error 3E.6 Operation mode switch error DB
Servo control error by position
42.1 EDB (Note 4) (Note 4)
Servo control error deviation
(for linear servo Servo control error by speed
motor and direct deviation
drive motor) Servo control error by
torque/thrust deviation
42 Fully closed loop control error
by position deviation
Fully closed loop
Fully closed loop control error
control error 42.9 EDB (Note 4) (Note 4)
by speed deviation
(for fully closed
loop control) Fully closed loop control error
42.A by position deviation during EDB (Note 4) (Note 4)
command stop
Main circuit device overheat
45.1 SD
Main circuit device error 1 (Note 1) (Note 1) (Note 1)
45
overheat Main circuit device overheat
45.2 SD
error 2 (Note 1) (Note 1) (Note 1)
8- 5
8. TROUBLESHOOTING

No. (Note the
reset reset
2, 3) power
Abnormal temperature of servo
Alarm
46.1 SD
motor 1 (Note 1) (Note 1) (Note 1)
46.2 SD
46.3 Thermistor disconnected error SD

Servo motor (Note 1) (Note 1) (Note 1)
46
overheat
46.4 Thermistor circuit error SD
46.5 DB
46.6 DB
47.1 Cooling fan stop error SD
47 Cooling fan error Cooling fan speed reduction
47.2 SD
error
Thermal overload error 1
50.1 SD
during operation (Note 1) (Note 1) (Note 1)
50.2 SD
50.3 SD
50 Overload 1
50.4 SD
during a stop (Note 1) (Note 1) (Note 1)
50.5 SD
50.6 SD
51.1 DB
51 Overload 2
51.2 DB
52.1 Excess droop pulse 1 SD
52.3 Excess droop pulse 2 SD
52 Error excessive Error excessive during 0 torque
52.4 SD
limit
52.5 Excess droop pulse 3 EDB
Oscillation
54 54.1 Oscillation detection error EDB
detection
56.2 Over speed during forced stop EDB
56 Forced stop error Estimated distance over during
56.3 EDB
forced stop
61 Operation error 61.1 Point table setting range error DB
63.1 STO1 off DB
63 STO timing error 63.2 STO2 off DB
63.5 STO by functional safety unit DB
64.1 STO input error DB
Functional safety Compatibility mode setting
64 64.2 DB
unit setting error error
64.3 Operation mode setting error DB
8- 6
8. TROUBLESHOOTING

No. (Note the
reset reset
2, 3) power
Alarm
65.1 SD
communication error 1
65.2 SD
65.3 SD
65.4 SD
Functional safety
65 unit connection 65.5 SD
error
65.6 SD
65.7 SD
Functional safety unit shut-off
65.8 DB
signal error 1
Functional safety unit shut-off
65.9 DB
signal error 2
66.1 Receive data error 1 (safety DB
observation function)
66.2 Receive data error 2 (safety DB
Encoder initial observation function)
communication Encoder initial communication -
66 error (safety 66.3 Receive data error 3 (safety DB
observation observation function)
function) Encoder initial communication -
66.7 Transmission data error 1 DB
66.9 Process error 1 (safety DB
Encoder normal
communication - Receive data
67.1 DB
error 1 (safety observation
function)
Encoder normal
67.2 DB
function)
Encoder normal
Encoder normal
communication
67 error 1 67.3 DB
(safety observation
function)
function)
Encoder normal
67.4 DB
function)
Encoder normal
communication - Transmission
67.7 DB
data error 1 (safety observation
function)
STO diagnosis
68 68.1 Mismatched STO signal error DB
error
Forward rotation-side software
69.1 limit detection - Command SD
excess error
Reverse rotation-side software
69.2 limit detection - Command SD
excess error
Forward rotation stroke end
69.3 detection - Command excess SD
69 Command error error
Reverse rotation stroke end
69.4 detection - Command excess SD
error
Upper stroke limit detection -
69.5 SD
Command excess error
Lower stroke limit detection -
69.6 SD
Command excess error
8- 7
8. TROUBLESHOOTING

No. (Note the
reset reset
2, 3) power
Load-side encoder initial
Alarm
70.1 communication - Receive data DB

error 1
error 2
error 3
70.5 communication - Transmission DB
data error 1
70.6 communication - Transmission DB
data error 2
Load-side encoder 70.7 communication - Transmission DB
initial data error 3
70
communication Load-side encoder initial
error 1 70.A communication - Process error DB
1
70.B communication - Process error DB
2
70.C communication - Process error DB
3
70.D communication - Process error DB
4
70.E communication - Process error DB
5
70.F communication - Process error DB
6
Load-side encoder normal
error 1
error 2
error 3
Load-side encoder 71.5 communication - Transmission EDB
normal data error 1
71
communication Load-side encoder normal
error 1 71.6 communication - Transmission EDB
data error 2
data error 3
error 4
71.A communication - Receive data EDB
error 5
8- 8
8. TROUBLESHOOTING

No. (Note the
reset reset
2, 3) power
72.1 Load-side encoder data error 1 EDB
Alarm
Load-side encoder data update

72.2 EDB
error
Load-side encoder data
72.3 EDB
Load-side encoder waveform error
normal Load-side encoder non-signal
72 72.4 EDB
communication error
error 2 Load-side encoder hardware
72.5 EDB
error 1
Load-side encoder hardware
72.6 EDB
error 2
72.9 Load-side encoder data error 2 EDB
74.1 Option card error 1 DB
74 Option card error 1 74.3 Option card error 3 DB
75.3 Option card connection error EDB
75 Option card error 2
75.4 Option card disconnected DB
Functional safety unit power
79.1 DB
voltage error (Note 7)
Functional safety unit internal
79.2 DB
error
Abnormal temperature of
Functional safety 79.3 SD
79 functional safety unit (Note 7)
unit diagnosis error
79.4 Servo amplifier error SD
79.5 Input device error SD
79.6 Output device error SD
79.7 Mismatched input signal error SD
79.8 Position feedback fixing error DB
Parameter verification error
7A.1 DB
Parameter setting range error
Parameter setting 7A.2 DB
error
7A Parameter combination error
(safety observation 7A.3 DB
function)
7A.4 combination error (safety DB
Encoder diagnosis error 1
7B.1 DB
Encoder diagnosis Encoder diagnosis error 2
7B.2 DB
error (safety observation function)
7B
(safety observation Encoder diagnosis error 3
7B.3 DB
function) (safety observation function)
Encoder diagnosis error 4
7B.4 DB
Functional safety
7C.1 communication setting error SD
unit communication (Note 7)
7C diagnosis error
(safety observation
7C.2 communication data error SD
function) (Note 7)
7D.1 Stop observation error DB

Safety observation (Note 3)
7D
error
7D.2 Speed observation error DB
(Note 7)
Master-slave
82 82.1 Master-slave operation error 1 EDB
operation error 1
8- 9
8. TROUBLESHOOTING

No. (Note the
reset reset
2, 3) power
Network module undetected
Alarm
84.1 DB
error
Network module Network module initialization
84 84.2 DB
initialization error error 1
Network module initialization
84.3 DB
error 2
85.1 Network module error 1 SD
Network module
85 85.2 Network module error 2 SD
error
85.3 Network module error 3 SD
Network 86.1 Network communication error 1 SD
86 communication 86.2 Network communication error 2 SD
error 86.3 Network communication error 3 SD
USB
USB communication time-out
communication
8A.1 error/serial communication SD
time-out error/serial
time-out error
communication
8A
time-out
error/Modbus-RTU Modbus-RTU communication
8A.2 SD
communication time-out error
time-out error
CC-Link IE communication
8D.1 SD
error 1
8D.2 SD
error 2
8D.3 Master station setting error 1 DB
8D.5 Master station setting error 2 DB
CC-Link IE
8D communication 8D.6 SD
error 3
error
8D.7 SD
error 4
8D.8 SD
error 5
8D.9 Synchronization error 1 SD
8D.A Synchronization error 2 SD
USB communication receive
8E.1 error/serial communication SD
receive error
USB communication checksum
checksum error
USB communication character
USB character error
communication
USB communication command
error/serial
8E communication
command error
error/Modbus-RTU
communication USB communication data
error number error/serial
8E.5 SD
communication data number
error
Modbus-RTU communication
8E.6 SD
receive error
8E.7 SD
message frame error
8E.8 SD
CRC error
88888 Watchdog 8888._ Watchdog DB
8 - 10
8. TROUBLESHOOTING
Note 1. Leave for about 30 minutes of cooling time after removing the cause of occurrence.
2. The following shows three stop methods of DB, EDB, and SD.
DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)
Coasts for MR-J4-03A6(-RJ) and MR-J4W2-0303B6. Note that EDB is applied when an alarm below occurs;
[AL. 30.1], [AL. 32.2], [AL. 32.4], [AL. 51.1], [AL. 51.2], [AL. 888]
EDB: Electronic dynamic brake stop (available with specified servo motors)
Refer to the following table for the specified servo motors. The stop method for other than the specified servo motors will
be DB.
Series Servo motor

HG-AK HG-AK0136/HG-AK0236/HG-AK0336
SD: Forced stop deceleration

3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr. PA04].
4. The alarm can be canceled by setting as follows:
For the fully closed loop control: set [Pr. PE03] to "1 _ _ _".
When a linear servo motor or direct drive motor is used: set [Pr. PL04] to "1 _ _ _".
5. In some controller communication status, the alarm factor may not be removed.
6. This alarm will occur only in the J3 compatibility mode.
7. Reset this while all the safety observation functions are stopped.
8 - 11
8. TROUBLESHOOTING
8.3 Warning list

Stop
Detail method
No. Name Detail name
No. (Note 2,
3)
90.1 Home position return incomplete
Warning
Home position
Home position return abnormal
90 return incomplete 90.2
termination
warning
90.5 Z-phase unpassed
Servo amplifier
Main circuit device overheat
91 overheat warning 91.1
warning
(Note 1)
Battery cable Encoder battery cable
92.1
92 disconnection disconnection warning
warning 92.3 Battery degradation
ABS data transfer requirement
ABS data transfer
93 93.1 warning during magnetic pole
warning
detection
95.1 STO1 off detection DB
95.2 STO2 off detection DB
STO warning 1 (safety observation
95.3 DB
function)
95 STO warning
95.4 DB
function)
95.5 DB
function)
In-position warning at home
96.1
positioning
Command input warning at home
96.2
Home position positioning
96
setting warning Servo off warning at home
96.3
positioning
Home positioning warning during
96.4
magnetic pole detection
Positioning Program operation disabled
97.1
97 specification warning
warning 97.2 Next station position warning
Forward rotation-side software
98.1
Software limit stroke limit reached
98
warning Reverse rotation-side software
98.2
stroke limit reached
(Note
99.1 Forward rotation stroke end off
4, 5)
(Note
99.2 Reverse rotation stroke end off
99 Stroke limit warning 4, 5)
99.4 Upper stroke limit off (Note 5)
99.5 Lower stroke limit off (Note 5)
Optional unit input 9A.1 Optional unit input data sign error
9A
data error warning 9A.2 Optional unit BCD input data error
9B.1 Excess droop pulse 1 warning
Error excessive 9B.3 Excess droop pulse 2 warning
9B
warning Error excessive warning during 0
9B.4
torque limit
9C Converter error 9C.1 Converter unit error
Station number switch change
9D.1
warning
9D.2 Master station setting warning
CC-Link IE warning
9D Overlapping station number
1 9D.3
warning
Mismatched station number
9D.4
warning
8 - 12
8. TROUBLESHOOTING
Stop
Detail method
No. (Note 2,
3)
Warning CC-Link IE warning

9E 9E.1 CC-Link IE communication warning
2
9F.1 Low battery
9F Battery warning
9F.2 Battery degradation warning
Excessive
E0 regeneration E0.1 Excessive regeneration warning
warning
Thermal overload warning 1 during
E1.1
operation
E1.2
operation
E1.3
operation
E1.4
operation
E1 Overload warning 1
Thermal overload error 1 during a
E1.5
stop
E1.6
stop
E1.7
stop
E1.8
stop
Servo motor
E2 E2.1 Servo motor temperature warning
overheat warning
Multi-revolution counter travel
E3.1
distance excess warning
E3.2 Absolute position counter warning
Absolute position
E3 Absolute positioning counter EEP-
counter warning E3.4
ROM writing frequency warning
Encoder absolute positioning
E3.5
counter warning
Parameter setting range error
E4 Parameter warning E4.1
warning
E5.1 Time-out during ABS data transfer
ABS time-out
E5 E5.2 ABSM off during ABS data transfer
warning
E5.3 SON off during ABS data transfer
E6.1 Forced stop warning SD
SS1 forced stop warning 1 (safety
Servo forced stop E6.2 SD
E6 observation function)
warning
SS1 forced stop warning 2 (safety
E6.3 SD
Controller forced stop
E7 E7.1 Controller forced stop warning SD
warning
Decreased cooling fan speed
Cooling fan speed E8.1
E8 warning
reduction warning
E8.2 Cooling fan stop
Servo-on signal on during main
E9.1 DB
circuit off
Bus voltage drop during low speed
Main circuit off E9.2 DB
E9 operation
warning
Ready-on signal on during main
E9.3 DB
circuit off
E9.4 Converter unit forced stop DB
ABS servo-on
EA EA.1 ABS servo-on warning
warning
The other axis error
EB EB.1 The other axis error warning DB
warning
EC Overload warning 2 EC.1 Overload warning 2
8 - 13
8. TROUBLESHOOTING
Stop
Detail method
No. (Note 2,
3)
Warning Output watt excess

ED ED.1 Output watt excess warning
warning
Instantaneous power failure tough
F0.1
F0 Tough drive warning drive warning
F0.3 Vibration tough drive warning
Drive recorder - Area writing time-
F2.1
Drive recorder - out warning
F2
Miswriting warning Drive recorder - Data miswriting
F2.2
warning
Oscillation detection
F3 F3.1 Oscillation detection warning
warning
Target position setting range error
F4.4
warning
Acceleration time constant setting
F4.6
range error warning
F4 Positioning warning
Deceleration time constant setting
F4.7
range error warning
Home position return type error
F4.9
warning
Cam data - Area writing time-out
Simple cam F5.1
warning
F5 function - Cam data
F5.2 Cam data - Area miswriting warning
miswriting warning
F5.3 Cam data checksum error
Cam axis one cycle current value
F6.1
restoration failed
Cam axis feed current value
F6.2
Simple cam restoration failed
F6 function - Cam F6.3 Cam unregistered error
control warning Cam control data setting range
F6.4
error
F6.5 Cam No. external error
F6.6 Cam control inactive
F7.1 Vibration failure prediction warning
Machine diagnosis F7.2 Friction failure prediction warning
F7
warning Total travel distance failure
F7.3
prediction warning
Note 1. Leave for about 30 minutes of cooling time after removing the cause of occurrence.
2. The following shows two stop methods of DB and SD.
DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)
Coasts for MR-J4-03A6(-RJ) and MR-J4W2-0303B6.
SD: Forced stop deceleration
3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB
using [Pr. PA04].
4. For MR-J4-_A_ servo amplifier, quick stop or slow stop can be selected using [Pr. PD30].
5. For MR-J4-_GF_ servo amplifier, quick stop or slow stop can be selected using [Pr. PD12]. (I/O mode
only)
8 - 14
8. TROUBLESHOOTING
8.4 Troubleshooting at power on
When an error occurs at the power supply of the controller or servo amplifier, improper boot of the servo
amplifier might be the cause. Check the display of the servo amplifier, and take actions according to this
section.
Display Description Cause Checkpoint Action
AA The power of the The power of the Check the power of the controller. Switch on the power of the
controller was turned off. controller was turned off. controller.
An Ethernet cable was "AA" is displayed in the Replace the Ethernet cable of the
disconnected. corresponding station and corresponding station.
following stations.
Check if the connectors (CNIA, Connect it correctly.
CNIB) are unplugged.
Ab Initialization An Ethernet cable was "Ab" is displayed in the Replace the Ethernet cable of the
communication with the disconnected. corresponding station and corresponding station.
controller has not following stations.
completed. The power of the servo Check the power of the controller. Switch on the power of the
amplifier was switched on controller.
when the power of the
controller was off.
The servo amplifier is "Ab" is displayed in the Replace the servo amplifier.
malfunctioning. corresponding station and
following stations.
The controller is Replace the controller, and then Replace the controller.
malfunctioning. check the repeatability.
AC The synchronous The setting of the station Check that a device is not Set it correctly.
communications by No. is incorrect. assigned to the same station No.
specified cycle could not Station No. does not Check the controller setting and Set it correctly.
be made. match with the station No. station No.
set to the controller.
The communication cycle Check the communication cycle Set it correctly.
does not match. at the controller side.
The servo amplifier Check the following parameter Set it correctly.
parameter setting is settings.
incorrect. [Pr. PN03]
[Pr. PD41]
Data link was established Network configuration was After checking the network
again. changed. configuration, cycle the power of
The controller setting is Check the controller setting. Set it correctly.
incorrect.
The servo amplifier is "AC" is displayed in the Replace the servo amplifier.
malfunctioning. corresponding station and
following stations.
The controller is Replace the controller, and then Replace the controller.
malfunctioning. check the repeatability.
b##. The system has been in Test operation mode has Test operation select switch Turn off the test operation select
C##. the test operation mode. been enabled. (SW1-1) is turned on. switch (SW1-1).
d##.
(Note)
off Operation mode for Operation mode for Check that the test operation Set the auxiliary station number
manufacturer setting is manufacturer setting is select switch (SW1-1) and setting switch (SW1) correctly.
set. enabled. manufacturer setting switch
(SW1-2) are not on.
Note. ## indicates station No.
8 - 15
8. TROUBLESHOOTING
MEMO
8 - 16
9. DIMENSIONS
9. DIMENSIONS
POINT
Only MR-J4-_GF_-RJ is shown for dimensions. MR-J4-_GF_ does not have
CN2L, CN7, and CN9 connectors. The dimensions of MR-J4-_GF_ are the
same as those of MRJ4-_GF_-RJ except CN2L, CN7, and CN9 connectors.
9- 1
9. DIMENSIONS
9.1 Servo amplifier
(1) 200 V class

(a) MR-J4-10GF(-RJ) to MR-J4-60GF(-RJ)
[Unit: mm]
50
φ6 mounting hole 6 Approx. 80 155
Lock knob
6
CNP1
CNP2
161
156
168
CNP3
6
PE
With MR-BAT6V1SET-A Approx. 51
Approx. 37.5
6
Approx. 28.4
Mass: 1.0 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
L1 Tightening torque: 3.24 [N•m]
L2 Approx. 50
L3 Approx. 6
N-
Approx.
2-M5 screw
P3
6
P4
CNP2
P+
C
D
Approx. 168
156 ± 0.5
L11
L21
CNP3
U
V
W
PE
Approx.
Screw size: M4
Tightening torque: 1.2 [N•m]
6
Mounting hole process drawing
9- 2
9. DIMENSIONS
(b) MR-J4-70GF(-RJ)/MR-J4-100GF(-RJ)
[Unit: mm]
60
Lock knob Exhaust
6
CNP1
CNP2
161
156
168
CNP3
6
PE Cooling fan
intake
6
Approx. 51
Approx. 37.5
12 42
Approx. 28.4
With MR-BAT6V1SET-A
Mass: 1.4 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
L2
Approx. 6
L3 Approx. 60
N-
P3
P4
CNP2
P+
Approx. 168
C
156 ± 0.5
D
L11
L21
CNP3
3-M5 screw
U
V
W
Approx. 6
PE
Screw size: M4
Approx. 12 42 ± 0.3 Approx. 6
9- 3
9. DIMENSIONS
[Unit: mm]
90
85
45 Approx. 80 195
φ6 mounting hole
Lock knob 6 Exhaust
CNP1
CNP2
161
156
168
CNP3
6
PE Cooling fan
intake
Approx.
Approx. 51
37.5
6
6 78 6
Approx. 28.4
With MR-BAT6V1SET-A
Mass: 2.1 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
L2
Approx. 6
L3 Approx. 90
N-
P3
P4
CNP2
P+
Approx. 168
156 ± 0.5
C
D
L11
L21 3-M5 screw
CNP3
U
Approx. 6
V
W
PE
Screw size: M4
Tightening torque: 1.2 [N•m] Approx. 6 78 ± 0.3 Approx. 6
9- 4
9. DIMENSIONS
[Unit: mm]
90
85
45 Approx. 80 195
Mounting hole
Lock knob 6 Exhaust
CNP1
CNP3
161
156
168
CNP2
6
Cooling fan
PE intake
Approx. 51
Approx. 37.5
6
6 78 6
Approx. 28.4
With
MR-BAT6V1SET-A
6
Mass: 2.3 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
L2
Approx.
L3 Approx. 90
6
N-
P3 6
P4 (R
)
CNP3
Approx. 168
U
156 ± 0.5
10
V
W
CNP2 φ13 hole
3-M5 screw
P+
Mounting hole dimension
C
D
Approx.
L11
6
L21
PE Approx. 6 78 ± 0.3 Approx. 6
Screw size: M4
Tightening torque: 1.2 [N•m] Mounting hole process drawing
9- 5
9. DIMENSIONS
(e) MR-J4-500GF(-RJ)
[Unit: mm]
Approx. 25 105 Approx. 80 200

φ6 mounting hole 6 93 6 6
37.5 Cooling fan
7.5
exhaust
TE2
TE1
250
235
TE3
TE4
6 PE
7.5
With MR-BAT6V1SET-A Intake

Approx.
28.4
Approx.
35.9
Mass: 4.0 [kg]

Mounting screw
Terminal
Screw size: M5
TE2 L11 TE2 Screw size: M3.5 Tightening torque: 3.24 [N•m]
L21
Approx. 105
TE1 L1 TE1 Screw size: M4 Approx. 6 93 ± 0.5 Approx. 6
Approx.
L2
7.5
L3 4-M5 screw
N-
TE3 P3 TE3 Screw size: M4
P4
P+
Approx. 250
C
235 ± 0.5
TE4 D TE4 Screw size: M4

U
V PE PE Screw size: M4
W Tightening torque: 1.2 [N•m]
Approx.
7.5
9- 6
9. DIMENSIONS
(f) MR-J4-700GF(-RJ)
[Unit: mm]
172 Approx. 80 200

2-φ6 mounting hole 6 160 6 6
37.5
Cooling fan
7.5
exhaust
300
285
TE3
TE1
PE TE2
With Intake
7.5
6
MR-BAT6V1SET-A
Approx. Approx.
Built-in regenerative resistor

28.4
lead terminal fixing screw

Screw size: M4
102.9
Mass: 6.2 [kg]

Mounting screw
Terminal
Screw size: M5
TE3 N- P3 P4 Tightening torque: 3.24 [N•m]
Approx. 172
TE1 L1 L2 L3 P+ C U V W TE2 L11 L21
Approx.
7.5
4-M5 screw
PE
TE3 Screw size: M4
TE1 Screw size: M4

Approx. 300
285 ± 0.5
TE2 Screw size: M3.5

PE Screw size: M4
Approx.
7.5
9- 7
9. DIMENSIONS
(g) MR-J4-11KGF(-RJ)/MR-J4-15KGF(-RJ)
[Unit: mm]
2-φ6 mounting hole 220 Approx. 80 260

12 196 12 Approx. 37.5 10.5
Cooling fan
10
exhaust
400
380
24.2 11
PE
TE2 TE1-1
TE1-2
60 43
78.5
6 188 Intake 25.5 22.8
With
10
MR-BAT6V1SET-A 224.2 57.9

237.4 5 × 25.5 (= 127.5)
Approx. Approx.
140 28.4
Mass: 13.4 [kg]

Mounting screw
Terminal
Screw size: M5
TE1-1 L1 L2 L3 U V W Tightening torque: 3.24 [N•m]
Approx. 220
Approx. 12 196 ± 0.5 Approx. 12
TE1-2 P3 P4 P+ C N- TE2 L11 L21
Approx.
10
4-M5 screw
PE
TE1-1 Screw size: M6

Approx. 400
380 ± 0.5
TE2 Screw size: M4

PE Screw size: M6
Approx.
10
9- 8
9. DIMENSIONS
(h) MR-J4-22KGF(-RJ)
[Unit: mm]
260 Approx. 80 260

2-φ12 mounting hole 12 236 12 Approx. 37.5
Cooling fan
12
exhaust
400
376
32.7 11 TE1-1
TE2 TE1-2
40
PE
40.5
12 188.5 Intake 25.5 22.8
26.5
With
12

235.4 5 × 25.5 (= 127.5)
Approx. Approx.
181 28.4
Mass: 18.2 [kg]

Terminal Mounting screw
Screw size: M10
Approx. 260
Approx. 12 236 ± 0.5 Approx. 12
TE1-2 P3 P4P+ C N-
Approx.
12
4-M10 screw
PE TE2 L11 L21


Approx. 400

376 ± 0.5
TE2 Screw size: M4

PE Screw size: M8
Approx.
12
9- 9
9. DIMENSIONS
(2) 400 V class

(a) MR-J4-60GF4(-RJ)/MR-J4-100GF4(-RJ)
[Unit: mm]
60
Lock knob
6 CNP1
CNP2
161
156
168
CNP3
6
PE
6
Approx. 51
Approx. 37.5
12
Approx. 28.4
With
MR-BAT6V1SET-A
6
Mass: 1.7 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
N- Tightening torque: 3.24 [N•m]
L1
Approx.
L2 Approx. 60
6
L3
P3
P4
CNP2
Approx. 168
P+
156 ± 0.5
C
D
L11
L21 3-M5 screw
CNP3
U
Approx.
V
6
W
PE 42 ± 0.3
Screw size: M4 Approx. 12 Approx. 6
9 - 10
9. DIMENSIONS
(b) MR-J4-200GF4(-RJ)
[Unit: mm]
90
85
45 Approx. 80 195
φ6 mounting hole
Lock knob Exhaust
6
CNP1
CNP2
156
168
161
CNP3
6
PE Cooling fan
intake
6 Approx. 51
Approx. 37.5
6 78 6
Approx. 28.4
With
MR-BAT6V1SET-A
6
Mass: 2.1 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
L1
Approx.
Approx. 90
L2
6
L3
P3
P4
CNP2
Approx. 168
156 ± 0.5
P+
C
D
L11
L21 3-M5 screw
CNP3
U
Approx.
V
6
W
PE Approx. 6 78 ± 0.3 Approx. 6
Screw size: M4
9 - 11
9. DIMENSIONS
(c) MR-J4-350GF4(-RJ)
[Unit: mm]
105 Approx. 80 200

6 93 6 6
2-φ6 mounting hole
37.5
Cooling fan
Lock knob 7.5 exhaust
CNP1
CNP2
250
235
CNP3
With
MR-BAT6V1SET-A
Intake
7.5
6
Approx.
28.4
Approx.
35.9
Mass: 3.6 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
L1 Approx. 105
L2 Approx. 6 93 ± 0.5 Approx. 6
L3
Approx.
7.5
P3
4-M5 screw
P4
CNP2
P+
C
D
Approx. 250
L11
235 ± 0.5
L21
CNP3
U
V
W
PE
Screw size: M4
Approx.
7.5
9 - 12
9. DIMENSIONS
(d) MR-J4-500GF4(-RJ)
[Unit: mm]
130
6 118 Approx. 80 200
2-φ6 mounting hole 6
37.5
7.5
Cooling fan exhaust

250
235
TE2 TE3
TE1
Intake PE
7.5
With MR-BAT6V1SET-A
Approx.

28.4

Approx.
Screw size: M4
60.9
Mass: 4.3 [kg]

Mounting screw
Terminal
Screw size: M5
TE2 L11 L21 TE3 N- P3 P4 Tightening torque: 3.24 [N•m]
TE1 L1 L2 L3 P+ C U V W Approx. 130

PE
Approx.
7.5
4-M5 screw
TE2 Terminal screw: M3.5
TE3 Terminal screw: M4

Approx. 250

235 ± 0.5
TE1 Terminal screw: M4

PE Screw size: M4
Approx.
7.5
9 - 13
9. DIMENSIONS
(e) MR-J4-700GF4(-RJ)
[Unit: mm]
172 Approx. 80 200

2-φ6 mounting hole 6 160 6 6
37.5
Cooling fan
7.5
exhaust
300
285
TE3
TE1
PE TE2
With Intake
7.5
6
MR-BAT6V1SET-A
Approx. Approx.

28.4

Screw size: M4
102.9
Mass: 6.5 [kg]

Mounting screw
Terminal
Screw size: M5
TE3 N- P3 P4 Tightening torque: 3.24 [N•m]
Approx. 172
TE1 L1 L2 L3 P+ C U V W TE2 L11 L21
Approx.
7.5
4-M5 screw
PE
TE3 Screw size: M4
TE1 Screw size: M4

Approx. 300
285 ± 0.5
TE2 Screw size: M3.5

PE Screw size: M4
Approx.
7.5
9 - 14
9. DIMENSIONS
(f) MR-J4-11KGF4(-RJ)/MR-J4-15KGF4(-RJ)
[Unit: mm]
2-φ6 mounting hole 220 Approx. 80 260

12 196 12 Approx. 37.5 10.5
Cooling fan
10
exhaust
400
380
24.2 11
PE
TE2 TE1-1
TE1-2
60 43
78.5
6 188 Intake 25.5 22.8
With
10

237.4 5 × 25.5 (= 127.5)
Approx. Approx.
140 28.4
Mass: 13.4 [kg]

Mounting screw
Terminal
Screw size: M5
Approx. 220
Approx. 12 196 ± 0.5 Approx. 12
TE1-2 P3 P4 P+ C N- TE2 L11 L21
Approx.
10
4-M5 screw
PE

Approx. 400
380 ± 0.5
TE2 Screw size: M4

PE Screw size: M6
Approx.
10
9 - 15
9. DIMENSIONS
(g) MR-J4-22KGF4(-RJ)
[Unit: mm]
260 Approx. 80 260

2-φ12 mounting hole 12 236 12 Approx. 37.5
Cooling fan
12
exhaust
400
376
32.7 11 TE1-1
TE2 TE1-2
40
PE
40.5
12 188.5 Intake 25.5 22.8
26.5
With
12

235.4 5 × 25.5 (= 127.5)
Approx. Approx.
181 28.4
Mass: 18.2 [kg]

Terminal Mounting screw
Screw size: M10
Approx. 260
Approx. 12 236 ± 0.5 Approx. 12
TE1-2 P3 P4P+ C N-
Approx.
12
4-M10 screw
PE TE2 L11 L21


Approx. 400

376 ± 0.5
TE2 Screw size: M4

PE Screw size: M8
Approx.
12
9 - 16
9. DIMENSIONS
9.2 Connector
(1) Miniature delta ribbon (MDR) system (3M)

(a) One-touch lock type
[Unit: mm]
E
D
A C
Logo, etc., are indicated here.
39.0
23.8
B 12.7
Each type of dimension

Connector Shell kit
A B C D E
10120-3000PE 10320-52F0-008 22.0 33.3 14.0 10.0 12.0
(b) Jack screw M2.6 type

This is not available as option.
[Unit: mm]
E
D
A C F
Logo, etc., are indicated here.
39.0
23.85.2
B
12.7
Each type of dimension

Connector Shell kit
A B C D E F
10120-3000PE 10320-52F0-008 22.0 33.3 14.0 10.0 12.0 27.4
9 - 17
9. DIMENSIONS
(2) SCR connector system (3M)

Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
[Unit: mm]
39.5
34.8
11.0
22.4
9 - 18
10. CHARACTERISTICS
10. CHARACTERISTICS
POINT
For the characteristics of the linear servo motor and the direct drive motor, refer
to sections 14.4 and 15.4.
10.1 Overload protection characteristics
An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo
motor power wires from overloads.
[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve
shown in fig. 10.1 [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several
seconds due to machine collision, etc. Use the equipment on the left-hand side area of the continuous or
broken line in the graph.
When unbalanced torque is generated, such as in a vertical lift machine, the unbalanced torque of the
machine should be kept at 70% or lower of the motor's rated torque.
This servo amplifier has solid-state servo motor overload protection. (The servo motor overload current (full
load current) is set on the basis of 120% rated current of the servo amplifier.)
10 - 1
10. CHARACTERISTICS
The following table shows combinations of each servo motor and graph of overload protection
characteristics.
Rotary servo motor
Graph of overload
HG-JR
protection
HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR (When the maximum
characteristics
torque is 400%)
053 053 72 Characteristics a
13 13
23 23 51 53 53 Characteristics b
43 43 81 73
73 73 52 103
102
121 152 103 153 73 Characteristics c
201 202 153 203 103
152 203 353 153
202 203
301
352
421 352 353 601 353 Characteristics d
502 502 503 701M 503
702 503
703
801 Characteristics e
12K1
15K1
20K1
25K1
11K1M
15K1M
22K1M
903
524 534 534 Characteristics b
1024 734
1034
1524 1534 734 Characteristics c
2024 2034 1034
3524 3534 1534
2034
5024 6014 3534 Characteristics d
7024 701M4 5034
5034
7034
8014 Characteristics e
12K14
15K14
20K14
25K14
11K1M4
15K1M4
22K1M4
9034
10 - 2
10. CHARACTERISTICS
The following graphs show overload protection characteristics.

1000 1000
Operating Operating
100 100
Operation time [s]

Operation time [s]
Servo-lock
10 10 Servo-lock
1 1
0.1 0.1
0 50 100 150 200 250 300 350 0 50 100 150 200 250 300 350 400
(Note 1, 2) Load ratio [%] (Note 1, 2, 3) Load ratio [%]
Characteristics a Characteristics b
1000 1000
Operating Operating
100 100
Operation time [s]
Operation time [s]
Servo-lock Servo-lock
10 10
1 1
0.1 0.1
0 50 100 150 200 250 300 350 400 0 50 100 150 200 250 300 350 400
(Note 1, 3) Load ratio [%] (Note 1, 3) Load ratio [%]
Characteristics c Characteristics d
10 - 3
10. CHARACTERISTICS
10000
1000
Operation time [s]
Operating
100
Servo-lock
10
1
0 50 100 150 200 250 300
(Note 1) Load ratio [%]
Characteristics e
Note 1. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo
motor stop status (servo-lock status) or in a 30 r/min or less low-speed operation status, the servo amplifier may malfunction
regardless of the electronic thermal protection.
2. The load ratio ranging from 300% to 350% applies to the HG-KR servo motor.
3. The operation time at the load ratio of 300% to 400% applies when the maximum torque of HG-JR servo motor is increased to
400% of rated torque.
Fig. 10.1 Electronic thermal protection characteristics
10 - 4
10. CHARACTERISTICS
10.2 Power supply capacity and generated loss

(1) Amount of heat generated by the servo amplifier
Table 10.1 indicates servo amplifiers' power supply capacities and losses generated under rated load.
For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst
operating conditions. The actual amount of generated heat will be intermediate between values at rated
torque and servo-off according to the duty used during operation. When the servo motor is run at less
than the rated speed, the power supply capacity will be smaller than the value in the table, but the servo
amplifier's generated heat will not change.
Table 10.1 Power supply capacity and generated loss per servo motor at rated output
(Note 2) Servo amplifier-generated heat [W]
(Note 1) At rated output
[Generated heat Area required for
Power supply
Servo amplifier Servo motor in the cabinet heat dissipation
capacity At rated output With servo-off 2
when cooled [m ]
[kVA]
outside the
cabinet] (Note 3)
HG-MR053 0.3 25 15 0.5
HG-MR13 0.3 25 15 0.5
MR-J4-10GF(-RJ)
HG-KR053 0.3 25 15 0.5
HG-KR13 0.3 25 15 0.5
HG-MR23 0.5 25 15 0.5
MR-J4-20GF(-RJ)
HG-KR23 0.5 25 15 0.5
HG-MR43 0.9 35 15 0.7
MR-J4-40GF(-RJ)
HG-KR43 0.9 35 15 0.7
HG-SR52 1.0 40 15 0.8
MR-J4-60GF(-RJ) HG-SR51 1.0 40 15 0.8
HG-JR53 1.0 40 15 0.8
HG-MR73 1.3 50 15 1.0
HG-KR73 1.3 50 15 1.0
MR-J4-70GF(-RJ)
HG-UR72 1.3 50 15 1.0
HG-JR73 1.3 50 15 1.0
HG-SR102 1.7 50 15 1.0
MR-J4-100GF(-RJ) HG-SR81 1.5 50 15 1.0
HG-JR103 1.7 50 15 1.0
HG-SR152 2.5 90 20 1.8
HG-SR202 3.5 90 20 1.8
HG-SR121 2.1 90 20 1.8
HG-SR201 3.5 90 20 1.8
MR-J4-200GF(-RJ) HG-RR103 1.7 50 15 1.0
HG-RR153 2.5 90 20 1.8
HG-UR152 2.5 90 20 1.8
HG-JR153 2.5 90 20 1.8
HG-JR203 3.5 90 20 1.8
HG-SR352 5.5 130 20 2.6
HG-SR301 4.8 120 20 2.4
MR-J4-350GF(-RJ) HG-RR203 3.5 90 20 1.8
HG-UR202 3.5 90 20 1.8
HG-JR353 5.5 160 20 2.7
HG-SR502 7.5 195 25 3.9
HG-SR421 6.3 160 25 3.2
HG-RR353 5.5 135 25 2.7
MR-J4-500GF(-RJ) HG-RR503 7.5 195 25 3.9
HG-UR352 5.5 195 25 3.9
HG-UR502 7.5 195 25 3.9
HG-JR503 7.5 195 25 3.9
HG-SR702 10 300 25 6.0
HG-JR703 10 300 25 6.0
MR-J4-700GF(-RJ)
HG-JR701M 10 300 25 6.0
HG-JR601 8.6 250 25 5.0
10 - 5
10. CHARACTERISTICS
(Note 2) Servo amplifier-generated heat [W]

(Note 1) At rated output
[Generated heat Area required for
Power supply
Servo amplifier Servo motor in the cabinet heat dissipation
capacity At rated output With servo-off 2
when cooled [m ]
[kVA]
outside the
cabinet] (Note 3)
HG-JR903 13 435 130 45 8.7
HG-JR11K1M 16 530 160 45 11.0
MR-J4-11KGF(-RJ)
HG-JR801 12 370 110 45 7.0
HG-JR12K1 18 570 170 45 11.5
HG-JR15K1M 22 640 195 45 13.0
MR-J4-15KGF(-RJ)
HG-JR15K1 22 640 195 45 12.8
HG-JR22K1M 33 850 260 55 17.0
MR-J4-22KGF(-RJ) HG-JR20K1 30 800 240 55 16.0
HG-JR25K1 38 900 270 55 19.0
HG-SR524 1.0 40 18 0.8
MR-J4-60GF4(-RJ)
HG-JR534 1.0 40 18 0.8
HG-SR1024 1.7 60 18 1.2
MR-J4-100GF4(-RJ) HG-JR734 1.3 60 18 1.2
HG-JR1034 1.7 60 18 1.2
HG-SR1524 2.5 90 20 1.8
HG-SR2024 3.5 90 20 1.8
MR-J4-200GF4(-RJ)
HG-JR1534 2.5 90 20 1.8
HG-JR2034 3.5 90 20 1.8
HG-SR3524 5.5 130 20 2.6
MR-J4-350GF4(-RJ)
HG-JR3534 5.5 160 20 2.7
HG-SR5024 7.5 195 25 3.9
MR-J4-500GF4(-RJ)
HG-JR5034 7.5 195 25 3.9
HG-SR7024 10 300 25 6.0
HG-JR7034 10 300 25 6.0
MR-J4-700GF4(-RJ)
HG-JR701M4 10 300 25 6.0
HG-JR6014 8.6 250 25 5.0
HG-JR9034 13 435 130 45 8.7
HG-JR11K1M4 16 530 160 45 11.0
MR-J4-11KGF4(-RJ)
HG-JR8014 12 370 110 45 7.0
HG-JR12K14 18 570 170 45 11.5
HG-JR15K1M4 22 640 195 45 13.0
MR-J4-15KGF4(-RJ)
HG-JR15K14 22 640 195 45 12.8
HG-JR22K1M4 33 850 260 55 17.0
MR-J4-22KGF4(-RJ) HG-JR20K14 30 800 240 55 16.0
HG-JR25K14 38 900 270 55 19.0
Note 1. The power supply equipment capacity changes with the power supply impedance. This value is applicable when the power
factor improving AC reactor or power factor improving DC reactor are not used.
2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by the
regenerative option, refer to section 11.2.
3. This value is applicable when the servo amplifier is cooled by using the panel through attachment.
10 - 6
10. CHARACTERISTICS
(2) Heat dissipation area for an enclosed type cabinet

The enclosed type cabinet (hereafter called the cabinet) which will contain the servo amplifier should be
designed to ensure that its temperature rise is within +10 °C at the ambient temperature of 40 °C. (With
an approximately 5 °C safety margin, the system should operate within a maximum 55 °C limit.) The
necessary cabinet heat dissipation area can be calculated by equation 10.1.
P
A= ················································································································· (10.1)
K• T
A: Heat dissipation area [m2]

P: Loss generated in the cabinet [W]
∆T: Difference between internal and ambient temperatures [°C]
K: Heat dissipation coefficient [5 to 6]
When calculating the heat dissipation area with equation 10.1, assume that P is the sum of all losses
generated in the cabinet. Refer to table 10.1 for heat generated by the servo amplifier. "A" indicates the
effective area for heat dissipation, but if the cabinet is directly installed on an insulated wall, that extra
amount must be added to the cabinet's surface area. The required heat dissipation area will vary with
the conditions in the cabinet. If convection in the cabinet is poor and heat builds up, effective heat
dissipation will not be possible. Therefore, arrangement of the equipment in the cabinet and the use of a
cooling fan should be considered. Table 10.1 lists the cabinet dissipation area for each servo amplifier
(guideline) when the servo amplifier is operated at the ambient temperature of 40 °C under rated load.
(Outside the cabinet) (Inside the cabinet)
Air flow
Fig. 10.2 Temperature distribution in an enclosed type cabinet
When air flows along the outer wall of the cabinet, effective heat exchange will be possible, because the
temperature slope inside and outside the cabinet will be steeper.
10 - 7
10. CHARACTERISTICS
10.3 Dynamic brake characteristics
POINT
Do not use dynamic brake to stop in a normal operation as it is the function to
stop in emergency.
For a machine operating at the recommended load to motor inertia ratio or less,
the estimated number of usage times of the dynamic brake is 1000 times while
the machine decelerates from the rated speed to a stop once in 10 minutes.
Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1
(Forced stop 1) frequently in other than emergency.
Servo motors for MR-J4 may have the different coasting distance from that of
the previous model.
The electronic dynamic brake operates in the initial state for the HG series servo
motors of 600 W or smaller capacity. The time constant "τ" for the electronic
dynamic brake will be shorter than that of normal dynamic brake. Therefore,
coasting distance will be longer than that of normal dynamic brake. For how to
set the electronic dynamic brake, refer to [Pr. PF06] and [Pr. PF12].
10.3.1 Dynamic brake operation
(1) Calculation of coasting distance

Fig. 10.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is
operated. Use equation 10.2 to calculate an approximate coasting distance to a stop. The dynamic
brake time constant τ varies with the servo motor and machine operation speeds. (Refer to (2) (a), (b) in
this section.)
A working part generally has a friction force. Therefore, actual coasting distance will be shorter than a
maximum coasting distance calculated with the following equation.
ON
EM1 (Forced stop 1)
OFF
Dynamic brake
time constant
V0
Machine speed
te Time
Fig. 10.3 Dynamic brake operation diagram
V0 JL
Lmax = • te + 1+ ··························································································· (10.2)
60 JM
Lmax: Maximum coasting distance ······················································································ [mm]

V0: Machine's fast feed speed ····················································································· [mm/min]
JM: Moment of inertia of the servo motor···································································[× 10-4 kg•m2]
JL: Load moment of inertia converted into equivalent value on servo motor shaft·············· [× 10-4 kg•m2]
τ: Dynamic brake time constant ···························································································· [s]
te: Delay time of control section ···························································································· [s]
For servo amplifier of 7 kW or less, there is internal relay delay time of about 10 ms. For the servo
amplifier of 11 kW to 22 kW, there is delay caused by magnetic contactor built into the external
dynamic brake (about 50 ms) and delay caused by the external relay.
10 - 8
10. CHARACTERISTICS
(2) Dynamic brake time constant

The following shows necessary dynamic brake time constant τ for equation 10.2.
(a) 200 V class

50 50
Dynamic brake time
Dynamic brake time

constant [ms] 40 40
constant [ms]
30 73 30 73 43
43
20 20
23
23
10 053 10 053
13 13
0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
Servo motor speed [r/min] Servo motor speed [r/min]
HG-MR series HG-KR series

100 350
Dynamic brake time
Dynamic brake time

300
80
constant [ms]
constant [ms]
250
60 51 81 200 102
52
40 150
121 352
201 100 152 502
20 202
50
421 301 702
0 0
0 250 500 750 1000 1250 1500 0 500 1000 1500 2000 2500 3000
HG-SR 1000 r/min series HG-SR 2000 r/min series

100 80
90 15K1 15K1M
Dynamic brake time
70
Dynamic brake time
80 25K1
constant [ms]
60
constant [ms]
70 20K1
60 50 22K1M
50 40
40 701M
30 30 11K1M
20 801 20
10 12K1 601 10
0
0 500 1000 1500 2000 0
0 500 1000 1500 2000 2500 3000
HG-JR1000 r/min series HG-JR1500 r/min series

260 18
53 16
Dynamic brake time
Dynamic brake time
220
14
constant [ms]
constant [ms]
903
180 12
140 103 10 103 503
703 8
100 353 153
6
73 503
60 4
2 353 203
20 203 153
0 0
0 1000 2000 3000 4000 5000 6000 0 500 1000 1500 2000 2500 3000
HG-JR3000 r/min series HG-RR series
10 - 9
10. CHARACTERISTICS
100
90
72
80 502
Dynamic brake time

70 352
constant [ms]
60
50
40
30
20 202
152
10
0
0 500 1000 1500 2000
HG-UR series
(b) 400 V class

100 60
524
Dynamic brake time

50 15K14
Dynamic brake time
80 3524
constant [ms]
constant [ms]
40 25K14
60 30
12K14
2024
40 20 20K14 8014
5024
10
1024 6014
20
0
7024 0 500 1000 1500 2000
1524
0 Servo motor speed [r/min]
0 500 1000 1500 2000 2500 3000
HG-SR series HG-JR1000 r/min series

70 120
7034
60 100
Dynamic brake time
constant [ms]
80
Dynamic brake time
50 534
9034
constant [ms]
11K1M4 60
40
1034
40 3534
30 5034
701M4 15K1M4 20
20 2034 1534
734
22K1M4 0
0 1000 2000 3000 4000 5000 6000
10
0
0 500 1000 1500 2000 2500 3000
HG-JR1500 r/min series HG-JR3000 r/min series
10 - 10
10. CHARACTERISTICS
10.3.2 Permissible load to motor inertia when the dynamic brake is used
Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the load inertia
moment is higher than this value, the dynamic brake may burn. If the load to motor inertia ratio exceeds the
indicated value, contact your local sales office.
The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation
speed of the servo motor. The value in the parenthesis shows the value at the rated speed.
Permissible load to motor inertia Permissible load to motor inertia
Servo motor Servo motor
ratio [multiplier] ratio [multiplier]
HG-KR053 HG-JR53
HG-KR13 HG-JR73
HG-KR23 30 HG-JR103 30
HG-KR43 HG-JR153
HG-KR73 HG-JR203
HG-MR053 35 HG-JR353 16 (30)
HG-MR13 HG-JR503 15 (30)
HG-MR23 HG-JR703 11 (30)
32
HG-MR43 HG-JR903 18 (30)
HG-MR73 HG-JR701M 5
HG-SR51 HG-JR11K1M
10 (30)
HG-SR81 HG-JR15K1M
30
HG-SR121 HG-JR22K1M 20 (30)
HG-SR201 HG-JR601 5
HG-SR301 16 HG-JR801 30
HG-SR421 15 HG-JR12K1 20 (30)
HG-SR52 HG-JR15K1 17 (30)
30
HG-SR102 HG-JR20K1 26 (30)
HG-SR152 HG-JR25K1 21 (30)
21
HG-SR202 HG-JR534
HG-SR352 HG-JR734
13 (15)
HG-SR502 HG-JR1034 30 (30)
HG-SR702 5 (15) HG-JR1534
HG-SR524 5 (15) HG-JR2034
HG-SR1024 HG-JR3534 20 (30) (Note)
5 (17)
HG-SR1524 HG-JR5034 15 (30)
HG-SR2024 HG-JR7034 11 (30)
HG-SR3524 HG-JR9034 18 (30)
5 (15)
HG-SR5024 HG-JR701M4 7 (10)
HG-SR7024 HG-JR11K1M4
10 (30)
HG-UR72 HG-JR15K1M4
30
HG-UR152 HG-JR22K1M4 20 (30)
HG-UR202 HG-JR6014 10
16
HG-UR352 HG-JR8014 30
HG-UR502 15 HG-JR12K14 20 (30)
HG-RR103 HG-JR15K14 30 (30)
30
HG-RR153 HG-JR20K14 26 (30)
HG-RR203 16 HG-JR25K14 21 (30)
HG-RR353
15
HG-RR503
Note. When the maximum torque is increased to 400%, the permissible load to motor inertia ratio at the maximum speed
of the servo motor is 25 times.
10 - 11
10. CHARACTERISTICS
10.4 Cable bending life
The bending life of the cables is shown below. This graph calculated values. Since they are not guaranteed
values, provide a little allowance for these values.
1 × 108 a
5 × 107
1 × 107
5 × 106 a: Long bending life encoder cable
Number of bending times [time]
Long bending life motor power cable

Long bending life electromagnetic brake cable
1 × 106
5 × 105
b: Standard encoder cable
Standard motor power cable
Standard electromagnetic brake cable
1 × 105
5 × 104
1 × 104 b
5 × 103
1 × 103
4 7 10 20 40 70 100 200
Bend radius [mm]
10 - 12
10. CHARACTERISTICS
10.5 Inrush currents at power-on of main circuit and control circuit
POINT
For a servo amplifier of 600 W or less, the inrush current values can change
depending on frequency of turning on/off the power and ambient temperature.
Since large inrush currents flow in the power supplies, always use molded-case circuit breakers and
magnetic contactors. (Refer to section 11.10.)
When circuit protectors are used, it is recommended that the inertia delay type, which is not tripped by an
inrush current, be used.
(1) 200 V class

The following shows the inrush currents (reference data) that will flow when 240 V AC servo amplifier) is
applied at the power supply capacity of 2500 kVA and the wiring length of 1 m. Even when you use a 1-
phase 200 V AC power supply with MR-J4-10GF(-RJ) to MR-J4-200GF(-RJ), the inrush currents of the
main circuit power supply is the same.
Inrush currents (A0-P)
Servo amplifier
Main circuit power supply (L1/L2/L3) Control circuit power supply (L11/L21)
MR-J4-10GF(-RJ)
MR-J4-20GF(-RJ)
30 A (attenuated to approx. 3 A in 20 ms)
MR-J4-40GF(-RJ)
MR-J4-60GF(-RJ) 20 A to 30 A
MR-J4-70GF(-RJ) (attenuated to approx. 1 A in 20 ms)
MR-J4-100GF(-RJ)
MR-J4-200GF(-RJ)
MR-J4-350GF(-RJ)
MR-J4-500GF(-RJ) 42 A (attenuated to approx. 20 A in 20 ms) 34 A
MR-J4-700GF(-RJ) 85 A (attenuated to approx. 20 A in 30 ms) (attenuated to approx. 2 A in 20 ms)
MR-J4-11KGF(-RJ) 226 A (attenuated to approx. 30 A in 30 ms)
42 A
(attenuated to approx. 2 A in 30 ms)
(2) 400 V class

The following shows the inrush currents (reference data) that will flow when 480 V AC is applied at the
power supply capacity of 2500 kVA and the wiring length of 1 m.
Inrush currents (A0-P)
Servo amplifier Main circuit power supply Control circuit power supply
(L1/L2/L3) (L11/L21)
MR-J4-60GF4(-RJ) 65 A
MR-J4-100GF4(-RJ) (attenuated to approx. 5 A in 10 ms)
80 A 40 A to 50 A
MR-J4-200GF4(-RJ)
(attenuated to approx. 5 A in 10 ms) (attenuated to approx. 0 A in 2 ms)
100 A
MR-J4-350GF4(-RJ)
65 A
MR-J4-500GF4(-RJ)
(attenuated to approx. 9 A in 20 ms) 41 A
MR-J4-700GF4(-RJ)
339 A
MR-J4-11KGF4(-RJ)
339 A 38 A
MR-J4-15KGF4(-RJ)
(attenuated to approx. 15 A in 30 ms) (attenuated to approx. 1 A in 30 ms)
339 A
MR-J4-22KGF4(-RJ)
10 - 13
10. CHARACTERISTICS
MEMO
10 - 14
11. OPTIONS AND PERIPHERAL EQUIPMENT
Before connecting any option or peripheral equipment, turn off the power and wait
for 15 minutes or more until the charge lamp turns off. Then, confirm that the
WARNING voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an
electric shock may occur. In addition, when confirming whether the charge lamp is
off or not, always confirm it from the front of the servo amplifier.
Use the specified peripheral equipment and options to prevent a malfunction or a

CAUTION fire.
POINT
We recommend using HIV wires to wire the servo amplifiers, options, and
peripheral equipment. Therefore, the recommended wire sizes may differ from
those used for the previous servo amplifiers.
11.1 Cable/connector sets
POINT
The IP rating indicated for cables and connectors is their protection against
ingress of dust and raindrops when they are connected to a servo amplifier or
servo motor. If the IP rating of the cable, connector, servo amplifier and servo
motor vary, the overall IP rating depends on the lowest IP rating of all
components.
Please purchase the cable and connector options indicated in this section.
11 - 1
11.1.1 Combinations of cable/connector sets
For MR-J4-_GF_ servo amplifier

Personal Safety logic unit
computer MR-J3-D05
CN9
5) 5)
2) CN10
4)
1) (packed with the servo amplifier)
CNP1 CN5 (Note 2)

(Note 1)
(Note 2) CN8 3) CN8
CN3
CNP2
CN1A 9) CN1A
CNP3 CN1B
CN2
MR-BAT6V1SET-A battery/
CN4 MR-BAT6V1BJ battery for CN4
junction battery cable
9)
8)
CC-Link IE compatible 7) Battery unit

simple motion module MR-BT6VCASE and
MR-BAT6V1 battery
To 24 V DC power supply
for electromagnetic brake Servo motor
Refer to "Servo Motor Instruction Manual (Vol. 3)" for options for servo
motor power supply, electromagnetic brake, and encoder.
Power Brake Encoder

connector connector connector
Refer to "Linear Encoder Instruction Manual" for options for

linear encoder. Linear servo motor
To CN2
Linear encoder
Refer to "Direct Drive Motor Instruction Manual" for options for Power connector
direct drive motor power supply and encoder.
To CN2
(The connection method changes
depending on incremental system Encoder connector
and absolute position detection system.)
Direct drive motor
Note 1. Connectors for 3.5 kW or less. For 5 kW or more, it is a terminal block.

2. When not using the STO function, attach the short-circuit connector (6)) came with a servo amplifier.
11 - 2
For MR-J4-_GF_-RJ servo amplifier

Personal Safety logic unit
computer MR-J3-D05
CN9
5) 5)
2) CN10
4)
1) (packed with the servo amplifier)
CNP1 CN5 (Note 2)

(Note 1)
(Note 2) CN8 3) CN8
CN3
CNP2
CN1A 9) CN1A
CNP3 CN1B
CN2
CN2L MR-BAT6V1SET-A battery/
CN4 MR-BAT6V1BJ battery for CN4
junction battery cable
9)
8)
CC-Link IE compatible 7) Battery unit

simple motion module MR-BT6VCASE and
MR-BAT6V1 battery
To 24 V DC power supply
for electromagnetic brake Servo motor
Refer to "Servo Motor Instruction Manual (Vol. 3)" for options for servo
motor power supply, electromagnetic brake, and encoder.
Power Brake Encoder

connector connector connector
Refer to "Linear Encoder Instruction Manual" for options for

linear encoder.
Linear servo motor
To CN2
Linear encoder
Refer to "Direct Drive Motor Instruction Manual" for options for Power connector
direct drive motor power supply and encoder.
To CN2
(The connection method changes
depending on incremental system Encoder connector
and absolute position detection system.)
Direct drive motor
Note 1. Connectors for 3.5 kW or less. For 5 kW or more, it is a terminal block.

2. When not using the STO function, attach the short-circuit connector (6)) came with a servo amplifier.
11 - 3
No. Product name Model Description Remark

1) Servo amplifier Supplied
power connector with 200 V
set class servo
amplifiers
of 1 kW or
CNP1 Connector: CNP2 Connector: CNP3 Connector: less
06JFAT-SAXGDK-H7.5 05JFAT-SAXGDK-H5.0 03JFAT-SAXGDK-H7.5
(JST) (JST) (JST)
2 2
Applicable wire size: 0.8 mm to 2.1 mm
(AWG 18 to 14)
Insulator OD: to 3.9 mm
Open tool
J-FAT-OT (N) or J-FAT-
OT
(JST)
Supplied
with 200 V
class servo
amplifiers
of 2 kW
CNP1 Connector: CNP2 Connector: CNP3 Connector: and 3.5 kW
06JFAT-SAXGFK-XL 05JFAT-SAXGDK-H5.0 03JFAT-SAXGFK-XL
(JST) (JST) (JST)
(CNP1 and CNP3) (CNP2)
Applicable wire size: Applicable wire size:
2 2 2 2
1.25 mm to 5.5 mm 0.8 mm to 2.1 mm
(AWG 16 to 10) (AWG 18 to 14)
Open tool
Insulator OD: to 4.7 mm Insulator OD: to 3.9 mm
Quantity: 1
Model: J-FAT-OT-EXL
(JST)
Supplied
with 400 V
class servo
amplifiers
of 3.5 kW
CNP1 connector: CNP2 connector: CNP3 connector: or less
06JFAT-SAXGDK- 05JFAT-SAXGDK- 03JFAT-SAXGDK-
HT10.5 HT7.5 HT10.5
(JST) (JST) (JST)
2 2
Applicable wire size: 1.25 mm to 2.1 mm
(AWG 16 to 14)
Insulator OD: to 3.9 mm Open tool
J-FAT-OT-XL
(JST)
2) USB cable MR-J3USBCBL3M CN5 connector Personal computer connector For
Cable length: 3 m mini-B connector (5 pins) A connector connection
with PC-AT
compatible
personal
computer
3) Connector set MR-CCN1 Connector: 10120-3000PE
Shell kit: 10320-52F0-008
(3M or equivalent)
4) Junction terminal PS7DW-20V14B-F
block (Toho Technology Corp.
(recommended) Yoshida Terminal Block Division)
MR-J2HBUS_M
Junction terminal block PS7DW-20V14B-F is not option. For using the

junction terminal block, option MR-J2HBUS_M is necessary. Refer to
section 11.6 for details.
11 - 4
No. Product name Model Description Remark

5) STO cable MR-D05UDL3M-B Connector set: 2069250-1 Connection
(TE Connectivity) cable for
the CN8
connector
6) Short-circuit Supplied
connector with servo
amplifier
7) Battery cable MR-BT6V1CBL_M Housing: PAP-02V-0 Connector: 10114-3000PE For
Cable length: Contact: SPHD-001G-P0.5 Shell kit: 10314-52F0-008 connection
0.3/1 m (JST) (3M or equivalent) with battery
(Refer to section unit
11.1.3.)
8) Junction battery MR-BT6V2CBL_M Housing: PAP-02V-0 Housing: PALR-02VF For battery

cable Cable length: Contact: SPHD-001G-P0.5 Contact: SPAL-001GU-P0.5 junction
0.3/1 m (JST) (JST)
(Refer to section
11.1.3.)
Housing: PAP-02V-0
Contact: SPHD-001G-P0.5
(JST)
9) Ethernet cable (Refer to section Category 5e or higher, (double shielded/STP) straight cable Connection
11.1.4.) cable for
CN1A/
CN1B
connectors
The (double shielded/STP) straight cable is not an option.
11 - 5
11.1.2 MR-D05UDL3M-B STO cable
This cable is for connecting an external device to the CN8 connector.

Cable model Cable length Application
MR-D05UDL3M-B 3m Connection cable for the CN8 connector
(1) Configuration diagram

Servo amplifier
CN8 MR-D05UDL3M-B
(2) Internal wiring diagram

CN8 connector
1
(Note)
2 2 4 6 8
Yellow (with black dots)
3 STOCOM 1 3 5 7
Yellow (with red dots)
4 STO1
Gray (with black dots)
5 STO2 Viewed from the connection part
Gray (with red dots)
6 TOFB1
White (with black dots)
7 TOFB2
White (with red dots)
8 TOFCOM
Plate Shield
Note. Do not use the two core wires with orange insulator (with red or black dots).
11 - 6
11.1.3 Battery cable/junction battery cable
(1) Model explanations

The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable
model. The cables of the lengths with the symbols are available.
Cable length
Cable model Bending life Application/remark
0.3 m 1m
For connection with MR-
MR-BT6V1CBL_M 03 1 Standard
BT6VCASE
MR-BT6V2CBL_M 03 1 Standard For junction
(2) MR-BT6V1CBL_M
(a) Appearance
Components Description
3) 1) Cable VSVC 7/0.18 × 2C
2) 1)
Housing: PAP-02V-0
2) Connector
Contact: SPHD-001G-P0.5 (JST)
Connector: 10114-3000PE
3) Connector
Shell kit: 10314-52F0-008 (3M or equivalent)
(b) Internal wiring diagram

2) 1) 3)
White
BT 1 7 BT
Black
LG 2 14 LG
Plate SD
(3) MR-BT6V2CBL_M
(a) Appearance
Components Description
2) 5) 1) Cable
4) 3) VSVC 7/0.18 × 2C
2) Cable
3) Connector Housing: PAP-02V-0
1) 4) Connector Contact: SPHD-001G-P0.5 (JST)
Housing: PALR-02VF
5) Connector
Contact: SPAL-001GU-P0.5 (JST)
(b) Internal wiring diagram

4) 1) 3)
White
BT 1 1 BT
Black
LG 2 2 LG
White
1 BT
Black
2 LG
2) 5)
11 - 7
11.1.4 Ethernet cable
POINT
When the servo amplifier is used in the motion mode, use the switching hub
DT135TX (Mitsubishi Electric System & Service) to branch a CC-Link IE Field
Network.
For the wiring of CC-Link IE Field Network, use a cable which meets the following standards.
Item Description
Cable type Category 5e or higher, (double shielded/STP) straight cable
One of the following standards must be met.
Standard IEEE802.3 1000BASE-T
ANSI/TIA/EIA-568-B (Category 5e)
Connector RJ-45 connector with shield
A product example on the market is as follows. For the latest product information, contact the manufacturer.
Model Manufacturer Contact
SC-E5EW(-L) Mitsubishi Electric System & Service Please consult your local
(Note) Co., Ltd. Mitsubishi representative.
Note. The SC-E5EW cable is for in-enclosure and indoor uses. The SC-E5EW-L cable is
for outdoor use.
11 - 8
11.2 Regenerative options
Do not use servo amplifiers with regenerative options other than the combinations
CAUTION specified below.
Otherwise, it may cause a fire.
11.2.1 Combination and regenerative power
The power values in the table are resistor-generated powers and not rated powers.
(1) 200 V class

Regenerative power [W]
Servo Built-in (Note 1) (Note 1) (Note 1)
MR-RB032 MR-RB12 MR-RB30 MR-RB3N MR-RB31 MR-RB32
amplifier regenerative MR-RB50 MR-RB5N MR-RB51
[40 Ω] [40 Ω] [13 Ω] [9 Ω] [6.7 Ω] [40 Ω]
resistor [13 Ω] [9 Ω] [6.7 Ω]
MR-J4-
30
10GF(-RJ)
MR-J4-
10 30 100
20GF(-RJ)
MR-J4-
10 30 100
40GF(-RJ)
MR-J4-
10 30 100
60GF(-RJ)
MR-J4-
20 30 100 300
70GF(-RJ)
MR-J4-
20 30 100 300
100GF(-RJ)
MR-J4-
100 300 500
200GF(-RJ)
MR-J4-
100 300 500
350GF(-RJ)
MR-J4-
130 300 500
500GF(-RJ)
MR-J4-
170 300 500
700GF(-RJ)
(Note 2) Regenerative power [W]

Servo
External regenerative MR-RB5R MR-RB9F MR-RB9T
amplifier
resistor (accessory) [3.2 Ω] [3 Ω] [2.5 Ω]
MR-J4- 500
500 (800)
11KGF(-RJ) (800)
MR-J4- 850
850 (1300)
15KGF(-RJ) (1300)
MR-J4- 850
850 (1300)
22KGF(-RJ) (1300)
Note 1. Always install a cooling fan.

2. Values in parentheses assume the installation of a cooling fan.
11 - 9
(2) 400 V class

(Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1)
Servo Built-in MR-
MR- MR- MR- MR- MR- MR- MR-
amplifier regenerative RB1H-4
RB3M-4 RB3G-4 RB5G-4 RB34-4 RB54-4 RB3U-4 RB5U-4
resistor [82 Ω]
[120 Ω] [47 Ω] [47 Ω] [26 Ω] [26 Ω] [22 Ω] [22 Ω]
MR-J4-
15 100 300
60GF4(-RJ)
MR-J4-
15 100 300
100GF4(-RJ)
MR-J4-
100 300 500
200GF4(-RJ)
MR-J4-
100 300 500
350GF4(-RJ)
MR-J4-
130 300 500
500GF4(-RJ)
MR-J4-
170 300 500
700GF4(-RJ)
(Note 2) Regenerative power [W]

Servo MR- MR-
amplifier External regenerative
RB5K-4 RB6K-4
resistor (accessory)
[10 Ω] [10 Ω]
MR-J4-
500 (800) 500 (800)
11KGF4(-RJ)
MR-J4- 850
850 (1300)
15KGF4(-RJ) (1300)
MR-J4- 850
850 (1300)
22KGF4(-RJ) (1300)
Note 1. Always install a cooling fan.

2. Values in parentheses assume the installation of a cooling fan.
11 - 10
11.2.2 Selection of regenerative option
(1) Rotary servo motor and direct drive motor

Use the following method when regeneration occurs continuously in vertical motion applications or when
it is desired to make an in-depth selection of the regenerative option.
(a) Regenerative energy calculation

tf (1 cycle)
Servo motor speed

V
Up
Time
Down
Unbalance torque
M t1 t2 t3 t4
tpsa1 tpsd1 tpsa2 tpsd2
Friction
torque 1)
(+)
(Power running)
Generated torque
2) 4) 8)
TF 5)
TU 6)
3)
(Regenerative) 7)
(-)
Formulas for calculating torque and energy in operation

Regenerative
Torque applied to servo motor [N•m] (Note) Energy E [J]
power
(JL/η + JM) • V 1 0.1047
1) T1 = • + TU + TF E1 = • V • T1 • tpsa1
9.55 • 104 tpsa1 2
2) T2 = TU + TF E2 = 0.1047 • V • T2 • t1
-(JL • η + JM) • V 1 0.1047
3) T3 = • + TU + TF E3 = • V • T3 • tpsd1
9.55 • 104 tpsd1 2
4), 8) T4, T8 = TU E4, E8 ≥ 0 (No regeneration)
(JL/η + JM) • V 1 0.1047
5) T5 = • - TU + TF E5 = • V • T5 • tpsa2
9.55 • 104 tpsa2 2
6) T6 = -TU + TF E6 = 0.1047 • V • T6 • t3
-(JL • η + JM) • V 1 0.1047
7) T7 = • - TU + TF E7 = • V • T7 • tpsd2
9.55 • 104 tpsd2 2
Note. η: Drive system efficiency
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative
energies.
11 - 11
(b) Losses of servo motor and servo amplifier in regenerative mode

The following table lists the efficiencies and other data of the servo motor and servo amplifier in the
regenerative mode.
Inverse Capacitor Inverse Capacitor
efficiency [%] charging [J] efficiency [%] charging [J]
MR-J4-10GF(-RJ) 55 9 MR-J4-15KGF(-RJ) 90 170
MR-J4-20GF(-RJ) 75 9 MR-J4-22KGF(-RJ) 90 250
MR-J4-40GF(-RJ) 85 11 MR-J4-60GF4(-RJ) 85 12
MR-J4-60GF(-RJ) 85 11 MR-J4-100GF4(-RJ) 85 12
MR-J4-70GF(-RJ) 85 18 MR-J4-200GF4(-RJ) 85 25
MR-J4-100GF(-RJ) 85 18 MR-J4-350GF4(-RJ) 85 43
MR-J4-200GF(-RJ) 85 36 MR-J4-500GF4(-RJ) 90 45
MR-J4-350GF(-RJ) 85 40 MR-J4-700GF4(-RJ) 90 70
MR-J4-500GF(-RJ) 90 45 MR-J4-11KGF4(-RJ) 90 120
MR-J4-700GF(-RJ) 90 70 MR-J4-15KGF4(-RJ) 90 170
MR-J4-11KGF(-RJ) 90 120 MR-J4-22KGF4(-RJ) 90 250
Inverse efficiency (ηm): Efficiency including some efficiencies of the servo motor and servo amplifier
when rated (regenerative) torque is generated at rated speed. Since the efficiency varies
with the servo motor speed and generated torque, allow for about 10%.
Capacitor charging (Ec): Energy charged into the electrolytic capacitor in the servo amplifier
Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies
by the inverse efficiency to calculate the energy consumed by the regenerative option.
ER [J] = ηm • Es - Ec
Calculate the power consumption of the regenerative option on the basis of single-cycle operation
period tf [s] to select the necessary regenerative option.
PR [W] = ER/tf
11 - 12
(2) Linear servo motor

(a) Thrust and energy calculation
Linear servo motor Feed speed
secondary-side (magnet) 2)
V V
M1 Load 1) 3)
Ft Positive
M2 direction
4) 8)
Time
Linear servo motor Negative
primary-side (coil) direction
5) 7)
Linear servo motor 6)
tpsa1 t1 tpsd1 t2 tpsa2 t3 tpsd2 t4
The following shows equations of the linear servo motor thrust and energy at the driving pattern
above.
Section Thrust F of linear servo motor [N] Energy E [J]

1) F1 = (M1 + M2) • V/tpsa1 + Ft E1 = V/2 • F1 • tpsa1
2) F2 = F1 E2 = V • F2 • t1
3) F3 = -(M1 + M2) • V/tpsd1 + Ft E3 = V/2 • F3 • tpsd1
4), 8) F4, F8 = 0 E4, E8 = 0 (No regeneration)
5) F5 = (M1 + M2) • V/tpsa2 + Ft E5 = V/2 • F5 • tpsa2
6) F6 = Ft E6 = V • F6 • t3
7) F7 = -(M1 + M2) • V/tpsd2 + Ft E7 = V/2 • F7 • tpsd2
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative
energies.
(b) Losses of servo motor and servo amplifier in regenerative mode

For inverse efficiency and capacitor charging energy, refer to (1) (b) in this section.
(c) Regenerative energy calculation

Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies
by the inverse efficiency to calculate the energy consumed by the regenerative resistor.
ER [J] = η • Es - Ec
From the total of ER's whose subtraction results are positive and one-cycle period, the power
consumption PR [W] of the regenerative option can be calculated with the following equation.
PR [W] = total of positive ER's/one-cycle operation period (tf)
Select a regenerative option from the PR value. Regenerative option is not required when the energy
consumption is equal to or less than the built-in regenerative energy.
11 - 13
11.2.3 Parameter setting
Set [Pr. PA02] according to the option to be used.

[Pr. PA02]
0 0
Regenerative option selection
00: Regenerative option is not used.
For servo amplifier of 100 W, regenerative resistor is not used.
For servo amplifier of 0.2 kW to 7 kW, built-in regenerative
resistor is used.
Supplied regenerative resistors or regenerative option is used
with the servo amplifier of 11 kW to 22 kW.
01: FR-BU2/FR-BU2-H/FR-RC/FR-RC-H/FR-CV/FR-CV-H
02: MR-RB032
03: MR-RB12
04: MR-RB32
05: MR-RB30
06: MR-RB50 (Cooling fan is required)
08: MR-RB31
09: MR-RB51 (Cooling fan is required)
0B: MR-RB3N
0C: MR-RB5N (Cooling fan is required)
80: MR-RB1H-4
81: MR-RB3M-4 (Cooling fan is required.)
FA: When the supplied regenerative resistors or the regenerative
option is cooled by the cooling fan to increase the ability with
the servo amplifier of 11 kW to 22 kW.
11.2.4 Selection of regenerative option
POINT
When MR-RB50, MR-RB51, MR-RB5N, MR-RB3M-4, MR-RB3G-4, MR-RB5G-
4, MR-RB34-4, MR-RB54-4, MR-RB5K-4, or MR-RB6K-4 is used, a cooling fan
is required to cool it. The cooling fan should be prepared by the customer.
For the wire sizes used for wiring, refer to section 11.9.
The regenerative option generates heat of 100 ˚C higher than the ambient temperature. Fully consider heat
dissipation, installation position, wires used, etc. before installing the option. For wiring, use flame-resistant
wires or make the wires flame-resistant and keep them away from the regenerative option. Always use
twisted cables of max. 5 m length for connection with the servo amplifier.
11 - 14
(1) MR-J4-500GF(-RJ) or less/MR-J4-350GF4(-RJ) or less

Always remove the wiring from across P+ to D and fit the regenerative option across P+ to C. G3 and
G4 are thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option
overheats abnormally.
Always remove the lead from across P+ to D.
Servo amplifier Regenerative option
P
P+
C
C
G3
D
(Note 3) G4
5 m or less
(Note 1, 2)
Cooling fan
Note 1. When using the MR-RB50, MR-RB5N, MR-RB51, MR-RB3M-4, MR-RB3G-4, or

3
MR-RB5G-4, forcibly cool it with a cooling fan (1.0 m /min or more, 92 mm × 92
mm).
2. When the ambient temperature is more than 55 °C and the regenerative load ratio
is more than 60% in MR-RB30, MR-RB31, MR-RB32, and MR-RB3N, forcefully
3
cool the air with a cooling fan (1.0 m /min or more, 92 mm × 92 mm). A cooling
fan is not required if the ambient temperature is 35 °C or less. (A cooling fan is
required for the shaded area in the following graph.)
A cooling fan is required.
100
Load ratio [%]
60
A cooling fan is
not required.
0
0 35 55
Ambient temperature [°C]
3. Make up a sequence which will switch off the magnetic contactor when abnormal
heating occurs.
G3-G4 contact specifications
Maximum voltage: 120 V AC/DC
Maximum current: 0.5 A/4.8 V DC
Maximum capacity: 2.4 VA
11 - 15
(2) MR-J4-500GF4(-RJ)/MR-J4-700GF(-RJ)/MR-J4-700GF4(-RJ)
Always remove the wiring (across P+ to C) of the servo amplifier built-in regenerative resistor and fit the
regenerative option across P+ to C. G3 and G4 are thermal sensor's terminals. Between G3 and G4 is
opened when the regenerative option overheats abnormally.
Always remove the wiring (across P+ to C) of the servo
amplifier built-in regenerative resistor.
Servo amplifier Regenerative option
P
P+
C
C
G3
(Note 2) G4
5 m or less
(Note 1)
Cooling fan
Note 1. When using the MR-RB51, MR-RB34-4, MR-RB54-4, MR-RB3U-4, or MR-RB5U-

3
4, forcibly cool it with a cooling fan (1.0 m /min or more, 92 mm × 92 mm).
2. Make up a sequence which will switch off the magnetic contactor when abnormal
heating occurs.
G3-G4 contact specifications
When using the regenerative option, remove the servo amplifier's built-in regenerative resistor wires
(across P+ to C), fit them back to back, and secure them to the frame with the accessory screw as
shown below.
Accessory screw

11 - 16
(3) MR-J4-11KGF(-RJ) to MR-J4-22KGF(-RJ)/MR-J4-11KGF4(-RJ) to MR-J4-22KGF4(-RJ) (when using the

supplied regenerative resistor)
The regenerative resistor supplied with 11 kW to 22 kW servo amplifiers does not

have a protective cover. Touching the resistor (including wiring/screw hole area)
may cause a burn injury and electric shock. Even if the power was shut-off, be
careful until the bus voltage discharged and the temperature decreased because
CAUTION of the following reasons.
It may cause a burn injury due to very high temperature without cooling.
It may cause an electric shock due to charged capacitor of the servo amplifier.
Do not use servo amplifiers with external regenerative resistors other than the
combinations specified below. Otherwise, it may cause a fire.
When using the regenerative resistors supplied to the servo amplifier, the specified number of resistors
(4 or 5 resistors) must be connected in series. If they are connected in parallel or in less than the
specified number, the servo amplifier may become faulty and/or the regenerative resistors burn.
Install the resistors at intervals of about 70 mm. Cooling the resistors with two cooling fans (1.0 m3/min
or more, 92 mm × 92 mm) improves the regeneration capability. In this case, set "_ _ F A" in [Pr. PA02].
5 m or less
Servo amplifier
P+
C
(Note) Series connection
Cooling fan
Note. The number of resistors connected in series depends on the resistor type. The
thermal sensor is not mounted on the attached regenerative resistor. An abnormal
heating of resistor may be generated at a regenerative circuit failure. Install a thermal
sensor near the resistor and establish a protective circuit to shut off the main circuit
power supply when abnormal heating occurs. The detection level of the thermal
sensor varies according to the settings of the resistor. Set the thermal sensor in the
most appropriate position on the design basis of the device, or use the thermal
sensor built-in regenerative option. (MR-RB5R, MR-RB9F, MR-RB9T, MR-RB5K-4,
or MR-RB6K-4)
Regenerative power [W] Resultant Number of

Servo amplifier Regenerative resistor Symbol (Note)
Normal Cooling resistance [Ω] resistors
MR-J4-11KGF(-RJ) GRZG400-0.8Ω GR400 R80K 500 800 3.2 4

MR-J4-15KGF(-RJ) GRZG400-0.6Ω GR400 R60K 3
850 1300 5
MR-J4-22KGF(-RJ) GRZG400-0.5Ω GR400 R50K 2.5
MR-J4-11KGF4(-RJ) GRZG400-2.5Ω GR400 2R5K 500 800 10 4
MR-J4-15KGF4(-RJ)
GRZG400-2Ω GR400 2R0K 850 1300 10 5
MR-J4-22KGF4(-RJ)
Note. The following shows an indication example of symbol.
Symbol
GR400 R80K
Regenerative resistor
11 - 17
(4) MR-J4-11KGF-PX to MR-J4-22KGF-PX, MR-J4-11KGF-RZ to MR-J4-22KGF-RZ, MR-J4-11KGF4-PX to

MRJ4-22KGF4-PX, and MR-J4-11KGF4-RZ to MRJ4-22KGF4-RZ (when using the regenerative option)
The MR-J4-11KGF-PX to MR-J4-22KGF-PX, MR-J4-11KGF-RZ to MR-J4-22KGF-RZ, MR-J4-11KGF4-
PX to MRJ4-22KGF4-PX, and MR-J4-11KGF4-RZ to MRJ4-22KGF4-RZ servo amplifiers are not
supplied with regenerative resistors. When using any of these servo amplifiers, always use the
regenerative option MR-RB5R, MR-RB9F, MR-RB9T, MR-RB5K-4, and MR-RB6K-4.
Cooling the regenerative option with cooling fans improves regenerative capability. G3 and G4 are
thermal sensor's terminals. Between G3 and G4 is opened when the regenerative option overheats
abnormally.
5 m or less
Servo amplifier
Regenerative option
P+ P
C C
G3
(Note)
G4
Configure up a circuit which shuts off main

circuit power when thermal protector operates.
Note. G3-G4 contact specifications


Regenerative Resistance
Servo amplifier Without With cooling
option [Ω]
cooling fans fans
MR-J4-11KGF(-RJ)-PX
MR-RB5R 3.2 500 800
MR-J4-11KGF-RZ
MR-J4-15KGF(-RJ)-PX
MR-RB9F 3 850 1300
MR-J4-15KGF-RZ
MR-J4-22KGF(-RJ)-PX
MR-RB9T 2.5 850 1300
MR-J4-22KGF-RZ
MR-J4-11KGF4(-RJ)-PX
MR-RB5K-4 10 500 800
MR-J4-11KGF4-RZ
MR-J4-15KGF4-RZ
MR-RB6K-4 10 850 1300
MR-J4-22KGF4-RZ
11 - 18
When using cooling fans, install them using the mounting holes provided in the bottom of the
MR-RB5R/MR-RB9F/MR-RB9T/
Top MR-RB5K-4/MR-RB6K-4
Bottom
TE1
2 cooling fans
(1.0 m3/min or more,
92 mm × 92 mm)
TE1 terminal block

Mounting screw G4 G3 C P
4-M3
11.2.5 Dimensions
(1) MR-RB12
[Unit: mm]
TE1 terminal
G3
φ6 mounting hole
40 G4
Approx. 6
36 P
15 C
2 2
Applicable wire size: 0.2 mm to 2.5 mm (AWG 24 to
12)
Tightening torque: 0.5 to 0.6 [N•m]
5 Mounting screw
156
168
144
Screw size: M5
TE1 Tightening torque: 3.24 [N•m]
Mass: 1.1 [kg]

12
6
6 2
Approx. 20 149
169
11 - 19
(2) MR-RB30/MR-RB31/MR-RB32/MR-RB3N/MR-RB34-4/MR-RB3M-4/MR-RB3G-4/MR-RB3U-4
[Unit: mm]
Terminal block
Cooling fan mounting
screw (2-M4 screw) P
8.5
C
G3
125
82.5
G4
150
142
Terminal screw size: M4

30

7
8.5
101.5 82.5
10 90 A 318
100 Mounting screw
B
Screw size: M6
Approx. 30
Air intake Tightening torque: 5.4 [N•m]
Variable
Regenerative Mass
dimensions
option [kg]
79
A B
MR-RB30
MR-RB31
17 335
MR-RB32
MR-RB3N
2.9
MR-RB34-4
MR-RB3M-4
23 341
MR-RB3G-4
MR-RB3U-4
(3) MR-RB50/MR-RB51/MR-RB5N/MR-RB54-4/MR-RB5G-4/MR-RB5U-4
[Unit: mm]
Terminal block
screw (2-M3 screw) P
On opposite side
7 × 14 C
12.5
49 82.5 slotted hole G3

G4

162.5
Mounting screw
Air Screw size: M6
82.5
350
intake Tightening torque: 5.4 [N•m]
Variable
Regenerative dimensions Mass
162.5
option [kg]
A B
133
MR-RB50
MR-RB51 17 217
2.3 7 MR-RB5N
12.5
5.6
200 A 12 108 Approx. 30 MR-RB54-4
B 120 8 MR-RB5G-4 23 223
MR-RB5U-4
11 - 20
(4) MR-RB032
[Unit: mm]
TE1 terminal block
φ6 mounting hole G3
30 Approx. 12
Approx. 6
15 G4
P
C
2 2
Applicable wire size: 0.2 mm to 2.5 mm (AWG 24 to
12)
5
156
168
144
Mounting screw
Screw size: M5
TE1
Mass: 0.5 [kg]
12
6 1.6
6
Approx. 20 99
119
(5) MR-RB5R/MR-RB9F/MR-RB9T/MR-RB5K-4/MR-RB6K-4
[Unit: mm]
TE1 Terminal block
2-φ10 mounting hole
10
G4 G3 C P
30

Mounting screw
427
480
500
Screw size: M8
Regenerative Mass
option [kg]
MR-RB5R 10
MR-RB9F
43
Cooling fan intake 11

2.3 MR-RB9T
10
10
15 230 15 197 15 MR-RB5K-4 10

260 215 MR-RB6K-4 11
15 230 15
screw (4-M3 screw)
82.5
Approx. 42
82.5 82.5
11 - 21
(6) MR-RB1H-4
[Unit: mm]
TE1 Terminal
G3
40
G4
36
P
15 φ6 mounting hole
C
6
Applicable wire size: AWG 24 to 10

Mounting screw
Screw size: M5
168
156
144
Mass: 1.1 [kg]

Approx. 6
6 6 2
Approx. 24 149
173
(7) GRZG400-0.8Ω/GRZG400-0.6Ω/GRZG400-0.5Ω/GRZG400-2.5Ω/GRZG400-2.0Ω (standard

accessories)
[Unit: mm] Variable dimensions Tightening

Regenerative Mounting Mass
torque
Approx. K
resistor A C K screw size [kg]

Approx. φC [N•m]
Approx. 2.4
10 Approx. A GRZG400-0.8Ω 10 5.5 39
GRZG400-0.6Ω
16 8.2 46
GRZG400-0.5Ω M8 13.2 0.8
GRZG400-2.5Ω
1.6
40
10 5.5 39
Approx. 330 9.5 GRZG400-2.0Ω
385 40
411 Approx. φ47
11 - 22
11.3 FR-BU2-(H) brake unit
POINT
Use a 200 V class brake unit and a resistor unit with a 200 V class servo
amplifier, and a 400 V class brake unit and a resistor unit with a 400 V class
servo amplifier. Combination of different voltage class units cannot be used.
When a brake unit and a resistor unit are installed horizontally or diagonally, the
heat dissipation effect diminishes. Install them on a flat surface vertically.
The temperature of the resistor unit case will be higher than the ambient
temperature by 100 ˚C or over. Keep cables and flammable materials away from
the case.
Ambient temperature condition of the brake unit is between -10 ˚C and 50 ˚C.
Note that the condition is different from the ambient temperature condition of the
servo amplifier (between 0 ˚C and 55 ˚C).
Configure the circuit to shut down the power-supply with the alarm output of the
brake unit and the resistor unit under abnormal condition.
Use the brake unit with a combination indicated in section 11.3.1.
For executing a continuous regenerative operation, use FR-RC-(H) power
regeneration converter or FR-CV-(H) power regeneration common converter.
Brake unit and regenerative options (Regenerative resistor) cannot be used
simultaneously.
Connect the brake unit to the bus of the servo amplifier. As compared to the MR-RB regenerative option, the
brake unit can return larger power. Use the brake unit when the regenerative option cannot provide sufficient
regenerative capability.
When using the brake unit, set [Pr. PA02] to "_ _ 0 1".
When using the brake unit, always refer to the FR-BU2 Instruction Manual.
11.3.1 Selection
Use a combination of servo amplifier, brake unit and resistor unit listed below.
Number of Permissible
Resultant Applicable servo
Brake unit Resistor unit connected continuous
resistance [Ω] amplifier (Note 3)
units power [kW]
200 V FR-BU2-15K FR-BR-15K 1 0.99 8 MR-J4-500GF(-RJ)
class (Note 1)
2 (parallel) 1.98 4 MR-J4-500GF(-RJ)
MR-J4-700GF(-RJ)
MR-J4-11KGF(-RJ)
MR-J4-15KGF(-RJ)
FR-BU2-30K FR-BR-30K 1 1.99 4 MR-J4-500GF(-RJ)
MR-J4-700GF(-RJ)
MR-J4-11KGF(-RJ)
MR-J4-15KGF(-RJ)
FR-BU2-55K FR-BR-55K 1 3.91 2 MR-J4-11KGF(-RJ)
MR-J4-15KGF(-RJ)
MR-J4-22KGF(-RJ)
MT-BR5-55K 1 5.5 2 MR-J4-22KGF(-RJ)
11 - 23
Number of Permissible
Resultant Applicable servo
Brake unit Resistor unit connected continuous
resistance [Ω] amplifier (Note 3)
units power [kW]
400 V FR-BU2-H30K FR-BR-H30K 1 1.99 16 MR-J4-500GF4(-RJ)
class MR-J4-700GF4(-RJ)
MR-J4-11KGF4(-RJ)
(Note 2)
FR-BU2-H55K FR-BR-H55K 1 3.91 8 MR-J4-11KGF4(-RJ)
MR-J4-15KGF4(-RJ)
MR-J4-22KGF4(-RJ)
FR-BU2-H75K MT-BR5-H75K 1 7.5 6.5 MR-J4-22KGF4(-RJ)
Note 1. Only when using servo motor HG-RR353/HG-UR352

2. When HG-JR11K1M4 servo motor is used, limit the torque during power running to 180% or less, or the servo
motor speed to 1800 r/min or less.
3. When the brake unit is selected by using the capacity selection software, a brake unit other than the combinations
listed may be shown. Refer to the combinations displayed on the capacity selection software for detailed
combinations.
11.3.2 Brake unit parameter setting
Whether a parameter can be changed or not is listed below.

Parameter Change
possible/ Remark
No. Name
impossible
0 Brake mode switchover Impossible Do not change the parameter.
1 Monitor display data selection Possible Refer to the FR-BU2 Instruction Manual.
2 Input terminal function selection 1 Impossible Do not change the parameter.
3 Input terminal function selection 2
77 Parameter write selection
78 Cumulative energization time
carrying-over times
CLr Parameter clear
ECL Alarm history clear
C1 For manufacturer setting
11 - 24
11.3.3 Connection example
POINT
Connecting PR terminal of the brake unit to P+ terminal of the servo amplifier
results in brake unit malfunction. Always connect the PR terminal of the brake
unit to the PR terminal of the resistor unit.
(1) Combination with FR-BR-(H) resistor unit

(a) When connecting a brake unit to a servo amplifier
1) 200 V class
ALM
RA1 OFF
ON
MC
MC
SK
Servo amplifier
(Note 9)
MCCB MC
L1
(Note 1) CN3 24 V DC (Note 12)
Power L2
supply L3 3 DOCOM
L11 15 ALM RA1

FR-BR
L21
(Note 5) TH1
(Note 11) P
TH2
(Note 10) PR
Main circuit CN3 P3
power supply (Note 3) FR-BU2
P4
EM2 20
PR MSG
DICOM 5 P+ P/+ SD
(Note 4) A
24 V DC (Note 12) (Note 7) N/-
DICOM 10 B
N-
C
C BUE
(Note 8) (Note 6)
SD
(Note 2)
Note 1. For the power supply specifications, refer to section 1.3.

2. When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5 kW or
less: P+ and D, 7 kW: P+ and C). For the servo amplifier of 11 kW to 22 kW, do not connect a supplied regenerative resistor to
the P+ and C terminals.
3. Between P3 and P4 is connected by default. When using the power factor improving DC reactor, remove the short bar
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in servo
amplifier and brake unit malfunction.
5. Contact rating: 1b contact, 110 V AC, 5 A/220 V AC, 3 A
Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting.
6. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A
Normal condition: B-C is conducting./A-C is not conducting. Abnormal condition: B-C is not conducting./A-C is conducting.
7. Do not connect more than one cable to each P+ and N- terminals of the servo amplifier.
8. Always connect BUE and SD terminals. (factory-wired)
amplifier.
11. When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker.
11 - 25
2) 400 V class
ALM
RA1 OFF ON
MC
MC
Step-down
transformer Servo amplifier
(Note 9)
MCCB MC
(Note 1) L1
Power CN3 24 V DC (Note 12)
L2
supply L3 3 DOCOM
L11 15 ALM RA1

FR-BR-H
L21
(Note 5) TH1
(Note 11) P
TH2
PR
(Note 10) P3
CN3
Main circuit power supply (Note 3) FR-BU2-H
P4
EM2 20
PR MSG
DICOM 5 P+ P/+ SD
(Note 4) A
24 V DC (Note 12) (Note 7) N/-
DICOM 10 B
N-
C
C BUE
(Note 6)
SD (Note 8)
(Note 2)

2. For the servo amplifier of 5 kW and 7 kW, always disconnect the lead wire of built-in regenerative resistor, which is connected
to P+ and C terminals. For the servo amplifier of 11 kW to 22 kW, do not connect a supplied regenerative resistor to the P+
and C terminals.
amplifier.
11 - 26
(b) When connecting two brake units to a servo amplifier
POINT
To use brake units with a parallel connection, use two sets of FR-BU2 brake
unit. Combination with other brake unit results in alarm occurrence or
malfunction.
Always connect the terminals for master/slave (MSG to MSG, SD to SD)
between the two brake units.
Do not connect the servo amplifier and brake units as below. Connect the
cables with a terminal block to distribute as indicated in this section.
Servo amplifier Brake unit Servo amplifier Brake unit
P+ P/+ P+ P/+
N- N/- N- N/-
Brake unit Brake unit

P/+ P/+
N/- N/-
Connecting two cables to Passing wiring

P+ and N- terminals
11 - 27
ALM
RA1 OFF ON
MC
MC
SK
Servo amplifier
(Note 11)
MCCB MC CN3
L1 24 V DC (Note 14)
(Note 1) 3 DOCOM
Power L2
supply L3 15 ALM RA1
L11
FR-BR
L21
(Note 13) (Note 5) TH1
P
(Note 12) TH2
PR
Main circuit CN3
power supply P3
EM2 20 (Note 3) FR-BU2
P4
5 (Note 10) PR MSG
DICOM
(Note 9)
24 V DC (Note 14) P+ P/+ SD
DICOM 10 (Note 4) A
(Note 7) N/-
B
C
N- BUE
C SD (Note 8) (Note 6)
Terminal
block
(Note 2)
FR-BR
(Note 5) TH1
P
TH2
PR
FR-BU2
PR MSG
(Note 9)
P/+ SD
(Note 4) A
N/-
B
C
BUE
SD (Note 8) (Note 6)

9. Connect MSG and SD terminals of the brake unit to a correct destination. Incorrect connection destination results in servo
10. For connecting P+ and N- terminals of the servo amplifier to the terminal block, use the cable indicated in (4) (b) in this section.
amplifier.
11 - 28
(2) Combination with MT-BR5-(H) resistor unit

(a) 200 V class
ALM
RA1 OFF ON RA2
MC
MC
SK
Servo amplifier
(Note 9)
MCCB MC
L1
(Note 1) CN3 24 V DC (Note 12)
Power L2
supply L3 3 DOCOM
L11 15 ALM RA1
L21
(Note 11) MT-BR5 SK
(Note 5) TH1
P RA2
(Note 10) TH2

Main circuit PR
CN3
power supply P3
EM2 20 (Note 3) FR-BU2
P4
DICOM 5 PR MSG
24 V DC (Note 12) P+ P/+ (Note 4) SD
DICOM 10 A
(Note 7) N/-
B
N-
C
C BUE
SD (Note 8) (Note 6)
(Note 2)

2. Do not connect a supplied regenerative resistor to the P+ and C terminals.
5. Contact rating: 1a contact, 110 V AC, 5 A/220 V AC, 3 A
Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting.
amplifier.
11 - 29
(b) 400 V class

ALM OFF RA2
RA1 ON
MC
MC
Step-down Servo amplifier

transformer (Note 8)
MCCB MC
(Note 1) L1
CN3 24 V DC (Note 11)
Power L2
supply 3 DOCOM
L3
L11 15 ALM RA1
MT-BR5-H SK
L21
(Note 4) TH1
(Note 10) P RA2
TH2
PR
(Note 9) P3
Main circuit power supply CN3
(Note 2) FR-BU2-H
P4
EM2 20
PR MSG
DICOM 5 P+ P/+ SD
(Note 3) A
24 V DC (Note 6) N/-
(Note 11) DICOM 10 B
N-
C
BUE
(Note 5)
SD (Note 7)
Note 1. For power supply specifications, refer to section 1.3.

4. Contact rating: 1a contact, 110 V AC, 5 A/220 V AC, 3 A
Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting.
amplifier.
11 - 30
(3) Precautions for wiring

Keep the wires between the servo amplifier and the brake unit, and between the resistor unit and the
brake unit as short as possible. For wires longer than 5 m, twist the wires five times or more per meter.
The wires should not exceed 10 m even when the wires are twisted. If wires exceeding 5 m without
twisted or exceeding 10 m with or without twisted are used, the brake unit may malfunction.
Brake unit Resistor unit Brake unit Resistor unit
P+ P/+ P P P+ Twist P/+ P Twist P

N- N/- PR PR N- N/- PR PR
5 m or less 5 m or less 10 m or less 10 m or less
(4) Wires
(a) Wires for the brake unit
For the brake unit, HIV wire (600 V Grade heat-resistant polyvinyl chloride insulated wire) is
recommended.
1) Main circuit terminal

Main Crimp
Wire size
circuit terminal Tightening
Brake unit terminal torque N/-, P/+, PR,
N/-, P/+,
screw [N•m] HIV wire
PR, AWG
N/- P/+ PR size 2
[mm ]
200 V FR-BU2-15K M4 5.5-4 1.5 3.5 12
class FR-BU2-30K M5 5.5-5 2.5 5.5 10
Terminal block FR-BU2-55K M6 14-6 4.4 14 6
400 V FR-BU2-H30K M4 5.5-4 1.5 3.5 12
class FR-BU2-H55K M5 5.5-5 2.5 5.5 10
FR-BU2-H75K M6 14-6 4.4 14 6
11 - 31
2) Control circuit terminal
POINT
Under tightening can cause a cable disconnection or malfunction. Over
tightening can cause a short circuit or malfunction due to damage to the screw
or the brake unit.
RES SD MSG MSG SD SD Insulator Core

PC BUE SD
A B C
Jumper
Terminal block 6 mm
Wire the stripped cable after twisting to prevent the cable

from becoming loose. In addition, do not solder it.
Screw size: M3
Tightening torque: 0.5 N•m to 0.6 N•m
Wire size: 0.3 mm2 to 0.75 mm2
Screw driver: Small flat-blade screwdriver
(Tip thickness: 0.4 mm/Tip width 2.5 mm)
(b) Cables for connecting the servo amplifier and a distribution terminal block when connecting two sets
of the brake unit
Wire size
Brake unit 2
HIV wire [mm ] AWG
FR-BU2-15K 8 8
(5) Crimp terminals for P+ and N- terminals of servo amplifier

(a) Recommended crimp terminals
POINT
Some crimp terminals may not be mounted depending on the size. Make sure to
use the recommended ones or equivalent ones.
Number of (Note 1)
Servo amplifier Brake unit connected Crimp terminal (Manufacturer) Applicable
units tool
200 V MR-J4-500GF(-RJ) FR-BU2-15K 1 FVD5.5-S4 (JST) a
class 2 8-4NS (JST) (Note 2) b
FR-BU2-30K 1 FVD5.5-S4 (JST) a
MR-J4-700GF(-RJ) FR-BU2-15K 2 8-4NS (JST) (Note 2) b
FR-BU2-30K 1 FVD5.5-S4 (JST) a
MR-J4-11KGF(-RJ) FR-BU2-15K 2 FVD8-6 (JST) c
FR-BU2-30K 1 FVD5.5-6 (JST) a
FR-BU2-55K 1 FVD14-6 (JST) d
MR-J4-15KGF(-RJ) FR-BU2-15K 2 FVD8-6 (JST) c
FR-BU2-30K 1 FVD5.5-6 (JST) a
FR-BU2-55K 1 FVD14-6 (JST) d
MR-J4-22KGF(-RJ) FR-BU2-55K 1 FVD14-8 (JST) d
11 - 32
Number of (Note 1)
Servo amplifier Brake unit connected Crimp terminal (Manufacturer) Applicable
units tool
400 V MR-J4-500GF4(-RJ) FR-BU2-H30K 1 FVD5.5-S4 (JST) a
class MR-J4-700GF4(-RJ) FR-BU2-H30K 1 FVD5.5-S4 (JST) a
MR-J4-11KGF4(-RJ) FR-BU2-H30K 1 FVD5.5-6 (JST) a
FR-BU2-H55K 1 FVD5.5-6 (JST) a
FR-BU2-H75K 1 FVD14-8 (JST) d
Note 1. Symbols in the applicable tool field indicate applicable tools in (4) (b) in this section.
2. Coat the crimping part with an insulation tube.
(b) Applicable tool

Servo amplifier-side crimp terminals
Symbol Applicable tool
Crimp terminal Manufacturer
Body Head Dice
FDV5.5-S4 YNT-1210S
a
FDV5.5-6
b 8-4NS YHT-8S
YF-1 YNE-38 DH-111 JST
c FVD8-6
E-4 DH-121
FVD14-6 YF-1 YNE-38 DH-112
d
FVD14-8 E-4 DH-122
11.3.4 Dimensions
(1) FR-BU2-(H) brake unit
FR-BU2-15K
[Unit: mm]
φ5 hole
(Screw size: M4)
5
118
128
Rating
plate
5 4
5
6 56 6 18.5 52 62
68 132.5
11 - 33
FR-BU2-30K/FR-BU2-H30K
[Unit: mm]
2-φ5 hole
(Screw size: M4)
5
118
128
Rating
plate
5 5
5
6 96 6 18.5 52 59
108 129.5
FR-BU2-55K/FR-BU2-H55K/FR-BU2-H75K
[Unit: mm]
2-φ5 hole
(Screw size: M4) 5
118
128
Rating
plate
5
5
5
6 158 6 18.5 52 72
170 142.5
11 - 34
(2) FR-BR-(H) resistor unit
[Unit: mm]
Approx.
H2
2-φC
D1
(Note)
H3 ± 1
H1 ± 3
H±5
Control circuit (Note)
terminal
Main circuit
terminal
Approx.
C C
H2
Approx. 35 W1 ± 1 Approx. 35
For FR-BR-55K/FR-BR-H55K, an
eyebolt is placed on two locations.
(Refer to the following diagram. )
Approx.
Eyebolt
D±5
40
204
33
W±5
Note. Ventilation ports are provided on both sides and the top. The bottom is open.
Approximate
Resistor unit W W1 H H1 H2 H3 D D1 C
mass [kg]
FR-BR-15K 170 100 450 410 20 432 220 3.2 6 15
200 V
FR-BR-30K 340 270 600 560 20 582 220 4 10 30
class
FR-BR-55K 480 410 700 620 40 670 450 3.2 12 70
400 V FR-BR-H30K 340 270 600 560 20 582 220 4 10 30
class FR-BR-H55K 480 410 700 620 40 670 450 3.2 12 70
(3) MT-BR5-(H) resistor unit
[Unit: mm]
Approximate
Resistor unit Resistance
mass [kg]
85
200 V
MT-BR5-55K 2.0 Ω 50
NP class
400 V
MT-BR5-H75K 6.5 Ω 70
class
800
M4
M6
30
40
85
193 189
37 60 10 21
480
510
75 300 75
4φ15 mounting hole 7.5 450 7.5
11 - 35
11.4 FR-RC-(H) power regeneration converter
POINT
When using the FR-RC-(H) power regeneration converter, set [Pr. PA04] to
"0 0 _ _" to enable EM1 (Forced stop 1).
When using the FR-RC-(H) power regeneration converter, refer to "Power
Regeneration Converter FR-RC Instruction Manual (IB(NA)66330)".
When using the FR-RC-(H) power regeneration converter, set [Pr. PA02] to "_ _ 0 1" and set [Pr. PC20] to
"_ _ _ 1".
(1) Selection
The converters can continuously return 75% of the nominal regenerative power. They are applied to the
servo amplifiers of the 5 kW to 22 kW.
Nominal
Power regeneration
Continuous energization time [s]

regenerative Servo amplifier 500
converter
power [kW]
300
MR-J4-500GF(-RJ)
FR-RC-15K 15
MR-J4-700GF(-RJ) 200
MR-J4-11KGF(-RJ)
FR-RC-30K 30 100
MR-J4-15KGF(-RJ)
FR-RC-55K 55 MR-J4-22KGF(-RJ)
50
MR-J4-500GF4(-RJ)
FR-RC-H15K 15 30
MR-J4-700GF4(-RJ)
MR-J4-11KGF4(-RJ) 20
FR-RC-H30K 30
MR-J4-15KGF4(-RJ) 0 50 75 100 150
FR-RC-H55K 55 MR-J4-22KGF4(-RJ) Nominal regenerative power [%]
11 - 36
(2) Connection example
POINT
In this configuration, only the STO function is supported. The forced stop
deceleration function is not available.
(a) 200 V class

Servo amplifier
(Note 7)
L11
L21
Power factor
improving reactor
MCCB MC (Note 10)
L1
(Note 5)
Power L2
supply
L3
CN3 CN3 24 V DC (Note 9)
Forced stop 1 EM1 DOCOM
(Note 8) (Note 6) Malfunction
DICOM ALM RA
(Note 3) (Note 8)
24 V DC (Note 9)
(Note 2)
P3 P4 N- C P+
(Note 4) 5 m or less
RD N/- P/+
A
Ready SE
B
RDY output B
C
C
R/L1 Alarm
output
S/L2
T/L3
RX
R
SX (Note 1)
Phase detection
S terminals
TX
T
Power regeneration converter
FR-RC
FR-RC
ALM Operation ready
B C RA OFF
ON
MC
Forced stop 1 MC
SK
(Note 6)
11 - 37
Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed,
the FR-RC will not operate.
5. For the power supply specifications, refer to section 1.3.
6. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1). Configure up the circuit which shuts off main circuit power with
external circuit at EM1 (Forced stop 1) off.
10. For selection of power factor improving AC reactors, refer to "Power Regeneration Converter FR-RC Instruction Manual
(IB(NA)66330)".
(b) 400 V class

Servo amplifier
(Note 7)
L11
L21
Power factor
improving AC reactor
MCCB MC (Note 10)
L1
(Note 5)
Power L2
supply
L3
(Note 9)
CN3 CN3 24 V DC
(Note 8) (Note 6)
DICOM ALM RA Malfunction (Note 8)
24 V DC (Note 3)
Step-down (Note 9)
transformer
(Note 2)
P3 P4 N- C P+
(Note 4) 5 m or shorter
RD N/- P/+
A
Lady SE
B
RDY output B
C
C
R/L1 Alarm output
S/L2
T/L3
RX
R
SX (Note 1)
Phase detection
S terminals
TX
T
Power regeneration converter
FR-RC-H
FR-RC-H Operation
ALM ready
B C RA OFF
ON
MC
Forced stop 1 MC
SK
(Note 6)
11 - 38
Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed,
the FR-RC-H will not operate.
6. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1). Configure up the circuit which shuts off main circuit power with
external circuit at EM1 (Forced stop 1) off.
10. For selection of power factor improving AC reactors, refer to "Power Regeneration Converter FR-RC Instruction Manual
(IB(NA)66330)".
(3) Dimensions
2-φD hole Mounting foot (removable)
Mounting foot
E
(movable)
Rating plate
Display
Front cover panel
window
BA
B
Cooling fan
D F K
AA
EE
C
A
Heat generation area outside mounting dimension
[Unit: mm]
Power regeneration Approximate
A AA B BA C D E EE K F
converter mass [kg]
FR-RC-15K 270 200 450 432 195 10 10 8 3.2 87 19
FR-RC-30K 340 270 600 582 195 10 10 8 3.2 90 31
FR-RC-55K 480 410 700 670 250 12 15 15 3.2 135 55
FR-RC-H15K
340 270 600 582 195 10 10 8 3.2 90 31
FR-RC-H30K
FR-RC-H55K 480 410 700 670 250 12 15 15 3.2 135 55
11 - 39
(4) Mounting hole machining dimensions

The following shows mounting hole dimensions for mounting the heat generation area of the power
regeneration converter outside a cabinet as measures against heat generation when the converter is
mounted in an enclosed type cabinet.
[Unit: mm]
Power regeneration
(AA) (2-φD hole) a b D AA BA
converter
FR-RC-15K 260 412 10 200 432
FR-RC-30K 330 562 10 270 582
FR-RC-55K 470 642 12 410 670
FR-RC-H15K
(Mounting hole) 330 562 10 270 582
FR-RC-H30K
FR-RC-H55K 470 642 12 410 670
(BA)
11.5 FR-CV-(H) power regeneration common converter
POINT
For details of the power regeneration common converter FR-CV-(H), refer to the
FR-CV Installation Guide (IB(NA)0600075).
Do not supply power to the main circuit power supply terminals (L1/L2/L3) of the
servo amplifier. Doing so will fail the servo amplifier and FR-CV-(H).
Connect the DC power supply between the FR-CV-(H) and servo amplifier with
correct polarity. Connection with incorrect polarity will fail the FR-CV-(H) and
servo amplifier.
Two or more FR-CV-(H)s cannot be installed to improve regeneration capability.
Two or more FR-CV-(H)s cannot be connected to the same DC power supply
line.
When using FR-CV-(H), set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop
1).
When using the FR-CV-(H) power regeneration common converter, set [Pr. PA02] to "_ _ 0 1" and set [Pr.
PC20] to "_ _ _ 1".
11 - 40
11.5.1 Model designation
The following describes what each block of a model name indicates. Not all combinations of the symbols are
available.
F R - C V - H 7. 5 K
Capacity
Symbol Capacity [kW]
7.5K 7.5
11K 11
15K 15
22K 22
30K 30
37K 37
55K 55
Symbol Voltage class

None 200 V class
H 400 V class
11.5.2 Selection
(1) 200 V class

FR-CV power regeneration common converter can be used for the 200 V class servo amplifier of 100 W
to 22 kW. The following shows the restrictions on using the FR-CV.
(a) Up to six servo amplifiers can be connected to one FR-CV.
(b) FR-CV capacity [W] ≥ Total of rated capacities [W] × 2 of servo amplifiers connected to FR-CV
(c) The total of used servo motor rated currents should be equal to or less than the applicable current
[A] of the FR-CV.
(d) Among the servo amplifiers connected to the FR-CV, the servo amplifier of the maximum capacity
should be equal to or less than the maximum connectable capacity [W].
The following table lists the restrictions.

FR-CV-_
Item
7.5K 11K 15K 22K 30K 37K 55K
Maximum number of connected servo
6
amplifiers
Total of connectable servo amplifier
3.75 5.5 7.5 11 15 18.5 27.5
capacities [kW]
Total of connectable servo motor rated
33 46 61 90 115 145 215
currents [A]
Maximum servo amplifier capacity [kW] 3.5 5 7 11 15 15 22
When using the FR-CV, always install the dedicated stand-alone reactor (FR-CVL).
Power regeneration common Dedicated stand-alone
converter reactor
FR-CV-7.5K(-AT) FR-CVL-7.5K
FR-CV-11K(-AT) FR-CVL-11K
FR-CV-37K FR-CVL-37K
FR-CV-55K FR-CVL-55K
11 - 41
(2) 400 V class

FR-CV-H power regeneration common converter can be used for the servo amplifier of 11 kW to 22 kW.
The following shows the restrictions on using the FR-CV-H.
(a) Up to two servo amplifiers can be connected to one FR-CV-H.
(b) FR-CV-H capacity [W] ≥ Total of rated capacities [W] × 2 of servo amplifiers connected to FR-CV-H.
(c) The total of used servo motor rated currents should be equal to or less than the applicable current
[A] of the FR-CV-H.
(d) Among the servo amplifiers connected to the FR-CV-H, the servo amplifier of the maximum capacity
should be equal to or less than the maximum connectable capacity [W].
The following table lists the restrictions.

FR-CV-H_
Item
22K 30K 37K 55K
Maximum number of connected servo
1 2
amplifiers
11 15 18.5 27.5
capacities [kW]
Total of connectable servo motor rated
43 57 71 110
currents [A]
Maximum servo amplifier capacity [kW] 11 15 15 22
When using the FR-CV-H, always install the dedicated stand-alone reactor (FR-CVL-H).
Power regeneration common Dedicated stand-alone
converter reactor
FR-CV-H22K(-AT) FR-CVL-H22K
FR-CV-H30K(-AT) FR-CVL-H30K
FR-CV-H37K FR-CVL-H37K
FR-CV-H55K FR-CVL-H55K
11 - 42
POINT
In this configuration, only the STO function is supported. The forced stop
deceleration function is not available.
(a) 200 V class

Servo amplifier
(Note 3) Servo motor
L11 U U
L21 V V
FR-CVL FR-CV
(Note 7) W W
MCCB MC R/L11 R2/L12
R2/L1
3-phase S/L21 S2/L22
200 to S2/L2 CN2
230 V AC T/L31 T2/L32
T2/L3
P/L+ P4
(Note 5)
N/L- N-
24 V DC (Note 8)
R/L11
S/L21
P24
T/MC1
SD
24 V DC (Note 8)
RDYB Controller DOCOM
(Note 2)
RDYA ALM RA2
(Note 1)
SE
RA1 RA2 EM1 OFF ON
A (Note 1, 6)
MC RA1
(Note 1) (Note 4) EM1
B RA1
EM1
MC
C DICOM
SK 24 V DC (Note 8)
Note 1. Configure a sequence that will shut off main circuit power in the following.
An alarm occurred at FR-CV or servo amplifier.
EM1 (Forced stop 1) is enabled.
2. For the servo amplifier, configure a sequence that will switch the servo-on after the FR-CV is ready.
less: P+ and D, 7 kW: P+ and C).
4. Configure a sequence that will make a stop with the emergency stop input of the controller if an alarm occurs in the FR-CV.
When the controller does not have an emergency stop input, use the forced stop input of the servo amplifier to make a stop as
shown in the diagram.
5. When using FR-CV, always disconnect wiring between P3 and P4 terminals.
6. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1).
11 - 43
(b) 400 V class

L11 U U
L21 V V
(Note 6) FR-CVL-H FR-CV-H
W W
MCCB MC R/L11 R2/L12
R2/L1
3-phase
S/L21 S2/L22
380 V AC to S2/L2 CN2
480 V AC T/L31 T2/L32
T2/L3
P/L+ P4
(Note 4)
N/L- N-
24 V DC (Note 7)
R/L11
Step-down S/L21
transformer P24
T/MC1
SD
24 V DC (Note 7)
RDYB Controller DOCOM
(Note 2)
RDYA ALM RA2
(Note 1)
SE
RA1 RA2 EM1 OFF
ON
(Note 1)
A (Note 1, 5)
MC RA1
(Note 3) EM1
B RA1
EM1
MC
C DICOM
SK 24 V DC (Note 7)
Note 1. Configure a sequence that will shut off main circuit power in the following.
An alarm occurred at FR-CV-H or servo amplifier.
EM1 (Forced stop 1) is enabled.
2. For the servo amplifier, configure a sequence that will switch the servo-on after the FR-CV-H is ready.
3. Configure a sequence that will make a stop with the emergency stop input of the controller if an alarm occurs in the FR-CV-H.
When the controller does not have an emergency stop input, use the forced stop input of the servo amplifier to make a stop as
shown in the diagram.
4. When using FR-CV-H, always disconnect wiring between P3 and P4 terminals.
5. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1).
11 - 44
(4) Selection example of wires used for wiring
POINT
Selection conditions of wire size are as follows.
600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire)
Construction condition: Single wire set in midair
(a) Wire size

1) Between P and P4, and between N and N-
The following table indicates the connection wire sizes of the DC power supply (P4, N- terminals)
between the FR-CV and servo amplifier.
2
Total of servo amplifier capacities [kW] Wire [mm ]
1 or less 2 (AWG 14)
2 3.5 (AWG 12)
5 5.5 (AWG 10)
7 8 (AWG 8)
11 14 (AWG 6)
15 22 (AWG 4)
22 50 (AWG 1/0)
27.5 50 (AWG 1/0)
The following table indicates the connection wire sizes of the DC power supply (P4, N- terminals)
between the FR-CV-H and servo amplifier.
2
Total of servo amplifier capacities [kW] Wire [mm ]
11 8 (AWG 8)
15 8 (AWG 8)
22 14 (AWG 6)
27.5 14 (AWG 6)
(2) Grounding
For grounding, use the wire of the size equal to or greater than that indicated in the following
table, and make it as short as possible.
Power regeneration common Grounding wire size
2
converter [mm ]
FR-CV-7.5K to FR-CV-15K 8 (AWG 8)
FR-CV-22K/FR-CV-30K 22 (AWG 4)
FR-CV-37K/FR-CV-55K 38 (AWG 2)
FR-CV-H22K/FR-CV-H30K 8 (AWG 8)
FR-CV-H37K/FR-CV-H55K 14 (AWG 6)
11 - 45
(b) Example of selecting the wire sizes

1) 200 V class
When connecting multiple servo amplifiers, always use junction terminals for wiring the servo
amplifier terminals P4 and N-. Also, connect the servo amplifiers in the order of larger to smaller
capacities.
Wire as short as possible.
FR-CV-55K 50 mm2 22 mm2 Servo amplifier (15 kW)
R2/L1 P/L+ P First unit:
(Note) 50 mm2 assuming that the total of servo amplifier
S2/L2 N/L- N capacities is 27.5 kW since 15 kW + 7 kW + 3.5 kW
+ 2.0 kW = 27.5 kW.
T2/L3 22 mm2
8 mm2 Servo amplifier (7 kW)
R/L11 P Second unit:
S/L21 N capacities is 15 kW since 7 kW + 3.5 kW + 2.0 kW =
12.5 kW.
T/MC1
8 mm2
3.5 mm2 Servo amplifier (3.5 kW)
P Third unit:
N capacities is 7 kW since 3.5 kW + 2.0 kW = 5.5 kW.
3.5 mm2
3.5 mm2 Servo amplifier (2 kW)
P Fourth unit:
(Note) 3.5 mm2 assuming that the total of servo amplifier
N capacities is 2 kW since 2.0 kW = 2.0 kW.
Junction terminals
Overall wiring length 5 m or less
Note. When using the servo amplifier of 7 kW or less, make sure to disconnect the wiring of built-in regenerative resistor (5 kW
or less: P+ and D, 7 kW: P+ and C).
2) 400 V class
When connecting two servo amplifiers of 11 kW, always use junction terminals for wiring the
servo amplifier terminals P4, N-.
Wire as short as possible.
2
FR-CV-H55K 14 mm 8 mm2 Servo amplifier (11 kW)
R2/L1 P/L+ P4 First unit: 14 mm2 assuming that total capacity
of servo amplifiers is 22 kW since
S2/L2 N/L- N- 11 kW + 11 kW = 22 kW.
T2/L3 8 mm2
8 mm2 Servo amplifier (11 kW)
R/L11 P4 Second unit: 8 mm2 assuming that total capacity
of servo amplifiers is 11 kW since
S/L21 N- 11 kW = 11 kW.
Junction terminals
T/MC1
Total wire length: 5 m or less
11 - 46
(5) Other precautions

(a) When using the FR-CV-(H), always install the dedicated stand-alone reactor (FR-CVL-(H)). Do not
use the power factor improving AC reactor (FR-HAL-(H)) or power factor improving DC reactor (FR-
HEL-(H)).
(b) The inputs/outputs (main circuits) of the FR-CV-(H) and servo amplifiers include high-frequency
components and may provide electromagnetic wave interference to communication equipment (such
as AM radios) used near them. In this case, interference can be reduced by installing the radio noise
filter (FR-BIF(-H)) or line noise filter (FR-BSF01, FR-BLF).
(c) The overall wiring length for connection of the DC power supply between the FR-CV-(H) and servo
amplifiers should be 5 m or less, and the wiring must be twisted.
(6) Specifications
Power regeneration common
converter FR-CV-_ 7.5K 11K 15K 22K 30K 37K 55K
Item
[kW] 3.75 5.5 7.5 11 15 18.5 27.5
capacities
Maximum servo amplifier capacity [kW] 3.5 5 7 11 15 15 22
Total of connectable servo
[A] 33 46 61 90 115 145 215
Output
motor rated currents

Regenerative Short-time rating Total capacity of applicable servo motors, 300% torque, 60 s (Note 1)
braking torque Continuous rating 100% torque
Rated input AC voltage/frequency 3-phase 200 V AC to 220 V AC, 50 Hz, 200 V AC to 230 V AC, 60 Hz
Permissible AC voltage fluctuation 3-phase 170 V AC to 242 V AC, 50 Hz, 170 V AC to 253 V AC, 60 Hz
Power
Permissible frequency fluctuation ±5%

[kVA] 17 20 28 41 52 66 100
(Note 2)
IP rating (JEM 1030), cooling method Open type (IP00), forced cooling
Ambient temperature -10 ˚C to 50 ˚C (non-freezing)
Environment

Indoors (no direct sunlight), free from corrosive gas, flammable gas,
Ambience
oil mist, dust, and dirt
2
Altitude, vibration resistance 1000 m or less above sea level, 5.9 m/s
Molded-case circuit breaker or earth- 30AF 50AF 100AF 100AF 125AF 125AF 225AF
leakage current breaker 30A 50A 75A 100A 125A 125A 175A
S-N20 S-N35 S-N50 S-N65 S-N80 S-N95
Magnetic contactor S-N125
S-T21 S-T35 S-T50 S-T65 S-T80 S-T100
11 - 47
Power regeneration common

converter FR-CV-H_ 22K 30K 37K 55K
Item
[kW] 11 15 185 27.5
capacities
Maximum servo amplifier capacity [kW] 11 15 15 22
Total of connectable servo
[A] 43 57 71 110
motor rated currents
Output
Total capacity of applicable servo motors, 300% torque, 60 s

Regenerative Short-time rating
(Note 1)
braking torque
Continuous rating 100% torque
Rated input AC voltage/frequency 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz
Power supply
Permissible AC voltage fluctuation 3-phase 323 V AC to 528 V AC, 50 Hz/60 Hz

Permissible frequency fluctuation ±5%
Power supply capacity (Note 2) [kVA] 41 52 66 100
IP rating (JEM 1030), cooling method Open type (IP00), forced cooling
Ambient temperature -10 ˚C to 50 ˚C (non-freezing)
Environment

Indoors (no direct sunlight), free from corrosive gas,
Ambience
flammable gas, oil mist, dust, and dirt
2
Altitude, vibration resistance 1000 m or less above sea level, 5.9 m/s
Molded-case circuit breaker or earth- 50AF 60AF 100AF 100AF
leakage current breaker 50A 60A 75A 100A
S-N25 S-N35 S-N50 S-N65
Magnetic contactor
S-T25 S-T35 S-T50 S-T65
Note 1. This is the time when the protective function of the FR-CV-(H) is activated. The protective function of
the servo amplifier is activated in the time indicated in section 10.1.
2. The specified value is the power supply capacity of FR-CV-(H). The total power supply capacities of
the connected servo amplifiers are actually required.
11 - 48
11.6 Junction terminal block PS7DW-20V14B-F (recommended)
(1) Usage
Always use the junction terminal block (PS7W-20V14B-F (Toho Technology Corp. Yoshida Terminal
Block Division)) with the option cable (MR-J2HBUS_M) as a set. A connection example is shown below.
Servo amplifier
Junction terminal block
Cable clamp PS7DW-20V14B-F
(AERSBAN-ESET)
CN3
MR-J2HBUS_M
Ground the option cable on the junction terminal block side with the cable clamp fitting (AERSBAN-
ESET). For the use of the cable clamp fitting, refer to section 11.14, (2) (c).
(2) Connection of MR-J2HBUS_M cable and junction terminal block

Junction terminal block
Servo amplifier PS7DW-20V14B-F
CN3 (Note) MR-J2HBUS_M CN Terminal block
TPR2 1 1 1 1 1 TPR2
LSP 2 2 2 2 2 LSP
DOCOM 3 3 3 3 3 DOCOM
MO1 4 4 4 4 4 MO1
DICOM 5 5 5 5 5 DICOM
LA 6 6 6 6 6 LA
LB 7 7 7 7 7 LB
LZ 8 8 8 8 8 LZ
INP 9 9 9 9 9 INP
TPR1 10 10 10 10 10 TPR1
LG 11 11 11 11 11 LG
LSN 12 12 12 12 12 LSN
MBR 13 13 13 13 13 MBR
MO2 14 14 14 14 14 MO2
ALM 15 15 15 15 15 ALM
LAR 16 16 16 16 16 LAR
LBR 17 17 17 17 17 LBR
LZR 18 18 18 18 18 LZR
DOG 19 19 19 19 19 DOG
EM2 20 20 20 20 20 EM2
SD Shell Shell Shell Shell
E SD
Connector: 52316-2019 (Molex)

Shell kit: 52370-2070 (Molex)
Note. Symbol indicating cable length is put in _.

05: 0.5 m
1: 1 m
5: 5 m
11 - 49
(3) Dimensions of junction terminal block
[Unit: mm]
63
54
44.11
7.62
φ4.5
27
TB.E (φ6)
50
60
9.3
M3 × 5L
4.5
5
4
6.2 1.42 M3 × 6L
36.5
27.8
18.8
11.7 MR Configurator2
POINT
The MR-J4-_GF_ servo amplifier is supported with software version 1.49B or
later.
MR Configurator2 (SW1DNC-MRC2-_) uses the communication function of the servo amplifier to perform
parameter setting changes, graph display, test operation, etc. on a personal computer.
11.7.1 Specifications
Item Description
Project Create/read/save/delete project, system setting, and print
Parameter Parameter setting
Monitor Display all, I/O monitor, graph, and ABS data display
Alarm display, alarm onset data, drive recorder, no motor rotation, system configuration, life
Diagnosis
diagnosis, machine diagnosis, fully closed loop diagnosis (Note 3), and linear diagnosis (Note 4)
JOG operation (Note 2), positioning operation, motor-less operation (Note 1), DO forced output,
Test operation
and program operation, single-step feed (Note 5)
Adjustment One-touch tuning, tuning, and machine analyzer
Others Servo assistant, parameter setting range update, switch display language, and help display
Note 1. The motor-less operation cannot be used in the fully closed loop control mode, linear servo motor control mode,
or DD motor control mode.
2. This is available in the standard control mode, fully closed loop control mode, and DD motor control mode.
3. This is available only in the fully closed loop control mode.
4. This is available only in the linear servo motor control mode.
5. This is available only in the I/O mode.
11 - 50
11.7.2 System configuration
(1) Components
To use this software, the following components are required in addition to the servo amplifier and servo
motor.
Equipment Description
® ®
Microsoft Windows 8.1 Enterprise Operating System/Pro Operating System/Operating
System
® ®
Microsoft Windows 8 Enterprise Operating System/Pro Operating System/Operating
System
® ®
Microsoft Windows 7 Enterprise Operating System/Ultimate Operating System/
Professional Operating System/Home Premium Operating System/Starter Operating
OS
System
® ®
Microsoft Windows Vista Enterprise Operating System/Ultimate Operating System/
Business Operating System/Home Premium Operating System/Home Basic Operating
(Note 1, 2, 3, 4, 5) System
Personal computer ® ®
Microsoft Windows XP Professional Operating System, Service Pack3/Home Edition
Operating System, Service Pack3
® ®
CPU Desktop personal computer: Intel Celeron processor 2.8 GHz or more
® ®
(recommended) Laptop personal computer: Intel Pentium M processor 1.7 GHz or more
Memory
512 MB or more (for 32-bit OS) and 1 GB or more (for 64-bit OS)
(recommended)
Hard Disk 1 GB or more
Communication
USB port
interface
® ®
Browser Windows Internet Explorer 4.0 or more
One whose resolution is 1024 × 768 or more and that can provide a high color (16 bit) display.
Display
Connectable with the above personal computer.
Keyboard Connectable with the above personal computer.
Mouse Connectable with the above personal computer.
Printer Connectable with the above personal computer.
USB cable MR-J3USBCBL3M
Note 1. On some personal computers, MR Configurator2 may not run properly.

®
2. When Windows XP or later is used, the following functions cannot be used.
Windows Program Compatibility mode
Fast User Switching
Remote Desktop
Large Fonts Mode (Display property)
DPI settings other than 96 DPI (Display property)
® ®
For 64-bit operating system, this software is compatible with Windows 7 and Windows 8.
®
3. When Windows 7 or later is used, the following functions cannot be used.
Windows XP Mode
Windows touch
®
4. When using this software with Windows Vista or later, log in as a user having USER authority or higher.
®
5. When Windows 8 or later is used, the following functions cannot be used.
Hyper-V
Modern UI style
11 - 51
(2) Connection with servo amplifier

Personal computer
USB cable
Servo amplifier MR-J3USBCBL3M To USB
(Option) connector
CN5
11.7.3 Precautions for using USB communication function
Note the following to prevent an electric shock and malfunction of the servo amplifier.
(1) Power connection of personal computers

Connect your personal computer with the following procedures.
(a) When you use a personal computer with AC power supply

1) When using a personal computer with a three-core power plug or power plug with grounding wire,
use a three-pin socket or ground the grounding wire.
2) When your personal computer has two-core plug and has no grounding wire, connect the
personal computer to the servo amplifier with the following procedures.
a) Disconnect the power plug of the personal computer from an AC power socket.
b) Check that the power plug was disconnected and connect the device to the servo amplifier.
c) Connect the power plug of the personal computer to the AC power socket.
(b) When you use a personal computer with battery

You can use as it is.
(2) Connection with other devices using servo amplifier communication function
When the servo amplifier is charged with electricity due to connection with a personal computer and the
charged servo amplifier is connected with other devices, the servo amplifier or the connected devices
may malfunction. Connect the servo amplifier and other devices with the following procedures.
(a) Shut off the power of the device for connecting with the servo amplifier.
(b) Shut off the power of the servo amplifier which was connected with the personal computer and
check the charge lamp is off.
(c) Connect the device with the servo amplifier.
(d) Turn on the power of the servo amplifier and the device.
11 - 52
11.8 Battery
POINT
Refer to app. 2 and 3 for battery transportation and the new EU Battery
Directive.
This battery is used to construct an absolute position detection system. Refer to chapter 12 for construction
of the absolute position detection system.
11.8.1 Selection of battery
The available batteries vary depending on servo amplifiers. Select a required battery.
(1) Applications of the batteries

Model Name Application Built-in battery
MR-BAT6V1SET-A Battery For absolute position data backup MR-BAT6V1
For transporting a servo motor and
MR-BAT6V1BJ Battery for junction battery cable
servo amplifier apart
For absolute position data backup of
MR-BT6VCASE Battery case MR-BAT6V1
multi-axis servo motor
(2) Combinations of batteries and the servo amplifier

Model MR-J4-_GF_
MR-BAT6V1SET-A
MR-BAT6V1BJ (Note)
MR-BT6VCASE
Note. For using the MR-J4-350GF4(-RJ), contact your local sales office.
11.8.2 MR-BAT6V1SET-A battery
POINT
For the specifications and year and month of manufacture of the built-in MR-
BAT6V1 battery, refer to section 11.8.5.
(1) Parts identification and dimensions
[Unit: mm]
27.4 51
Connector for servo amplifier

37.5
Case
Mass: 55 [g] (including MR-BAT6V1 battery)
11 - 53
(2) Battery mounting

Connect as follows.
Servo amplifier
Encoder cable
CN2
CN4
MR-BAT6V1SET-A Servo motor
(3) Battery replacement procedure
Before replacing a battery, turn off the main circuit power and wait for 15 minutes
or longer until the charge lamp turns off. Then, check the voltage between P+ and
WARNING N- with a voltage tester or others. Otherwise, an electric shock may occur. In
addition, when confirming whether the charge lamp is off or not, always confirm it
from the front of the servo amplifier.
The internal circuits of the servo amplifier may be damaged by static electricity.
Always take the following precautions.
CAUTION Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical parts,
directly by hand.
POINT
Replacing battery with the control circuit power off will erase the absolute
position data.
Before replacing batteries, check that the new battery is within battery life.
Replace the battery while only control circuit power is on. Replacing battery with the control circuit power
on triggers [AL. 9F.1 Low battery]. However, the absolute position data will not be erased.
11 - 54
(a) Battery installation and removal procedure

1) Installation procedure
POINT
For the servo amplifier with a battery holder on the bottom, it is not possible to
wire for the earth with the battery installed. Insert the battery after executing the
earth wiring of the servo amplifier.
a) For the servo amplifier with a battery holder on the bottom
Install a battery, and insert the

plug into CN4.
b) For the servo amplifier with a battery holder on the front

Install a battery, and route the battery
cable along the right side of the
battery.
When connecting the encoder

cable to CN2 or CN2L
connector, prevent the battery
cable from being pinched.
Install a battery, and connect the plug to

the CN4 connector.
11 - 55
2) Removal procedure
Pulling out the connector of the battery without the lock release lever pressed
CAUTION may damage the CN4 connector of the servo amplifier or the connector of the
battery.
While pressing the lock release lever,

pull out the connector.
Press down the lock release lever, and

slide the battery toward you.
11 - 56
(4) Replacement procedure of the built-in battery

When the MR-BAT6V1SET-A reaches the end of its life, replace the MR-BAT6V1 battery in the MR-
BAT6V1SET-A.
Tab 1) While pressing the locking part, open the cover.
Cover
2) Replace the battery with a new MR-BAT6V1 battery.
3) Press the cover until it is fixed with the projection of

the locking part to close the cover.
Projection
(four places)
11 - 57
11.8.3 MR-BAT6V1BJ battery for junction battery cable
POINT
MR-BAT6V1BJ is compatible only with HG series servo motors. It cannot be
used with direct drive motors.
MR-BAT6V1BJ cannot be used for fully closed loop system and scale
measurement function.
When MR-BAT6V1BJ is mounted on the MR-J4-500GF(-RJ), the front cover
does not open. For this reason, carry out wiring to the terminal block before
mounting MR-BAT6V1BJ.
For using the MR-J4-350GF4(-RJ), contact your local sales office.
(1) Parts identification and dimensions
[Unit: mm]
34.8 69.3
Orange: Connector for servo amplifier
38.5
Rating plate
Case
Black: Connector for branch cable
Mass: 66 [g]
(2) Year and month of manufacture of battery

Production year and month are indicated in a serial number (SERIAL) on the rating plate. The second
digit from left in the number indicates the first digit of the dominical year, the third digit from left indicates
a month (Oct: X, Nov: Y, Dec.: Z). For November 2013, the serial is like, "SERIAL: _ 3Y _ _ _ _ _ _".
(3) Specification list

Item Description
Battery pack 2CR17335A (CR17335A × 2 pcs. in series)
Nominal voltage [V] 6
Nominal capacity [mAh] 1650
Storage temperature [°C] 0 to 55
Operating temperature [°C] 0 to 55
Lithium content [g] 1.2
Mercury content Less than 1 ppm
Inapplicable to the dangerous goods (Class 9)
Dangerous goods class
Refer to Appendix 2 for details.
Operating humidity and
storage humidity
(Note) Battery life 5 years from date of manufacture
Mass [g] 66
Note. Quality of the batteries degrades by the storage condition. The battery life is 5 years from
the production date regardless of the connection status.
11 - 58

Connect the MR-BAT6V1BJ using the MR-BT6VCBL03M junction battery cable as follows.
Servo amplifier
MR-BT6VCBL03M Encoder cable

CN2
CN4
MR-BAT6V1BJ Black: Connector for branch cable

Orange: Connector for servo amplifier HG series servo motors
(5) Transporting a servo motor and machine apart
POINT
Be sure to connect the connector for branch cable connection (black) when
transporting a servo motor and machine apart. When the connector for branch
cable connection (black) is not connected to the MR-BT6VCBL03M junction
battery cable, no alarm will occur. However, the absolute position data will be
erased when you transport a servo motor and machine apart.
When you transport a servo motor and machine apart, disconnect only CN2 and CN4 of the servo
amplifier. When other connectors or cables are disconnected between the servo motor and battery, the
absolute position data will be deleted.
Servo amplifier
Disconnect only CN2

and CN4.
MR-BT6VCBL03M Encoder cable

CN2
CN4
HG series servo motors
MR-BAT6V1BJ Black: Connector for branch cable
Orange: Connector for servo amplifier
11 - 59
Ground human body and work bench.
CAUTION Do not touch the conductive areas, such as connector pins and electrical parts,
directly by hand.
The battery built in MR-BAT6V1BJ cannot be replaced. Do not disassemble the
MR-BAT6V1BJ. Otherwise, it may cause a malfunction.
POINT
To replace the MR-BAT6V1BJ, follow the procedures given in this section to
avoid erasing absolute position data.
For MR-BAT6V1BJ, the battery can be replaced with the control circuit power supply off.
(a) Battery installation and removal procedure

The battery installation and removal procedure to the servo amplifier are the same as for the MR-
BAT6V1SET battery. Refer to (3) of section 11.8.2.
(b) Preparation for replacing MR-BAT6V1BJ

Prepare a new MR-BAT6V1BJ as follows.
Model Number and use Remark
MR-BAT6V1BJ 1 for replacement Battery within two years from the production date.
(c) Procedures of replacing MR-BAT6V1BJ

Replace the product as follows regardless of on/off of the control circuit power supply. When it is
replaced with other procedures, the absolute position data will be erased.
1) Remove the connector for branch cable connection (black) of the old MR-BAT6V1BJ.
Servo amplifier
MR-BT6VCBL03M
Orange CN2
CN4 Orange
Old MR-BAT6V1BJ Black New MR-BAT6V1BJ
11 - 60
2) Connect the connector for branch cable connection (black) of the new MR-BAT6V1BJ.
Servo amplifier
MR-BT6VCBL03M
Orange CN2
CN4
Orange
3) Remove the connector for servo amplifier (orange) of the old MR-BAT6V1BJ. When the control
circuit power supply is on, performing 3) without [AL. 9F.1 Low battery] will trigger [AL. 9F.1].
Servo amplifier
MR-BT6VCBL03M
Orange CN2
CN4 Orange
4) Remove the old MR-BAT6V1BJ from servo amplifier and mount the new MR-BAT6V1BJ. When
the control circuit power supply is on, [AL. 9F.1] will occur after 3).
Servo amplifier
MR-BT6VCBL03M
Orange CN2
Old MR-BAT6V1BJ
Black CN4 Black
Orange
New MR-BAT6V1BJ
5) Mount the connector for servo amplifier (orange) of the new MR-BAT6V1BJ. When the control
circuit power supply is on, [AL. 9F.1] will be canceled.
Servo amplifier
MR-BT6VCBL03M
Orange CN2
CN4
Black
New MR-BAT6V1BJ
11 - 61
11.8.4 MR-BT6VCASE battery case
POINT
The battery unit consists of an MR-BT6VCASE battery case and five MR-
BAT6V1 batteries.
For the specifications and year and month of manufacture of MR-BAT6V1
battery, refer to section 11.8.5.
MR-BT6VCASE is a case used for connecting and mounting five MR-BAT6V1 batteries. A battery case does
not have any batteries. Please prepare MR-BAT6V1 batteries separately.
(1) The number of connected servo motors

One MR-BT6VCASE holds absolute position data up to eight axes servo motors. For direct drive motors,
up to four axes can be connected. Servo motors and direct drive motors in the incremental system are
included as the axis Nos. Linear servo motors are not counted as the axis Nos. Refer to the following
table for the number of connectable axes of each servo motor.
Servo motor Number of axes
Rotary servo motor 0 1 2 3 4 5 6 7 8
Direct drive motor 4 4 4 4 4 3 2 1 0
(2) Dimensions
[Unit: mm]
2- 5 mounting
hole 2-M4 screw
Approx. 5
Approx. 25
Approx. 70 130
25 4.6 5 5
5
Approx. 130
120 ± 0.5
130
120
5
Approx. 5
Mounting screw
Screw size: M4
[Mass: 0.18 kg]
11 - 62
POINT
One battery unit can be connected to up to 8-axis servo motors. However, when
using direct drive motors, the number of axes of the direct drive motors should
be up to 4 axes. Servo motors and direct drive motors in the incremental system
are included as the axis Nos. Linear servo motors are not counted as the axis
Nos.
(a) When using 1-axis servo amplifier

Servo amplifier
CN4
MR-BT6VCASE
CN10
MR-BT6V1CBL_M
(b) When using up to 8-axis servo amplifiers

Servo amplifier Servo amplifier Servo amplifier
(First) (Second) (Last)
CN4 CN4 CN4

MR-BT6VCASE
CN10 MR-BT6V2CBL_M MR-BT6V2CBL_M
MR-BT6V1CBL_M
11 - 63
CAUTION Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical parts,
directly by hand.
POINT
Replacing battery with the control circuit power off will erase the absolute
position data.
Replace the battery while only control circuit power is on. Replacing battery with the control circuit power
on triggers [AL. 9F.1 Low battery]. However, the absolute position data will not be erased.
11 - 64
(a) Assembling a battery unit
Do not mount new and old batteries together.

CAUTION When you replace a battery, replace all batteries at the same time.
POINT
Always install five MR-BAT6V1 batteries to an MR-BT6VCASE battery case.
1) Required items
Product name Model Quantity Remark
Battery case MR-BT6VCASE 1 MR-BT6VCASE is a case used for connecting and
mounting five MR-BAT6V1 batteries.
Battery MR-BAT6V1 5 Lithium battery (primary battery, nominal + 6 V)
2) Disassembly and assembly of the battery case MR-BT6VCASE

a) Disassembly of the case
MR-BT6VCASE is shipped assembled. To mount MR-BAT6V1 batteries, the case needs to be
disassembled.
Threads
Remove the two screws using a
Phillips screwdriver.
Parts identification
BAT1
BAT2 BAT3
CON2
CON3
Cover BAT4 BAT5
Remove the cover. CON1
CON4
CON5
11 - 65
b) Mounting MR-BAT6V1
Securely mount a MR-BAT6V1 to the BAT1 holder.

BAT1
Insert the MR-BAT6V1 connector mounted on BAT1

holder to CON1.
Confirm the click sound at this point.
The connector has to be connected in the right direction.
If the connector is pushed forcefully in the incorrect
CON1 direction, the connector will break.
Click Place the MR-BAT6V1 lead wire to the duct designed to
store lead wires.
Insert MR-BAT6V1 to the holder in the same procedure in
the order from BAT2 to BAT5.
Bring out the lead wire from the space between the ribs, and bend it as
shown above to store it in the duct. Connect the lead wire to the
connector. Be careful not to get the lead wire caught in the case or
other parts.
When the lead wire is damaged, external short circuit may occur, and
the battery can become hot.
11 - 66
c) Assembly of the case

After all MR-BAT6V1 batteries are mounted, fit the cover and insert screws into the two holes
and tighten them. Tightening torque is 0.71 N•m.
POINT
When assembling the case, be careful not to get the lead wires caught in the
fitting parts or the screwing parts.
Threads
d) Precautions for removal of battery

The connector attached to the MR-BAT6V1 battery has the lock release lever. When removing
the connector, pull out the connector while pressing the lock release lever.
3) Battery cable removal
Pulling out the connector of the MR-BT6V1CBL and the MR-BT6V2CBL without
CAUTION the lock release lever pressed may damage the CN4 connector of the servo
amplifier or the connector of the MR-BT6V1CBL or MR-BT6V2CBL.
While pressing the lock release lever,

pull out the connector.
Battery cable
11 - 67
11.8.5 MR-BAT6V1 battery
The MR-BAT6V1 battery is a primary lithium battery for replacing MR-BAT6V1SET-A and a battery built-in
MR-BT6VCASE. Store the MR-BAT6V1 in the case to use.
The year and month of manufacture of MR-BAT6V1 battery have been described to the rating plate put on a
MR-BAT6V1 battery.
Rating plate 2CR17335A WK17
11-04
6V 1650mAh
The year and month of manufacture
Item Description
Battery pack 2CR17335A (CR17335A × 2 pcs. in series)
Nominal voltage [V] 6
Nominal capacity [mAh] 1650
Storage temperature [°C] 0 to 55
Operating temperature [°C] 0 to 55
Lithium content [g] 1.2
Mercury content Less than 1 ppm
Inapplicable to the dangerous goods (Class 9)
Dangerous goods class
Refer to Appendix 2 for details.
Operating humidity and
storage humidity
(Note) Battery life 5 years from date of manufacture
Mass [g] 34
Note. Quality of the batteries degrades by the storage condition. The battery life is 5 years from
the production date regardless of the connection status.
11 - 68
11.9 Selection example of wires
POINT
To comply with the IEC/EN/UL/CSA standard, use the wires shown in app. 4 for
wiring. To comply with other standards, use a wire that is complied with each
standard.
For the selection example when the MR-J4-_GF-RJ servo amplifier is used with
the DC power supply input, refer to app. 1.3.
Wire length: 30 m or less
The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
1) Main circuit power supply lead
Servo amplifier
Power supply
L1 U
L2 V M
L3 W
2) Control circuit power supply lead
L11
4) Servo motor power supply lead
L21
5) Power regeneration converter lead
Power regeneration N-
converter
Regenerative option
C
P+
3) Regenerative option lead
11 - 69
(1) Example of selecting the wire sizes

Use the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) for wiring. The following
shows the wire size selection example.
(a) 200 V class
Table 11.1 Wire size selection example (HIV wire)

2
Wire [mm ] (Note 1)
Servo amplifier 4) U/V/W/
1) L1/L2/L3/ 2) L11/L21 3) P+/C
(Note 3)
MR-J4-10GF(-RJ)
MR-J4-20GF(-RJ)
MR-J4-40GF(-RJ) AWG 18 to 14
MR-J4-60GF(-RJ) (Note 4)
MR-J4-70GF(-RJ) 2 (AWG 14)
MR-J4-100GF(-RJ) 1.25 to 2
MR-J4-200GF(-RJ) (AWG 16 to 14) 2 (AWG 14)
(3-phase power (Note 4)
supply input)
MR-J4-200GF(-RJ) AWG 16 to 10
(1-phase power
3.5 (AWG 12)
supply input)
MR-J4-350GF(-RJ)
2 (AWG 14): c
MR-J4-500GF(-RJ)
5.5 (AWG 10): a 3.5 (AWG 12): a
(Note 2)
1.25 (AWG 16): a 5.5 (AWG 10): a
2 (AWG 14): d 2 (AWG 14): c 2 (AWG 14): c
MR-J4-700GF(-RJ) (Note 4) 3.5 (AWG 12): a
8 (AWG 8): b
(Note 2) 5.5 (AWG 10): a
8 (AWG 8): b
14 (AWG 6): f
MR-J4-11KGF(-RJ) 5.5 (AWG 10): g
14 (AWG 6): f 3.5 (AWG 12): g
(Note 2) (Note 5)
1.25 (AWG 16): c
8 (AWG 8): k
2 (AWG 14): c
MR-J4-15KGF(-RJ) 22 (AWG 4): h
22 (AWG 4): h (Note 4) 5.5 (AWG 10): g
(Note 2) 8 (AWG 8): k (Note 5)
MR-J4-22KGF(-RJ)
38 (AWG 2): i 5.5 (AWG 10): j 38 (AWG 2): i
(Note 2)
Note 1. Alphabets in the table indicate crimping tools. For crimp terminals and applicable tools, refer to (2)
in this section.
2. To connect these models to a terminal block, be sure to use the screws that come with the
terminal block.
3. The wire size shows applicable size of the servo amplifier connector and terminal block. For wires
connecting to the servo motor, refer to each servo motor instruction manual.
2
4. Be sure to use the size of 2 mm when corresponding to IEC/EN/UL/CSA standard.
5. This is for connecting to the linear servo motor with natural cooling method.
Use wires (5)) of the following sizes with the power regeneration converter (FR-RC).
2
Model Wire [mm ]
FR-RC-15K 14 (AWG 6)
11 - 70
(b) 400 V class
Table 11.2 Wire size selection example (HIV wire)

2
Wires [mm ] (Note 1)
Servo amplifier 4) U/V/W/
1) L1/L2/L3/ 2) L11/L21 3) P+/C
(Note 3)
MR-J4-60GF4(-RJ)/
1.25 to 2
MR-J4-100GF4(-RJ)
2 (AWG 14) (AWG 16 to 14) 2 (AWG 14) AWG 16 to 14
MR-J4-200GF4(-RJ)
(Note 4)
MR-J4-350GF4(-RJ)
MR-J4-500GF4(-RJ)
2 (AWG 14): b 1.25 (AWG 16): a 3.5 (AWG 12): a
(Note 2)
2 (AWG 14): c 2 (AWG 14): b
MR-J4-700GF4(-RJ)
3.5 (AWG 12): a (Note 4) 5.5 (AWG 10): a
(Note 2)
MR-J4-11KGF4(-RJ)
5.5 (AWG 10): d 2 (AWG 14): f
(Note 2)
8 (AWG 8): g
MR-J4-15KGF4(-RJ)
8 (AWG 8): g 3.5 (AWG 12): d
(Note 2) 1.25 (AWG 16): b
2 (AWG 14): b 5.5 (AWG 10): e
(Note 4) (Note 5)
MR-J4-22KGF4(-RJ)
14 (AWG 6): i 3.5 (AWG 12): e 8 (AWG 8): h
(Note 2)
(Note 6)
14 (AWG 6): i
Note 1. Alphabets in the table indicate crimping tools. For crimp terminals and applicable tools, refer to (2)
in this section.
2. To connect these models to a terminal block, be sure to use the screws that come with the
terminal block.
3. The wire size shows applicable size of the servo amplifier connector and terminal block. For wires
connecting to the servo motor, refer to each servo motor instruction manual.
4. Be sure to use the size of 2 mm2 when corresponding to IEC/EN/UL/CSA standard.
5. This is for connecting to the linear servo motor with natural cooling method.
6. This is for connecting to the linear servo motor with liquid cooling method.
Use wires (5)) of the following sizes with the power regeneration converter (FR-RC-H).
2
Model Wire [mm ]
FR-RC-H15K
FR-RC-H30K 14 (AWG 6)
FR-RC-H55K
11 - 71
(2) Selection example of crimp terminals

(a) 200 V class
Symbol (Note 2) Crimp Applicable tool
Manufacturer
terminal Body Head Dice
a FVD5.5-4 YNT-1210S
b (Note 1) 8-4NS YHT-8S
c FVD2-4
YNT-1614
d FVD2-M3
e FVD1.25-M3 YNT-2216
DH-122
f FVD14-6 YF-1 YNE-38
DH-112
g FVD5.5-6 YNT-1210S JST
DH-123
h FVD22-6 YF-1 YNE-38
DH-113
DH-124
i FVD38-8 YF-1 YNE-38
DH-114
j FVD5.5-8 YNT-1210S
DH-121
k FVD8-6 YF-1/E-4 YNE-38
DH-111
Note 1. Coat the crimping part with an insulation tube.

2. Some crimp terminals may not be mounted depending on the size. Make sure to use the
recommended ones or equivalent ones.
(b) 400 V class

Symbol Crimp terminal Applicable tool Manufacturer
(Note) Body Head Dice
b FVD2-4
YNT-1614
c FVD2-M3
d FVD5.5-6 YNT-1210S
e FVD5.5-8 YNT-1210S JST
f FVD2-6 YNT-1614
g FVD8-6
DH-121/DH-111
h FVD8-8 YF-1 YNE-38
i FVD14-8 DH-122/DH-112
Note. Some crimp terminals may not be mounted depending on the size. Make sure to use the
11 - 72
11.10 Molded-case circuit breakers, fuses, magnetic contactors
To prevent the servo amplifier from smoke and a fire, select a molded-case circuit
breaker which shuts off with high speed.
CAUTION Always use one molded-case circuit breaker and one magnetic contactor with one
servo amplifier.
POINT
For the selection when the MR-J4-_GF-RJ servo amplifier is used with the DC
power supply input, refer to app. 1.4.
11 - 73
(1) For main circuit power supply

When using a fuse instead of the molded-case circuit breaker, use the one having the specifications
given in this section.
Molded-case circuit breaker (Note 1, 3) Fuse
Frame, rated current Magnetic
Servo amplifier Power factor Power factor Voltage Voltage AC contactor
Class Current [A]
improving reactor is improving reactor is AC [V] [V] (Note 2)
not used used
MR-J4-10GF(-RJ) 30 A frame 5 A 30 A frame 5 A
10
MR-J4-40GF(-RJ) 30 A frame 10 A 30 A frame 5 A 15
MR-J4-70GF(-RJ) 30 A frame 15 A 30 A frame 10 A S-N10
MR-J4-100GF(-RJ) 20
S-T10
(3-phase power 30 A frame 15 A 30 A frame 10 A
supply input)
MR-J4-100GF(-RJ)
(1-phase power 30 A frame 15 A 30 A frame 15 A 30
supply input)
S-N20
240 T 300
MR-J4-200GF(-RJ) 30 A frame 20 A 30 A frame 20 A 40 (Note 4)
S-T21
S-N20
S-T21
S-N35
S-T35
MR-J4-700GF(-RJ) 100 A frame 75 A 60 A frame 60 A 150 S-N50
MR-J4-11KGF(-RJ) 100 A frame 100 A 100 A frame 100 A 200 S-T50
S-N65
MR-J4-15KGF(-RJ) 125 A frame 125 A 125 A frame 125 A 250
S-T65
S-N95
MR-J4-22KGF(-RJ) 225 A frame 175 A 225 A frame 175 A 350
S-T100
MR-J4-60GF4(-RJ) 30 A frame 5 A 30 A frame 5 A 10
S-N10
S-T10
MR-J4-350GF4(-RJ) 30 A frame 20 A 30 A frame 15 A 35 S-N20
(Note 4)
S-T21
S-N20
MR-J4-700GF4(-RJ) 30 A frame 30 A 30 A frame 30 A 480 T 65 600
S-T21
S-N25
MR-J4-11KGF4(-RJ) 50 A frame 50 A 50 A frame 50 A 100
S-T35
S-N35
S-T35
S-N50
S-T50
Note 1. When having the servo amplifier comply with the IEC/EN/UL/CSA standard, refer to app. 4.
contacts) of 80 ms or less.
3. Use a molded-case circuit breaker which has the same or more operation characteristics than our lineup.
4. S-N18 can be used when auxiliary contact is not required.
11 - 74
The Type E Combination motor controller can also be used instead of a molded-case circuit breaker.
Type E Combination motor controller
Rated input Rated Rated current SCCR
Servo amplifier Input phase
voltage AC [V] Model voltage [A] [kA]
AC [V] (Heater design)
MR-J4-10GF(-RJ) 1.6
MR-J4-20GF(-RJ) 2.5
MR-J4-40GF(-RJ) 4
MR-J4-60GF(-RJ) 6.3 50
MR-J4-70GF(-RJ) 200 to 240 3-phase 240 6.3
MR-J4-100GF(-RJ) 8
MR-J4-200GF(-RJ) 18
MR-J4-350GF(-RJ) MMP-T32 25
25
MR-J4-500GF(-RJ) 32
MR-J4-60GF4(-RJ) 2.5
MR-J4-100GF4(-RJ) 4
MR-J4-200GF4(-RJ) 8 50
380 to 480 3-phase 480Y/277
MR-J4-350GF4(-RJ) 13
MR-J4-500GF4(-RJ) 18
MR-J4-700GF4(-RJ) 25 25
(2) For control circuit power supply

When the wiring for the control circuit power supply (L11/L21) is thinner than that for the main circuit
power supply (L1/L2/L3), install an overcurrent protection device (molded-case circuit breaker or fuse) to
protect the branch circuit.
Molded-case circuit breaker (Note) Fuse (Class T) Fuse (Class K5)
Servo amplifier
Frame, rated current Voltage AC [V] Current [A] Voltage AC [V] Current [A] Voltage AC [V]
MR-J4-10GF(-RJ)
MR-J4-20GF(-RJ)
MR-J4-40GF(-RJ)
MR-J4-60GF(-RJ)
MR-J4-70GF(-RJ)
MR-J4-100GF(-RJ)
MR-J4-200GF(-RJ) 30 A frame 5 A 240 1 300 1 250
MR-J4-350GF(-RJ)
MR-J4-500GF(-RJ)
MR-J4-700GF(-RJ)
MR-J4-11KGF(-RJ)
MR-J4-15KGF(-RJ)
MR-J4-22KGF(-RJ)
MR-J4-60GF4(-RJ)
MR-J4-100GF4(-RJ)
MR-J4-200GF4(-RJ)
MR-J4-350GF4(-RJ)
MR-J4-500GF4(-RJ) 30 A frame 5 A 480 1 600 1 600
MR-J4-700GF4(-RJ)
MR-J4-11KGF4(-RJ)
MR-J4-15KGF4(-RJ)
MR-J4-22KGF4(-RJ)
Note. When having the servo amplifier comply with the IEC/EN/UL/CSA standard, refer to app. 4.
11 - 75
11.11 Power factor improving DC reactors
The following shows the advantages of using power factor improving DC reactor.
It improves the power factor by increasing the form factor of the servo amplifier's input current.
It decreases the power supply capacity.
The input power factor is improved to about 85%.
As compared to the power factor improving AC reactor (FR-HAL-(H)), it decreases the loss.
When connecting the power factor improving DC reactor to the servo amplifier, always disconnect P3 and
P4. If it remains connected, the effect of the power factor improving DC reactor is not produced.
When used, the power factor improving DC reactor generates heat. To release heat, therefore, leave a 10
cm or more clearance at each of the top and bottom, and a 5 cm or more clearance on each side.
(1) 200 V class
2-d mounting hole

(Varnish is removed from right mounting
hole (face and back side).) (Note 1)
4-d mounting hole
(Varnish is removed from front right mounting
D or less
D or less
P P1 D3
P P1
H
W1 W1 D2
W±2 W±2 D1
Fig. 11.1 Fig. 11.2
Servo amplifier
4-d mounting hole (Note 1) FR-HEL
D or less P3
(Note 2)
D3 or less P4
5 m or less
H±2
W1 D2
W±2 D1 ± 2
Fig. 11.3
Note 1. Use this for grounding.
2. When using the power factor improving DC reactor, remove the short bar across P3 and P4.
11 - 76
Power factor Dimensions [mm]

Terminal Mass Wire [mm2]
Servo amplifier improving DC Dimensions D
W W1 H D1 D2 D3 d size [kg] (Note 2)
reactor (Note 1)
MR-J4-10GF(-RJ)
FR-HEL-0.4K 70 60 71 61 21 M4 M4 0.4
MR-J4-20GF(-RJ)
MR-J4-40GF(-RJ) FR-HEL-0.75K 85 74 81 61 21 M4 M4 0.5
Fig. 11.1
MR-J4-60GF(-RJ) 2 (AWG 14)
FR-HEL-1.5K 85 74 81 70 30 M4 M4 0.8
MR-J4-70GF(-RJ)
MR-J4-100GF(-RJ) FR-HEL-2.2K 85 74 81 70 30 M4 M4 0.9
MR-J4-200GF(-RJ) FR-HEL-3.7K 77 55 92 82 66 57 37 M4 M4 1.5
MR-J4-350GF(-RJ) FR-HEL-7.5K 86 60 113 98 81 72 43 M4 M5 2.5 3.5 (AWG 12)
MR-J4-500GF(-RJ) FR-HEL-11K 105 64 133 112 92 79 47 M6 M6 3.3 5.5 (AWG 10)
MR-J4-700GF(-RJ) FR-HEL-15K Fig. 11.2 105 64 133 115 97 84 48.5 M6 M6 4.1 8 (AWG 8)
MR-J4-11KGF(-RJ) FR-HEL-15K 105 64 133 115 97 84 48.5 M6 M6 4.1 14 (AWG 6)
115
MR-J4-15KGF(-RJ) FR-HEL-22K 105 64 93 175 117 104 M6 M10 5.6 22 (AWG 4)
(Note 1)
135
MR-J4-22KGF(-RJ) FR-HEL-30K Fig. 11.3 114 72 100 200 125 101 M6 M10 7.8 38 (AWG 2)
(Note 1)
Note 1. Maximum dimensions The dimension varies depending on the input/output lines.
2. Selection conditions of wire size are as follows.
(2) 400 V class
4-d mounting hole (Note 1)

D or less
D or less
(D3)
P P1 (D3)
P P1
H ± 2.5
H ± 2.5
W1 D2 W1 D2
W ± 2.5 D1 ± 1 W ± 2.5 D1 ± 1
Fig. 11.4 Fig. 11.5
11 - 77
D or less
(D3)
P P1 Servo amplifier
FR-HEL-H
P3
(Note 2)
P4
H ± 2.5
5 m or less
6
W1 D2
W ± 2.5 D1 ± 1
Fig. 11.6
Note 1. Use this for grounding.

2. When using the power factor improving DC reactor, remove the short bar across P3 and P4.
Power factor Dimensions [mm] 2

Terminal Mass Wire [mm ]
Servo amplifier improving DC Dimensions
W W1 H D D1 D2 D3 d size [kg] (Note)
reactor
MR-J4-60GF4(-RJ) FR-HEL-H1.5K 66 50 100 80 74 54 37 M4 M3.5 1.0 2 (AWG 14)
Fig. 11.4
MR-J4-100GF4(-RJ) FR-HEL-H2.2K 76 50 110 80 74 54 37 M4 M3.5 1.3 2 (AWG 14)
MR-J4-200GF4(-RJ) FR-HEL-H3.7K 86 55 120 95 89 69 45 M4 M4 2.3 2 (AWG 14)
MR-J4-350GF4(-RJ) FR-HEL-H7.5K Fig. 11.5 96 60 128 105 100 80 50 M5 M4 3.5 2 (AWG 14)
MR-J4-500GF4(-RJ) FR-HEL-H11K 105 75 137 110 105 85 53 M5 M5 4.5 3.5 (AWG 12)
MR-J4-700GF4(-RJ) 5.5 (AWG 10)
FR-HEL-H15K 105 75 152 125 115 95 62 M5 M6 5.0
MR-J4-11KGF4(-RJ) 8 (AWG 8)
Fig. 11.6
MR-J4-15KGF4(-RJ) FR-HEL-H22K 133 90 178 120 95 75 53 M5 M6 6.0 8 (AWG 8)
MR-J4-22KGF4(-RJ) FR-HEL-H30K 133 90 178 120 100 80 56 M5 M6 6.5 14 (AWG 6)
Note. Selection conditions of wire size are as follows.

Wire type: 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire)
11.12 Power factor improving AC reactors
The following shows the advantages of using power factor improving AC reactor.
It improves the power factor by increasing the form factor of the servo amplifier's input current.
It decreases the power supply capacity.
The input power factor is improved to about 80%.
When using power factor improving reactors for two servo amplifiers or more, be sure to connect a power
factor improving reactor to each servo amplifier. If using only one power factor improving reactor, enough
improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated.
11 - 78
(1) 200 V class

Terminal layout Servo amplifier
3-phase 200 V class
R X S Y T Z FR-HAL
4-d mounting hole MCCB MC R X
L1
3-phase S Y
200 V AC to L2
240 V AC T Z
D or less L3
Servo amplifier
1-phase 200 V class
FR-HAL
MCCB MC R X
(Note) L1
H
1-phase S Y
200 V AC to L2
240 V AC T Z
L3
W1 D2
W or less (Note 2) D1
Fig. 11.7
Note 1. Use this for grounding. Note. For 1-phase 200 V AC to 240 V AC, connect the power
2. W ± 2 is applicable for FR-HAL-0.4K to FR-HAL-1.5K. supply to L1 and L3. Leave L2 open.
Terminal layout
R X S Y T Z
4-d mounting hole
hole (face and back side).) (Note)
D or less
4-d mounting hole (Note)
D or less
H
R S T
H±5
X Y Z
W1 D2 W1 D2
W±2 D1 W or less D1 ± 2
Fig. 11.8 Fig. 11.9

Note. Use this for grounding. Note. Use this for grounding.
11 - 79

Terminal Mass
Servo amplifier improving AC Dimensions
W W1 H D (Note) D1 D2 d size [kg]
reactor
MR-J4-10GF(-RJ)
FR-HAL-0.4K 104 84 99 72 51 40 M5 M4 0.6
MR-J4-20GF(-RJ)
MR-J4-40GF(-RJ) FR-HAL-0.75K 104 84 99 74 56 44 M5 M4 0.8
MR-J4-60GF(-RJ)
FR-HAL-1.5K 104 84 99 77 61 50 M5 M4 1.1
MR-J4-70GF(-RJ)
MR-J4-100GF(-RJ)
115
(3-phase power FR-HAL-2.2K 40 115 77 71 57 M6 M4 1.5
(Note)
supply input)
MR-J4-100GF(-RJ) Fig. 11.7
(1-phase power
supply input) 115
FR-HAL-3.7K 40 115 83 81 67 M6 M4 2.2
MR-J4-200GF(-RJ) (Note)
(3-phase power
supply input)
MR-J4-200GF(-RJ)
115
(1-phase power FR-HAL-5.5K 40 115 83 81 67 M6 M4 2.3
(Note)
supply input)
MR-J4-350GF(-RJ) FR-HAL-7.5K 130 50 135 100 98 86 M6 M5 4.2
MR-J4-500GF(-RJ) FR-HAL-11K 160 75 164 111 109 92 M6 M6 5.2
MR-J4-700GF(-RJ) FR-HAL-15K 160 75 167 126 124 107 M6 M6 7.0
Fig. 11.8
MR-J4-11KGF(-RJ) FR-HAL-15K 160 75 167 126 124 107 M6 M6 7.0
185
MR-J4-15KGF(-RJ) FR-HAL-22K 75 150 158 100 87 M6 M8 9.0
(Note)
185
MR-J4-22KGF(-RJ) FR-HAL-30K Fig. 11.9 75 150 168 100 87 M6 M10 9.7
(Note)
Note. Maximum dimensions The dimension varies depending on the input/output lines.
(2) 400 V class

(φ5 groove)
R X S Y T Z
D or less
Servo amplifier
3-phase
400 V class
FR-HAL-H
MCCB MC R X
L1
3-phase S Y
380 V AC to L2
H±5
480 V AC T Z
L3
W1 D2
W ± 0.5 D1
Fig. 11.10
11 - 80
R X S Y T Z
R X S Y T Z
(φ6 groove)
(φ8 groove)
150 D or less
125 D or less
H±5
H±5
180
W1 D2
W1 D2
D1 W ± 0.5 D1
W ± 0.5
Fig. 11.11 Fig. 11.12
Note. Use this for grounding.

Terminal Mass
Servo amplifier improving AC Dimensions D
W W1 H D1 D2 d size [kg]
reactor (Note)
MR-J4-60GF4(-RJ) FR-HAL-H1.5K 135 120 115 59 59.6 45 M4 M3.5 1.5
MR-J4-100GF4(-RJ) FR-HAL-H2.2K Fig. 11.10 135 120 115 59 59.6 45 M4 M3.5 1.5
MR-J4-200GF4(-RJ) FR-HAL-H3.7K 135 120 115 69 70.6 57 M4 M3.5 2.5
MR-J4-350GF4(-RJ) FR-HAL-H7.5K 160 145 142 91 91 75 M4 M4 5.0
MR-J4-500GF4(-RJ) FR-HAL-H11K 160 145 146 91 91 75 M4 M5 6.0
Fig. 11.11
MR-J4-700GF4(-RJ)
FR-HAL-H15K 220 200 195 105 90 70 M5 M5 9.0
MR-J4-11KGF4(-RJ)
MR-J4-15KGF4(-RJ) FR-HAL-H22K 220 200 215 170 90 70 M5 M8 9.5
Fig. 11.12
MR-J4-22KGF4(-RJ) FR-HAL-H30K 220 200 215 170 96 75 M5 M8 11
Note. Maximum dimensions. The dimension varies depending on the input/output lines.
11.13 Relay (recommended)
The following relays should be used with the interfaces

Interface Selection example
Digital input (interface DI-1) To prevent defective contacts, use a relay for
Relay used for digital input command signals small signal (twin contacts).
(Ex.) Omron : type G2A, MY
Digital output (interface DO-1) Small relay with 12 V DC or 24 V DC of rated
Relay used for digital output signals current 40 mA or less
(Ex.) Omron : type MY
11 - 81
11.14 Noise reduction techniques

Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those
radiated by the servo amplifier to cause peripheral equipment to malfunction. Since the servo amplifier is an
electronic device which handles small signals, the following general noise reduction techniques are required.
Also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies. If
peripheral equipment malfunctions due to noises produced by the servo amplifier, noise suppression
measures must be taken. The measures will vary slightly with the routes of noise transmission.
(1) Noise reduction techniques

(a) General reduction techniques
Avoid bundling power lines (input/output) and signal cables together or running them in parallel to
each other. Separate the power lines from the signal cables.
Use a shielded twisted pair cable for connection with the encoder and for control signal
transmission, and connect the external conductor of the cable to the SD terminal.
Ground the servo amplifier, servo motor, etc. together at one point. (Refer to section 3.10.)
(b) Reduction techniques for external noises that cause the servo amplifier to malfunction
If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many
relays which make a large amount of noise) near the servo amplifier and the servo amplifier may
malfunction, the following countermeasures are required.
Provide surge absorbers on the noise sources to suppress noises.
Attach data line filters to the signal cables.
Ground the shields of the encoder connecting cable and the control signal cables with cable clamp
fittings.
Although a surge absorber is built into the servo amplifier, to protect the servo amplifier and other
equipment against large exogenous noise and lightning surge, attaching a varistor to the power
input section of the equipment is recommended.
(c) Techniques for noises radiated by the servo amplifier that cause peripheral equipment to malfunction
Noises produced by the servo amplifier are classified into those radiated from the cables connected
to the servo amplifier and its main circuits (input and output circuits), those induced
electromagnetically or statically by the signal cables of the peripheral equipment located near the
main circuit cables, and those transmitted through the power supply cables.
Noises produced Noises transmitted Noise radiated directly Route 1)
by servo amplifier in the air from servo amplifier
Noise radiated from the

Route 2)
power supply cable
Noise radiated from

Route 3)
servo motor cable
Magnetic induction
noise Routes 4) and 5)
Static induction
Route 6)
noise
Noises transmitted Noise transmitted through

through electric Route 7)
power supply cable
channels
Noise sneaking from

grounding cable due to Route 8)
leakage current
11 - 82
5)
7) 7)
2)
7)
Sensor
power
1) supply
Servo
2)
amplifier
Instrument Receiver
3)
8)
6)
4) Sensor
3)
Servo motor M
Noise transmission
Suppression techniques
route
When measuring instruments, receivers, sensors, etc. which handle weak signals and may
malfunction due to noise and/or their signal cables are contained in a cabinet together with the servo
amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted
through the air. The following techniques are required.
1. Provide maximum clearance between easily affected devices and the servo amplifier.
1) 2) 3) 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
3. Avoid wiring the power lines (input/output lines of the servo amplifier) and signal lines side by side
or bundling them together.
4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line.
5. Use shielded wires for the signal and power lines, or put the lines in separate metal conduits.
When the power lines and the signal lines are laid side by side or bundled together, magnetic
induction noise and static induction noise will be transmitted through the signal cables and
malfunction may occur. The following techniques are required.
1. Provide maximum clearance between easily affected devices and the servo amplifier.
4) 5) 6) 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
3. Avoid wiring the power lines (input/output lines of the servo amplifier) and signal lines side by side
or bundling them together.
4. Use shielded wires for the signal and power lines, or put the lines in separate metal conduits.
When the power supply of peripheral equipment is connected to the power supply of the servo
amplifier system, noises produced by the servo amplifier may be transmitted back through the power
7) supply cable and the devices may malfunction. The following techniques are required.
1. Install the radio noise filter (FR-BIF(-H)) on the power lines (Input lines) of the servo amplifier.
2. Install the line noise filter (FR-BSF01/FR-BLF) on the power lines of the servo amplifier.
If the grounding wires of the peripheral equipment and the servo amplifier make a closed loop circuit,
8) leakage current may flow through, causing the equipment to malfunction. In this case, the
malfunction may be prevented by the grounding wires disconnected from the equipment.
11 - 83
(d) Noise reduction techniques for the network cable
POINT
Take measures against noise for both ends of the network cable.
When using it in an environment with excessive noise, directly connect the shield of the network
cable to the ground plate with cable clamp fittings at a place 200 mm to 300 mm or less from the
servo amplifier.
When connecting the network cable from outside the cabinet, connect it to the ground plate at a
place 5 mm to 10 mm away from the cabinet entrance.
To reinforce measures against noise, it is recommended to install a data line filter (TDK ZCAT1730-
0730) to the network cable. Install the data line filter to a place 80 mm or less from the servo
amplifier.
1) For inside the cabinet

a) When using cable clamp fittings
Servo amplifier
Cable clamp fitting
200 mm to 300 mm or less
b) When using a data line filter

Servo amplifier
Data line filter
80 mm or less
11 - 84
2) For outside the cabinet

a) When using cable clamp fittings
Servo amplifier
Inside the Outside the

cabinet cabinet
Cable clamp fitting
Locate 5 mm to 10 mm away
from the cabinet entrance.
b) When using a data line filter

Servo amplifier
Inside the Outside the

cabinet cabinet
Data line filter
80 mm or less
11 - 85
(2) Noise reduction techniques

(a) Data line filter (recommended)
Noise can be prevented by installing a data line filter onto the encoder cable, etc.
For example, ZCAT3035-1330 by TDK, ESD-SR-250 by NEC TOKIN, GRFC-13 by Kitagawa
Industries, and E04SRM563218 by SEIWA ELECTRIC are available as data line filters.
As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated
below. These impedances are reference values and not guaranteed values.
Impedance [Ω] [Unit: mm]
10 MHz to 100 MHz 100 MHz to 500 MHz
39 ± 1
80 150 Loop for fixing the
34 ± 1 cable band
φ13 ± 1
TDK
φ30 ± 1
Product name Lot number
Outline drawing (ZCAT3035-1330)
(b) Surge killer (recommended)

Use of a surge killer is recommended for AC relay, magnetic contactor or the like near the servo
amplifier. Use the following surge killer or equivalent.
OFF
ON
MC
MC
SK
Relay
Surge killer
Surge killer
This distance should be short

(within 20 cm).
(Ex.) CR-50500 Okaya Electric Industries)

Rated
C R
voltage Test voltage Dimensions [Unit: mm]
[µF ± 20%] [Ω ± 30%]
AC [V]
Between terminals: 625 V AC,
φ(18.5 + 2) ± 1
Band (clear) AWG 18 Twisted wire

50 Hz/60 Hz 60 s 15 ± 1
250 0.5 50 (1/2W) Between terminal and case: Soldered
φ3.6
2000 V AC CR-50500
50/60 Hz 60 s 6±1 6±1

300 min. 48 ± 1.5 300 min. 16 ± 1
(18.5 + 5) max.
Note that a diode should be installed to a DC relay or the like.

Maximum voltage: Not less than four times the drive voltage of the relay or + -
the like. RA
Maximum current: Not less than twice the drive current of the relay or the
like. Diode
11 - 86
(c) Cable clamp fitting AERSBAN-_SET

Generally, connecting the grounding of the shielded wire to the SD terminal of the connector
provides a sufficient effect. However, the effect can be increased when the shielded wire is
connected directly to the grounding plate as shown below.
Install the grounding plate near the servo amplifier for the encoder cable. Peel part of the cable
sheath to expose the external conductor, and press that part against the grounding plate with the
cable clamp. If the cable is thin, clamp several cables in a bunch.
The cable clamp comes as a set with the grounding plate.
[Unit: mm]
Cable Strip the cable sheath of

the clamped area. cutter
Cable clamp
(A, B) Earth plate
cable
40
External conductor
Clamp section diagram
Dimensions
[Unit: mm] [Unit: mm]

Earth plate Clamp section diagram
2-φ5 hole 17.5

installation hole
30
L or less 10
B ± 0.3
C
A
6
24 -0.2
0
35
3
24+ 00.3
7
(Note) M4 screw 6 22
35
11
Note. Screw hole for grounding. Connect it to the grounding plate of the cabinet.
Model A B C Accessory fittings Clamp fitting L

AERSBAN-DSET 100 86 30 Clamp A: 2 pcs. A 70
AERSBAN-ESET 70 56 Clamp B: 1 pc. B 45
11 - 87
(d) Line noise filter (FR-BSF01/FR-BLF)

This filter is effective in suppressing noises radiated from the power supply side and output side of
the servo amplifier and also in suppressing high-frequency leakage current (0-phase current). It
especially affects the noises between 0.5 MHz and 5 MHz band.
Connection diagram Dimensions [Unit: mm]
2
The line noise filters can be mounted on lines of the main power FR-BSF01 (for wire size 3.5 mm (AWG 12) or less)
supply (L1/L2/L3) and of the servo motor power (U/V/W). Pass
Approx. 110
each of the wires through the line noise filter an equal number of
times in the same direction. For wires of the main power supply, 95 ± 0.5 2-φ5
Approx. 22.5
the effect of the filter rises as the number of passes increases, but
generally four passes would be appropriate. For the servo motor
power lines, passes must be four times or less. Do not pass the
grounding wire through the filter. Otherwise, the effect of the filter Approx. 65
will drop.
φ33
Wind the wires by passing through the filter to satisfy the required
number of passes as shown in Example 1. If the wires are too
thick to wind, use two or more filters to have the required number
Approx. 65
of passes as shown in Example 2.
Place the line noise filters as close to the servo amplifier as
possible for their best performance.
4.5
Example 1
MCCB MC Servo amplifier
Power L1 2
supply FR-BLF (for wire size 5.5 mm (AWG 10) or more)
L2
Line noise L3 φ7
filter
31.5
(Number of passes: 4)
7
130
Example 2
MCCB MC 85
Power Servo amplifier
supply
L1
L2
80
35
Line noise
filter L3
160
2.3
Two filters are used

(Total number of passes: 4) 180
11 - 88
(e) Radio noise filter (FR-BIF(-H))

This filter is effective in suppressing noises radiated from the power supply side of the servo
amplifier especially in 10 MHz and lower radio frequency bands. The FR-BIF is designed for the
input only.
200 V class: FR-BIF
400 V class: FR-BIF-H
Connection diagram Dimensions [Unit: mm]
Make the connection cables as short as possible. Grounding is
Leakage current: 4 mA
always required. Red White Blue Green
When using the FR-BIF with a single-phase power supply, always
Approx. 300
insulate the lead wires that are not used for wiring.
MR-J4-350GF(-RJ) or less, MR-J4-350GF4(-RJ) or less
Terminal
block Servo amplifier
MCCB MC 29
L1 φ5
Power
42
L2 hole
supply
4
L3
58 29 7
44
Radio noise
filter
MR-J4-500GF(-RJ) or more, MR-J4-500GF4(-RJ) or more

Servo amplifier
MCCB MC
L1
Power L2
supply
L3
Radio noise
filter
11 - 89
(f) Varistor for input power supply (recommended)

Varistors are effective to prevent exogenous noise and lightning surge from entering the servo
amplifier. When using a varistor, connect it between each phase of the input power supply of the
equipment. For varistors, the TND20V-431K, TND20V-471K and TND20V-102K, manufactured by
NIPPON CHEMI-CON, are recommended. For detailed specification and usage of the varistors,
refer to the manufacturer catalog.
Maximum
Maximum rating limit Static
Varistor voltage rating
Power voltage capacity
(range)
supply Varistor Surge (reference
Permissible circuit Energy Rated pulse V1 mA
voltage current value)
voltage immunity power [A] [V]
immunity
AC [Vrms] DC [V] 8/20 µs [A] 2 ms [J] [W] [pF] [V]
10000/1
TND20V-431K 275 350 195 710 1300 430 (387 to 473)
200 V times
1.0 100
class 7000/2
TND20V-471K 300 385 215 775 1200 470 (423 to 517)
times
7500/1
400 V time
TND20V-102K 625 825 400 1.0 100 1650 560 1000 (900 to 1100)
class 6500/2
times
[Unit: mm]
(Note)
D T D H T E φd W
Model L
Max. Max. Max. ±1.0 ±0.05 ±1.0
Min.
TND20V-431K 6.4 3.3
H
21.5 24.5 20 0.8 10.0

TND20V-471K 6.6 3.5
TND20V-102K 22.5 25.5 9.5 6.4 20 0.8 10.0
W E Note. For special purpose items for lead length (L), contact the manufacturer.
L
φd
11 - 90
11.15 Earth-leakage current breaker
(1) Selection method

High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits.
Leakage currents containing harmonic contents are larger than those of the motor which is run with a
commercial power supply.
Select an earth-leakage current breaker according to the following formula, and ground the servo
amplifier, servo motor, etc. securely.
To minimize leakage currents, make the input and output wires as short as possible, and keep a
distance of 30 cm or longer between the wires and ground.
Rated sensitivity current ≥ 10 • {Ig1 + Ign + Iga + K • (Ig2 + Igm)} [mA] ···································· (11.1)
Earth-leakage current breaker

Cable K
Mitsubishi
NV Noise filter Type
products
Servo Cable
amplifier M NV-SP
Models provided with NV-SW
harmonic and surge NV-CP 1
reduction techniques NV-CW
Ig1 Ign Iga Ig2 Igm NV-HW
BV-C1
General models NFB 3
NV-L
Ig1: Leakage current on the electric channel from the earth-leakage current breaker to the input
terminals of the servo amplifier (Found from Fig. 11.13.)
Ig2: Leakage current on the electric channel from the output terminals of the servo amplifier to the servo
motor (Found from Fig. 11.13.)
Ign: Leakage current when a filter is connected to the input side (4.4 mA per one FR-BIF(-H))
Iga: Leakage current of the servo amplifier (Found from table 11.5.)
Igm: Leakage current of the servo motor (Found from table 11.4.)
120 120
Leakage current [mA]
Leakage current [mA]
100 100
80 80
60 60
40 40
20 20
0 0
2 5.5 14 38100 2 5.5 14 38 100
3.5 8 22 60 150 3.5 8 22 60 150
30 80 30 80
Cable size [mm2] Cable size [mm2]
200 V class 400 V class
Fig. 11.13 Example of leakage current per km (lg1, lg2) for CV cable run in metal conduit
11 - 91
Table 11.4 Servo motor leakage current example (lgm)

Servo motor power [kW] Leakage current [mA]
0.05 to 1 0.1
1.2 to 2 0.2
3 to 3.5 0.3
4.2 to 5 0.5
6 to 7 0.7
8 to 11 1.0
12 to 15 1.3
20 to 25 2.3
Table 11.5 Servo amplifier leakage current example (Iga)

Servo amplifier capacity [kW] Leakage current [mA]
0.1 to 0.6 0.1
0.75 to 3.5 0.15
5/7 2
11/15 5.5
22 7
Table 11.6 Earth-leakage current breaker selection example

Rated sensitivity current of earth-leakage
Servo amplifier
current breaker [mA]
MR-J4-10GF(-RJ) to MR-J4-350GF(-RJ)
15
MR-J4-60GF4(-RJ) to MR-J4-350GF4(-RJ)
MR-J4-500GF(-RJ)
30
MR-J4-500GF4(-RJ)
MR-J4-700GF(-RJ)
50
MR-J4-700GF4(-RJ)
MR-J4-11KGF(-RJ) to MR-J4-22KGF(-RJ)
100
MR-J4-11KGF4(-RJ) to MR-J4-22KGF4(-RJ)
11 - 92
(2) Selection example

Indicated below is an example of selecting an earth-leakage current breaker under the following
conditions.
2 mm2 × 5 m 2 mm2 × 5 m
NV
MR-J4-40GF M HG-KR43
Ig1 Iga Ig2 Igm
Use an earth-leakage current breaker designed for suppressing harmonics/surges.

Find the terms of equation (11.1) from the diagram.
5
Ig1 = 20 • = 0.1 [mA]
1000
5
Ig2 = 20 • = 0.1 [mA]
1000
Ign = 0 (not used)
Iga = 0.1 [mA]
Igm = 0.1 [mA]
Insert these values in equation (11.1).
Ig ≥ 10 • {0.1 + 0 + 0.1 + 1 • (0.1 + 0.1)}

≥ 4 [mA]
According to the result of calculation, use an earth-leakage current breaker having the rated sensitivity
current (Ig) of 4.0 mA or more.
An earth-leakage current breaker having Ig of 15 mA is used with the NV-SP/SW/CP/CW/HW series.
11 - 93
11.16 EMC filter (recommended)
POINT
For when multiple servo amplifiers are connected to one EMC filter, refer to
section 6.4 of "EMC Installation Guidelines".
It is recommended that one of the following filters be used to comply with EN EMC directive. Some EMC
filters have large in leakage current.
(1) Combination with the servo amplifier

Recommended filter (Soshin Electric)
Mass
Servo amplifier Rated voltage Leakage current
Model Rated current [A] [kg]
[VAC] [mA]
MR-J4-10GF(-RJ) to HF3010A-UN
10 3.5
5
MR-J4-200GF(-RJ) HF3010A-UN
30 5.5
MR-J4-500GF(-RJ) HF3040A-UN 250
40 6
MR-J4-11KGF(-RJ) 6.5
HF3100A-UN
MR-J4-15KGF(-RJ) 100 12
(Note)
MR-J4-22KGF(-RJ)
MR-J4-60GF4(-RJ)
TF3005C-TX 5
MR-J4-100GF4(-RJ)
6
MR-J4-200GF4(-RJ) to
TF3020C-TX 20
MR-J4-700GF4(-RJ) 500 5.5
MR-J4-11KGF4(-RJ) TF3030C-TX 30 7.5
MR-J4-15KGF4(-RJ) TF3040C-TX 40
12.5
MR-J4-22KGF4(-RJ) TF3060C-TX 60
Note. To use any of these EMC filters, the surge protector RSPD-500-U4 (Okaya Electric Industries) is required.
Recommended filter (COSEL)

Servo amplifier Rated voltage Leakage current Mass [kg]
Model Rated current [A]
[VAC] [mA]
MR-J4-11KGF(-RJ) to FTB-100-355-L
100 500 40 5.3
MR-J4-22KGF(-RJ) (Note)
FTB-80-355-L
MR-J4-22KGF4(-RJ) 80 500 80 5.3
(Note)
Note. To use any of these EMC filters, the surge protector RSPD-500-U4 (Okaya Electric Industries) is required.
11 - 94

EMC filter Servo amplifier
MCCB MC
1 4 L1
(Note 1)
Power supply 2 5 L2
3 6 L3
E L11
L21
1 2 3 (Note 2)
Surge protector

2. The example is when a surge protector is connected.
(3) Dimensions
(a) EMC filter
HF3010A-UN
[Unit: mm]
3-M4 4-5.5 × 7 3-M4 M4
32 ± 2
110 ± 4
85 ± 2
IN
Approx. 41
258 ± 4
65 ± 4
273 ± 2
288 ± 4
300 ± 5
11 - 95
HF3030A-UN/HF-3040A-UN
[Unit: mm]
6-R3.25 length: 8
3-M5 3-M5
125 ± 2
140 ± 1
155 ± 2
44 ± 1
M4
85 ± 1 85 ± 1 70 ± 2
210 ± 2 140 ± 2
260 ± 5
HF3100A-UN
[Unit: mm]
2-6.5 × 8 2-φ 6.5

M8
M8
145 ± 1
165 ± 3
M6
380 ± 1
400 ± 5
160 ± 3
11 - 96
TF3005C-TX/TX3020C-TX/TF3030C-TX
[Unit: mm]
3-M4 6-R3.25 length8 M4 M4 3-M4
M4
Approx. 12.2
125 ± 2
140 ± 1
155 ± 2
16 16
IN
Approx. 67.5
100 ± 1 100 ± 1 ±3
290 ± 2 150 ± 2
308 ± 5 Approx. 160
332 ± 5 170 ± 5
11 - 97
TF3040C-TX/TF3060C-TX
[Unit: mm]
8-R3.25 Length 8 (for M6)
3-M6 M4 M4 3-M6
M6
Approx. 17
145 ± 2
160 ± 1
175 ± 2
22 22
IN
Approx.
100 ± 1 100 ± 1 100 ± 1 91.5
390 ± 2 180 ± 2
412 ± 5 Approx. 190
438 ± 5 200 ± 5
11 - 98
FTB-100-355-L/FTB-80-355-L
[Unit: mm]
3-M8 (option-S: hexagon 350
socket head cap screw) 3-M8 (option-S: hexagon
309
Input socket head cap screw)
Output
28
Model
100
plate
26
M6 (option-S: hexagon
socket head cap screw)
M6 (option-S: hexagon Protective earth (PE)
socket head cap screw) Terminal block cover Terminal block cover
170
(Note)
143
143
20
20
Mounting hole
6.5
80 ± 0.5
Mounting plate
6.5
Mounting hole
335 ± 0.5
Note. No heat radiation holes on the opposite face.
11 - 99
(b) Surge protector
RSPD-250-U4/RSPD-500-U4 [Unit: mm]

1 2 3
5.5 ± 1
11 ± 1
4.2 ± 0.5
28.5 ± 1
Resin
Lead
200 +30
0
1 2 3
4.5 ± 0.5
28 ± 1
Case
41 ± 1
11 - 100
11.17 External dynamic brake
Use an external dynamic brake for a servo amplifier of MR-J4-11KGF(-RJ) to MR-

J4-22KGF(-RJ) and MR-J4-11KGF4(-RJ) to MR-J4-22KGF4(-RJ). Failure to do
so will cause an accident because the servo motor does not stop immediately but
coasts at an alarm occurrence for which the servo motor does not decelerate to
stop. Ensure the safety in the entire equipment. For alarms for which the servo
CAUTION motor does not decelerate to stop, refer to chapter 8.
standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD07] to [Pr. PD09].
Failure to do so will cause the servo amplifier to become servo-off when an
POINT
Configure up a sequence which switches off the magnetic contactor of the
external dynamic brake after (or as soon as) the servo-on command has been
turned off at a power failure or a malfunction.
For the braking time taken when the external dynamic brake is operated, refer to
section 10.3.
The external dynamic brake is rated for a short duration. Do not use it very
frequently.
When using the 400 V class external dynamic brake, the power supply voltage is
restricted to 1-phase 380 V AC to 463 V AC (50 Hz/60 Hz).
Dynamic brake operates at occurrence of alarm, [AL. E6 Servo forced stop
warning] or when power is turned off. Do not use external dynamic brake to stop
in a normal operation as it is the function to stop in emergency.
the estimated number of usage times of the external dynamic brake is 1000
times while the machine decelerates from the rated speed to a stop once in 10
minutes.
Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1
(Forced stop 1) frequently in other than emergency.
(1) Selection of external dynamic brake

The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs
or the protective circuit is activated, and is built in the 7 kW or less servo amplifier. Since it is not built in
the 11 kW or more servo amplifier, purchase it separately. Assign DB (Dynamic brake interlock) to any
of CN3-9, CN3-13, and CN3-15 pins in [Pr. PD07] to [Pr. PD09].
Servo amplifier External dynamic brake
MR-J4-11KGF(-RJ) DBU-11K
MR-J4-15KGF(-RJ) DBU-15K
MR-J4-22KGF(-RJ) DBU-22K-R1
MR-J4-11KGF4(-RJ) DBU-11K-4
MR-J4-15KGF4(-RJ)
DBU-22K-4
MR-J4-22KGF4(-RJ)
11 - 101

(a) 200 V class
Operation ready Servo amplifier
ALM
RA1 OFF ON Servo motor
MC
U
U
Emergency MC
SK
stop switch V
V M
W
(Note 4) W
MCCB MC E
L1
(Note 3)
Power L2 CN3
24 V DC (Note 6)
supply
L3 3 DOCOM
L11
15 ALM RA1
L21
P3 (Note 2,
(Note 7) 8)
DB RA2
P4
(Note 5)
Main circuit CN3
power supply
EM2 20
DICOM 5
24 V DC (Note 6)
DICOM 10
(Note 1)
14 13 U V W
a
RA2
b
Dynamick brake
interlock
External dynamic brake
Note 1. Terminals 13 and 14 are normally open contact outputs. If the external dynamic brake is seized, terminals 13 and 14 will open.
Therefore, configure up an external sequence to prevent servo-on.
2. Assign DB (Dynamic brake interlock) in [Pr. PD07] to [Pr. PD09].
5. Turn off EM2 when the main power circuit power supply is off.
11 - 102
(b) 400 V class

Operation ready
ALM Servo amplifier
RA1 OFF ON
MC
Servo motor
U
Emergency MC
SK U
stop switch V
V M
(Note 8) Step-down W
(Note 4) W
MCCB transformer MC E
L1
(Note 3)
Power L2 CN3
24 V DC (Note 6)
supply
L3 3 DOCOM
L11
15 ALM RA1
L21
P3 (Note 2, DB RA2
(Note 5) (Note 7) 10)

P4
Main circuit CN3
power supply
EM2 20
DICOM 5
24 V DC (Note 6)
DICOM 10
(Note 1)
14 13 U V W
(Note 9) a
RA2 b
Dynamic brake
interlock
Note 1. Terminals 13 and 14 are normally open contact outputs. If the external dynamic brake is seized, terminals 13 and 14 will
open. Therefore, configure an external sequence to prevent servo-on.
2. Assign DB (Dynamic brake interlock) in [Pr. PD07] to [Pr. PD09].
3. For power supply specifications, refer to section 1.3.
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to
turn off the magnetic contactor.
5. Turn off EM2 when the main power circuit power supply is off.
6. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However,
they can be configured by one.
9. The power supply voltage of the inside magnet contactor for 400 V class external dynamic brake DBU-11K-4 and DBU-22K-
4 is restricted as follows. When using these external dynamic brakes, use them within the range of the power supply.
External dynamic brake Power supply voltage

DBU-11K-4 1-phase 380 V AC to 463 V AC, 50
DBU-22K-4 Hz/60 Hz
11 - 103
(3) Timing chart

Coasting Coasting
Servo motor speed
Dynamic brake Dynamic brake
Alarm Present
Absent
ON
Base circuit
OFF
ON
DB (Dynamic
brake interlock)
OFF
Disabled
Dynamic brake
Enabled
Short
Emergency
stop switch Open
a. Timing chart at alarm occurrence b. Timing chart at Emergency stop switch enabled
Coasting
Dynamic brake
Servo motor speed Electro magnetic
brake interlock
(Note 1) 7 ms
ON
Base circuit
OFF
10 ms
MBR (Electromagnetic ON
brake interlock)
OFF (Valid) (Note 2)
Electro magnetic
15 ms to 60 ms brake operation
ON delay time
ALM (Malfunction)
OFF
Main circuit ON
Control circuit Power
OFF
DB (Dynamic ON
brake interlock)
OFF
Disabled
Dynamic brake
Enabled
Note 1. When powering off, DB (Dynamic brake interlock) will be turned off, and the base
circuit is turned off earlier than usual before an output shortage occurs.
(Only when assigning the DB as the output signal)
2. Variable according to the operation status.
c. Timing chart when both of the main and control circuit power are off
11 - 104
(4) Dimensions
(a) DBU-11K/DBU-15K/DBU-22K-R1
[Unit: mm]
E
B
A
5 G 2.3
E
D 100 D F
C
Terminal block
a b 13 14 U V W
Screw: M3.5 Screw: M4

Tightening torque: 0.8 [N•m] Tightening torque: 1.2 [N•m]
2
Mass (Note) Connection wire [mm ]
External dynamic brake A B C D E F G
[kg] U/V/W Except U/V/W
DBU-11K 200 190 140 20 5 170 163.5 2 5.5 (AWG 10) 2 (AWG 14)
DBU-15K/DBU-22K-R1 250 238 150 25 6 235 228 6 5.5 (AWG 10) 2 (AWG 14)

11 - 105
(b) DBU-11K-4/DBU-22K-4
[Unit: mm]
2-φ7 mounting hole
10
26
260
280
228
43
26
51 73.75 7 2.3
10
25 150 25 195 15
200 210
15 170 15
178.5
179.5
Mass: 6.7 [kg]
Terminal block
TE1 TE2
a b 13 14 U V W
Screw: M3.5 Screw: M4

Tightening torque: 0.8 [N•m] Tightening torque: 1.2 [N•m]
2
(Note) Connection wire [mm ]
U/V/W Except U/V/W
DBU-11K-4 5.5 (AWG 10) 2 (AWG 14)
DBU-22K-4 5.5 (AWG 10) 2 (AWG 14)

Wire type: 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire)
11 - 106
11.18 Panel through attachment (MR-J4ACN15K/MR-J3ACN)
Use the panel through attachment to mount the heat generation area of the servo amplifier in the outside of
the cabinet to dissipate servo amplifier-generated heat to the outside of the cabinet and reduce the amount
of heat generated in the cabinet. In addition, designing a compact cabinet is allowed.
In the cabinet, machine a hole having the panel cut dimensions, fit the panel through attachment to the servo
amplifier with the fitting screws (4 screws supplied), and install the servo amplifier to the cabinet.
Please prepare screws for mounting. They do not come with.
The environment outside the cabinet when using the panel through attachment should be within the range of
the servo amplifier operating environment.
The panel through attachment are used for MR-J4-11KGF(-RJ) to MR-J4-22KGF(-RJ) and MR-J4-11KGF4(-
RJ) to MR-J4-22KGF4(-RJ).
The following shows the combinations.
Servo amplifier Panel through attachment
MR-J4-11KGF(-RJ)
MR-J4ACN15K
MR-J4-15KGF(-RJ)
MR-J4-22KGF(-RJ) MR-J3ACN
MR-J4-11KGF4(-RJ)
MR-J4ACN15K
MR-J4-15KGF4(-RJ)
MR-J4-22KGF4(-RJ) MR-J3ACN
(1) MR-J4ACN15K
(a) Panel cut dimensions
[Unit: mm]
163 4-M10 Screw
Approx.
125
535
Punched
510
hole
410
196
18
218
(b) How to assemble the attachment for panel through attachment
Attachment
Screw
(2 places)
11 - 107
(c) Mounting method
Attachment
Servo amplifier
Fit using the

assembling
screws.
Attachment
a. Assembling the panel through attachment
Punched
hole
Cabinet
Servo amplifier
b. Mounting it to inside cabinet
11 - 108
(d) Mounting dimensional diagram
[Unit: mm]
Approx. 58
20.6
145
188
Panel
Approx. 400
580
510
Attachment
Servo amplifier
Servo amplifier
78
35
Panel
12
3.2
196 155 108.3
Mounting hole
240 Approx. 263.3
(2) MR-J3ACN
(a) Panel cut dimensions
[Unit: mm]
[Unit : mm]
203 4-M10 Screw

Approx.
12539.5
535
Punched
510
hole
331
39.5
18
236
255
270
11 - 109
(b) How to assemble the attachment for panel through attachment
Attachment
Screw
(2 places)
(c) Mounting method
Attachment
Punched
hole
Servo
amplifier
Fit using the Servo
assembling amplifier
screws. Cabinet
Attachment
a. Assembling the panel through attachment b. Mounting it to inside cabinet
11 - 110
(d) Mounting dimensional diagram
[Unit: mm]
20
Approx. 58
Panel
145
194
Approx. 400
580 Servo
510 amplifier Attachment Servo amplifier
84
35
Panel
3.2
12
236
155 105 Approx. 11.5
280 Mounting Approx. 260
hole
Approx. 260
11 - 111
MEMO
11 - 112
12. ABSOLUTE POSITION DETECTION SYSTEM
If [AL. 25 Absolute position erased] or [AL. E3 Absolute position counter warning]

has occurred, always perform home position setting again. Otherwise, it may
cause an unexpected operation.
CAUTION If [AL. 25], [AL. 92], or [AL. 9F] occurs due to such as short circuit of the battery,
the MR-BAT6V1 battery can become hot. Use the MR-BAT6V1 battery with case
to prevent getting burnt.
POINT
Refer to section 11.8 for the replacement procedure of the battery.
For configuring the absolute position detection system, there are three batteries
of MR-BAT6V1SET-A, MR-BAT6V1BJ and MR-BT6VCASE. Compared with
other batteries, MR-BAT6V1BJ has the following advantages.
You can disconnect the encoder cable from the servo amplifier.
You can change the battery with the control circuit power supply off.
When absolute position data is erased from the encoder, always execute home
position setting before operation. The absolute position data of the encoder will
be erased in the followings. Additionally, when the battery is used out of
specification, the absolute position data can be erased.
When the MR-BAT6V1SET-A and MR-BT6VCASE are used
The encoder cable was disconnected.
The battery was replaced when the control circuit power supply was off.
When the MR-BAT6V1BJ is used
A connector or cable was disconnected between the servo motor and battery.
The battery was replaced with procedures other than those of (6) in section
11.8.3.
12.1 Summary
12.1.1 Features
For normal operation, the encoder consists of a detector designed to detect a position within one revolution
and a cumulative revolution counter designed to detect the number of revolutions.
The absolute position detection system always detects the absolute position of the machine and keeps it
battery-backed, independently of whether the controller power is on or off. Therefore, once home position
return is made at the time of machine installation, home position return is not needed when power is
switched on thereafter.
Even at a power failure or a malfunction, the system can be easily restored.
12 - 1
12.1.2 Structure
The following shows a configuration of the absolute position detection system. Refer to section 11.8 for each
battery connection.
Controller Servo amplifier
CN1A CN2
Battery CN4
Servo motor
12.1.3 Parameter setting
(1) Absolute position detection system selection

Set "_ _ _ 1" in [Pr. PA03] to enable the absolute position detection system.
[Pr. PA03]
1
Absolute position detection system selection
0: Disabled (used in incremental system)
1: Enabled (used in absolute position detection system)
(2) [AL. E3 Absolute position counter warning] selection

When a simple motion module QD77GF_ or RD77GF_ is used, set [Pr. PC18] to "_ _ 0 _".
[Pr. PC18]
[AL. E3 Absolute position counter warning] selection

0: Disabled
1: Enabled
12 - 2
12.1.4 Confirmation of absolute position detection data
You can check the absolute position data with MR Configurator2. Choose "Monitor" and "ABS Data Display"
to open the absolute position data display screen.
12 - 3
12.2 Battery
12.2.1 Using MR-BAT6V1SET-A battery

Command Home position data

position
EEP-ROM memory
LSO Current
position
1XO
Position control
Speed control
Backup at
power off
LS 1X
Detecting the Detecting the
Step-down number of position within
circuit revolutions one revolution
(6 V → 3.4 V)
MR-BAT6V1SET-A
Servo motor
Cumulative revolution counter High speed

(1 pulse/rev) serial
communication
One-revolution counter
(2) Specifications
(a) Specification list
Item Description
System Electronic battery backup type
Maximum revolution range Home position ± 32767 rev.
6000
(Note 1) Rotary servo motor
(only when acceleration time until 6000 r/min is 0.2 s or more)
Maximum speed at power
500
failure [r/min] Direct drive motor
Approximately 20,000 hours
(equipment power supply: off, ambient temperature: 20 ˚C)
Rotary servo motor
(Note 2) (power-on time ratio: 25%, ambient temperature: 20 °C) (Note 3)
Battery backup time Approximately 5,000 hours
Direct drive motor
(power-on time ratio: 25%, ambient temperature: 20 °C) (Note 3)
Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like. Also, if power is
switched on at the servo motor speed of 3000 r/min or higher, position mismatch may occur due to external force or the like.
2. The data-holding time by the battery using MR-BAT6V1SET-A. Replace the batteries within three years since the operation
start regardless of the power supply of the servo amplifier on/off. If the battery is used out of specification, [AL. 25 Absolute
position erased] may occur.
3. The power-on time ratio 25% is equivalent to 8 hours power on for a weekday and off for a weekend.
12 - 4
12.2.2 Using MR-BAT6V1BJ battery for junction battery cable
POINT
MR-BAT6V1BJ is compatible only with HG series servo motors. It cannot be
used with direct drive motors.
MR-BAT6V1BJ cannot be used for fully closed loop system.


position
EEP-ROM memory
LSO Current
position
1XO
Position control
Speed control
Backup at
power off
LS 1X
(6 V → 3.4 V)
Primary lithium battery
Step-down circuit
MR-BAT6V1BJ
Servo motor Battery High-speed
serial
communication
Cumulative revolution counter
(1 pulse/rev)
Counter within one revolution
(2) Specifications
(a) Specification list
Item Description
(Note 1)
6000
Maximum speed at power Rotary servo motor
failure [r/min]
(Note 2) (equipment power supply: off, ambient temperature: 20 ˚C)
Rotary servo motor
Battery backup time Approximately 29,000 hours
2. The data-holding time by the battery using MR-BAT6V1BJ. Replace the batteries within three years since the operation start
regardless of the power supply of the servo amplifier on/off. If the battery is used out of specification, [AL. 25 Absolute position
erased] may occur.
12 - 5
12.2.3 Using MR-BT6VCASE battery case
POINT
One MR-BT6VCASE holds absolute position data up to eight axes servo motors.
Always install five MR-BAT6V1 batteries to an MR-BT6VCASE.


position
EEP-ROM memory
LSO Current
position
1XO
Position control
Speed control
Backup at
power off
LS 1X
(6 V → 3.4 V)
MR-BT6VCASE
Servo motor MR-BAT6V1 × 5
Cumulative revolution counter High speed

(1 pulse/rev) serial
communication
One-revolution counter
(2) Specification list

Item Description
6000
(Note 1) Rotary servo motor
Maximum speed at power
500
failure [r/min] Direct drive motor
Approximately 40,000 hours/2 axes or less, 30,000 hours/3 axes, or
10,000 hours/8 axes
Rotary servo motor
15,000 hours/8 axes
(Note 2) (power-on time ratio: 25%, ambient temperature: 20 °C) (Note 4)
Battery backup time Approximately 10,000 hours/2 axes or less, 7,000 hours/3 axes, or
5,000 hours/4 axes
Direct drive motor
10,000 hours/4 axes
2. The data-holding time by the battery using five MR-BAT6V1s. The battery life varies depending on the number of axes
(including axis for using in the incremental system). Replace the batteries within three years since the operation start
regardless of the power supply of the servo amplifier on/off. If the battery is used out of specification, [AL. 25 Absolute position
erased] may occur.
12 - 6
13. USING STO FUNCTION
POINT
13.1 Introduction
This section provides the cautions of the STO function.
13.1.1 Summary
This servo amplifier complies with the following safety standards.

ISO/EN ISO 13849-1 category 3 PL e
IEC 61508 SIL 3
IEC/EN 61800-5-2
IEC/EN 62061 SIL CL3
13.1.2 Terms related to safety
The STO function shuts down energy to servo motors, thus removing torque. This function electronically cuts
off power supply in the servo amplifier.
The purpose of this function is as follows.
(1) Uncontrolled stop according to stop category 0 of IEC/EN 60204-1
(2) Preventing unexpected start-up
13.1.3 Cautions
The following basic safety notes must be read carefully and fully in order to prevent injury to persons or
damage to property.
Only qualified personnel are authorized to install, start-up, repair, or service the machines in which these
components are installed.
They must be familiar with all applicable local regulations and laws in which machines with these
components are installed, particularly the standards mentioned in this manual.
The staff responsible for this work must be given express permission from the company to perform start-up,
programming, configuration, and maintenance of the machine in accordance with the safety standards.
Improper installation of the safety related components or systems may cause

WARNING improper operation in which safety is not assured, and may result in severe
injuries or even death.
Protective Measures
This servo amplifier satisfies the Safe Torque Off (STO) function described in IEC/EN 61800-5-2 by
preventing the energy supply from the servo amplifier to the servo motor. If an external force acts upon
the drive axis, additional safety measures, such as brakes or counterbalances must be used.
13 - 1
13.1.4 Residual risks of the STO function
Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are
residual risks associated with the STO function. Mitsubishi is not liable for any damages or injuries caused
by these risks.
(1) The STO function disables energy supply to the servo motor by electrical shut-off. The function does not
mechanically disconnect electricity from the motor. Therefore, it cannot prevent exposure to electric
shock. To prevent an electric shock, install a magnetic contactor or a molded-case circuit breaker to the
main circuit power supply (L1/L2/L3) of the servo amplifier.
(2) The STO function disables energy supply to the servo motor by electrical shut-off. It does not guarantee
the stop control or the deceleration control of the servo motor.
(3) For proper installation, wiring, and adjustment, thoroughly read the manual of each individual safety
related component.
(4) In the safety circuit, use components that are confirmed safe or meet the required safety standards.
(5) The STO function does not guarantee that the drive part of the servo motor will not rotate due to external
or other forces.
(6) Safety is not assured until safety-related components of the system are completely installed or adjusted.
(7) When replacing this servo amplifier, confirm that the model name of servo amplifiers are exactly the
same as those being replaced. Once installed, make sure to verify the performance of the functions
before commissioning the system.
(8) Perform all risk assessments to the machine or the whole system.
(9) To prevent accumulation of malfunctions, perform malfunction checks at regular intervals based on the
risk assessments of the machine or the system. Regardless of the system safety level, malfunction
checks should be performed at least once per year.
(10) If the upper and lower power modules in the servo amplifier are shorted and damaged simultaneously,
the servo motor may make a half revolution at a maximum. For a linear servo motor, the primary side
will move a distance of pole pitch.
(11) The STO input signals (STO1 and STO2) must be supplied from one power source. Otherwise, the
STO function may not function properly due to a sneak current, failing to bring the STO shut-off state.
(12) For the STO I/O signals of the STO function, supply power by using a safety extra low voltage (SELV)
power supply with the reinforced insulation.
13 - 2
13.1.5 Specifications
(1) Specifications
Item Specifications
ISO/EN ISO 13849-1 category 3 PL e, IEC 61508 SIL 3,
Safety performance (Note 2)
EN 62061 SIL CL3, EN 61800-5-2
Mean time to dangerous failure
MTTFd ≥ 100 [years] (314a) (Note 1)
(MTTFd)
Diagnostic converge (DC) DC = Medium, 97.6 [%] (Note 1)
Average probability of dangerous -9
PFH = 6.4 × 10 [1/h]
failures per hour (PFH)
Number of on/off times of STO 1,000,000 times
LVD: EN 61800-5-1
MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
Note 1. This is the value required by safety standards.

2. The safety level depends on the setting value of [Pr. PF18 STO diagnosis error detection time] and
whether STO input diagnosis by TOFB output is performed or not. For details, refer to the Function
column of [Pr. PF18] in section 5.2.6.
(2) Function block diagram (STO function)
Base power
supply for
CN8 upper arm
Shut-off signal (STO1)
Shut-
off
Monitor signal (TOFB1)
Base power
supply for Power
Shut-off signal (STO2) lower arm module
Shut-
off
Monitor signal (TOFB2)
M Servo motor
(3) Operation sequence (STO function)
Servo motor speed
0 r/min
ON
EM2 (Forced stop 2)
OFF
ON
STO1 STO2
OFF
ON
Magnetic contactor
OFF (8 ms)
Base circuit ON
(Supplying energy to
13 - 3
13.1.6 Maintenance
This servo amplifier has alarms and warnings for maintenance that supports the Mitsubishi drive safety
function. (Refer to chapter 8.)
13.2 STO I/O signal connector (CN8) and signal layouts
13.2.1 Signal layouts
POINT
The pin configurations of the connectors are as viewed from the cable connector
wiring section.
Servo amplifier
STO I/O signal connector
CN8
2 1
4 3
STO1 STOCOM
6 5
TOFB1 STO2
8 7
TOFCOM TOFB2
13 - 4
13.2.2 Signal (device) explanations
(1) I/O device

Connector I/O
Signal name Description
pin No. division
STOCOM CN8-3 Common terminal for input signal of STO1 and STO2 DI-1
STO1 CN8-4 Inputs STO state 1. DI-1
STO state (base shut-off): Open between STO1 and STOCOM.
STO release state (in driving): Close between STO1 and STOCOM.
Be sure to turn off STO1 after the servo motor stops by the servo-off state or with forced
stop deceleration by turning off EM2 (Forced stop 2).
STO2 CN8-5 Inputs STO state 2. DI-1
STO state (base shut-off): Open between STO2 and STOCOM.
STO release state (in driving): Close between STO2 and STOCOM.
Be sure to turn off STO2 after the servo motor stops by the servo-off state or with forced
stop deceleration by turning off EM2 (Forced stop 2).
TOFCOM CN8-8 Common terminal for monitor output signal in STO state DO-1
TOFB1 CN8-6 Monitor output signal in STO1 state DO-1
STO state (base shut-off): Between TOFB1 and TOFCOM is closed.
STO release state (in driving): Between TOFB1 and TOFCOM is opened.
TOFB2 CN8-7 Monitor output signal in STO2 state DO-1
STO state (base shut-off): Between TOFB2 and TOFCOM is closed.
STO release state (in driving): Between TOFB2 and TOFCOM is opened.
(2) Signals and STO state

The following table shows the TOFB and STO states when the power is on in normal state and STO1
and STO2 are on (closed) or off (opened).
Input signal State
Between TOFB1 and TOFB2
Between TOFB1 and TOFCOM Between TOFB2 and TOFCOM
STO1 STO2 (Monitoring STO state of servo
(Monitoring STO1 state) (Monitoring STO2 state)
amplifier)
Off Off On: STO state (base circuit shut-off) On: STO state (base circuit shut-off) On: STO state (base circuit shut-off)
Off On On: STO state (base circuit shut-off) Off: STO release state Off: STO state (base circuit shut-off)
On Off Off: STO release state On: STO state (base circuit shut-off) Off: STO state (base circuit shut-off)
On On Off: STO release state Off: STO release state Off: STO release state
(3) Test pulse of STO input signal

Set the test pulse off time inputted from outside to 1 ms or less.
13.2.3 How to pull out the STO cable
The following shows how to pull out the STO cable from the CN8 connector of the servo amplifier.
While pressing knob 1) of the STO cable plug in the
direction of the arrow, pull out the plug 2).
2)
1)
13 - 5
13.3 Connection example
POINT
Turn off STO (STO1 and STO2) after the servo motor stops by the servo off
state or with forced stop deceleration by turning off EM2 (Forced stop 2).
Configure an external sequence that has the timings shown as below using an
external device such as the MR-J3-D05 safety logic unit.
ON
STO1 STO2 OFF
ON
EM2 OFF
Servo motor
speed 0 r/min
If STO is turned off during operation, the servo motor is in dynamic brake stop
(stop category 0), and [AL. 63 STO timing error] will occur.
13.3.1 Connection example for CN8 connector
This servo amplifier is equipped with the connector (CN8) in accordance with the STO function. When this
connector is used with a certified external safety relay, power to the motor can be safely removed and
unexpected restart can be prevented. The safety relay used should meet the applicable safety standards
and have forcibly guided or mirror contacts for the purpose of error detection.
In addition, the MR-J3-D05 safety logic unit can be used instead of a safety relay for implementation of
various safety standards. Refer to Appendix 5 for details.
The following diagram is for source interface. For sink interface, refer to section 13.4.1.
Servo amplifier
Forced stop 2 CN3 Approx.

6.2 kΩ
EM2 20
DICOM 5
24 V DC
DICOM 10
CN8 Approx.
(Note 2) 3.0 kΩ CN8 (Note 1)
STO1 STO1 4
Approx.
(Note 2) 3.0 kΩ 6 TOFB1
STO2 STO2 5
8 TOFCOM
STOCOM 3
7 TOFB2
24 V DC
Door
(Note 3) Open
Note 1. By using TOFB, whether the servo is in the STO state can be confirmed. For connection
examples, refer to section 13.3.2 and 13.3.3. The safety level depends on the setting
value of [Pr. PF18 STO diagnosis error detection time] and whether STO input diagnosis
by TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18]
in section 5.2.6.
2. When using the STO function, turn off STO1 and STO2 at the same time. Turn off STO1
and STO2 after the servo motor stops by the servo off state or with forced stop
deceleration by turning off EM2 (Forced stop 2).
3. Configure the interlock circuit so that the door is open after the servo motor is stopped.
13 - 6
13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit
POINT
This connection is for source interface. For the other I/O signals, refer to the
connection examples in section 3.2.2.

24 V
(Note 2) (Note 2)
S2 S1 S4 S3
MR-J3-D05 RESA RESB
(Note 1) (Note 1)
SW1 SW2 STOA STOB
EM2 EM2
(A-axis) (B-axis)
CN9
1A SDI1A+
1B SDI1A- MC
Servo amplifier
4A SDO1A+ CN8
Control circuit
CN8A 4B SDO1A- STO1 4
CN10 STO2 5
3A SDI2A+
STOCOM 3
3B SDI2A-
TOFB1 6
1A SRESA+
1B SRESA- TOFB2 7
6A SDO2A+
TOFCOM 8
6B SDO2A-
8A TOFA CN3
EM2 (A-axis)
Servo motor
CN9
2A SDI1B+
2B SDI1B- MC
Servo amplifier
CN8B 3A SDO1B+ CN8
Control circuit
3B SDO1B- STO1 4
CN10 STO2 5
4A SDI2B+
STOCOM 3
4B SDI2B-
TOFB1 6
2A SRESB+
FG
2B SRESB- TOFB2 7
5A SDO2B+
TOFCOM 8
5B SDO2B-
8B TOFB CN3
EM2 (B-axis)
7A +24V M
7B 0V
Servo motor
0V
13 - 7
Note 1. Set the delay time of STO output with SW1 and SW2. These switches are located where dented from the front panel.
2. To release the STO state (base circuit shut-off), turn RESA and RESB on and turn them off.
(2) Basic operation example

The switch status of STOA is input to SDI2A+ of MR-J3-D05, and then it will be input to STO1 and STO2
of the servo amplifier via SDO1A and SDO2A of MR-J3-D05.
The switch status of STOB is input to SDI2B+ of MR-J3-D05, and then it will be input to STO1 and STO2
of the servo amplifier via SDO1B and SDO2B of MR-J3-D05.
A-axis shutdown 1 and 2 Energizing (close)
B-axis shutdown 1 and 2 Shut-off (open)
Stop
EM2 input Shut off delay
Operation
Normal (close)
STO1, STO2 STO shut-off
Shut-off (open)
Servo amplifier
Servo motor speed
0 r/min
Servo motor drivable STO status
13 - 8
13.3.3 External I/O signal connection example using an external safety relay unit
POINT
This connection is for source interface. For the other I/O signals, refer to the
connection examples in section 3.2.2.
This connection example complies with the requirement of ISO/EN ISO 13849-1 category 3 PL d.
For details, refer to the safety relay module user’s manual.
24 V
S4 EMG
S3
S2 K3
Fuse KM1
+24V XS0 XS1 Z00 Z10 Z20 KM1
Safety relay module

MELSEC Power Control
supply circuit
(QS90SR2S)
KM1
24G COM0 X0 COM1 X1 Z01 Z11 Z21
Servo amplifier
CN8 Control circuit
STO1
S1 or
EMG
(Note)
STO2
STOCOM
TOFB1
TOFCOM
K3
0V
TOFB2
20
S1: STO shut-off switch (STO switch)
S2: Start switch (STO release switch) CN3
S3: On switch EM1
S4: Off switch or
EM2
KM1: Magnetic contactor
K3: Safety relay
EMG: Emergency stop switch M
Servo motor
Note. To enable the STO function of the servo amplifier by using "Emergency switching off", change S1 to EMG. The stop category at
this time is "0". If STO is turned off while the servo motor is rotating, [AL. 63 STO timing error] will occur.
13 - 9
13.4 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 13.2. Refer to this section and make connection with the external device.
13.4.1 Sink I/O interface

Servo amplifier
For transistor
STO1
Approx. 5 mA STO2
Approx. 3.0 kΩ
Switch
TR
STOCOM
VCES 1.0 V 24 V DC ± 10%

ICEO 100 µA 300 mA

This is a circuit of collector output terminal of the output transistor. When the output transistor is turned
on, collector terminal current will be applied for the output.
A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush
current suppressing resistor (R) for a lamp load.
(Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A
maximum of 5.2 V voltage drop occurs in the servo amplifier.
(a) When outputting two STO states by using each TOFB
Servo amplifier If polarity of diode is

TOFB1 Load will malfunction.
TOFCOM
(Note)
24 V DC ± 10%
TOFB2 300 mA Load
13 - 10
(b) When outputting two STO states by using one TOFB

TOFCOM
(Note)
24 V DC ± 10%
TOFB2 300 mA
13 - 11
13.4.2 Source I/O interface

This is an input circuit whose photocoupler anode side is input terminal. Transmit signals from source
Servo amplifier
STO1
STO2
Approx. 3.0 kΩ
Switch
TR
STOCOM
Approx. 5 mA 24 V DC ± 10%
VCES 1.0 V 300 mA
ICEO 100 µA

This is a circuit of emitter output terminal of the output transistor. When the output transistor is turned on,
current will be applied from the output to a load.
A maximum of 5.2 V voltage drop occurs in the servo amplifier.
(a) When outputting two STO states by using each TOFB

TOFCOM
(Note)
24 V DC ± 10%
TOFB2 300 mA Load
(b) When outputting two STO states by using one TOFB

TOFCOM
(Note)
24 V DC ± 10%
TOFB2 300 mA
13 - 12
14. USING A LINEAR SERVO MOTOR
When using the linear servo motor, read "Linear Servo Motor Instruction Manual"
WARNING and "Linear Encoder Instruction Manual".
POINT
The linear servo motor is available for servo amplifiers with software version A1
or later.
14.1 Functions and configuration
14.1.1 Summary
The fields of semiconductor/LCD manufacturing systems, mounters, and others have strong demands for
high accuracy, high speed, and efficiency. Therefore, the number of systems using a linear servo motor for a
drive axis has been increasing. Since the linear servo system can obtain the characteristics of the high
speed and the high acceleration/deceleration greater than the ball screw drive system. The linear servo
system also does not have a ball screw wear which is a weak point in the ball screw drive system. This will
extend the life of the equipment. In addition, since a response error due to backlash and friction does not
occur, you can establish a high-accuracy system.
The following shows the differences between the linear servo motor and the rotary servo motor.
Differences
Category Item Remark
Linear servo motor Rotary servo motor
Motor pole Magnetic pole detection Required Not required Automatically executed at the first
adjustment (default setting) servo-on after the power is turned
on.
For the absolute position linear
encoder, [Pr. PL01] can disable the
magnetic pole detection. The timing
of the magnetic pole detection can
be changed with [Pr. PL01]. (Refer
to (2) (b) of section 14.3.3.)
Home position Reference home position 1048576 pulses unit One servo motor Home position return pitch can be
return (initial value) revolution unit changed with parameter setting.
(Refer to section 14.3.3)
Absolute position Absolute position encoder Not required Required The following alarms and warnings
detection system battery are not provided for the linear servo
motor.
[AL. 25 Absolute position erased]
[AL. 92 Battery cable
disconnection warning]
[AL. 9F Battery warning]
[AL. E3 Absolute position counter
warning]
Auto tuning Load to motor inertia ratio Load to motor mass Load to motor
(J) ratio inertia ratio
MR Configurator2 Motor speed mm/s unit r/min unit
(SW1DNC-MRC2-_) (Data display and setting)
Test Positioning Supported Supported
operation operation
function Motor-less None Supported
operation
JOG operation None Supported
Program Supported Supported
operation
14 - 1
14.1.2 Servo system with auxiliary equipment
Connecting a linear servo motor for different axis to the U, V, W, or CN2 may
POINT
Equipment other than the servo amplifier and linear servo motor are optional or
When using the linear servo motor, set [Pr. PA01] to "_ _ 4 _".
(1) MR-J4-_GF_
The configuration diagram is an example of MR-J4-20GF. When using the other servo amplifiers, the
configuration will be the same as rotary servo motors except for connections of linear servo motors and
linear encoders. Refer to section 1.8 depending on servo amplifiers you use.
(Note 2) RS T
Power
supply
Personal
(MCCB) CN5
(Note 3)
Magnetic CN8 To safety relay or
contactor MR-J3-D05 safety
(MC) logic unit
(Note 1)
CN3 Junction
terminal
Line noise block
filter
(FR-BSF01)
D (Note 5)
CN1A Servo system
controller or
servo amplifier
U
L1
V Servo system
L2 CN1B
controller or
Power factor (Note 6)

P3 CN2 SCALE
improving DC
reactor THM
(FR-HEL) P4 (Note 4)
Thermistor
P+
Regenerative Linear
option servo motor
C
L11
L21
Encoder
cable
Linear encoder
14 - 2
2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-200GF or less. For 1-phase
200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For power supply specifications, refer to
section 1.3.
4. For the branch cable, use the MR-J4THCBL03M (optional).
6. Connect the thermistor to THM of branch cable and connect the encoder cable to SCALE correctly. Incorrect setting will trigger
[AL. 16].
14 - 3
(2) When using serial linear encoder with MR-J4-_GF_-RJ

The configuration diagram is an example of MR-J4-20GF-RJ. When using the other servo amplifiers, the
(Note 2) RS T
Power
supply
Personal
(MCCB) CN5
(Note 3)
(MC) logic unit
(Note 1)
CN3 Junction
terminal
Line noise block
filter
(FR-BSF01)
D (Note 5)
CN1A Servo system
controller or
servo amplifier
U
L1
V Servo system
L2 CN1B
controller or
Power factor (Note 6)

P3 CN2 SCALE
improving DC
reactor THM
(FR-HEL) P4 (Note 4)
Thermistor
P+
Regenerative Linear
option servo motor
C
L11
L21
Encoder
cable
Serial
linear encoder
2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-200GF-RJ or less. For 1-phase
200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For power supply specifications, refer to
section 1.3.
4. For the branch cable, use the MR-J4THCBL03M (optional).
6. Connect the thermistor to THM of branch cable and connect the encoder cable to SCALE correctly. Incorrect setting will trigger
[AL. 16].
14 - 4
(3) When using A/B/Z-phase differential output linear encoder with MR-J4-_GF_-RJ
The configuration diagram is an example of MR-J4-20GF-RJ. When using the other servo amplifiers, the
(Note 2) RS T
Power
supply
Personal
(MCCB) CN5
(Note 3)
(MC) logic unit
(Note 1)
CN3 Junction
terminal
Line noise block
filter
(FR-BSF01)
D (Note 4)
CN1A Servo system
controller or
servo amplifier
U
L1
V Servo system
L2 CN1B
controller or
Power factor P3 CN2 Thermistor

improving DC
reactor
(FR-HEL) P4 CN2L
P+ (Note 5)
Regenerative
option Linear
C servo motor
L11
L21
Encoder
cable
A/B/Z-phase differential
output linear encoder
2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-200GF-RJ or less. For 1-phase
200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications, refer to
section 1.3.
5. Connect the thermistor to CN2 of servo amplifier and connect the encoder cable to CN2L correctly. Incorrect setting will trigger
[AL. 16].
14 - 5
14.2 Signals and wiring
WARNING Ground the servo amplifier and the linear servo motor securely.
Do not attempt to wire the servo amplifier and the linear servo motor until they
have been installed. Otherwise, it may cause an electric shock.
terminals.
Wire the equipment correctly and securely. Otherwise, the linear servo motor may
occur.
24 V DC 24 V DC
DOCOM DOCOM

RA
signal signal RA

CAUTION Electromagnetic interference may be given to the electronic equipment used near
Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF
(-H)) with the power wire of the linear servo motor.
causing a fire.
Connect the servo amplifier power output (U/V/W) to the linear servo motor power
input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise,
it may cause a malfunction.
Linear servo Linear servo
Servo amplifier motor Servo amplifier motor
U U
U U
V V
V M V M
W W
W W
14 - 6
Connecting a linear servo motor for different axis to the U, V, W, or CN2 may
CAUTION The cables such as power wires deriving from the primary side cannot stand the
long-term bending action. Avoid the bending action by fixing the cables to the
moving part, etc. Also, use the cable that stands the long-term bending action for
the wiring to the servo amplifier.
This chapter does not describe the following items. For details of the items, refer to each section of the
Item Detailed explanations
Input power supply circuit Section 3.1
Explanation of power supply system Section 3.3
Signal (device) explanations Section 3.5
Alarm occurrence timing chart Section 3.7
Interfaces Section 3.8
Grounding Section 3.10
Switch setting and display of the servo
Section 4.3
amplifier
14 - 7
14.3 Operation and functions
14.3.1 Startup
POINT
When using the linear servo motor, set [Pr. PA01] to "_ _ 4 _".
(1) Startup procedure

Start up the linear servo system in the following procedure.
Installation and wiring
Set the linear servo motor series and linear servo motor type.
(Note)
Set the linear encoder direction and the linear servo motor direction.
What is the type of the

linear encoder?
Incremental linear encoder Absolute position linear encoder
(Note)
Set the linear encoder resolution. (Refer to (4) in this section.)
(Note)
Perform the magnetic pole detection. (Refer to (3) of section 14.3.2.)
Change the setting to disable the

magnetic pole detection.
(Refer to (3) of section 14.3.2.)
(Note)
Positioning operation check using the test operation mode
(Refer to section 14.3.4.)
Positioning operation check using the controller (Refer to section 14.3.5.)
Home position return operation (Refer to section 14.3.3.)
Positioning operation
Note. Use MR Configurator2.
(2) Set the linear servo motor series and linear servo motor type.
To use the linear servo motor, set the linear servo motor series and linear servo motor type with [Pr.
PA17 Servo motor series setting] and [Pr. PA18 Servo motor type setting]. (Refer to section 5.2.1.)
14 - 8
(3) Settings of the linear encoder direction and the linear servo motor direction
Set the first digit of [Pr. PC27] (Encoder pulse count polarity selection) so that the positive direction of
the linear servo motor matches with the increasing direction of the linear encoder feedback.
[Pr. PC27]
Encoder pulse count polarity selection

0: Linear servo motor positive direction and linear encoder increasing direction
1: Linear servo motor positive direction and linear encoder decreasing direction
(a) Parameter setting method

1) Confirm the positive direction of the linear servo motor. [Pr. PA14] determines the relation of the
travel direction of the linear servo motor under commands as shown below.
Travel direction of linear servo motor
[Pr. PA14] setting Address increasing Address decreasing
command command
0 Positive direction Negative direction
1 Negative direction Positive direction
The positive/negative directions of the linear servo motor are as follows.

Negative
direction
Negative Secondary side Positive

direction direction
Secondary Table
Positive side
direction
Primary
side
Secondary
Positive side
Primary side direction
Primary
side
Negative direction
LM-H3/LM-F series LM-U2 series LM-K2 series
2) Confirm the increasing direction of the linear encoder.
3) If the positive direction of the linear servo motor matches with the increasing direction of the
linear encoder, set [Pr. PC27] to "_ _ _ 0". If the positive direction of the linear servo motor does
not match with the increasing direction of the linear encoder, set [Pr. PC27] to "_ _ _ 1".
(b) Confirmation method

Confirm the positive direction of the linear servo motor and the increasing direction of the linear
encoder in the following procedure.
1) In servo-off status, move the linear servo motor in the positive direction manually.
2) Confirm the motor speed (in the positive and negative directions) at that time with MR
Configurator2.
14 - 9
3) When [Pr. PC27] is set to "_ _ _ 0" and the positive direction of the linear servo motor matches
with the increasing direction of the linear encoder, if the linear servo motor operates in the
positive direction, the motor speed will be a positive value. If the positive direction of the linear
servo motor does not match with the increasing direction of the linear encoder, the motor speed
will be a negative value. When [Pr. PC27] is set to "_ _ _ 1" and the positive direction of the linear
servo motor matches with the increasing direction of the linear encoder, if the linear servo motor
operates in the positive direction, the motor speed will be a negative value.
(4) Linear encoder resolution setting
POINT
To enable the parameter value, cycle the power after setting.
If an incorrect value is set for [Pr. PL02] or [Pr. PL03], the linear servo motor
may not operate properly, or [AL. 27] or [AL. 42] may occur at the positioning
operation or the magnetic pole detection.
Set the ratio of the electronic gear to the linear encoder resolution with [Pr. PL02 Linear encoder
resolution - Numerator] and [Pr. PL03 Linear encoder resolution - Denominator].
(a) Parameter setting

Set the values that apply to the following equation.
[Pr. PL02 Linear encoder resolution - Numerator]

= Linear encoder resolution [µm]
[Pr. PL03 Linear encoder resolution - Denominator]
(b) Parameter setting example

When the linear encoder resolution is 0.5 µm
[Pr. PL02] 1
= Linear encoder resolution = 0.5 µm =
[Pr. PL03] 2
The following shows the simplified chart for the setting values of [Pr. PL02] and [Pr. PL03].
Linear encoder resolution [µm]
0.01 0.02 0.05 0.1 0.2 0.5 1.0 2.0
Setting [Pr. PL02] 1 1 1 1 1 1 1 2
value [Pr. PL03] 100 50 20 10 5 2 1 1
14 - 10
14.3.2 Magnetic pole detection
POINT
Set [Pr. PE47 Torque offset] to "0 (initial value)" before executing the magnetic
pole detection.
Before the positioning operation of the linear servo motor, make sure to perform the magnetic pole detection.
When [Pr. PL01] is set to the initial value, perform the magnetic pole detection only at the first servo-on after
the power is turned on.
The magnetic pole detection includes the following two methods. Each method has advantages and
disadvantages. Select a magnetic pole detection method suitable for your usage.
The position detection method is selected in the initial setting.
Magnetic pole detection Advantage Disadvantage
Position detection method 1. The magnetic pole detection has a 1. The travel distance at the
high degree of accuracy. magnetic pole detection is large.
2. The adjustment procedure at the 2. For equipment with small friction,
magnetic pole detection is simple. the initial magnetic pole detection
error may occur.
Minute position detection method 1. The travel distance at the 1. The adjustment procedure at the
magnetic pole detection is small. magnetic pole detection is
2. Even for equipment with small complex.
friction, the magnetic pole 2. If a disturbance occurs during the
detection is available. magnetic pole detection, [AL. 27
Initial magnetic pole detection
error] may occur.
14 - 11
(1) Magnetic pole detection method by using MR Configurator2

The following shows the magnetic pole detection procedure by using MR Configurator2.
(a) Magnetic pole detection by the position detection method
Magnetic pole detection
1) Check that LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced
stop 2) are on, and then cycle the servo amplifier power.
2) Turn "On (up)" the test operation select switch (SW1-1) of the servo amplifier, and then cycle the
power of the servo amplifier.
3) Set [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ _ _ 0" to set the magnetic
pole detection method to "Position detection method".
4) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to enable "Magnetic
pole detection at first servo-on". (Note)
5) Cycle the servo amplifier power.
6) Set [Pr. PL09 Magnetic pole detection voltage level] to "10".
7) Execute "Positive direction travel" or "Negative direction travel" with "Positioning operation" in the
test operation mode on MR Configurator2. Set the travel distance to "0" at this time.
The magnetic pole detection is carried out.
YES
Is [Pr. PL09] the final value?
NO
Has [AL. 27 Initial magnetic pole YES Reset the alarm or cycle the Increase the value of [Pr. PL09]
detection error] occurred? servo amplifier power. by five.
NO
Set an approximately 70% of the
value set for [Pr. PL09] as the
Have [AL. 32 Overcurrent], [AL. 50 NO final setting value.
Overload 1], [AL. 51 Overload 2], and Cycle the servo amplifier power. If [AL. 27 Initial magnetic pole
[AL. E1 Overload warning 1] detection error] occurs with this
occurred? value, specify a value
intermediate between the value
set at [AL. E1 Overload warning
YES 1] and the value set at [AL. 27
Reset the alarm or cycle the
servo amplifier power. Initial magnetic pole detection
error] as the final setting value.
8) Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note)
End
Note. For the incremental system, the [Pr. PL01] setting is not required.
14 - 12
(b) Magnetic pole detection by the minute position detection method
stop 2) are on, and then cycle the servo amplifier power.
3) Set [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ _ _ 4" to set the magnetic
pole detection method to "Minute position detection method".
4) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to enable "Magnetic
pole detection at first servo-on". (Note 1)
5) Cycle the servo amplifier power.
6) With [Pr. PL17 Magnetic pole detection - Minute position detection method - Function selection],
set the load to mass of the linear servo motor primary-side ratio. (Note 2)
7) Execute "Positive direction travel" or "Negative direction travel" with "Positioning operation" in the
test operation mode on MR Configurator2. Set the travel distance to "0" at this time.
YES Is the response by the

minute position detection method of
[Pr. PL17] the final value?
NO
Has an abnormal sound or YES Decrease the response by the minute

vibration occurred during the position detection method of [Pr. PL17] by
magnetic pole detection? two as the final setting value.
NO
Not
Is the travel distance during acceptable Increase the response by the minute
the magnetic pole detection position detection method of [Pr. PL17] by
acceptable? (Note 3) one.
Acceptable
8) Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note 1)
End
Note 1. When the linear encoder is an incremental type, the [Pr. PL01] setting is not required.
2. If the load to primary-side linear servo motor mass ratio is unknown, perform the magnetic pole
detection by the position detection method, and then perform the auto tuning to set an estimated value.
3. For the magnetic pole detection by the minute position detection method, the maximum travel distance
at the magnetic pole detection must be 0.5 mm or less. To shorten the travel distance, increase the
response by the minute position detection method in [Pr. PL17].
14 - 13
(c) State transition of the servo amplifier display (3-digit, 7-segment LED) at the magnetic pole detection
When the magnetic pole detection with MR Configurator2 is normally executed, the servo amplifier
display (3-digit, 7-segment LED) shows the state as below.
Magnetic pole
During the detection
magnetic pole completion
Servo-off status detection (servo-on status)
The decimal point

flickers.
(2) Preparation for the magnetic pole detection
POINT
When you select the test operation mode with the test operation select switch
(SW1-1), the network communication for the servo amplifier and later will be
blocked.
For the magnetic pole detection, use the test operation mode (positioning operation) of MR
Configurator2. Turn off the servo amplifier power, and set the test operation select switch (SW1-1) as
shown below. Turning on the power enables the test operation mode.
ON ON
1 2
1 2
14 - 14
(3) Operation at the magnetic pole detection
Note that the magnetic pole detection automatically starts simultaneously with the
WARNING turning-on of the servo-on command.
If the magnetic pole detection is not executed properly, the linear servo motor
CAUTION may operate unexpectedly.
POINT
Establish the machine configuration to use LSP (Upper stroke end) and LSN
(Lower stroke end). The machine may be damaged due to a collision without
LSP and LSN.
Assign LSP and LSN and perform the magnetic pole detection also in the torque
mode.
At the magnetic pole detection, whether the linear servo motor moves in the
positive or negative direction is unpredictable.
Depending on the setting value of [Pr. PL09 Magnetic pole detection voltage
level], an overload, overcurrent, magnetic pole detection alarm, or others may
occur.
When performing the positioning operation from a controller, use the sequence
which confirms the normal completion of the magnetic pole detection and the
servo-on status, then outputs the positioning command. If the controller outputs
the positioning command before RD (Ready) turns on, the command may not be
accepted or an alarm may occur.
After the magnetic pole detection, check the positioning accuracy with the test
operation (positioning operation function) of MR Configurator2.
When the absolute position linear encoder is used, if a gap is generated to the
positional relation between the linear encoder and the linear servo motor,
perform the magnetic pole detection again.
The accuracy of the magnetic pole detection improves with no load.
An alarm may occur when the linear encoder is not mounted properly, or when
the linear encoder resolution setting ([Pr. PL02] and [Pr. PL03]) or the setting
value of [Pr. PL09 Magnetic pole detection voltage level] is incorrect.
For the machine that its friction becomes 30% or more of the continuous thrust,
the linear servo motor may not operate properly after the magnetic pole
detection.
For the horizontal shaft of the machine that its unbalanced thrust becomes 20%
or more of the continuous thrust, the linear servo motor may not operate
properly after the magnetic pole detection.
For the machine that multiple axes are connected like a tandem configuration, if
you try to perform the magnetic pole detection simultaneously for multiple axes,
the magnetic pole detection may not be executed. Perform the magnetic pole
detection for each axis. At this time, set the axes that the magnetic pole
detection is not performed for to servo-off.
14 - 15
(a) For the incremental linear encoder
POINT
For the incremental linear encoder, the magnetic pole detection is required
every time the power is turned on.
By turning on the servo-on command from the controller after the power-on, the magnetic pole
detection is automatically carried out. Therefore, there is no need to set the parameter (first digit of
[Pr. PL01]) for executing the magnetic pole detection.
1) Timing chart
ON
Servo-on command
OFF
95 ms
ON
Base circuit
OFF
RD (Ready) ON
OFF
15 s or less
Magnetic pole detection time (Note)
Note. The magnetic pole detection time indicates the operation time when LSP (Forward
rotation stroke end) and LSN (Reverse rotation stroke end) are on.
2) Linear servo motor movement (when LSP (Forward rotation stroke end) and LSN (Reverse
rotation stroke end) are on)
Servo-on position
(Magnetic pole detection start position)
LSN LSP
(Note 1) (Note 1)
(Note 2)
Magnetic pole detection completion position
Note 1. When you turn off LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) during the magnetic pole detection,
the operation of the magnetic pole detection is carried on to the opposite direction. When both LSP and LSN are off, [AL. 27
Initial magnetic pole detection error] occurs.
2. The following shows the pitch against the magnetic pole.
LM-U2
LM-H3 Medium thrust Large thrust
Linear servo motor series LM-K2
LM-F (Continuous thrust: (Continuous thrust:
Less than 400 N) 400 N or more)
Pitch against magnetic pole
48 30 60 48
[mm]
14 - 16
3) Linear servo motor movement (when LSP (Forward rotation stroke end) or LSN (Reverse rotation
stroke end) is off)
When LSP or LSN is off at servo-on, the magnetic pole detection is carried out as follows.
The linear servo motor moves to a
magnetic pole detection start position
upon servo-on, and the magnetic pole
detection is executed.
Magnetic pole detection Servo-on
start position position
LSN LSP
(Note)
The linear servo motor reciprocates several times and returns
to the magnetic pole detection start position to complete the
magnetic pole detection and to go into the servo-lock status.
At this time, there may be a gap, approximately a quarter of
the pitch against magnetic pole, from the start position.
Note. For the pitch against magnetic pole, refer to (3) (a) 2) Note 2 in this section.
(b) For the absolute position linear encoder
POINT
The magnetic pole detection will be required with the following timings.
When the system is set up (at the first startup of equipment)
After a servo amplifier is replaced
After a linear servo motor (primary-side or secondary-side) is replaced
After a linear encoder (scale or head) is replaced or remounted
If a gap is generated to the positional relation between the linear encoder and
the linear servo motor, perform the magnetic pole detection again.
Perform the magnetic pole detection in the following procedure.
1) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" (Magnetic pole
detection at first servo-on).
[Pr. PL01]
1
Magnetic pole detection at first servo-on (Initial value)
2) Execute the magnetic pole detection. (Refer to (3) (a) in this section.)
14 - 17
3) After the completion of the magnetic pole detection, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole
detection disabled).
[Pr. PL01]
0
Magnetic pole detection disabled
After the magnetic pole detection, by disabling the magnetic pole detection function with [Pr. PL01],
the magnetic pole detection after each power-on is not required.
(4) Magnetic pole detection method setting
POINT
In the following cases, set the magnetic pole detection method to the minute
position detection method.
When a shorten travel distance at the magnetic pole detection is required
When the magnetic pole detection by the position detection method is not
completed
Set the magnetic pole detection method using the first digit of [Pr. PL08] (Magnetic pole detection
method selection).
[Pr. PL08]
Magnetic pole detection method selection

0: Position detection method
4: Minute position detection method
(5) Setting of the magnetic pole detection voltage level by the position detection method
For the magnetic pole detection by the position detection method, set the voltage level with [Pr. PL09
Magnetic pole detection voltage level]. For the magnetic pole detection by the minute position detection
method, the voltage level setting is not required.
(a) Guideline of parameter settings

Set the parameters by referring to the following table.
[Pr. PL09] setting
Small ← Medium → Large
(guide value)
(10 or less (initial value) 50 or more)
Servo status
Thrust at operation Small Large
Overload, overcurrent alarm Seldom occurs Frequently occurs
Magnetic pole detection alarm Frequently occurs Seldom occurs
Magnetic pole detection accuracy Low High
(b) Setting procedure

1) Perform the magnetic pole detection, and increase the setting value of [Pr. PL09 Magnetic pole
detection voltage level] until [AL. 50 Overload 1], [AL. 51 Overload 2], [AL. 33 Overvoltage], [AL.
E1 Overload warning 1], and [AL. EC Overload warning 2] occur. Increase the setting value by
five as a guide value. When these alarms and warnings occur during the magnetic pole detection
by using MR Configurator2, the test operation of MR Configurator2 automatically completes and
the servo-off status is established.
14 - 18
2) Specify the setting value that is an approximately 70% of the value set when [AL. 50 Overload 1],
[AL. 51 Overload 2], [AL. 33 Overvoltage], [AL. E1 Overload warning 1], and [AL. EC Overload
warning 2] occurred as the final setting value. However, if [AL. 27 Initial magnetic pole detection
error] occurs with this value, specify a value intermediate between the value set at [AL. 50
Overload 1], [AL. 51 Overload 2], [AL. 33 Overvoltage], [AL. E1 Overload warning 1], and [AL. EC
Overload warning 2] and the value set at the magnetic pole detection alarm as the final setting
value.
3) Perform the magnetic pole detection again with the final setting value to check there is no
problem.
(c) Setting example

Linear encoder magnetic
pole detection
[Pr. PL09] setting 30 35 40 45 65 70
Occurring
Alarm Not occurring
While increasing the setting value of [Pr. PL09], carry out the An alarm has occurred when the setting
magnetic pole detection repeatedly. value of [Pr. PL09] is set to "70".
In this example, the final setting value of [Pr. PL09] is 49 (Setting value at the alarm occurrence = 70
× 0.7).
14.3.3 Home position return
POINT
The incremental linear encoder and the absolute position linear encoder have
different reference home positions at the home position return.
(1) Incremental linear encoder
If the resolution or the stop interval (the third digit of [Pr. PL01]) of the linear
CAUTION encoder is large, it is very dangerous since the linear servo motor may crash into
the stroke end.
(a) When the linear encoder home position (reference mark) exists in the home position return direction
When an incremental linear encoder is used, the home position is the position per 1048576 pulses
(changeable with the third digit of [Pr. PL01]) with reference to the linear encoder home position
(reference mark) passed through first after a home position return start. Change the setting value of
[Pr. PL01] according to the linear encoder resolution.
[Pr. PL01]
Stop interval setting at the home position return

Setting
value Stop interval [pulse]
0 8192
1 131072
2 262144
3 1048576 (initial value)
4 4194304
5 16777216
6 67108864
14 - 19
The following shows the relation between the stop interval at the home position return and the linear
encoder resolution. For example, when the linear encoder resolution is 0.001 μm and the parameter
for the stop interval at the home position return, [Pr. PL01], is set to "_ 5 _ _" (16777216 pulses), the
stop interval is 16.777 mm. The value inside a bold box indicates the recommended stop interval for
each linear encoder resolution.
[Unit: mm]
Linear encoder
resolution [µm]
Pr. PL01 0.001 0.005 0.01 0.02 0.05 0.1 0.2 0.5 1 2
Stop interval
[pulse]
_0__ 8192 0.008 0.041 0.082 0.164 0.410 0.819 1.638 4.096 8.192 16.384
_1__ 131072 0.131 0.655 1.311 2.621 6.554 13.107 26.214 65.536 131.072 262.144
_2__ 262144 0.262 1.311 2.621 5.243 13.107 26.214 52.429 131.072 262.144 524.288
_3__ 1048576 1.049 5.243 10.486 20.972 52.429 104.858 209.715 524.288 1048.576 2097.152
_4__ 4194304 4.194 20.972 41.943 83.886 209.715 419.430 838.861 2097.152 4194.304 8388.608
_5__ 16777216 16.777 83.886 167.772 335.544 838.861 1677.722 3355.443 8388.608 16777.216 33554.432
_6__ 67108864 67.109 335.544 671.089 1342.177 3355.443 6710.886 13421.773 33554.432 67108.864 134217.728
In the case of a dog type home position return, after the proximity dog signal rear end is detected,
the nearest home position reference position shifted by the home position shift distance is used as
the home position.
Set one linear encoder home position in the full stroke, and set it in the proximity dog signal
detection position.
When two or more reference marks exist during the full stroke of the linear encoder, select "Enabled
(_ _ 1 _)" of "Linear scale multipoint Z-phase input function selection" in [Pr. PC17].
Home position return direction

Creep speed
Linear servo motor
speed
0 mm/s
ON
Proximity dog
signal OFF
Reference home
position 1048576 pulses (Note 1)
1048576 pulses × n + Home position shift distance
(Note 2)
Linear servo motor
position
Linear encoder home position Home position
Note 1. Changeable with [Pr. PL01].

2. Home position shift distance can be changed with [Pr. PT07] and [Pr. PT69].
14 - 20
(b) When the linear encoder home position does not exist in the home position return direction
POINT
moving the linear servo motor to the opposite stroke end with JOG operation
from the controller and others.
Change the third digit value of [Pr. PL01] according to the linear encoder
resolution.
If the home position return is performed from the position where the linear encoder home position
does not exist in the home position return direction, an error may occur depending on the home
position return type. In this case, change the home position return type, or move the mover to the
stroke end on the opposite side of the home position return direction with the JOG operation from
the controller and others, and then perform a home position return.
Linear servo Creep speed

motor speed
0 mm/s
JOG operation
Proximity dog ON
signal OFF
Linear servo motor

position
Stroke end Linear encoder home position Home position
Home position returnable area Home position non-returnable area
14 - 21
(2) Absolute position linear encoder
POINT
The data set type home position return can also be carried out.
When an absolute linear encoder is used, the reference home position is the position per 1048576
pulses (changeable with the third digit of [Pr. PL01]) with reference to the linear encoder home position
(absolute position data = 0).
In the case of a proximity dog type home position return, the nearest reference home position after
proximity dog off is the home position. The linear encoder home position can be set in any position. LZ
(Encoder Z-phase pulse) is outputted based on "Stop interval selection at the home position return" in
[Pr. PL01].
Linear servo Creep speed

motor speed
0 mm/s
ON
Proximity dog OFF
signal
Reference home
position (Note)
1048576 pulses
1048576 pulses × n
Linear servo motor

position
Note. Changeable with [Pr. PL01].
14 - 22
14.3.4 Test operation mode in MR Configurator2
The test operation mode is designed for checking servo operation. It is not for
checking machine operation. Do not use this mode with the machine. Always use
CAUTION the linear servo motor alone.
If the servo motor operates abnormally, use EM2 (Forced stop 2) to stop it.
POINT
The content described in this section indicates the environment where the servo
amplifier and a personal computer are directly connected.
blocked.
By using a personal computer and MR Configurator2, you can execute the positioning operation, the output
signal (DO) forced output, and the program operation without connecting the controller.
(1) Test operation mode type

(a) Positioning operation
Positioning operation can be performed without using the controller. Use this operation with the
forced stop reset. This operation may be used independently of whether the servo is on or off and
whether the controller is connected or not.
Exercise control on the positioning operation screen of MR Configurator2.
Item Initial value Setting range
Travel distance [pulse] 1048576 0 to 99999999
Speed [mm/s] 10 0 to Maximum speed
1000 0 to 50000
time constant [ms]
Positive direction travel →
Negative direction travel
Positive direction travel →
Positive direction travel → Positive direction travel
Repeat pattern
Negative direction travel Negative direction travel →
Positive direction travel
Negative direction travel →
Negative direction travel
Dwell time [s] 2.0 01 to 50.0
Number of repeats [time] 1 1 to 9999
2) Operation method
Positive direction travel Click "Positive Direction Movement".
Negative direction travel Click "Reverse Direction Movement".
Stop Click "Stop".
14 - 23
(b) Output signal (DO) forced output

Output signals can be switched on/off forcibly independently of the servo status. This function is
used for output signal wiring check, etc. Exercise control on the DO forced output screen of MR
Configurator2.
(c) Program operation

Positioning operation can be performed in two or more operation patterns combined, without using
the controller. Use this operation with the forced stop reset. This operation may be used
independently of whether the servo is on or off and whether the controller is connected or not.
Exercise control on the program operation screen of MR Configurator2. For full information, refer to
the MR Configurator2 Installation Guide.
Start Click "Operation start".
Stop Click "Stop".

1) Turn off the power.
2) Turn "ON (up)" SW1-1.
ON ON
1 2
1 2
Turning "ON (up)" SW1-1 during power-on will not enable the test operation mode.
3) Turn on the servo amplifier.

When initialization is over, the display shows the following screen.
After 1.6 s
Flickering
After 0.2 s
4) Start operation with the personal computer.
14.3.5 Operation from controller
For the system using the incremental linear encoder, the magnetic pole detection is automatically performed
at the first servo-on after the power-on. For this reason, when performing the positioning operation, create
the sequence which surely confirms the servo-on status as the inter lock condition of the positioning
command.
14 - 24
14.3.6 Function
(1) Linear servo control error detection function
POINT
For the linear servo control error detection function, the position and speed
deviation error detections are enabled by default. ([Pr. PL04]: _ _ _ 3)
If the linear servo control gets unstable for some reasons, the linear servo motor may not operate
properly. To detect this state and to stop operation, the linear servo control error detection function is
used as a protective function.
The linear servo control error detection function has three different detection methods: the position
deviation, speed deviation, and thrust deviation. An error is detected when each method is enabled with
[Pr. PL04 Linear servo motor/DD motor function selection 2]. The detection level can be changed with
[Pr. PL05], [Pr. PL06], and [Pr. PL07].
Servo amplifier
Servo amplifier internal value Linear servo motor

1) Model feedback position [mm]
3) Model feedback speed [mm/s]
5) Command thrust [%]
Linear encoder Linear encoder

2) Feedback position [mm]
4) Feedback speed [mm/s]
6) Feedback thrust [%]
Figure 14.1 Outline of linear servo control error detection function
(a) Position deviation error detection

Set [Pr. PL04] to "_ _ _ 1" to enable the position deviation error detection.
[Pr. PL04]
1
Position deviation error detection enabled
When you compare the model feedback position ( 1)) and the feedback position ( 2)) in figure 14.1, if
the deviation is more than the value of [Pr. PL05 Position deviation error detection level] (1 mm to
1000 mm), [AL. 42.1 Servo control error by position deviation] will occur and the linear servo motor
will stop. The initial value of this detection level is 50 mm. Replace the set value as required.
(b) Speed deviation error detection

Set [Pr. PL04] to "_ _ _ 2" to enable the speed deviation error detection.
[Pr. PL04]
2
Speed deviation error detection enabled
When you compare the model feedback speed ( 3)) and the feedback speed ( 4)) in figure 14.1, if
the deviation is more than the value of [Pr. PL06 Speed deviation error detection level] (1 mm/s to
5000 mm/s), [AL. 42.2 Servo control error by speed deviation] will occur and the linear servo motor
will stop. The initial value of this detection level is 1000 mm/s. Replace the set value as required.
14 - 25
(c) Thrust deviation error detection level

Set [Pr. PL04] to "_ _ _ 4" to enable the thrust deviation error detection.
[Pr. PL04]
4
Thrust deviation error detection enabled
When you compare the command thrust ( 5)) and the feedback thrust ( 6)) in figure 14.1, if the
deviation is more than the value of [Pr. PL07 Torque/thrust deviation error detection level] (1% to
1000%), [AL. 42.3 Servo control error by torque/thrust deviation] will occur and the linear servo
motor will stop. The initial value of this detection level is 100%. Replace the set value as required.
(d) Detecting multiple deviation errors

When setting [Pr. PL04] as shown below, multiple deviation errors can be detected. For the error
detection methods, refer to (1) (a), (b), (c) in this section.
[Pr. PL04]
Setting Position deviation Speed deviation Thrust deviation

value error detection error detection error detection
1
2
3
4
5
6
7
(2) Auto tuning function
POINT
The auto tuning mode 1 may not be performed properly if the following
conditions are not satisfied.
Time to reach 2000 mm/s is the acceleration/deceleration time constant of 5 s
or less.
The linear servo motor speed is 150 mm/s or higher.
The load to mass of the linear servo motor primary-side ratio is 100 times or
less.
The acceleration/deceleration thrust is 10% or less of the continuous thrust.
The auto tuning function during the linear servo motor operation is the same as that of the rotary servo
motor. However, the calculation method of the load to motor mass ratio (J ratio) differs. The load to
motor mass ratio (J ratio) on the linear servo motor is calculated by dividing the load mass by the mass
of the linear servo motor primary side.
Example) Mass of linear servo motor primary side = 2 kg

Load mass (excluding the mass of the linear servo motor primary side) = 4 kg
Mass ratio = 4/2 = 2 times
For the parameters set by the auto tuning function, refer to chapter 6.
14 - 26
(3) Machine analyzer function
POINT
Make sure to perform the machine analyzer function after the magnetic pole
detection. If the magnetic pole detection is not performed, the machine analyze
function may not operate properly.
The stop position at the completion of the machine analyzer function can be any
position.
14.3.7 Absolute position detection system
When the linear servo motor is used with the absolute position detection system, an absolute position linear
encoder is required. The linear encoder backs up the absolute position data. Therefore, the encoder battery
need not be installed to the servo amplifier. Additionally, [AL. 25 Absolute position erased], [AL. 92 Battery
cable disconnection warning], [AL. 9F Battery warning], and [AL. E3 Absolute position counter warning] are
not provided for the linear servo motor.
14 - 27
14.4 Characteristics
14.4.1 Overload protection characteristics
An electronic thermal is built in the servo amplifier to protect the linear servo motor, servo amplifier and
linear servo motor power wires from overloads.
[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve
shown in fig. 14.2. [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several
seconds due to machine collision, etc. Use the equipment on the left-side area of the continuous or broken
line in the graph.
Use the linear servo motor with 70% or less of the effective load ratio when it is in the servo lock state or in a
small reciprocating motion.
This servo amplifier has solid-state linear servo motor overload protection. (The linear servo motor overload
current (full load current) is set on the basis of 120% rated current of the servo amplifier.)
1000 1000
100 100
Operating
Operation time [s]
Operation time [s]
Operating
10 10
Servo-lock
1 1 Servo-lock
0.1 0.1
0 50 100 150 200 250 300 0 100 200 300 400
Load ratio [%] Load ratio [%]
a. LM-H3 series b. LM-U2 series

LM-K2 series
1000 1000
100 100
Operating Operating
Operation time [s]
Operation time [s]
10 10 Servo-lock
Servo-lock
1 1
0.1 0.1
0 100 200 300 400 500 600 0 50 100 150 200 250 300
Load ratio [%] Load ratio [%]
c. LM-F series (natural cooling) d. LM-F series (liquid cooling)
Fig. 14.2 Electronic thermal protection characteristics
14 - 28
14.4.2 Power supply capacity and generated loss
Table 14.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For
thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst
torque and servo-off according to the duty used during operation. When the linear servo motor is run at less
Mounting a heat sink outside of the cabinet enables to reduce heat in the cabinet and design a compact
enclosed type cabinet.
Table 14.1 Power supply capacity and generated loss per linear servo motor at rated output
Power supply Servo amplifier-generated heat [W] Area required for
Linear servo motor (Note 2)
Servo amplifier capacity [kVA] heat dissipation
(primary side) 2
(Note 1) At rated output With servo-off [m ]
LM-H3P2A-07P-BSS0 0.9 35 15 0.7
MR-J4-40GF(-RJ)
LM-H3P3A-12P-CSS0 0.9 35 15 0.7
LM-H3P3B-24P-CSS0 1.3 50 15 1.0
MR-J4-70GF(-RJ)
LM-H3P3C-36P-CSS0 1.9 75 15 1.5
LM-H3P3D-48P-CSS0 MR-J4-200GF(-RJ) 3.5 90 20 1.8
LM-H3P7A-24P-ASS0 MR-J4-70GF(-RJ) 1.3 50 15 1.0
LM-H3P7B-48P-ASS0 3.5 90 20 1.8
MR-J4-200GF(-RJ)
LM-H3P7C-72P-ASS0 3.8 100 20 1.1
LM-H3P7D-96P-ASS0 MR-J4-350GF(-RJ) 5.5 130 20 2.7
LM-U2PAB-05M-0SS0 MR-J4-20GF(-RJ) 0.5 25 15 0.5
LM-U2PAD-10M-0SS0 0.9 35 15 0.7
MR-J4-40GF(-RJ)
LM-U2PAF-15M-0SS0 0.9 35 15 0.7
LM-U2PBB-07M-1SS0 MR-J4-20GF(-RJ) 0.5 25 15 0.5
LM-U2PBD-15M-1SS0 MR-J4-60GF(-RJ) 1.0 40 15 0.8
LM-U2PBF-22M-1SS0 MR-J4-70GF(-RJ) 1.3 50 15 1.0
LM-U2P2B-40M-2SS0 MR-J4-200GF(-RJ) 3.5 90 20 1.8
LM-U2P2C-60M-2SS0 MR-J4-350GF(-RJ) 5.5 130 20 2.7
LM-U2P2D-80M-2SS0 MR-J4-500GF(-RJ) 7.5 195 25 3.9
LM-FP2B-06M-1SS0 MR-J4-200GF(-RJ) 3.5 90 20 1.8
LM-FP2D-12M-1SS0 MR-J4-500GF(-RJ) 7.5 195 25 3.9
LM-FP2F-18M-1SS0 MR-J4-700GF(-RJ) 10 300 25 6.0
LM-FP4B-12M-1SS0 MR-J4-500GF(-RJ) 7.5 195 25 3.9
LM-FP4D-24M-1SS0 MR-J4-700GF(-RJ) 10 300 25 6.0
LM-FP4F-36M-1SS0 MR-J4-11KGF(-RJ) 14 460 45 9.2
LM-FP4H-48M-1SS0 MR-J4-15KGF(-RJ) 18 580 45 11.6
LM-FP5H-60M-1SS0 MR-J4-22KGF4(-RJ) 22 640 45 12.8
LM-K2P1A-01M-2SS1 MR-J4-40GF(-RJ) 0.9 35 15 0.7
LM-K2P1C-03M-2SS1 MR-J4-200GF(-RJ) 3.5 90 20 1.8
LM-K2P2A-02M-1SS1 MR-J4-70GF(-RJ) 1.3 50 15 1.0
LM-K2P2E-12M-1SS1 MR-J4-500GF(-RJ) 7.5 195 25 3.9
LM-K2P3E-24M-1SS1 MR-J4-500GF(-RJ) 7.5 195 25 3.9
Note 1. The power supply equipment capacity changes with the power supply impedance. This value is applicable when the power
factor improving AC reactor or power factor improving DC reactor are not used.
2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by the
regenerative option, refer to section 11.2.
14 - 29
14.4.3 Dynamic brake characteristics
The coasting distance is a theoretically calculated value which ignores the

running load such as friction. The calculated value is considered to be longer than
the actual distance. However, if an enough breaking distance is not obtained, the
CAUTION linear servo motor may crash into the stroke end, which is very dangerous. Install
the anti-crash mechanism such as an air brake or an electric/mechanical stopper
such as a shock absorber to reduce the shock of moving parts. No linear servo
motor with an electromagnetic brake is available.
POINT
stop in emergency.
For a machine operating at the recommended load to motor mass ratio or less,
Be sure to enable EM1 (Forced stop 1) after the linear servo motor stops when
using EM1 (Forced stop 1) frequently in other than emergency.
The approximate coasting distance from when the dynamic break is activated until when the linear servo
motor stops can be calculated with the equation below.
Lmax = V0 • (0.03 + M • (A + B • V02))
Lmax: Coasting distance of the machine [m]

V0: Speed when the brake is activated [m/s]
M: Full mass of the moving part [kg]
A: Coefficient (Refer to the following tables.)
B: Coefficient (Refer to the following tables.)

Coefficient A Coefficient B Coefficient A Coefficient B
(primary side) (primary side)
-3 -3 -2 -4
LM-H3P2A-07P-BSS0 7.15 × 10 2.94 × 10 LM-U2PAB-05M-0SS0 5.72 × 10 1.72 × 10
-3 -3 -2 -5
LM-H3P3A-12P-CSS0 2.81 × 10 1.47 × 10 LM-U2PAD-10M-0SS0 2.82 × 10 8.60 × 10
-3 -4 -2 -5
LM-H3P3B-24P-CSS0 7.69 × 10 2.27 × 10 LM-U2PAF-15M-0SS0 1.87 × 10 5.93 × 10
-3 -4 -2 -4
LM-H3P3C-36P-CSS0 7.22 × 10 1.13 × 10 LM-U2PBB-07M-1SS0 3.13 × 10 1.04 × 10
-3 -4 -2 -5
LM-H3P3D-48P-CSS0 1.02 × 10 2.54 × 10 LM-U2PBD-15M-1SS0 1.56 × 10 5.18 × 10
-3 -4 -2 -5
LM-H3P7A-24P-ASS0 7.69 × 10 2.14 × 10 LM-U2PBF-22M-1SS0 4.58 × 10 1.33 × 10
-4 -4 -3 -5
LM-H3P7B-48P-ASS0 9.14 × 10 2.59 × 10 LM-U2P2B-40M-2SS0 1.47 × 10 1.27 × 10
-4 -4 -3 -6
LM-H3P7C-72P-ASS0 7.19 × 10 1.47 × 10 LM-U2P2C-60M-2SS0 1.07 × 10 7.66 × 10
-4 -5 -4 -6
LM-H3P7D-96P-ASS0 6.18 × 10 9.59 × 10 LM-U2P2D-80M-2SS0 9.14 × 10 5.38 × 10

Coefficient A Coefficient B Coefficient A Coefficient B
(primary side) (primary side)
-4 -3 -3 -3
LM-FP2B-06M-1SS0 8.96 × 10 1.19 × 10 LM-K2P1A-01M-2SS1 5.36 × 10 6.56 × 10
-4 -4 -3 -4
LM-FP2D-12M-1SS0 5.55 × 10 4.81 × 10 LM-K2P1C-03M-2SS1 1.17 × 10 3.75 × 10
-4 -4 -2 -3
LM-FP2F-18M-1SS0 4.41 × 10 2.69 × 10 LM-K2P2A-02M-1SS1 2.49 × 10 1.02 × 10
-4 -4 -4 -4
LM-FP4B-12M-1SS0 5.02 × 10 4.36 × 10 LM-K2P2C-07M-1SS1 6.85 × 10 2.80 × 10
-4 -4 -4 -4
LM-FP4D-24M-1SS0 3.55 × 10 1.54 × 10 LM-K2P2E-12M-1SS1 5.53 × 10 1.14 × 10
-4 -4 -4 -4
LM-FP4F-36M-1SS0 1.79 × 10 1.36 × 10 LM-K2P3C-14M-1SS1 2.92 × 10 1.16 × 10
-4 -4 -4 -5
LM-FP4H-48M-1SS0 1.15 × 10 1.19 × 10 LM-K2P3E-24M-1SS1 2.53 × 10 5.52 × 10
-4 -5
LM-FP5H-60M-1SS0 1.95 × 10 4.00 × 10
14 - 30
14.4.4 Permissible load to motor mass ratio when the dynamic brake is used
Use the dynamic brake under the load to motor mass ratio indicated in the following table. If the load to
motor mass ratio is higher than this value, the dynamic brake may burn. If there is a possibility that the load
inertia moment may exceed the value, contact your local sales office.
The values of the permissible load to motor mass ratio in the table are the values when the linear servo
motor is used at the maximum speed.
Linear servo motor Permissible load to motor mass ratio
(primary side) [multiplier]
LM-H3 series 40
LM-U2 series
100
LM-F series
LM-K2 series 50
When actual speed does not reach the maximum speed of the linear servo motor, calculate the permissible
load to motor mass ratio at the time of using the dynamic brake by the following equation. (The upper limit is
300 times.)
Permissible load to motor mass ratio at the time of using the dynamic brake = Value in the table × (Linear
servo motor maximum speed2/Actual using speed2)
For example, when an actual using speed is 2 m/s or less for the LM-H3P2A-07P motor (maximum speed:
3.0 m/s), the equation will be as follows. Permissible load to motor mass ratio at the time of using the
dynamic brake = 40 × 32/22 = 90 [times]
14 - 31
MEMO
14 - 32
15. USING A DIRECT DRIVE MOTOR
When using the direct drive motor, read the "Direct Drive Motor Instruction
CAUTION Manual".
POINT
The direct drive motor is available for servo amplifiers with software version A1
or later.
15.1.1 Summary
The fields of semiconductor/LCD manufacturing systems, mounters, and others have strong demands for
high accuracy and efficiency. Therefore, the number of systems using a direct drive motor for a drive axis
has been increasing. The direct drive servo system includes the following features.
(1) Performance
(a) The direct drive servo system ensures the high-rigidity and the high-torque. A high-resolution
encoder enables the high-accuracy control.
(b) The high-resolution encoder contributes to the high-indexer accuracy.
(c) Since reducer is no longer required, no backlash occurs. In addition, the settling time is reduced, and
the high-frequency operation is enabled.
(d) Since reducer is no longer required, the motor does not deteriorate with time by reducer.
(2) Mechanism
(a) The motor's low profile design contributes to compact moving part of the machine and a low center
of gravity for enhanced equipment stability.
(b) The motor has an inner rotor with hollow shaft which enables cables and pipes to be passed
through.
(c) Lubrication and the maintenance due to abrasion are not required.
The following shows the differences between the direct drive motor and the rotary servo motor.
Differences
Category Item Remark
Direct drive motor Rotary servo motor
Motor pole Magnetic pole detection Required Not required Automatically executed at the first
adjustment (default setting) servo-on after the power is turned
on.
For the absolute position detection
system, [Pr. PL01] can disable the
magnetic pole detection. (Refer to
(3) (a) of section 15.3.2.)
Absolute position Absolute position encoder Required Required
detection system battery
Absolute position storage Required Not required
unit (MR-BTAS01)
15 - 1
15.1.2 Servo system with auxiliary equipment
Connecting a direct drive motor for different axis to the U, V, W, or CN2 may
POINT
Equipment other than the servo amplifier and direct drive motor are optional or
When using the direct drive motor, set [Pr. PA01] to "_ _ 6 _".
The configuration diagram is an example of MR-J4-20GF. When using the other servo amplifiers, the
configuration will be the same as rotary servo motors except for connections of direct drive motors. Refer to
section 1.8 depending on servo amplifiers you use.
(Note 2) RS T
Power
supply
Personal
(MCCB) CN5
(Note 3)
(MC) logic unit
(Note 1)
CN3 Junction
terminal
Line noise block
filter
(FR-BSF01)
D (Note 5)
CN1A Servo system
controller or
servo amplifier
U
L1
V Servo system
L2 CN1B
controller or
Power factor P3
improving DC CN2
reactor
(FR-HEL) P4
(Note 7)
P+ (Note 6)
CN4 Absolute position
Regenerative
option storage unit
C MR-BTAS01
(Note 4)
L11
Battery unit Direct drive motor
L21
15 - 2
2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-200GF(-RJ) or less. For 1-
phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications,
refer to section 1.3.
4. The battery unit is used for the absolute position detection system. (Refer to chapter 12.)
5. Always connect P+ and D. When using the regenerative option, refer to section 11.2.
6. The absolute position storage unit is used for the absolute position detection system.
7. This is for MR-J4-_GF_. MR-J4-_GF_-RJ has a CN2L connector. However, CN2L is not used for the direct drive servo system.
15.2 Signals and wiring
WARNING Ground the servo amplifier and the direct drive motor securely.
Do not attempt to wire the servo amplifier and the direct drive motor until they
have been installed. Otherwise, it may cause an electric shock.
terminals.
Wire the equipment correctly and securely. Otherwise, the direct drive motor may
occur.
24 V DC 24 V DC
CAUTION DOCOM DOCOM

RA RA
signal signal

Electromagnetic interference may be given to the electronic equipment used near
Do not install a power capacitor, surge killer, or radio noise filter (FR-BIF option)
with the power wire of the direct drive motor.
15 - 3
causing a fire.
Connect the servo amplifier power output (U/V/W) to the power input of the direct
drive motor (U/V/W) directly. Do not let a magnetic contactor, etc. intervene.
Otherwise, it may cause a malfunction.
CAUTION Servo amplifier

Direct drive
motor Servo amplifier
Direct drive
motor
U U
U U
V V
V M V M
W W
W W
Connecting a direct drive motor for different axis to the U, V, W, or CN2 may
This chapter does not describe the following items. For details of the items, refer to each section of the
Item Detailed explanation
Input power supply circuit Section 3.1
Explanation of power supply system Section 3.3
Signal (device) explanations Section 3.5
Alarm occurrence timing chart Section 3.7
Interfaces Section 3.8
Grounding Section 3.10
Switch setting and display of the servo
Section 4.3
amplifier
PARAMETERS Chapter 5
TROUBLESHOOTING Chapter 8
POINT
When using the direct drive motor, set [Pr. PA01] to "_ _ 6 _".
For the test operation, refer to section 4.4.
The Z-phase pulse of the direct drive motor must be turned on after power-on.
When the machine configuration does not allow one or more revolution of the
direct drive motor, install the direct drive motor so that the Z-phase pulse can be
turned on.
15 - 4
15.3.1 Startup procedure
Start up the direct drive servo system in the following procedure.
Perform this procedure once at startup.

Installation and wiring
Incremental system Absolute position detection system

Absolute position
detection system?
Can you manually turn Yes

on the Z-phase pulse of the
direct drive motor?
No
Perform the magnetic pole detection. (Refer to section 15.3.2.) (Note 1)
Z-phase pulse of the direct drive motor Z-phase pulse of the direct drive motor
is turned on by the JOG operation. is turned on manually. (Note 3)
(Notes 1 and 2)
Change the setting to disable the

magnetic pole detection.
Turn the servo amplifier power

off and on again. (Note 2)
Positioning operation check using the test operation mode (Note 1)
Home position return operation (Refer to the manual of the controller.)
Note 1. Use MR Configurator2.

2. For the absolute position detection system, always turn on the Z-phase pulse of the direct drive motor while the servo amplifier
power is on, and then turn the servo amplifier power supply off and on again. By turning off and on the power supply, the
absolute position becomes confirmed. Without this operation, the absolute position will not be regained properly, and a
warning will occur at the controller.
3. If the Z-phase pulse of the direct drive motor can be turned on manually, the Z-phase pulse does not have to be turned on by
the magnetic pole detection or the JOG operation.
For this operation, always connect the direct drive motor encoder and the servo amplifier, and turn on only the control circuit
power supply of the servo amplifier (L11 and L21) (turn off the main circuit power supply L1, L2, and L3). Perform this
operation by considering the safety.
15 - 5
15.3.2 Magnetic pole detection
POINT
The magnetic pole detection is not required for the configured absolute position
detection system where the Z-phase pulse of the direct drive motor can be
turned on manually.
For this operation, always connect the direct drive motor encoder and the servo
amplifier and turn on the control circuit power supply of the servo amplifier.
Perform this operation by considering the safety.
When performing a magnetic pole detection without using LSP (Forward rotation
stroke end) and LSN (Reverse rotation stroke end), set [Pr. PL08 Linear servo
motor/DD motor function selection 3] to "_ 1 _ _" to disable LSP and LSN.
Set [Pr. PE47 Torque offset] to "0 (initial value)" before executing the magnetic
pole detection.
For the magnetic pole detection of vertical axis with direct drive motors, refer to
section 2.1 of "Direct Drive Motor Instruction Manual".
Before the positioning operation of the direct drive motor, make sure to perform the magnetic pole detection.
Before starting up the equipment, perform the test operation (positioning operation) of MR Configurator2.
15 - 6
(1) Magnetic pole detection method by using MR Configurator2

The following shows the magnetic pole detection procedure by using MR Configurator2.
(a) Magnetic pole detection by the position detection method
stop 2) are on, and turn the servo amplifier power off and on again.
3) Set [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ _ _ 0" to set the magnetic pole
detection method to "Position detection method".
4) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to set "Magnetic pole
detection always enabled". (Note)
5) Turn the servo amplifier power off and on again.
6) Set [Pr. PL09 Magnetic pole detection voltage level] to "10".
7) Execute "Forward CCW rotation" or "Reverse rotation" with "Positioning CW operation" in the test
operation mode on MR Configurator2. Set the travel distance to "0" at this time.
YES
Is [Pr. PL09] the final value?
NO
YES Reset the alarm or turn off the Increase the value of [Pr. PL09]
Has [AL. 27 Initial magnetic pole servo amplifier power, and then
detection error] occurred? turn on the power again. by five.
NO
Set an approximately 70% of the
value set for [Pr. PL09] as the
Have [AL. 32 Overcurrent], NO final setting value.
[AL. 50 Overload 1], [AL. 51 Overload 2], Turn the servo amplifier power If [AL. 27 Initial magnetic pole
and [AL. E1 Overload warning 1] off and on again. detection error] occurs with this
occurred? value, specify a value
intermediate between the value
YES set at [AL. E1 Overload warning
Reset the alarm or turn off 1] and the value set at [AL. 27
the servo amplifier power, and Initial magnetic pole detection
then turn on the power again. error] as the final setting value.
End
Note. For the incremental system, the [Pr. PL01] setting is not required.
15 - 7
(b) Magnetic pole detection by the minute position detection method
stop 2) are on, and turn the servo amplifier power off and on again.
3) Set [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ _ _ 4" to set the magnetic pole
detection method to "Minute position detection method".
4) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to set "Magnetic pole
detection always enabled". (Note 1)
5) Turn the servo amplifier power off and on again.
6) Set the load inertia moment ratio of the direct drive motor with [Pr. PL17 Magnetic pole detection -
Minute position detection method - Function selection]. (Note 2)
7) Execute "Forward CCW rotation" or "Reverse rotation" with "Positioning CW operation" in the test
operation mode on MR Configurator2. Set the travel distance to "0" at this time.
YES Is the response of the

minute position detection method
set by [Pr. PL17] finalized?
NO
Has an abnormal sound or YES Decrease the response by the minute

vibration occurred during the position detection method of [Pr. PL17] by
magnetic pole detection? two as the final setting value.
NO
Not
Is the travel distance acceptable Increase the response by the minute
during the magnetic pole position detection method of [Pr. PL17] by
detection acceptable? one.
(Note 3)
Acceptable
End
Note 1. For the incremental system, the [Pr. PL01] setting is not required.
2. If the load to direct drive motor inertia ratio is unknown, perform the magnetic pole detection by the
position detection method, and then perform the auto tuning to set an estimated value.
3. For the magnetic pole detection by the minute position detection method, the maximum rotation angle at
the magnetic pole detection must be five degrees or less. To shorten the travel distance, increase the
response by the minute position detection method in [Pr. PL17].
15 - 8
(c) State transition of the servo amplifier display (3-digit, 7-segment LED) at the magnetic pole detection
When the magnetic pole detection with MR Configurator2 is normally executed, the servo amplifier
display (3-digit, 7-segment LED) shows the state as below.
Magnetic pole
During the detection
magnetic completed
Servo-off status pole detection (Servo-on status)
The decimal point flickers.
(2) Preparation for the magnetic pole detection
POINT
blocked.
For the magnetic pole detection, use the test operation mode (positioning operation) of MR
Configurator2. Turn off the servo amplifier power, and set the test operation select switch (SW1-1) as
shown below. Turning on the power enables the test operation mode.
ON ON
1 2
1 2
15 - 9
(3) Operation at the magnetic pole detection
Note that the magnetic pole detection automatically starts simultaneously with the
WARNING turning-on of the servo-on command.
If the magnetic pole detection is not executed properly, the direct drive motor may
CAUTION operate unexpectedly.
POINT
Establish the machine configuration to use LSP (Upper stroke end) and LSN
(Lower stroke end). The machine may be damaged due to a collision without
LSP and LSN.
Assign LSP and LSN and perform the magnetic pole detection also in the torque
mode.
At the magnetic pole detection, whether the motor rotates in the forward or
reverse direction is unpredictable.
Depending on the setting value of [Pr. PL09 Magnetic pole detection voltage
level], an overload, overcurrent, magnetic pole detection alarm, or others may
occur.
When performing the positioning operation from a controller, use the sequence
which confirms the normal completion of the magnetic pole detection and the
servo-on status, then outputs the positioning command. If the controller outputs
the positioning command before RD (Ready) turns on, the command may not be
accepted or an alarm may occur.
After the magnetic pole detection, check the positioning accuracy with the test
operation (positioning operation function) of MR Configurator2.
The accuracy of the magnetic pole detection improves with no load.
(a) Incremental system
POINT
For the incremental system, the magnetic pole detection is required every time
the power is turned on.
By turning on the servo-on command from the controller after the power-on, the magnetic pole
detection is automatically carried out. Therefore, there is no need to set the parameter (first digit of
[Pr. PL01]) for executing the magnetic pole detection.
15 - 10
1) Timing chart
ON
Servo-on command
OFF
95 ms
ON
Base circuit
OFF
ON
RD (Ready)
OFF
15 s or less
Magnetic pole detection time (Note)
Note. The magnetic pole detection time indicates the operation time when LSP (Forward
rotation stroke end) and LSN (Reverse rotation stroke end) are on.
2) Direct drive motor movement (when LSP or LSN are on)

Center of direct drive motor rotation part
(Note) LSN LSP (Note)
Servo-on position (Magnetic pole detection start position)
10 degrees or less
Note. When you turn off LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke
end) during the magnetic pole detection, the magnetic pole detection is carried on to
the opposite direction. When LSP and LSN are off, [AL. 27 Initial magnetic pole
detection error] occurs.
3) Direct drive motor movement (when LSP or LSN is off)

When LSP or LSN is off at servo-on, the magnetic pole detection is carried out as follows.
Center of direct drive motor rotation part
LSP
LSN Servo-on position
After the machine moves to the position where the stroke limit
Magnetic pole detection (LSP or LSN) is set, the magnetic pole detection starts.
start position
10 degrees or less
15 - 11
(b) Absolute position detection system
POINT
The magnetic pole detection will be required with the following timings.
When the system is set up (at the first startup of equipment)
When the Z-phase pulse of the direct drive motor is not turned on at the
system setup (When the Z-phase pulse of the direct drive motor can be turned
on manually, the magnetic pole detection is not required.)
After a direct drive motor is replaced
When [AL. 25 Absolute position erased] has occurred
Turn on the Z-phase pulse of the direct drive motor in JOG operation from the
controller after the magnetic pole detection.
Perform the magnetic pole detection in the following procedure.
1) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" (Magnetic pole
detection at first servo-on).
[Pr. PL01]
1
Magnetic pole detection at first servo-on (initial value)
2) Execute the magnetic pole detection. (Refer to (3) (a) in this section.)
3) After the completion of the magnetic pole detection, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole
detection disabled).
[Pr. PL01]
0
Magnetic pole detection disabled
After the magnetic pole detection, by turning on the Z-phase pulse in JOG operation and by
disabling the magnetic pole detection function with [Pr. PL01], the magnetic pole detection after
each power-on is not required.
(4) Magnetic pole detection method setting

Set the magnetic pole detection method using the first digit of [Pr. PL08] (Magnetic pole detection
method selection).
[Pr. PL08]
Magnetic pole detection method selection

0: Position detection method
4: Minute position detection method
15 - 12
(5) Setting of the magnetic pole detection voltage level by the position detection method
For the magnetic pole detection by the position detection method, set the voltage level with [Pr. PL09
Magnetic pole detection voltage level]. For the magnetic pole detection by the minute position detection
method, the voltage level setting is not required.
(a) Guideline of parameter settings

Set the parameters by referring to the following table.
[Pr. PL09] setting
Small ← Medium → Large
(Guide value)
(10 or less (initial value) 50 or more)
Servo status
Torques required for operation Small Large
Overload, overcurrent alarm Not frequently occurs Frequently occurs
Magnetic pole detection alarm Frequently occurs Not frequently occurs
Magnetic pole detection accuracy Low High
(b) Setting procedure

1) Perform the magnetic pole detection, and increase the setting value of [Pr. PL09 Magnetic pole
detection voltage level] until [AL. 50 Overload 1], [AL. 51 Overload 2], [AL. E1 Overload warning
1], and [AL. EC Overload warning 2] occur. Increase the setting value by five as a guide value.
When these alarms and warnings occur during the magnetic pole detection by using MR
Configurator2, the test operation of MR Configurator2 automatically completes and the servo-off
status is established.
2) Specify the setting value that is an approximately 70% of the value set when [AL. 50 Overload 1],
[AL. 51 Overload 2], [AL. E1 Overload warning 1], and [AL. EC Overload warning 2] occurred as
the final setting value. However, if [AL. 27 Initial magnetic pole detection error] occurs with this
value, specify a value intermediate between the value set at [AL. 50 Overload 1], [AL. 51
Overload 2], [AL. E1 Overload warning 1], or [AL. EC Overload warning 2] and the value set at
the magnetic pole detection alarm as the final setting value.
3) Perform the magnetic pole detection again with the final setting value.
(c) Setting example

[Pr. PL09] setting value 30 35 40 45 65 70
Existent
Alarm
Non-existent
While increasing the setting value of [Pr. PL09], carry out the An alarm has occurred when the setting
magnetic pole detection repeatedly. value of [Pr. PL09] is set to "70".
In this example, the final setting value of [Pr. PL09] is 49 (Setting value at the alarm occurrence = 70
× 0.7).
15 - 13
To configure the absolute position detection system by using the direct drive motor, the battery and the
absolute position storage unit MR-BTAS01 are required.
For the incremental system, the magnetic pole detection is automatically performed at the first servo-on after
the power-on. For this reason, when performing the positioning operation, create the sequence which surely
confirms the servo-on status as the inter lock condition of the positioning command.
15.3.4 Function
(1) Servo control error detection function
POINT
For the servo control error detection function, the position and speed deviation
error detections are enabled by default. ([Pr. PL04]: _ _ _ 3)
If the servo control gets unstable for some reasons, the direct drive motor may not operate properly. To
detect this state and to stop operation, the servo control error detection function is used as a protective
function.
The servo control error detection function has three different detection methods: the position deviation,
speed deviation, and torque deviation. An error is detected when each method is enabled with [Pr. PL04
Linear servo motor/DD motor function selection 2]. The detection level can be changed with [Pr. PL05],
[Pr. PL06], and [Pr. PL07].
Direct drive motor
Servo amplifier
Servo amplifier internal value

1) Model feedback position [rev]
3) Model feedback speed [r/min]
5) Command torque [%]
Encoder Encoder
2) Feedback position [rev]
4) Feedback speed [r/min]
6) Feedback torque [%]
Figure 15.1 Outline of servo control error detection function
(a) Position deviation error detection

Set [Pr. PL04] to "_ _ _ 1" to enable the position deviation error detection.
[Pr. PL04]
1
Position deviation error detection enabled
When you compare the model feedback position ( 1)) and the feedback position ( 2)) in figure 15.1, if
the deviation is more than the value of [Pr. PL05 Position deviation error detection level] (1 (0.01 rev)
to 1000 (10 rev)), [AL. 42.1 Servo control error by position deviation] will occur and the linear servo
motor will stop. The initial value of this detection level is 0.09 rev. Replace the set value as required.
15 - 14
(b) Speed deviation error detection

Set [Pr. PL04] to "_ _ _ 2" to enable the speed deviation error detection.
[Pr. PL04]
2
Speed deviation error detection enabled
When you compare the model feedback speed ( 3)) and the feedback speed ( 4)) in figure 15.1, if
the deviation is more than the value of [Pr. PL06 Speed deviation error detection level] (1 r/min to
2000 r/min), [AL. 42.2 Servo control error by speed deviation] will occur and the linear servo motor
will stop. The initial value of this detection level is 100 r/min. Replace the set value as required.
(c) Torque deviation error detection level

Set [Pr. PL04] to "_ _ _ 4" to enable the torque deviation error detection.
[Pr. PL04]
4
Torque deviation error detection enabled
When you compare the command torque ( 5)) and the feedback torque ( 6)) in figure 15.1, if the
deviation is more than the value of [Pr. PL07 Torque/thrust deviation error detection level] (1% to
1000%), [AL. 42.3 Servo control error by torque/thrust deviation] will occur and the linear servo
motor will stop. The initial value of this detection level is 100%. Replace the set value as required.
(d) Detecting multiple deviation errors

When setting [Pr. PL04] as shown below, multiple deviation errors can be detected. For the error
detection methods, refer to (1) (a), (b), (c) in this section.
[Pr. PL04]
Setting Position deviation Speed deviation Torque deviation

value error detection error detection error detection
1
2
3
4
5
6
7
15 - 15
15.4 Characteristics
15.4.1 Overload protection characteristics
An electronic thermal relay is built in the servo amplifier to protect the servo amplifier, the direct drive motor,
and direct drive motor power wires from overloads.
[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal relay protection
curve shown in Fig. 15.2 [AL. 51 Overload 2] occurs if the maximum current is applied continuously for
several seconds due to machine collision, etc. Use the equipment on the left-side area of the continuous or
broken line in the graph.
When unbalanced torque is generated, such as in a vertical lift machine, the unbalanced torque of the
machine should be kept at 70% or lower of the motor's rated torque.
This servo amplifier has solid-state direct drive motor overload protection for each axis. (The direct drive
motor overload current (full load current) is set on the basis of 120% rated current of the servo amplifier.)
15 - 16
1000 1000
Operating Operating
100 100
Operation time [s]
Operation time [s]

Servo-lock Servo-lock
10 10
1 1
0.1 0.1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
(Note) Load ratio [%] (Note) Load ratio [%]
TM-RFM002C20, TM-RFM004C20, TM-RFM048G20, TM-RFM072G20,

TM-RFM006C20, TM-RFM006E20, TM-RFM120J10
TM-RFM012E20, TM-RFM018E20,
TM-RFM012G20, TM-RFM040J10
10000
1000
Operation time [s]
Operating
Servo-lock
100
10
1
0 50 100 150 200 250 300
(Note) Load ratio [%]
TM-RFM240J10
Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a direct drive
motor stop status (servo-lock status) or in a 30 r/min or less low-speed operation status, the servo amplifier may malfunction
regardless of the electronic thermal relay protection.
Fig. 15.2 Electronic thermal relay protection characteristics
15 - 17
15.4.2 Power supply capacity and generated loss
Table 15.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For
thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst
torque and servo-off according to the duty used during operation. When the direct drive motor is run at less
Table 15.1 Power supply capacity and generated loss per direct drive motor at rated output
Power supply Servo amplifier-generated heat [W] Area required for
Direct drive motor Servo amplifier 2
capacity [kVA] At rated output With servo-off heat dissipation [m ]
TM-RFM002C20 MR-J4-20GF(-RJ) 0.25 25 15 0.5
TM-RFM004C20 MR-J4-40GF(-RJ) 0.38 35 15 0.7
TM-RFM006C20 0.53 40 15 0.8
MR-J4-60GF(-RJ)
TM-RFM006E20 0.46 40 15 0.8
TM-RFM012E20 MR-J4-70GF(-RJ) 0.81 50 15 1.0
TM-RFM018E20 MR-J4-100GF(-RJ) 1.3 50 15 1.0
TM-RFM012G20 MR-J4-70GF(-RJ) 0.71 50 15 1.0
TM-RFM048G20 MR-J4-350GF(-RJ) 2.7 90 20 1.8
TM-RFM072G20 MR-J4-350GF(-RJ) 3.8 110 20 2.2
TM-RFM040J10 MR-J4-70GF(-RJ) 1.2 50 15 1.0
TM-RFM120J10 MR-J4-350GF(-RJ) 3.4 90 20 1.8
TM-RFM240J10 MR-J4-500GF(-RJ) 6.6 160 25 3.2
15 - 18
15.4.3 Dynamic brake characteristics
POINT
stop in emergency.
Be sure to enable EM1 (Forced stop 1) after the direct drive motor stops when
using EM1 (Forced stop 1) frequently in other than emergency.
(1) Dynamic brake operation

(a) Calculation of coasting distance
Fig. 15.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is
operated. Use equation 15.1 to calculate an approximate coasting distance to a stop. The dynamic
brake time constant τ varies with the direct drive motor and machine operation speeds. (Refer to (1)
(b) in this section.)
ON
EM1 (Forced stop 1)
OFF
Dynamic brake
time constant
V0
Machine
speed
te Time
Fig. 15.3 Dynamic brake operation diagram
V0 JL
Lmax = • te + 1+ ······················································································ (15.1)
60 JM
Lmax: Maximum coasting distance [mm]

V0: Machine's fast feed speed [mm/min]
JM: Moment of inertia of direct drive motor [kg•cm2]
JL: Load moment of inertia converted into equivalent value on direct drive motor rotor [kg•cm2]
τ: Dynamic brake time constant [s]
te: Delay time of control section [s]
There is internal relay delay time of about 10 ms.
15 - 19
(b) Dynamic brake time constant

The following shows necessary dynamic brake time constant τ for equation 15.1.
30 70
60
[ms]
[ms]
25
002 004 50 018
20
Time constant 40 006
Time constant
15
30
10 006 20
5 10 012
0 0
0 100 200 300 400 500 0 100 200 300 400 500
Direct drive motor speed [r/min] Direct drive motor speed [r/min]
TM-RFM_C20 TM-RFM_E20
60 80
70 040
[ms]
[ms]
50 012
60
40 50
Time constant
Time constant
30 40
048 30
20 240
20
10 10
072 120
0 0
0 100 200 300 400 500 0 50 100 150 200
Direct drive motor speed [r/min] Direct drive motor speed [r/min]
TM-RFM_G20 TM-RFM_J10
(2) Permissible load to motor inertia ratio when the dynamic brake is used
Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the load
inertia moment is higher than this value, the dynamic brake may burn. If the load to motor inertia ratio
exceeds the indicated value, contact your local sales office.
The values of the permissible load to motor inertia ratio in the table are the values at the maximum
rotation speed of the direct drive motor.
The value in the parenthesis shows the value at the rated speed of the direct drive motor.
Permissible load to motor inertia ratio
Direct drive motor
[multiplier]
TM-RFM_C20
100 (300)
TM-RFM_E20
TM-RFM_G20 50 (300)
TM-RFM_J10 50 (200)
15 - 20
16. FULLY CLOSED LOOP SYSTEM
POINT
The fully closed loop system is available for servo amplifiers with software
When fully closed loop control system is used with this servo amplifier, "Linear
Encoder Instruction Manual" is needed.
Fully closed loop control system is available with position mode.
When fully closed loop system is configured with MR-J4-_GF_ servo amplifier,
the following restrictions will be applied. However, these restrictions will not be
applied for MR-J4-_GF_-RJ servo amplifiers.
A/B/Z-phase differential output type encoder cannot be used.
The load-side encoder and servo motor encoder are compatible with only the
two-wire type. The four-wire type load-side encoder and servo motor encoder
cannot be used.
When you use the HG-KR and HG-MR series for driving and load-side
encoder, the optional four-wire type encoder cables (MR-EKCBL30M-L,
MREKCBL30M-H, MR-EKCBL40M-H, and MR-EKCBL50M-H) cannot be
used. When an encoder cable of 30 m to 50 m is needed, fabricate a two-wire
type encoder cable according to app. 8.
16.1.1 Function block diagram
A fully closed loop control block diagram is shown below. The fully closed loop system is controlled in the
load-side encoder unit.
+ +
Controller
- - Servo motor
+ Servo motor-side cumulative S

(Servo motor side) feedback pulses
Droop pulses - + (load-side encoder resolution unit) FBN
Linear encoder
+ FBD
(Servo motor side)
Cumulative
feedback pulses Fully closed loop Encoder pulse setting
dual feedback - ([Pr. PA15], [Pr. PA16]
filter and [Pr. PC03])
Load-side + ([Pr. PE08]) +
droop pulses - (Note 1, 2) (Note 2)
Fully closed loop selection Fully closed loop control
Cumulative load-side ([Pr. PE01] and [Pr. PE08]) Load-side feedback pulses error detection function
feedback pulses selection ([Pr. PE03])
Control
Monitor
Note 1. Switching between semi closed loop control and fully closed loop control can be performed by changing the setting of [Pr.
PE01].
When semi closed loop control is selected, a control is always performed on the bases of the position data of the servo
motor encoder independently of whether the servo motor is at a stop or running.
2. When the fully closed loop system is enabled in [Pr. PE01], dual feedback control in which the servo motor feedback signal
and load-side encoder feedback signal are combined by the dual feedback filter in [Pr. PE08] is performed.
In this case, fully closed loop control is performed when the servo motor is at a stop, and semi closed loop control is
performed when the servo motor is operating to improve control performance. When "4500" is set as the filter value of [Pr.
PE08 Dual feedback filter], fully closed loop control is always performed.
16 - 1
The following table shows the functions of each control mode.

Control Description
Feature Position is controlled according to the servo motor-side data.
Since this control is insusceptible to machine influence (such as machine resonance),
Advantage
Semi closed loop control the gains of the servo amplifier can be raised and the settling time shortened.
If the servo motor side is at a stop, the side may be vibrating or the load-side accuracy
Disadvantage
not obtained.
Feature Position is controlled according to the servo motor-side data and load-side data.
Control is performed according to the servo motor-side data during operation, and
Dual feedback control
Advantage according to the load side-data at a stop in sequence to raise the gains during
operation and shorten the settling time. A stop is made with the load-side accuracy.
Feature Position is controlled according to the load-side data.
Advantage The load-side accuracy is obtained not only at a stop but also during operation.
Fully closed loop control
Since this control is susceptible to machine resonance or other influences, the gains
Disadvantage
of the servo amplifier may not rise.
16 - 2
16.1.2 Selecting procedure of control mode
(1) Control mode configuration

In this servo, a semi closed loop system or fully closed loop system can be selected as a control system.
In addition, on the fully closed loop system, the semi closed loop control, fully closed loop control and
dual feedback control can be selected by the [Pr. PE08] settings.
Semi closed loop system
Semi closed
loop control
Operation mode selection

([Pr. PA01])
"_ _ 0 _" Semi closed/fully closed switching command
Servo amplifier OFF
"_ _ 1 _"
Fully closed loop ON

(Refer to section 16.3.1 (2) (a)) function selection 1
([Pr. PE01]) Fully closed loop system
"_ _ _ 1" Fully closed loop
dual feedback filter Semi closed
loop control
([Pr. PE08])
"_ _ _ 0"
"1 to 4499" Dual feedback
control
(Refer to section 16.3.1 (2) (b))
"4500" Fully closed
loop control
(2) Dual feedback filter equivalent block diagram

A dual feedback filter equivalent block diagram on the dual feedback control is shown below.
+ Servo motor
Position
- control unit
+ High-pass
filter
+
Linear encoder
Low-pass
filter
ω (Note)
Dual feedback filter
Operation status Control status
Fully closed Semi closed Servo motor during a stop Fully closed loop
loop control loop control (0 to ω) control
In operation (ω or more) Semi closed loop
Frequency [rad/s] control
Note. "ω" (a dual feedback filter band) is set by [Pr. PE08].
16 - 3
16.1.3 System configuration
(1) For a linear encoder

(a) MR-J4-_GF_ servo amplifier
Servo amplifier
CC-Link IE compatible
simple motion module
CC-Link IE
(Note)
Position command Two-wire type serial interface compatible linear encoder
control signal
CN2
Load-side encoder signal
Servo motor encoder signal
Linear encoder head
Servo motor Table
Note. Applicable for the absolute position detection system when an absolute position linear encoder is used.
In that case, a battery is not required.
(b) MR-J4-_GF_-RJ servo amplifier

Servo amplifier
(Note)
CC-Link IE A/B/Z-phase pulse train interface compatible linear encoder
or
Position command two-wire/four-wire type serial interface compatible linear encoder
control signal
CN2 Load-side encoder signal

CN2L (A/B/Z-phase pulse train interface
or serial interface)
Linear encoder head
Servo motor
Table
Note. Applicable for the absolute position detection system when an absolute position linear encoder is used.
In that case, a battery is not required.
16 - 4
(2) For a rotary encoder

Servo amplifier
CC-Link IE Drive part
Position command
control signal
CN2 (Note)
(Note) Servo motor

Two-wire type rotary encoder HG-KR,
HG-MR servo motor (4194304 pulses/rev)
Note. Use a two-wire type encoder cable. A four-wire type linear encoder cable cannot be used.

Servo amplifier

Position command
control signal
CN2
CN2L
Servo motor
A/B/Z-phase differential output, two-wire type, or four-wire type

rotary encoder HG-KR, HG-MR servo motor (4194304 pulses/rev)
or synchronous encoder Q171ENC-W8 (4194304 pulses/rev)
16 - 5
16.2 Load-side encoder
POINT
Always use the load-side encoder cable introduced in this section. Using other
products may cause a malfunction.
For details of the load-side encoder specifications, performance and assurance,
contact each encoder manufacturer.
16.2.1 Linear encoder
Refer to "Linear Encoder Instruction Manual" for usable linear encoders.
16.2.2 Rotary encoder
When a rotary encoder is used for the load-side encoder, use HG-KR or HG-MR servo motor as an encoder.
Use a two-wire type encoder cable for MR-J4-_GF_ servo amplifiers. Do not use MR-EKCBL30M-L, MR-
EKCBL30M-H, MR-EKCBL40M-H, or MR-EKCBL50M-H as they are four-wire type.
16.2.3 Configuration diagram of encoder cable
Configuration diagram for servo amplifier and load-side encoder is shown below. Cables used vary,
depending on the load-side encoder.
(1) Linear encoder

Refer to "Linear Encoder Instruction Manual" for encoder cables for linear encoder.

MR-J4FCCBL03M branch cable
Servo amplifier
CN2 CN2 MOTOR
Encoder of rotary servo motor
Linear encoder
SCALE
Load-side
encoder
Encoder cable
(Refer to the "Linear Encoder Instruction Manual".)

You can connect the linear encoder without using a branch cable shown in (a) for MR-J4-_GF_-RJ
servo amplifier. You can also use a four-wire type linear encoder.
Servo amplifier
CN2
Linear encoder
CN2L
Load-side
encoder
Encoder cable
(Refer to the "Linear Encoder Instruction Manual".)
16 - 6
(2) Rotary encoder

Refer to "Linear Encoder Instruction Manual" for encoder cables for rotary encoder.
Servo amplifier
CN2 CN2 MOTOR (Note)
SCALE
Servo motor
(Note) HG-KR Load-side
HG-MR encoder
Encoder cable
(Refer to the "Servo Motor Instruction Manual (Vol. 3)".)

You can connect the linear encoder without using a branch cable shown in (a) for MR-J4-_GF_-RJ
servo amplifier. You can also use a four-wire type linear encoder.
Servo amplifier
CN2
CN2L
Servo motor
HG-KR Load-side
HG-MR encoder
Encoder cable
(Refer to the "Servo Motor Instruction Manual (Vol. 3)".)
16 - 7
16.2.4 MR-J4FCCBL03M branch cable
Use MR-J4FCCBL03M branch cable to connect the rotary encoder and the load-side encoder to CN2
connector.
When fabricating the branch cable using MR-J3THMCN2 connector set, refer to "Linear Encoder Instruction
Manual".
0.3 m
(Note 1) (Note 2)
CN2 MOTOR
SD Plate Plate SD
P5 1 1 P5
LG 2 2 LG
2 6 10 10 6 2
LG 4 THM2 8 SEL SEL 8 THM2 4 LG
MRR MXR MR 3 3 MR MRR
1 5 9 9 5 1
MRR 4 4 MRR
P5 3 THM1 7 BAT BAT 7 THM1 3 P5
MR MX THM1 5 5 THM1 MR
THM2 6 6 THM2
View seen from wiring side. MX 7 View seen from wiring side.
MXR 8
BAT 9 9 BAT
SEL 10 10 SEL
(Note 2)
SCALE
Plate SD
1 P5
2 LG
10 6 2
SEL 8 4 LG
MXR
9 5 1
3 MX BAT 7 3 P5
4 MXR MX
9 BAT
10 SEL View seen from wiring side.
Note 1. Receptacle: 36210-0100PL, shell kit: 36310-3200-008 (3M)

2. Plug: 36110-3000FD, shell kit: 36310-F200-008 (3M)
16 - 8
16.3.1 Startup
(1) Startup procedure

Start up the fully closed loop system in the following procedure.
Completion of installation and wiring
Adjustment and operation check in semi closed loop system
Check that the servo

Positioning operation check using MR Configurator2 equipment is normal.
Do as necessary.
Gain adjustment
Adjustment and operation check in fully closed loop system
Selection of fully closed loop system (Refer to (2) in this section.)
Selection of load-side encoder communication system (Refer to (3) in this section.)
Setting of load-side encoder polarity (Refer to (4) in this section.)
Setting of load-side encoder electronic gear (Refer to (5) in this section.)
Confirmation of load-side encoder position data (Refer to (6) in this section.)
Positioning operation check using MR Configurator2
Gain adjustment
Adjustment of dual feedback switching filter.

(for dual feedback control) (Refer to (5) in this section.)
Home position return operation (Refer to section 16.3.2.)
Completion of fully closed loop system startup
16 - 9
(2) Selection of fully closed loop system

By setting [Pr. PA01], [Pr. PE01] and the control command of controller, the control method can be
selected as shown in the following table.
Semi closed loop control/ Absolute position
[Pr. PA01] [Pr. PE01] fully closed loop control Command unit Control System detection
switching signal system
"_ _ 0 _" Servo motor Semi closed loop control
Semi closed encoder unit
loop system
(standard
control mode)
"_ _ 1 _ " "_ _ _ 0" Load-side encoder Dual feedback control (fully
(Note)
Fully closed unit closed loop control)
loop system "_ _ _ 1" Off Semi closed loop control ×
(fully closed
On Dual feedback control (fully
loop control ×
closed loop control)
mode)
Note. Applicable when the load-side encoder is set as the absolute position encoder.
(a) Operation mode selection

Select an operation mode.
[Pr. PA01]
1 0 0
Set value Operation mode Control unit
Semi closed loop system Servo motor-side
0 (Standard control mode) resolution unit
Fully closed loop system Load-side encoder
1 (Fully closed loop control mode) resolution unit
(b) Semi closed loop control/fully closed loop control selection

Select the semi closed loop control/fully closed loop control.
[Pr. PE01]
0 0 0
Fully closed loop control selection
0: Always enabled
1: Switching by fully closed loop selection command from controller
and Input device CLD (Fully closed loop control selection)
Fully closed loop selection
Command from CLD (Fully closed Control method
loop selection)
controller
(Note)
Off Off Semi closed loop control
On Off
Off On Fully closed loop control
On On
Note. It is always off when CLD (Fully closed loop selection) is not assigned
in [Pr. PD03] to [Pr. PD05].
To enable the setting, select "Fully closed loop control mode (_ _ 1 _)" of
"operation mode selection" in [Pr. PA01].
When "Absolute position detection system" is "Enabled (_ _ _ 1)" in [Pr.
PA03], setting "1" will trigger [AL. 37 Parameter error].
16 - 10
(3) Selection of load-side encoder communication method

The communication method changes depending on the load-side encoder type. Refer to table 1.1 and
"Linear Encoder Instruction Manual" for the communication method for each load-side encoder.
Select the cable to be connected to CN2L connector in [Pr. PC26].
[Pr. PC26]
0 0 0
Load-side encoder cable communication method selection
0: Two-wire type
1: Four-wire type
When using an encoder of A/B/Z-phase differential output method, set "0".
(4) Setting of load-side encoder polarity
Do not set an incorrect direction to "Encoder pulse count polarity selection" in [Pr.
CAUTION PC27]. An abnormal operation and a machine collision may occur if an incorrect
direction is set, which cause a fault and parts damaged.
POINT
"Encoder pulse count polarity selection" in [Pr. PC27] is not related to [Pr. PA14
Rotation direction selection]. Make sure to set the parameter according to the
relationships between servo motor and linear encoder/rotary encoder.
Do not set an incorrect direction to "Encoder pulse count polarity selection" in
[Pr. PC27]. Doing so may cause [AL. 42 Fully closed loop control error] during
the positioning operation.

Set the load-side encoder polarity to be connected to CN2L connector in order to match the CCW
direction of servo motor and the increasing direction of load-side encoder feedback.
[Pr. PC27]
0 0 0
0: Load-side encoder pulse increasing direction in the servo motor CCW
1: Load-side encoder pulse decreasing direction in the servo motor CCW
Servo motor Servo motor CCW direction
Linear encoder Address increasing direction of linear encoder
(b) How to confirm the load-side encoder feedback direction

For the way of confirming the load-side encoder feedback direction, refer to (6) in this section.
16 - 11
(5) Setting of feedback pulse electronic gear
POINT
If an incorrect value is set in the feedback pulse electronic gear ([Pr. PE04], [Pr.
PE05], [Pr. PE34], and [Pr. PE35]), [AL. 37 Parameter error] and an abnormal
operation may occur. Also, it may cause [AL. 42.8 Fully closed loop control error
by position deviation] during the positioning operation.
The numerator ([Pr. PE04] and [Pr. PE34]) and denominator ([Pr. PE05] and [Pr. PE35]) of the electronic
gear are set to the servo motor-side encoder pulse. Set the electronic gear so that the number of servo
motor encoder pulses per servo motor revolution is converted to the number of load-side encoder
pulses. The relational expression is shown below.
[Pr. PE04] × [Pr. PE34] Number of load-side encoder pulses per servo motor revolution
=
[Pr. PE05] × [Pr. PE35] Number of motor encoder pulses per servo motor revolution
Select the load-side encoder so that the number of load-side encoder pulses per servo motor revolution
is within the following range.
4096 (212) ≤ Number of load-side encoder pulses per servo motor revolution ≤ 67108864 (226)
(a) When the servo motor is directly coupled with a ball screw and the linear encoder resolution is 0.05
μm
Conditions
Servo motor resolution: 4194304 pulses/rev
Servo motor reduction ratio: 1/11
Ball screw lead: 20 mm
Linear encoder resolution: 0.05 µm
Linear encoder
Linear encoder head
Geared servo motor Table
Calculate the number of linear encoder pulses per ball screw revolution.
Number of linear encoder pulses per ball screw revolution

= Ball screw lead/linear encoder resolution
= 20 mm/0.05 µm = 400000 pulses
[Pr. PE04] × [Pr. PE34] 400000 1 3125 1

= × = ×
[Pr. PE05] × [Pr. PE35] 4194304 11 32768 11
16 - 12
(b) Setting example when using the rotary encoder for the load-side encoder of roll feeder
Conditions
Servo motor resolution: 4194304 pulses/rev
Pulley diameter on the servo motor side: 30 mm
Pulley diameter on the rotary encoder side: 20 mm
Rotary encoder resolution: 4194304 pulse/rev
Drive part
Pulley diameter
d2 = 20 mm
Servo motor
Pulley diameter
d1 = 30 mm
Rotary encoder
(HG-KR or HG-MR servo motor)
4194304 pulses/rev
When the pulley diameters or reduction ratios differ, consider that in calculation.
[Pr. PE04] × [Pr. PE34] 4194304 × 30 1 3

= = ×
[Pr. PE05] × [Pr. PE35] 4194304 × 20 1 2
16 - 13
(6) Confirmation of load-side encoder position data

Check the load-side encoder mounting and parameter settings for any problems.
POINT
Depending on the check items, MR Configurator2 may be used.
Refer to section 16.3.9 for the data displayed on the MR Configurator2.
When checking the following items, the fully closed loop control mode must be set. For the setting of
control mode, refer to (2) in this section.
No. Check item Confirmation method and description
1 Read of load-side encoder position With the load-side encoder in a normal state (mounting, connection, etc.), the load-side
data cumulative feedback pulses value is counted normally when the load-side encoder is
moved.
1. An alarm occurred.
2. The installation of the load-side encoder was not correct.
3. The encoder cable was not wired correctly.
2 Read of load-side encoder home With the home position (reference mark, or Z-phase) of the load-side encoder in a normal
position (reference mark, Z-phase) condition (mounting, connection, etc.), the value of load-side encoder information 1 is
cleared to 0 when the home position (reference mark, or Z-phase) is passed through by
moving the load-side encoder.
1. The installation of the load-side encoder was not correct.
2. The encoder cable was not wired correctly.
3 Confirmation of load-side encoder Confirm that the directions of the cumulative feedback pulses of servo motor encoder (after
feedback direction gear) and the load-side cumulative feedback pulses are matched by moving the device
(Setting of load-side encoder (load-side encoder) manually in the servo-off status. If mismatched, reverse the polarity.
polarity)
4 Setting of load-side encoder When the servo motor and load-side encoder operate synchronously, the servo motor-side
electronic gear cumulative feedback pulses (after gear) and load-side cumulative feedback pulses are
matched and increased.
If mismatched, review the setting of fully closed loop control feedback electronic gear ([Pr.
PE04], [Pr. PE05], [Pr. PE34], and [Pr. PE35]) with the following method.
1) Check the servo motor-side cumulative feedback pulses (before gear).
2) Check the load-side cumulative feedback pulses.
3) Check that the ratio of above 1) and 2) has been that of the feedback electronic gear.
+
Command
- Servo motor
Servo motor-side cumulative 3) Electronic

feedback pulses (after gear) gear Linear
encoder
1) Servo motor-side cumulative
feedback pulses (before gear)
2) Load-side cumulative
feedback pulses
16 - 14
(7) Setting of fully closed loop dual feedback filter

With the initial value (setting = 10) set in [Pr. PE08 Fully closed loop dual feedback filter the dual
feedback filter], make gain adjustment by auto tuning, etc. as in semi closed loop control. While
observing the servo operation waveform with the graph function, etc. of MR Configurator2, adjust the
dual feedback filter.
The dual feedback filter operates as described below depending on the setting.
[Pr. PE08] setting Control mode Vibration Settling time
1 Not frequently occurs Long time
to Dual feedback to to
4499 Frequently occurs Short time
4500 Fully closed loop
Increasing the dual feedback filter setting shortens the settling time, but increases servo motor vibration
since the motor is more likely to be influenced by the load-side encoder vibration. The maximum setting
of the dual feedback filter should be less than half of the PG2 setting.
Reduction of settling time: Increase the dual feedback filter setting.
Droop pulses Droop pulses
Command Command
Time Time
Suppression of vibration: Decrease the dual feedback filter setting.
Droop pulses Droop pulses
Command Command
Time Time
16 - 15
16.3.2 Home position return
(1) General instruction

Home position return is all performed according to the load-side encoder feedback data, independently
of the load-side encoder type. It is irrelevant to the Z-phase position of the servo motor encoder. In the
case of a home position return using a dog signal, the home position (reference mark) must be passed
through when an incremental type linear encoder is used, or the Z-phase be passed through when a
rotary encoder is used, during a period from a home position return start until the dog signal turns off.
(2) Load-side encoder types and home position return methods

(a) About proximity dog type home position return using absolute type linear encoder
When an absolute type linear encoder is used, the home position reference position is the position
per servo motor revolution to the linear encoder home position (absolute position data = 0).
In the case of a proximity dog type home position return, the nearest position after proximity dog off
is the home position.
The linear encoder home position may be set in any position.
Servo motor Creep speed

speed
0 r/min
Proximity dog ON
signal OFF
Reference home
position
Equivalent to one servo motor revolution
Machine position
16 - 16
(b) About proximity dog type home position return using incremental linear encoder
1) When the linear encoder home position (reference mark) exists in the home position return
direction
When an incremental linear encoder is used, the home position is the position per servo motor
revolution to the linear encoder home position (reference mark) passed through first after a home
position return start.
In the case of a dog type home position return, after the proximity dog signal rear end is detected,
the nearest home position reference position shifted by the home position shift distance is used
as the home position.
Set one linear encoder home position in the full stroke, and set it in the proximity dog signal
detection position.

Creep speed
Servo motor
speed
0 r/min
ON
Proximity dog
signal OFF
Reference home
position Equivalent to one servo motor revolution
Equivalent to servo motor "n" times rotation +
Home position shift distance (Note)
Machine position
Note. Home position shift distance can be changed with [Pr. PT07] and [Pr. PT69].
16 - 17
2) When the linear encoder home position does not exist in the home position return direction
POINT
moving the axis to the opposite stroke end by jog operation, etc. of the
controller.
If the incremental linear encoder does not have a linear encoder home position
(reference mark), only the home position return type without using Z-phase can
be performed.
If the home position return is performed from the position where the linear encoder home position
does not exist in the home position return direction, an error may occur depending on the home
position return type. In this case, change the home position return type, or move the mover to the
stroke end on the opposite side of the home position return direction with the JOG operation from
the controller and others, and then perform a home position return.
Servo motor Creep speed

speed
0 r/min
JOG operation
Proximity dog ON
signal OFF
Machine position
Stroke end Linear encoder home position Home position
Home position returnable area Home position non-returnable area
16 - 18
(c) About dog type home position return when using the rotary encoder of a serial communication servo
motor
The home position for when using the rotary encoder of a serial communication servo motor for the
load-side encoder is at the load-side Z-phase position.
Load-side encoder ON
Z-phase signal OFF
Reference home position

Equivalent to one servo motor revolution
Machine position
Servo amplifier Home position
power-on position
An absolute type linear encoder is necessary to configure an absolute position detection system under fully
closed loop control using a linear encoder. In this case, the encoder battery need not be installed to the
servo amplifier. When a rotary encoder is used, an absolute position detection system can be configured by
installing the encoder battery to the servo amplifier. In this case, the battery life will be shorter because the
power consumption is increased as the power is supplied to the two encoders of motor side and load side.
Positioning operation from the controller is basically performed like the semi closed loop control.
16 - 19
16.3.4 Fully closed loop control error detection functions
If fully closed loop control becomes unstable for some reason, the speed at servo motor side may increase
abnormally. The fully closed loop control error detection function is a protective function designed to pre-
detect it and stop operation.
The fully closed loop control error detection function has two different detection methods, speed deviation
and position deviation, and errors are detected only when the corresponding functions are enabled by setting
[Pr. PE03 Fully closed loop function selection 2].
The detection level setting can be changed using [Pr. PE06] and [Pr. PE07].
(1) Parameter
The fully closed loop control error detection function is selected.
[Pr. PE03]
Fully closed loop control error detection function

0: Disabled
1: Speed deviation error detection
2: Position deviation error detection
3: Speed deviation error, position deviation error detection
(Initial value)
(2) Fully closed loop control error detection functions

Servo motor
1) Servo motor-side feedback speed [r/min]
2) Servo motor-side feedback position [pulse]
(load side equivalent value)
3) Load-side feedback speed [r/min]

4) Load-side feedback position [pulse]
Linear encoder
(a) Speed deviation error detection

Set [Pr. PE03] to "_ _ _ 1" to enable the speed deviation error detection.
[Pr. PE03]
1
Speed deviation error detection
The function compares the servo motor-side feedback speed (1)) and load-side feedback speed (3)).
If the deviation is not less than the set value (1 r/min to the permissible speed) of [Pr. PE06 Fully
closed loop control speed deviation error detection level], the function generates [AL. 42.2 Servo
control error by speed deviation] and stops. The initial value of [Pr. PE06] is 400 r/min. Change the
set value as required.
16 - 20
(b) Position deviation error detection

Set [Pr. PE03] to "_ _ _ 2" to enable the position deviation error detection.
[Pr. PE03]
2
Position deviation error detection
Comparing the servo motor-side feedback position (2)) and load-side feedback position (4)), if the
deviation is not less than the set value (1 kpulses to 20000 kpulses) of [Pr. PE07 Fully closed loop
control position deviation error detection level], the function generates [AL. 42 42.1 Servo control
error by position deviation] and stops. The initial value of [Pr. PE07] is 100 kpulses. Change the set
value as required.
(c) Detecting multiple deviation errors

When setting [Pr. PE03] as shown below, multiple deviation errors can be detected. For the error
detection method, refer to (2) (a), (b) in this section.
[Pr. PE03]
Setting Speed deviation Position deviation

value error detection error detection
1
2
3
16.3.5 Auto tuning function
Refer to section 6.3 for the auto tuning function.
16.3.6 Machine analyzer function
Refer to Help of MR Configurator2 for the machine analyzer function of MR Configurator2.
16.3.7 Test operation mode
Test operation mode is enabled by MR Configurator2.

For details on the test operation mode, refer to section 4.5.
Function Item Usability Remark
JOG operation It drives in the load-side encoder resolution unit
Positioning operation The fully closed loop system is operated in the load-side encoder resolution
Test unit.
operation Program operation For details, refer to section 4.5.1 (1) (c).
mode Output signal (DO)
Refer to section 4.5.1 (1) (d).
forced output
Motor-less operation
16 - 21
16.3.8 Absolute position detection system under fully closed loop system
An absolute type linear encoder is necessary to configure an absolute position detection system under fully
closed loop control using a linear encoder. In this case, the encoder battery need not be installed to the
servo amplifier. When a rotary encoder is used, an absolute position detection system can be configured by
installing the encoder battery to the servo amplifier. In this case, the battery life will be shorter because the
power consumption is increased as the power is supplied to the two encoders of motor side and load side.
For the absolute position detection system with linear encoder, the restrictions mentioned in this section
apply. Enable the absolute position detection system with [Pr. PA03 Absolute position detection system] and
use this servo within the following restrictions.
(1) Using conditions

(a) Use an absolute type linear encoder with the load-side encoder.
(b) Select Always fully closed loop ([Pr. PA01] = _ _ 1 _ and [Pr. PE01] = _ _ _ 0).
(2) Absolute position detection range using encoder

Encoder type Absolute position detection enabled range
Linear encoder Movable distance range of linear encoder (within 32-bit absolute position data)
(Serial Interface)
(3) Alarm detection

The absolute position-related alarm ([AL. 25]) and warnings (AL. 92] and [AL. 9F]) are not detected.
16 - 22
16.3.9 About MR Configurator2
Using MR Configurator2 can confirm if the parameter setting is normal or if the servo motor and the load-
side encoder operate properly.
This section explains the fully closed diagnosis screen.
Click "Monitor start" to constantly read the monitor display items from the servo amplifier.
Then, click "Monitor stop" to stop reading. Click "Parameter read" to read the parameter items from the servo
amplifier, and then click "Parameter write" to write them.
k) f) m)
c)
g)
i)
h)
j)
l) a) b) d) e)
Symbol Name Explanation Unit

a) Motor side cumu. feedback Feedback pulses from the servo motor encoder are counted and displayed. (load-side pulse
pulses (after gear) encoder unit)
When the set value exceeds 999999999, it starts with 0.
Click "Clear" to reset the value to 0.
The "-" symbol is indicated for reverse.
b) Motor side droop pulses Droop pulses of the deviation counter between a servo motor-side position and a pulse
command are displayed.
c) Cumu. Com. pulses Position command input pulses are counted and displayed. pulse
The "-" symbol is indicated for reverse command.
d) Load side cumu. feedback Feedback pulses from the load-side encoder are counted and displayed. pulse
pulses When the set value exceeds 999999999, it starts with 0.
e) Load side droop pulses Droop pulses of the deviation counter between a load-side position and a command are pulse
displayed.
16 - 23
Symbol Name Explanation Unit

f) Motor side cumu. feedback Feedback pulses from the servo motor encoder are counted and displayed. (Servo pulse
pulses (before gear) motor encoder unit)
When the set value exceeds 999999999, it starts with 0.
g) Encoder information The load-side encoder information is displayed.
The display contents differ depending on the load-side encoder type.
ID: The ID No. of the load-side encoder is displayed.
Data 1: For the incremental type linear encoder, the counter from powering on is
displayed. For the absolute position type linear encoder, the absolute position
data is displayed.
Data 2: For the incremental type linear encoder, the distance (number of pulses) from
the reference mark (Z-phase) is displayed. For the absolute position type
linear encoder, "00000000" is displayed.
h) Polarity For address increasing direction in the servo motor CCW, it is indicated as "+" and for
address decreasing direction in the servo motor CCW, as "-".
i) Z phase pass status If the fully closed loop system is "Disabled", the Z-phase pass status of the servo motor
encoder is displayed. If the fully closed loop system is "Enabled" or "Semi closed loop
control/fully closed loop control switching", the Z-phase pass status of the load-side
encoder is displayed.
j) Fully closed loop changing Only if the fully closed loop system is "Semi closed loop control/fully closed loop control
device switching", the device is displayed.
The state of the semi closed loop control/fully closed loop control switching signal and
the inside state during selection are displayed.
k) Parameter (Feedback pulse The feedback pulse electronic gears ([Pr. PE04], [Pr. PE05], [Pr. PE34], and [Pr. PE35])
electronic gear) are displayed/set for servo motor encoder pulses in this parameter. (Refer to section
16.3.1 (5).)
l) Parameter (Dual feedback The band of [Pr. PE08 Fully closed loop dual feedback filter] is displayed/set in this
filter) parameter.
m) Parameter (fully closed loop The parameter for the fully closed loop control is displayed or set.
selection) Click "Parameter setting" to display the "Fully closed loop control - Basic" window.
1)
2)
3)
4)
5)
1) Fully closed loop selection ([Pr. PE01])

"Always valid" or "Change according to fully closed selection signal" is selected
here.
2) Feedback pulse electronic gear ([Pr. PE04], [Pr. PE05], [Pr. PE34], [Pr. PE35])
Setting of feedback pulse electronic gear
3) Load-side encoder cable communication method selection ([Pr. PC26])
4) Selection of encoder pulse count polarity ([Pr. PC27])

Polarity of the load-side encoder information is selected.
5) Selection of A/B/Z-phase input interface encoder Z-phase connection judgment

function ([Pr. PC27])
Select the non-signal detection status for the pulse train signal from the A/B/Z-phase
input interface encoder used as a linear encoder or load-side encoder.
16 - 24
17. APPLICATION OF FUNCTIONS
This chapter explains application of using servo amplifier functions.
17.1 Scale measurement function
The scale measurement function transmits position information of a scale measurement encoder to the
controller by connecting the scale measurement encoder in semi closed loop control.
POINT
The scale measurement function is available for servo amplifiers with software
When a linear encoder is used as a scale measurement encoder for this servo
amplifier, "Linear Encoder Instruction Manual" is necessary.
When the scale measurement function is used for MR-J4-_GF_ servo amplifiers,
the following restrictions apply. However, these restrictions will not be applied for
MR-J4-_GF_-RJ servo amplifiers.
A/B/Z-phase differential output type encoder cannot be used.
The scale measurement encoder and servo motor encoder are compatible
with only the two-wire type. The four-wire type scale measurement encoder
and servo motor encoder cannot be used.
When you use the HG-KR and HG-MR series for driving and scale
measurement encoder, the optional four-wire type encoder cables (MR-
EKCBL30M-L, MR-EKCBL30M-H, MR-EKCBL40M-H, and MR-EKCBL50M-H)
cannot be used. When an encoder cable of 30 m to 50 m is needed, fabricate
a two-wire type encoder cable according to app. 8.
The scale measurement function compatible servo amplifier can be used with
any of the following controllers.
Simple motion module RD77GF_/QD77GF_
For settings and restrictions of controllers compatible with the scale
measurement function, refer to section 17.1.4 and user's manuals for each
controller.
17.1.1 Functions and configuration
(1) Function block diagram

The following shows a block diagram of the scale measurement function. The control will be performed
per servo motor encoder unit for the scale measurement function.
Controller
+ +
Position command
- - Servo motor
S
Motor-side droop +
Servo motor feedback pulses
pulses - (Servo motor resolution unit)
Scale measurement encoder
Current position
(absolute position)
Encoder pulse setting
([Pr. PA15], [Pr. PA16]
and [Pr. PC03])
Load-side feedback pulses
Scale within-1-rev (Scale resolution unit)
position
Scale ABS counter Control
Monitor
17 - 1
(1) System configuration

(a) For a linear encoder
1) MR-J4-_GF_ servo amplifier
Servo amplifier
CC-Link IE
Position command Two-wire type serial interface compatible linear encoder
control signal
CN2
Linear encoder head
Servo motor Table
2) MR-J4-_GF_-RJ servo amplifier

Servo amplifier
CC-Link IE A/B/Z-phase pulse train interface compatible linear encoder

or
Position command two-wire/four-wire type serial interface compatible linear encoder
control signal
CN2 Load-side encoder signal

CN2L (A/B/Z-phase pulse train interface
or serial interface)
Linear encoder head
Servo motor
Table
17 - 2
(b) For a rotary encoder

Servo amplifier
Position command
control signal
CN2 (Note)
(Note) Servo motor

Two-wire type rotary encoder HG-KR,
HG-MR servo motor (4194304 pulses/rev)

Servo amplifier

Position command
control signal
CN2
CN2L
Servo motor
A/B/Z-phase differential output, two-wire type, or four-wire type

rotary encoder HG-KR, HG-MR servo motor (4194304 pulses/rev)
or synchronous encoder Q171ENC-W8 (4194304 pulses/rev)
17 - 3
17.1.2 Scale measurement encoder
POINT
Always use the scale measurement encoder cable introduced in this section.
Using other products may cause a malfunction.
For details of the scale measurement encoder specifications, performance and
assurance, contact each encoder manufacturer.
(1) Linear encoder

Refer to "Linear Encoder Instruction Manual" for usable linear encoders.
To use the scale measurement function in the absolute position detection system ([Pr. PA22] = 1_ _ _),
an absolute position linear encoder is required. In this case, you do not need to install the encoder
battery to the servo amplifier for backing up the absolute position data of the load side. To use a servo
motor in the absolute position detection system ([Pr. PA03] = _ _ _1), the encoder battery must be
installed to the servo amplifier for backing up the absolute position data of the servo motor side.
(2) Rotary encoder

When a rotary encoder is used as a scale measurement encoder, use the following servo motor or
synchronous encoder as the encoder.
Servo motor and synchronous encoder that can be used as encoder

Synchronous encoder
HG-KR HG-MR
Q171ENC-W8
MR-J4-_GF_
MR-J4-_GF_-RJ
Use a two-wire type encoder cable for MR-J4-_GF_ servo amplifiers. Do not use MR-EKCBL30M-L, MR-
EKCBL30M-H, MR-EKCBL40M-H, or MR-EKCBL50M-H as they are four-wire type.
When an encoder cable of 30 m to 50 m is needed, fabricate a two-wire type encoder cable according to
app. 8.
To use the scale measurement function in the absolute position detection system ([Pr. PA22] = 1_ _ _),
the encoder battery must be installed to the servo amplifier for backing up the absolute position data of
the load side. In this case, the battery life will be shorter because the power consumption is increased as
the power is supplied to the two encoders of motor side and load side.
(3) Configuration diagram of encoder cable

Configuration diagram for servo amplifier and scale measurement encoder is shown below. Cables vary
depending on the scale measurement encoder.
(a) Linear encoder
Refer to Linear Encoder Instruction Manual for encoder cables for linear encoder.
Servo amplifier
CN2 CN2 MOTOR
Linear encoder
SCALE
Scale
measurement
encoder
Encoder cable
(Refer to "Linear Encoder Instruction Manual".)
17 - 4

You can connect the linear encoder without using a branch cable shown in 1) for MR-J4-_GF_-
RJ servo amplifier. You can also use a four-wire type linear encoder.
Servo amplifier
CN2
Linear encoder
CN2L
Scale
measurement
encoder
Encoder cable
(Refer to "Linear Encoder Instruction Manual".)
(b) Rotary encoder

Refer to "Servo Motor Instruction Manual (Vol. 3)" for encoder cables for rotary encoders.

Servo amplifier
CN2 CN2 MOTOR (Note)
SCALE
Servo motor
(Note) HG-KR Scale
HG-MR measurement
encoder
Encoder cable
(Refer to "Servo Motor Instruction Manual (Vol. 3)".)

You can connect the rotary encoder without using a branch cable shown in 1) for MR-J4-_GF-RJ
servo amplifier. You can also use a four-wire type rotary encoder.
Servo amplifier
CN2
CN2L
Servo motor
HG-KR Scale
HG-MR measurement
encoder
Encoder cable
(Refer to "Servo Motor Instruction Manual (Vol. 3)".)
Q170ENCCBL_M-A
(Refer to manuals of servo system controllers.)

Synchronous encoder Q171ENC-W8
17 - 5
(4) MR-J4FCCBL03M branch cable

Use MR-J4FCCBL03M branch cable to connect the scale measurement encoder to CN2 connector.
When fabricating the branch cable using MR-J3THMCN2 connector set, refer to "Linear Encoder
Instruction Manual".
0.3 m
(Note 1) (Note 2)
CN2 MOTOR
SD Plate Plate SD
P5 1 1 P5
LG 2 2 LG
2 6 10 10 6 2
LG 4 THM2 8 SEL SEL 8 THM2 4 LG
MRR MXR MR 3 3 MR MRR
1 5 9 9 5 1
MRR 4 4 MRR
P5 3 THM1 7 BAT BAT 7 THM1 3 P5
MR MX THM1 5 5 THM1 MR
THM2 6 6 THM2
View seen from the wiring side. MX 7 View seen from the wiring side.
MXR 8
BAT 9 9 BAT
SEL 10 10 SEL
(Note 2)
SCALE
Plate SD
1 P5
2 LG
10 6 2
SEL 8 4 LG
MXR
9 5 1
3 MX BAT 7 3 P5
4 MXR MX
9 BAT
10 SEL View seen from the wiring side.
Note 1. Receptacle: 36210-0100PL, shell kit: 36310-3200-008 (3M)

2. Plug: 36110-3000FD, shell kit: 36310-F200-008 (3M)
17 - 6
17.1.3 How to use scale measurement function
(1) Selection of scale measurement function

The scale measurement function is set with the combination of basic setting parameters [Pr. PA01] and
[Pr. PA22].
(a) Operation mode selection

The scale measurement function can be used during semi closed loop system (standard control
mode). Set [Pr. PA01] to "_ _ 0 _".
[Pr. PA01]
1 0 0
Setting value Operation mode Control unit
Semi closed loop system Servo motor-side
0
(Standard control mode) resolution unit
(b) Scale measurement function selection

Select the scale measurement function. Select "1 _ _ _" (Used in absolute position detection system)
or "2 _ _ _" (Used in incremental system) according to the encoder you use.
[Pr. PA22]
0 0 0
Scale measurement function selection
0: Disabled
1: Used in absolute position detection system
2: Used in incremental system
(2) Selection of scale measurement encoder communication method and polarity.
POINT
"Encoder pulse count polarity selection" in [Pr. PC27] is not related to [Pr. PA14
Rotation direction selection]. Make sure to set the parameter according to the
relationships between servo motor and linear encoder/rotary encoder.
The communication method differs depending on the scale measurement encoder type. For the
communication method for using a linear encoder as scale measurement encoder, refer to "Linear
Encoder Instruction Manual". Select "Four-wire type" because there is only four-wire type for
synchronous encoder.
Select the cable to be connected to CN2L connector in [Pr. PC26].
[Pr. PC26]
0 0 0
Load-side encoder cable communication method selection
0: Two-wire type
1: Four-wire type
When using a load-side encoder of A/B/Z-phase differential output method, set "0".
Setting "1" while using an MR-J4-_GF_ servo amplifier will trigger [AL. 37].
17 - 7
Select a polarity of the scale measurement encoder with the following "Load-side encoder pulse count
polarity selection" and "Selection of A/B/Z-phase input interface encoder Z-phase connection judgment
function" of [Pr. PC27] as necessary.

1) Select an encoder pulse count polarity.
This parameter is used to set the load-side encoder polarity to be connected to CN2L connector
in order to match the CCW direction of servo motor and the increasing direction of load-side
encoder feedback. Set this as necessary.
[Pr. PC27]
0 0 0
0: Load-side encoder pulse increasing direction in the servo motor CCW
1: Load-side encoder pulse decreasing direction in the servo motor CCW
Servo motor Servo motor CCW direction
Linear encoder Address increasing direction of linear encoder
2) A/B/Z-phase input interface encoder Z-phase connection judgment function

This function can trigger an alarm by detecting non-signal for Z phase.
The Z-phase connection judgment function is enabled by default. To disable the Z-phase
connection judgment function, set [Pr. PC27].
[Pr. PC27]
0 0 0
Selection of A/B/Z-phase input interface encoder Z-phase connection judgement function
0: Enabled
1: Disabled
(b) How to confirm the scale measurement encoder feedback direction

You can confirm the directions of the cumulative feedback pulses of servo motor encoder and the
load-side cumulative feedback pulses are matched by moving the device (scale measurement
encoder) manually in the servo-off status. If mismatched, reverse the polarity.
(3) Confirmation of scale measurement encoder position data

Check the scale measurement encoder mounting and parameter settings for any problems.
Operate the device (scale measurement encoder) to check the data of the scale measurement encoder
is renewed correctly. If the data is not renewed correctly, check the wiring and parameter settings.
Change the scale polarity as necessary.
17 - 8
17.1.4 Controller setting of the scale measurement function
When a simple motion module RD77GF is used, the scale function is available in the servo cyclic
transmission function or servo transient transmission function. To use the simple motion module, set the
objects 2D36h and 2D37h to any receive PDO, and the objects 2D35h, 2D38h, and 2D3Ch to any receive
SDO.
For settings of the servo cyclic transmission function and servo transient transmission function, refer to the
controller instruction manual.
17 - 9
(1) Related object

Check that bit 1 of SubIndex2 of 2D35h (Encoder status2) is on before reading the object. If the object
is read while bit 1 is off, the value of each object will be 0.
Data
Type
2D36h 0 VAR Scale cycle counter I32 RO Scale within-1-rev position
Rotary encoder: Cycle counter
Absolute position type linear
encoder: ABS counter
Incremental type linear encoder:
Scale coasting counter (Note)
A/B/Z-phase differential output type
and incremental type linear encoder:
Scale coasting counter (Note)
2D37h 0 VAR Scale ABS counter I32 RO Scale ABS counter
Rotary encoder: Multi-revolution
ABS counter
Absolute position type linear
encoder: Fixed to 0
Incremental type linear encoder:
Fixed to 0
A/B/Z-phase differential output type
and incremental type linear encoder:
Fixed to 0
2D3Ch 0 VAR Scale measurement U16 RO Scale encoder alarm data
encoder alarm 0: Normal Correct data is stored in
each object.
Value other than 0: Error The
previous value is stored in each
object.
2D38h 0 VAR Scale measurement U32 RO Scale encoder resolution
encoder resolution For rotary encoder, for example,
when an encoder of 4194304
pulses/rev is connected, the object
value is 4194304.
The value is always 0 except for
rotary type.
2D35h 0 ARRAY Encoder status U8 RO 2 Encoder status display
2D35h 1 ARRAY Encoder status1 U32 RO Encoder status display 1
The encoder status is returned. For
a fully closed loop system, the
external encoder status is returned.
Bit 0: Whether the servo amplifier is
used in an absolute position
detection system or not is returned.
(OFF = Incremental system, ON =
Absolute position detection system)
2D35h 2 ARRAY Encoder status2 U32 RO Encoder status display 2
Scale measurement status display
Bit 0: Whether the servo amplifier is
used in an absolute position
detection system or not is returned.
(OFF = Incremental system, ON =
Absolute position detection system)
Bit 1: Whether the scale
measurement function is enabled or
disabled is returned. (OFF =
Disabled, ON = Enabled)
Bit 2: Whether the connected scale
measurement encoder is the
absolute position type or not is
returned. (OFF = Incremental type,
ON = Absolute position type)
Note. The counter indicates cumulative amount of travel distance from 0 (the position at power-on) to the travel direction. The range is
between -2147483648 and 2147483647.
17 - 10
(2) Method for calculating a scale measurement encoder position

The scale measurement encoder position is calculated as follows:
Scale position = (2D37h (Scale ABS counter) × 2D38h (Scale measurement encoder resolution)) +
2D36h (Scale cycle counter)
17.2 Touch probe
The touch probe function is available to latch the current position by sensor input.
With this function, the position feedback of the rising edge and falling edge of TPR1 (touch probe 1) and
TPR2 (touch probe 2) can be memorized and stored into each object of 60BAh to 60BDh according to the
conditions specified in Touch probe function (60B8h).
The following shows the touch probe detection resolution. Enabling the high precision touch probe will
disable the encoder output pulses.
When a simple motion module RD77GF is used, the touch probe function is available with the servo cyclic
transmission function or servo transient transmission function. To use the simple motion module, set 60B8h
to any transmit PDO or any transmit SDO, and the objects 60Bah to 60BDh to any receive PDO or any
receive SDO.
For settings of the servo cyclic transmission function and servo transient transmission function, refer to the
controller instruction manual.
Touch probe1 Touch probe2
Input terminal TPR1 TPR2
[Pr. PD37] = _ _ _ 0 (Selection of high-precision touch
55 μs 55 μs
Encoder probe is disabled)
resolution [Pr. PD37] = _ _ _ 1 (Selection of high-precision touch Rising: 2 μs
55 μs
probe is enabled) Falling: 55 μs
(1) Related object

Data
Type
Settings such as enabling/disabling
60B8h 0 VAR Touch probe function U16 rw of the touch probe function and
trigger conditions
Status information of the touch
60B9h 0 VAR Touch probe status U16 ro 0
probe function
Touch probe pos1 Shows the rising edge position of
60BAh 0 VAR I32 ro 0
pos value TPR1 (touch probe 1). (Pos units)
Touch probe pos1 Shows the falling edge position of
60BBh 0 VAR I32 ro 0
neg value TPR1 (touch probe 1). (Pos units)
Touch probe pos2 Shows the rising edge position of
60BCh 0 VAR I32 ro 0
pos value TPR2 (touch probe 2). (Pos units)
Touch probe pos2 Shows the falling edge position of
60BDh 0 VAR I32 ro 0
neg value TPR2 (touch probe 2). (Pos units)
17 - 11
(a) Details of Touch probe function (60B8h)

Bit Definition
0: Touch probe 1 disabled
0
1: Touch probe 1 enabled
0: Single trigger mode
1
1: Continuous trigger mode
0: Set input of touch probe 1 as a trigger
2
1: Set 0 point of the encoder as a trigger (Unsupported) (Note)
3 (reserved) The value at reading is undefined. Set "0" when writing.
0: Stop sampling at the rising edge of touch probe 1
4
1: Start sampling at the rising edge of touch probe 1
0: Stop sampling at the falling edge of touch probe 1
5
1: Start sampling at the falling edge of touch probe 1
7
8
0: Single trigger mode
9
1: Continuous trigger mode
0: Set input of touch probe 2 as a trigger
10
1: Set 0 point of the encoder as a trigger (Unsupported) (Note)
0: Stop sampling at the rising edge of touch probe 2
12
1: Start sampling at the rising edge of touch probe 2
0: Stop sampling at the falling edge of touch probe 2
13
1: Start sampling at the falling edge of touch probe 2
15
Note. This is not available with MR-J4-_GF_ servo amplifier.
(b) Details of Touch probe status (60B9h)

Bit Definition
0
0: The rising edge position of touch probe 1 has not been stored.
1
1: The rising edge position of touch probe 1 has been stored.
0: The falling edge position of touch probe 1 has not been stored.
2
1: The falling edge position of touch probe 1 has been stored.
4
5
6
7
8
0: The rising edge position of touch probe 2 has not been stored.
9
1: The rising edge position of touch probe 2 has been stored.
0: The falling edge position of touch probe 2 has not been stored.
10
1: The falling edge position of touch probe 2 has been stored.
12
13
14
15
17 - 12
(2) Timing chart

Touch probe function 60B8h Bit 0 1
Enable Touch Probe 1
13
60B8h Bit 1
Trigger first event
60B8h Bit 4 1
Enable Sampling at positive edge
7 9
60B8h Bit 5
Enable Sampling at negative edge
2 14
Touch probe status 60B9h Bit 0
Touch Probe 1 is enabled
8
4 12
60B9h Bit 1 14
Touch Probe 1 positive edge stored
6
60B9h Bit 2 14
Touch Probe 1 negative edge stored
(Note)
3 (Note) 5 11
Touch Probe Signal (Note) 0.5 ms or longer
0.5 ms or
longer
4a 8a 10 12a
60BAh
Touch Probe position 1 positive value 0000 yyyy uuuu
6a 14a
60BBh
Touch Probe position 1 negative value 0000 xxxx
Note. Note. Turn on and off Touch Probe Signal so that both the on time and off time are 0.5 ms or longer.
Transition
Object Description
No.
1 60B8h Bit 0, 4, 5 = 1 Enables Touch Probe1. The rising edge and falling edge are enabled.
2 → 60B9h Bit 0 = 1 Turns on the Touch Probe1 enable status.
3 Turns on Touch Probe Signal (TPR1).
4 → 60B9h Bit 1 = 1 Turns on the Touch Probe1 positive edge stored status.
4a → 60BAh Sets the latched position feedback for Touch probe position1 positive value.
5 Turns off Touch Probe Signal (TPR1).
6 → 60B9h Bit 2 = 1 Turns on the Touch Probe1 negative edge stored status.
6a → 60BBh Sets the latched position feedback for Touch probe position1 negative value.
7 60B8h Bit 4 = 0 Turns off Sample positive edge. Rising edge detection is disabled.
8 → 60B9h Bit 1 = 0 Turns off Touch Probe1 positive edge stored status.
8a → 60BAh Touch probe position1 positive value does not change.
9 60B8h Bit 4 = 1 Turns on Sample positive edge. Rising edge detection is enabled.
10 →60BAh Touch probe position1 positive value does not change.
11 Turns on Touch Probe Signal (TPR1).
12 →60B9h Bit 1 = 1 Turns on the Touch Probe1 negative edge stored status.
12a →60BAh Sets the latched position feedback for Touch probe position1 negative value.
13 60B8h Bit 0 = 0 Disables Touch Probe1.
14 →60B9h Bit 0, 1, 2 = 0 Clears all the status Bit.
14a →60BAh, 60BBh Touch probe position1 positive/negative value does not change.
17 - 13
(3) High-precision touch probe

TPR2 (touch probe 2) supports high-precision touch probe. The normal touch probe has the latch
function with precision of 55 μs. On the other hand, the high-precision touch probe latches precisely
startup of TPR2 (touch probe 2) with precision of 2 μs. To use the high-precision touch probe, set [Pr.
PD37] to "_ _ _ 1". While the high-precision touch probe is being used, the encoder pulse output function
cannot be used. The precision of falling edge is 55 μs in this case as well.
17.3 Backup/restoration function
POINT
Do not use the backup/restoration function with the following conditions.
Function Non-functioning situation
At communication shut-off
Backup
During servo motor operation
At communication shut-off
Restoration
At servo-on
After a restore is executed, wait for 40 s or more, and then cycle the power of
the servo amplifier. When the restore is executed with the absolute position
detection system, a home position return must be performed after the setting.
If a restore is interrupted, all data may not be written to the servo amplifier,
causing the restore to fail. If the restore is interrupted, execute it again.
Backup and restore cannot be executed from multiple GOTs to one servo
amplifier at the same time.
Do not read/write parameters with the engineering tool (MR Configurator 2, etc.)
while backup or restore is being executed. Otherwise, data backup or restore
may fail.
The backup/restoration function is not available with a connection from a local
station
The backup/restoration function is to back up and restore all parameter data, point table data and cam data
in the MR-J4-_GF_(-RJ) to GOT using SLMP. The following data can be backed up.
Item Description Backup file name
Parameter All parameter data SUBID0001.QBR
Point table All point table data SUBID0002.QBR
Cam data (Note) All cam data SUBID0003.QBR
Note. Cam data can be backed up and restored only in the I/O mode. For details, refer to "MR-J4-_GF_(-RJ) Servo
Amplifier Instruction Manual (I/O Mode)" and GOT User's Manual.
17 - 14
For the procedures of backup/restoration, refer to the GOT User's Manual.
Parameter backup/
EtherNet restoration
GOT2000 MELSEC iQ-R series MR-J4-_GF_(-RJ)
Fig. 17.1 Connection example
Use the GOT with GT Designer3 Version 1.151H or later.

For details of connected devices, refer to the instruction manual of each device.
17 - 15
17.4 Parameter object
17.4.1 Definition of parameter objects
When a simple motion module RD77GF is used, use the servo parameter change function to change the
parameter of the servo amplifier by writing values to the following objects. Since the changed setting is
deleted at power supply shut-off, resetting is required at the next startup. To hold the changed setting even
at the next startup, save the parameter setting value to EEP-ROM using Store Parameters (1010h).
To change the setting of the parameters where the changes are reflected by cycling the power, change the
value of the corresponding object and execute Store Parameters (1010h) before cycling the power. For
parameters requiring power cycling, refer to chapter 5. The following table lists the related objects.
Refer to the controller instruction manual for setting of the servo parameter change function.
Data
Index Sub Object Name Access Description
Type
2001h 0 VAR PA01 I32 rw
: : : : : : [Pr. PA_ _ ] group
2020h 0 VAR PA32 I32 rw
2081h 0 VAR PB01 I32 rw
: : : : : : [Pr. PB_ _ ] group
20C0h 0 VAR PB64 I32 rw
2101h 0 VAR PC01 I32 rw
: : : : : : [Pr. PC_ _ ] group
2150h 0 VAR PC80 I32 rw
2181h 0 VAR PD01 I32 rw
: : : : : : [Pr. PD_ _ ] group
21B0h 0 VAR PD48 I32 rw
2201h 0 VAR PE01 I32 rw
: : : : : : [Pr. PE_ _ ] group
2240h 0 VAR PE64 I32 rw
2281h 0 VAR PF01 I32 rw
: : : : : : [Pr. PF_ _ ] group
22C0h 0 VAR PF48 I32 rw
2401h 0 VAR PL01 I32 rw
: : : : : : [Pr. PL_ _ ] group
2430h 0 VAR PL48 I32 rw
2481h 0 VAR PT01 I32 rw
: : : : : : [Pr. PT_ _ ] group
24D0h 0 VAR PT80 I32 rw
2581h 0 VAR PN01 I32 rw
: : : : : : [Pr. PN_ _ ] group
25A0h 0 VAR PN32 I32 rw
17 - 16
17.4.2 Enabling parameters
The parameters whose symbols are preceded by "*" are enabled by the following operations. Refer to
chapter 5 in for "*" of the parameter symbols.
(1) Store Parameters

Write "65766173h" (= reverse order of the ASCII code of "save") to the corresponding sub object of
Store Parameters (1010h) to store the parameter setting in the EEP-ROM of the servo amplifier.
The value saved in the EEP-ROM is set to the object at the next power-on. For the parameters, the
setting can also be changed with the servo parameter change function. However the new setting is not
automatically written to the EEP-ROM. To write the new setting, use the Store Parameters (1010h).
Executing Store Parameters (1010h) takes about a maximum of 25 s because all parameters are written
at the same time. Be careful not to shut off the power during writing.
Index Sub Object Name Data Type Access Description
0 Store Parameters U8 ro Number of entries
Saves all parameters.
1010h ARRAY
1 Save all parameters U32 rw Writing "save" (= 65766173h) saves all the
objects which can be stored in EEP-ROM.
Note. This is not supported by the MR-J4-_GF_ servo amplifier.
The following values are read from Store Parameters (1010h). When a parameter is being saved, "0" is
read. When no parameter is being saved, "1" is read.
Bit Description
0: The parameter cannot be saved with the command. (A parameter is being saved.)
0
1: The parameter can be saved with the command. (No parameter is being saved.)
1 0: The parameter is not automatically saved.
17 - 17
17.5 Machine diagnosis function
17.5.1 Function summary
POINT
The failure prediction function is used with servo amplifiers with software version
A3 or later. This is available with MR Configurator2 with software version 1.60N
or later.
The machine diagnosis function estimates the friction and vibrational component of the drive system in the
equipment based on the data in the servo amplifier, and detects an error in the machine parts, including a
ball screw and bearing. The machine diagnosis function includes the friction vibration estimation function and
the failure prediction function.
(1) Friction vibration estimation function

In the friction vibration estimation function, the friction estimation function estimates the friction of the
drive system in the equipment, and the vibration estimation function estimates the minute vibration level
and vibration frequency based on the data in the servo amplifier. The friction estimation function
estimates and detects the Coulomb friction (including gravity) of a guide and ball screw and the viscous
friction coefficient after operation is performed in any operation pattern. The vibration estimation function
estimates and detects the vibration level both during servo motor operation and at a servo motor stop,
and vibration frequency both during servo motor operation and at a servo motor stop after operation is
performed in any operation pattern.
(2) Failure prediction function

The failure prediction function predicts a failure of the equipment from the friction, vibration level during
servo motor operation, and servo motor total travel distance, which are estimated by the friction vibration
estimation function. In the failure prediction function, the friction failure prediction function predicts a
failure of the equipment from the estimated friction, the vibration failure prediction function predicts a
failure of the equipment from the estimated vibration level during servo motor operation, and the total
travel distance failure prediction function predicts a failure of the equipment from the servo motor total
travel distance.
17.5.2 How to set the function
(1) Friction estimation function/friction failure prediction function

Use the friction estimation function or the friction failure prediction function with the following procedure.
In the friction failure prediction function, a threshold that outputs a warning can be automatically
calculated in the servo amplifier with "Automatic threshold setting", or set by using parameters with
"Manual threshold setting". With the manual threshold setting, you can set any threshold that outputs a
warning.
17 - 18
Start
Start the system. (Refer to chapter 4.)
[Pr. PF31] setting

(When your operation pattern is under rated speed, set 1/2 of the
maximum speed.)
Friction estimation function

Which function do you use?
Friction failure prediction function

Set [Pr. PF41 Failure prediction - Servo motor total travel distance] and Drive the servo motor.
"Failure prediction - Servo motor total travel distance multiplication
selection (x _ _ _)" in [Pr. PF34 Machine diagnosis function selection]
based on the rated life. (Note 1)
The static friction and dynamic friction (at rated speed) are estimated.
Save the estimated static friction and dynamic friction.

How do you set the threshold?
Manual threshold setting Automatic threshold setting
Set "Friction failure prediction warning selection (_ _ _ x)" in Set "Friction failure prediction warning selection (_ _ _ x)" in
[Pr. PF34] to "_ _ _ 2 (manual threshold setting)". [Pr. PF34] to "_ _ _ 1 (automatic threshold setting)".
Drive the servo motor. Drive the servo motor.
The static friction and dynamic friction (at rated speed) are estimated. The static friction and dynamic friction (at rated speed) are estimated.
Save the estimated static friction and dynamic friction. (Note 2) Save the estimated static friction and dynamic friction. (Note 2)
Use the following parameters to set the threshold. (Note 3)

[Pr. PF40 Machine failure prediction parameter] is changed.
[Pr. PF19 Friction failure prediction - Compensation coefficient 1]
[Pr. PF20 Friction failure prediction - Compensation coefficient 2]
[Pr. PF42 Friction failure prediction - Average characteristic]
[Pr. PF43 Friction failure prediction - Standard deviation] [Pr. PF19 Friction failure prediction - Compensation coefficient 1] and
"Friction failure prediction - Threshold multiplication (_ _ _ x)" in [Pr. PF20 Friction failure prediction - Compensation coefficient 2] are
[Pr. PF40 Machine failure prediction parameter] changed based on the estimated dynamic friction.
[Pr. PF40 Machine failure prediction parameter] is changed.

Has the servo motor total travel NO
distance exceeded 1/2 of
"[Pr. PF34 (x _ _ _)] × [Pr. PF41]"?
Has the servo motor total travel NO

distance exceeded 1/2 of YES
"[Pr. PF34 (x _ _ _)] × [Pr. PF41]"?
The threshold is automatically calculated. (Note 4)
YES
[Pr. PF42 Friction failure prediction - Average characteristic]
and [Pr. PF43 Friction failure prediction - Standard deviation]
are changed based on the estimated dynamic friction.
NO
Has the threshold been created?
YES
[Pr. PF34 (x _ _ _)] is set to "_ _ _ 2".
Friction failure prediction is performed.

When the dynamic friction becomes out of the threshold
range, [AL. F7.2 Friction failure prediction warning] will occur.
End
17 - 19
Note 1. When the servo amplifier is replaced after the equipment is operated, set [Pr. PF41] and [Pr. PF34 (_ _ _ x)] based on the
value obtained by subtracting the present motor total travel distance from the rated life.
2. You can save the data of the estimated static friction and dynamic friction on the machine diagnosis screen of MR
Configurator2.
3. Even if [Pr. PF19] and [Pr. PF20] are unchanged from the initial value, the function operates properly. However, setting the
value estimated by the automatic threshold setting will decrease the possibility of an erroneous detection for failure prediction.
4. If the equipment is operated continuously for less than 3 hours, or the friction estimation is not completed for the travel
direction set in [Pr. PF40], the threshold is not calculated automatically.
17 - 20
(2) Vibration estimation function/vibration failure prediction function

Use the vibration estimation function or the vibration failure prediction function with the following
procedure. In the vibration failure prediction function, a threshold that outputs a warning can be
automatically calculated in the servo amplifier with "Automatic threshold setting", or set by using
parameters with "Manual threshold setting". With the manual threshold setting, you can set any
threshold that outputs a warning.
Start
Vibration estimation function

Which function do you use?
Drive the servo motor.

Vibration failure prediction function
The vibration level and vibration frequency are estimated.
How do you set the threshold?
Save the estimated vibration level and vibration frequency.
Manual threshold setting Automatic threshold setting
Set "Vibration failure prediction warning selection (_ _ x _)" in Set "Vibration failure prediction warning selection (_ _ x _)" in
[Pr. PF34] to "_ _ 2 _ (manual threshold setting)". [Pr. PF34] to "_ _ 1 _ (automatic threshold setting)".
Drive the servo motor. Drive the servo motor.
The vibration level and vibration frequency are estimated. The vibration level and vibration frequency are estimated.
Save the estimated vibration level and vibration frequency. Save the estimated vibration level and vibration frequency.
(Note 2) (Note 2)
Use the following parameters to set the threshold. The threshold is automatically calculated. (Note 1)
[Pr. PF45 Vibration failure prediction - Average characteristic]
[Pr. PF46 Vibration failure prediction - Standard deviation]
"Vibration failure prediction - Threshold multiplication
[Pr. PF45 Vibration failure prediction - Average characteristic] and
(_ _ x _)" in [Pr. PF40 Machine failure prediction parameter]
[Pr. PF46 Vibration failure prediction - Standard deviation] are
changed based on the estimated vibration level.
NO
Has the threshold been created?
YES
[Pr. PF34 (_ _ x _)] is set to "_ _ 2 _".
Vibration failure prediction is performed.

When the vibration level at servo motor operation exceeds the
threshold, [AL. F7.1 Vibration failure prediction warning] will occur.
End
Note 1. If the equipment is operated continuously for less than 3 hours, and operated in the position mode or velocity mode for a
cumulative time of less than 90 hours, a threshold is not calculated automatically.
2. You can save the data of the estimated static friction and dynamic friction on the machine diagnosis screen of MR
Configurator2.
17 - 21
(3) Total travel distance failure prediction function

Use the total travel distance failure prediction function with the following procedure.
Start
Set "Servo motor total travel distance failure

prediction warning selection (_ x _ _)" in
[Pr. PF34] to "_ 1 _ _ (manual threshold setting)".
Set "Failure prediction - Servo motor total travel

distance multiplication selection (x _ _ _)" in
[Pr. PF34] and [Pr. PF41 Failure prediction - Servo
motor total travel distance] based on the rated life.
Drive the servo motor.
Total travel distance failure prediction is performed.

When the servo motor total travel distance exceeds
the servo motor total travel distance for failure
prediction, [AL. F7.3 Total travel distance failure
prediction warning] will occur.
End
17.5.3 Friction vibration estimation function
POINT
If the vibration frequency is extremely low or high, vibration estimation cannot be
performed. For example, a low frequency vibration of several tens of hertz is
generated with a machine of low rigidity. Note that such a frequency cannot be
detected.
If the equipment vibrates at a plurality of frequencies simultaneously due to
some mechanical resonance or others, vibration frequency may not be
estimated properly.
Vibration frequency may not be estimated properly under the condition that the
torque crosses the torque limit value. Set a longer acceleration time and
deceleration time, or slightly decrease the gains to prevent the occurrence of
excessive torque vibrations.
It is recommended to save the values estimated by the friction vibration
estimation function at the start of operation. The degree of machine degradation
after operation can be checked by comparing the value estimated by the friction
vibration estimation function after operation and the value at the start of
operation, facilitating preventive maintenance.
In the friction vibration estimation function, the friction estimation function estimates the friction of the drive
system in the equipment, and the vibration estimation function estimates the minute vibration level and
vibration frequency based on the data in the servo amplifier. The friction estimation function estimates and
detects the Coulomb friction (including gravity) of a guide and ball screw and the viscous friction coefficient
after operation is performed in any operation pattern. The vibration estimation function estimates and detects
the vibration level both during servo motor operation and at a servo motor stop, and vibration frequency both
during servo motor operation and at a servo motor stop after operation is performed in any operation pattern.
17 - 22
(1) Friction estimation function

Speed
[Pr. PF31]
Zero speed
Forward (d)
rotation
Reverse Time
rotation (a) (b) (c)
Zero speed
[Pr. PF31]
To perform friction estimation, the servo motor must be rotated at zero speed or higher, and operated for
150 s both in the high and low-speed sections. High-speed section indicates that the absolute value of
the servo motor speed is [Pr. PF31 Machine diagnosis function - Friction judgment speed] or more. Low-
speed section indicates that the absolute value of the servo motor speed is less than [Pr. PF31]. For the
above operation pattern, when (a) + (c) is 150 s or more and (b) is 150 s or more, the friction in the
forward rotation direction is estimated. The friction in the reverse rotation direction is not estimated, even
if time (d) is 150 s or more because the servo motor is not operated in the high-speed section. In this
case, decrease the setting value of [Pr. PF31] to perform friction estimation. When "0" is set in [Pr.
PF31], 1/2 of the rated speed will be the threshold.
For the following operation pattern, it takes approximately 20 min. for completing friction estimation.
Speed 3000 r/min
1/2 of rated speed

Zero speed
Forward 1s 1s 1 s 0.5 s
rotation
Reverse Time
rotation 1s 1s 1 s 0.5 s
Zero speed
1/2 of rated speed
-3000 r/min
The friction estimation function estimates the static friction both at forward rotation and reverse rotation,
and the dynamic friction (at rated speed) both at forward rotation and reverse rotation. To estimate these
values, it is unnecessary to perform to-and-fro positioning operation. By operating the servo motor in
acceleration/deceleration for forward rotation, you can only estimate the static friction and dynamic
friction (at rated speed) at forward rotation. By operating the servo motor in acceleration/deceleration for
reverse rotation, you can only estimate the static friction and dynamic friction (at rated speed) at reverse
rotation.
17 - 23
(2) Vibration estimation function

The vibration estimation function monitors torque vibrations to estimate high-frequency minute vibration
level and vibration frequency. Thus, the function enables to monitor a backlash on the guide, ball screw,
belt, etc. and the increase in vibration level and change in vibration frequency due to deterioration.
Vibration level
Torque
Vibration frequency
The vibration estimation function estimates the vibration level and vibration frequency respectively
during servo motor operation and at a servo motor stop. Concretely, the function estimates the vibration
level both during servo motor operation and at a servo motor stop, and vibration frequency both during
servo motor operation and at a servo motor stop.
17.5.4 Failure prediction function
POINT
When the vibration failure prediction function is enabled, a vibration failure
warning may occur if the gains of the servo amplifier are changed. To enable the
vibration failure prediction function, enable it after the gains of the servo
amplifier are adjusted.
In the torque mode, the friction failure prediction function and the vibration failure
prediction function cannot be used.
To create a dynamic friction threshold with the automatic threshold setting in the
friction failure prediction function, the equipment must be operated for 3
consecutive hours or more, and operated in the position or velocity mode for a
cumulative time of 90 hours or more after the servo motor total travel distance
exceeds 1/2 of "Failure prediction - Servo motor total travel distance
multiplication selection (x _ _ _)" in [Pr. PF34] × [Pr. PF41 Failure prediction -
Servo motor total travel distance].
To create a vibration level threshold with the automatic threshold setting in the
vibration failure prediction function, the equipment must be operated for 3
consecutive hours or more, and operated in the position or velocity mode for a
cumulative time of 90 hours or more.
With MR Configurator2 or a controller, you can check thresholds when the
friction failure prediction function and vibration failure prediction function are
used.
The failure prediction function predicts a failure of the equipment from the friction and vibration level during
servo motor operation, which are estimated by the friction vibration estimation function. In the failure
prediction function, the friction failure prediction function predicts a failure of the equipment from the
estimated friction, the vibration failure prediction function predicts a failure of the equipment from the
estimated vibration level during servo motor operation, and the total travel distance failure prediction function
predicts a failure of the equipment from the servo motor total travel distance.
17 - 24
(1) Friction failure prediction function

The friction failure prediction function predicts a failure of the equipment from the increase and decrease
in the dynamic friction (at rated speed) estimated by the friction estimation function. If a failure of the
equipment is predicted, [AL. F7.2 Friction failure prediction warning] will occur.
In the friction failure prediction function, a threshold that triggers [AL. F7.2] can be set by the following
two methods.
(a) Automatic threshold setting

From the dynamic friction (at rated speed) estimated by the friction estimation function, a threshold
that triggers [AL. F7.2] is automatically calculated in the servo amplifier. With this setting, you can
use the friction failure prediction function without setting a threshold. However, after the servo motor
total travel distance exceeds 1/2 of "Failure prediction - Servo motor total travel distance
multiplication selection (x _ _ _) in [Pr. PF34] × [Pr. PF41 Failure prediction - Servo motor total travel
distance]", a threshold is not set automatically until the equipment is operated continuously for 3
hours or more, and operated in the position mode or velocity mode for a cumulative time of 90 hours
or more. [AL. F7.2] does not occur until a threshold is calculated in the servo amplifier.
(b) Manual threshold setting

You can set a threshold that triggers [AL. F7.2] with "Friction failure prediction - Threshold
multiplication (_ _ _ x)" in [Pr. PF40], and with [Pr. PF42 Friction failure prediction - Average
characteristic] and [Pr. PF43 Friction failure prediction - Standard deviation]. For the manual
threshold setting, if the servo motor total travel distance exceeds 1/2 of "[Pr. PF34 (x _ _ _)] × [Pr.
PF41 Failure prediction - Servo motor total travel distance]", friction failure prediction will start. Thus,
if the dynamic friction threshold is known, or the equipment you use is configured the same as
another piece of equipment used for calculating the threshold with the automatic threshold setting,
an initial failure or others can also be detected with the manual threshold setting.
If you manually set a threshold again with the equipment used for setting the threshold automatically, set
the value, which is obtained by the automatic threshold setting, in [Pr. PF19 Friction failure prediction -
Compensation coefficient 1] and [Pr. PF20 Friction failure prediction - Compensation coefficient 2].
Setting [Pr. PF19] and [Pr. PF20] will decrease the possibility of an erroneous detection for failure
prediction.
The friction failure prediction function can be used with the following procedure.
(c) Friction failure prediction warning setting

To enable the friction failure prediction warning, set "Friction failure prediction warning selection (_ _
_ x)" in [Pr. PF34] to "_ _ _ 1 (automatic threshold setting)" or "_ _ _ 2 (manual threshold setting)".
[Pr. PF34]
0 0 0
Friction failure prediction warning selection
0: Disabled
1: Automatic threshold setting
2: Manual threshold setting
3: Threshold reset
(d) Setting of servo motor total travel distance for failure prediction
For the automatic threshold setting, set a servo motor total travel distance for failure prediction. It is
recommended that the servo motor total travel distance for failure prediction be set to about the
same as the rated life presented by each guide manufacturer and ball screw manufacturer. For
example, for a rated life of 8 × 105 rev, set "Failure prediction - Servo motor total travel distance
multiplication selection (x _ _ _)" in [Pr. PF34] to "2 _ _ _", and set [Pr. PF41] to "80".
17 - 25
(e) Threshold setting method

For the automatic threshold setting, [Pr. PF42 Friction failure prediction - Average characteristic] and
[Pr. PF43 Friction failure prediction - Standard deviation] for determining a threshold are
automatically rewritten according to the dynamic friction (at rated speed) estimated in the servo
amplifier. At this time, changing "Friction failure prediction - Threshold multiplication (_ _ _ x)" in [Pr.
PF40] enables to change the threshold. If [AL. F7.2 Friction failure prediction warning] occurs with
the value obtained by the automatic threshold setting, set "_ _ _ 6" or more in [Pr. PF40 (_ _ _ x)].
After the threshold is calculated in the servo amplifier, [Pr. PF34 (_ _ _ x)] will be set to "_ _ _ 2
(manual threshold setting)".
For the manual threshold setting, the upper and lower limit thresholds can be calculated with the
equations below. When [Pr. PF40 (_ _ _ x)] is set to "_ _ _ 0", the upper and lower limit thresholds
are calculated assuming the setting as "_ _ _ 5".
Upper limit threshold [0.1%] = [Pr. PF42 Friction failure prediction - Average characteristic]
+ [Pr. PF43 Friction failure prediction - Standard deviation]
× "Friction failure prediction - Threshold multiplication (_ _ _ x)" in [Pr. PF40]
Lower limit threshold [0.1%] = [Pr. PF42 Friction failure prediction - Average characteristic]
- [Pr. PF43 Friction failure prediction - Standard deviation]
× "Friction failure prediction - Threshold multiplication (_ _ _ x)" in [Pr. PF40]
(f) Execution of friction failure prediction

When upper and lower limit thresholds are inputted to the servo amplifier as indicated in (e) in this
section, the servo amplifier starts friction failure prediction. During friction failure prediction, if the
dynamic friction (at rated speed) estimated by the friction estimation function exceeds the upper or
lower limit threshold, [AL. F7.2 Friction failure prediction warning] will occur. After the occurrence of
[AL. F7.2], if the dynamic friction (at rated speed) falls within the upper/lower limit threshold, [AL.
F7.2] will be canceled.
Torque
Time
Threshold = [Pr. PF42] + [Pr. PF43] × [Pr. PF40 (_ _ _ x)]

[Pr. PF43] × [Pr. PF40 (_ _ _ x)]
Dynamic friction
(at rated speed) [Pr. PF42]
WNG ON
(warning) OFF
(g) Threshold reset method

To automatically reset thresholds after the upper and lower limit thresholds are set automatically, set
"Friction failure prediction warning selection (_ _ _ x)" in [Pr. PF34] to "_ _ _ 3 (threshold reset)", and
then cycle the power. After the power is cycled, the thresholds are reset and [Pr. PF34 (_ _ _ x)] is
set to "_ _ _ 1 (automatic threshold setting)". If any part of the equipment is replaced after the friction
failure prediction function operates, reset the friction thresholds and servo motor total travel distance.
17 - 26
(2) Vibration failure prediction function

The vibration failure prediction function predicts a failure of the equipment from the increase in the
vibration level estimated by the vibration estimation function. If a failure of the equipment is predicted
from the vibration level, [AL. F7.1 Vibration failure prediction warning] will occur.
In the vibration failure prediction function, a threshold that triggers [AL. F7.1] can be set by the following
two methods.
(a) Automatic threshold setting

From the vibration level estimated by the vibration estimation function, a threshold that triggers [AL.
F7.1] is automatically calculated in the servo amplifier. With this setting, you can use the vibration
failure prediction function without setting a threshold. However, after the vibration failure prediction
function operates, the equipment must be operated for about 90 hours before vibration failure
prediction is actually performed. [AL. F7.1] does not occur until a threshold is calculated in the servo
amplifier.
(b) Manual threshold setting

You can set a threshold that triggers [AL. F7.1 Vibration failure prediction warning] with "Vibration
failure prediction - Threshold multiplication (_ _ x _)" in [Pr. PF40], and with [Pr. PF45 Vibration
failure prediction - Average characteristic] and [Pr. PF46 Vibration failure prediction - Standard
deviation]. For the manual threshold setting, vibration failure prediction will start immediately after the
vibration failure prediction function operates. Thus, if the vibration amplitude threshold is known, or
the equipment you use is configured the same as another piece of equipment used for calculating
the threshold with the automatic threshold setting, an initial failure or others can also be detected
with the manual threshold setting.
The vibration failure prediction function can be used with the following procedure.
(c) Vibration failure prediction warning setting

To enable the vibration failure prediction warning, set "Vibration failure prediction warning selection
(_ _ x _)" in [Pr. PF34] to "_ _ 1 _ (automatic threshold setting)" or "_ _ 2 _ (manual threshold
setting)".
[Pr. PF34]
0 0 0
Vibration failure prediction warning selection
0: Disabled
1: Automatic threshold setting
2: Manual threshold setting
3: Threshold reset
17 - 27
(d) Threshold setting method

For the automatic threshold setting, [Pr. PF45 Vibration failure prediction - Average characteristic]
and [Pr. PF46 Vibration failure prediction - Standard deviation] for determining a threshold are
automatically rewritten according to the vibration level estimated in the servo amplifier. At this time,
changing "Vibration failure prediction - Threshold multiplication (_ _ x _)" in [Pr. PF40] enables to
change the threshold. If [AL. F7.1 Vibration failure prediction warning] occurs with the value obtained
by the automatic threshold setting, set "_ _ 6 _" or more in [Pr. PF40 (_ _ x _)]. After the threshold is
calculated in the servo amplifier, [Pr. PF34 (_ _ x _)] will be set to "_ _ 2 _ (manual threshold
setting)".
For the manual threshold setting, the upper and lower limit thresholds can be calculated with the
equation below. When [Pr. PF40 (_ _ x _)] is set to "_ _ 0 _", a threshold is calculated assuming the
setting as "_ _ 5 _".
Threshold [0.1%] = [Pr. PF45 Vibration failure prediction - Average characteristic]

+ [Pr. PF46 Vibration failure prediction - Standard deviation]
× "Vibration failure prediction - Threshold multiplication (_ _ x _)" in [Pr. PF40]
The values of [Pr. PF45 Vibration failure prediction - Average characteristic] and [Pr. PF46 Vibration
failure prediction - Standard deviation] can also be determined by measuring the torque ripple with
the graph function of MR Configurator2. By setting the average and standard deviation of the torque
ripple, which are measured by the graph function, in [Pr. PF45] and [Pr. PF46], you can also set the
threshold for vibration failure prediction.
(e) Execution of vibration failure prediction

When a threshold is inputted to the servo amplifier as indicated in (d) in this section, the servo
amplifier starts vibration failure prediction. During vibration failure prediction, if the vibration level
during servo motor operation, which is estimated by the vibration estimation function, exceeds the
threshold, [AL. F7.1 Vibration failure prediction warning] will occur. After the occurrence of [AL. F7.1],
if the vibration level during servo motor operation is lower than the threshold, [AL. F7.1] will be
canceled.
Torque
Threshold = [Pr. PF45] + [Pr. PF46] × [Pr. PF40 (_ _ x _)]

[Pr. PF46] × [Pr. PF40 (_ _ x _)]
Vibration level during
motor operation [Pr. PF45]
WNG ON
(warning) OFF
(f) Threshold reset method

To automatically reset a threshold after the threshold is set with the automatic threshold setting, set
"Vibration failure prediction warning selection (_ _ x _)" in [Pr. PF34] to "_ _ 3 _ (threshold reset)",
and then cycle the power. and then cycle the power. After the power is cycled, the threshold is reset
and [Pr. PF34 (_ _ x _)] is set to "_ _ 1 _ (automatic threshold setting)". If parameters such as gains
and machine resonance suppression filters are changed, or any part of the equipment is replaced
after the vibration failure prediction function operates, reset the threshold.
17 - 28
(3) Total travel distance failure prediction function

The total travel distance failure prediction function predicts a failure of the equipment from the servo
motor total travel distance. If the servo motor total travel distance exceeds the value of "Failure
prediction - Servo motor total travel distance multiplication selection (x _ _ _)" in [Pr. PF34] × [Pr. PF41
Failure prediction - Servo motor total travel distance], [AL. F7.3 Total travel distance failure prediction
warning] will occur.
The total travel distance failure prediction function can be used with the following procedure.
(a) Total travel distance failure prediction warning setting

To enable the total travel distance failure prediction warning, "Servo motor total travel distance
failure prediction warning selection (_ x _ _)" in [Pr. PF34] to "_ 1 _ _ (enabled)".
[Pr. PF34]
0 0 0
Servo motor total travel distance failure prediction warning selection
0: Disabled
1: Enabled
2: Servo motor total travel distance reset
(b) Setting of servo motor total travel distance for failure prediction
Set a servo motor total travel distance for failure prediction. It is recommended that the servo motor
total travel distance for failure prediction be set to about the same as the rated life presented by each
guide manufacturer and ball screw manufacturer. For example, for a rated life of 8 × 105 rev, set
"Failure prediction - Servo motor total travel distance multiplication selection (x _ _ _)" in [Pr. PF34]
to "2 _ _ _", and set [Pr. PF41] to "80". When "0" is set in [Pr. PF41], total travel distance failure
prediction does not start.
(c) Execution of total travel distance failure prediction

When a threshold is inputted to the servo amplifier as indicated in (b) in this section, the servo
amplifier starts total travel distance failure prediction. After the occurrence of [AL. F7.3 Total travel
distance failure prediction warning], if "_ 0 _ _ (disabled)" is set in [Pr. PF34 (_ x _ _)] and the power
is cycled, [AL. F7.3] will be canceled.
Threshold = [Pr. PF34 (x _ _ _)] × [Pr. PF41]
Servo motor
total travel distance
WNG ON
(warning) OFF
(d) Total travel distance reset

If any part of the equipment is replaced, reset the servo motor total travel distance. To reset the
servo motor total travel distance, cycle the power after setting "_ 2 _ _ (servo motor total travel
distance reset)" in [Pr. PF34 (_ x _ _)]. When the servo motor total travel distance is reset, "_ 1 _ _
(enabled)" is set in [Pr. PF34 (_ x _ _)].
17 - 29
(4) Related object (servo transient transmission function)

Data
Type
2C29h 0 VAR Fault prediction status U32 ro [Bit 0 to 3: Friction failure prediction
status]
0: Friction failure prediction disabled
1: During preparation for friction failure
prediction
2: During execution of friction failure
prediction
3: During friction failure prediction
warning
[Bit 4 to 7: Vibration failure prediction

status]
0: Vibration failure prediction disabled
1: During preparation for vibration failure
prediction
2: During execution of vibration failure
prediction
3: During vibration failure prediction
warning
[Bit 8 to 11: Total travel distance failure

prediction status]
0: Total revolution failure prediction
disabled
1: During execution of total revolution
failure prediction
2: During total revolution failure
prediction warning
[Bit 12 to 15: Motor total travel distance

calculation status]
0: During stop of motor total travel
distance calculation
1: During calculation of motor total travel
distance
[bit 16 to 31: reserved]

2C2Ah 0 VAR Friction based fault prediction upper I32 ro Friction failure prediction - Upper limit
threshold threshold
The upper limit threshold used for friction
failure prediction is displayed in
increments of 0.1% assuming the rated
torque as 100%.
2C2Bh 0 VAR Friction based fault prediction lower I32 ro Friction failure prediction - Lower limit
threshold threshold
The lower limit threshold used for friction
failure prediction is displayed in
increments of 0.1% assuming the rated
torque as 100%.
2C2Ch 0 VAR Friction based fault prediction I16 ro Friction failure prediction - Preparation
prepare status progress
The threshold creation progress used for
friction failure prediction is displayed in
percentage unit. The creation of an
upper and a lower limit threshold for
friction failure prediction will be
completed at 100%.
17 - 30
Data
Type
2C2Dh 0 VAR Vibration based fault prediction I32 ro Vibration failure prediction - Threshold
threshold The threshold used for vibration failure
prediction is displayed in increments of
0.1% assuming the rated torque as
100%.
2C2Eh 0 VAR Vibration based fault prediction I16 ro Vibration failure prediction - Preparation
prepare status progress
The threshold creation progress used for
vibration failure prediction is displayed
in %. The creation of a threshold for
vibration failure prediction will be
completed at 100%.
2C2Fh 0 VAR Motor total distance U32 ro Motor total travel distance
The motor total travel distance is
displayed in units of rev or m.
17 - 31
MEMO
17 - 32
APPENDIX
APPENDIX
App. 1 When using the servo amplifier with the DC power supply input
POINT
The DC power supply input is available only with the MR-J4-_GF-RJ servo
amplifiers.
App. 1.1 Connection example
CAUTION Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
For the signal and wirings not given in this section, refer to section 3.1.1 to 3.1.3.
(1) MR-J4-10GF-RJ to MR-J4-100GF-RJ

Malfunction OFF MC
RA1 ON
MC
SK
(Note 1) 24 V DC (Note 7, 8) Servo amplifier

MCCB + MC (Note 3)
AC/DC L1
3-phase or 1-phase Converter
200 V AC to 240 V AC (283 V DC to L2
340 V DC) -
L3
(Note 10)
L11
L21
(Note 4)
ALM (Note 2)
DOCOM RA1 Malfunction
24 V DC (Note 6) (Note 9)
CN8
(Note 5)
(packed with the servo
amplifier)

required, delay the time to turn off the magnetic contactor.
amplifier.
7. Driving the on switch and off switch with the DC power supply meets IEC/EN 60204-1 requirements.
8. Do not use the 24 V DC interface power supply for the magnetic contactor DC power supply. Always use the power supply
designed exclusively for the magnetic contactor.
9. If disabling ALM (Malfunction) output with the parameter, configure the power supply circuit which switches off the magnetic
10. When wires used for L11 and L21 are thinner than wires used for L1 and L3, use a fuse. (Refer to app. 1.4.)
App. - 1
APPENDIX
(2) MR-J4-200GF-RJ to MR-J4-22KGF-RJ

Malfunction OFF MC
RA1 ON
MC
SK
(Note 1) 24 V DC (Note 7, 8) Servo amplifier

MCCB + MC (Note 3)
AC/DC L1
3-phase or 1-phase Converter
200 V AC to 240 V AC (283 V DC to L2
340 V DC) -
L3
N-
(Note 10)
L11
L21
(Note 4)
(Note 2)
DOCOM ALM RA1 Malfunction
CN8
(Note 5)
(packed with the servo
amplifier)

contacts) of 80 ms or less (160 ms or less for 5 kW or more). Depending on the main circuit voltage and operation pattern, bus
voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic
brake deceleration is not required, delay the time to turn off the magnetic contactor.
amplifier.
10. When wires used for L11 and L21 are thinner than wires used for L1, L2, L3, and N-, use a fuse. (Refer to app. 1.4.)
App. 1.2 Power supply capacity
The power supply capacity is the same as that for the AC power supply input. Refer to section 10.2 for
details.
App. - 2
APPENDIX
App. 1.3 Selection example of wires
POINT
Wiring length: 30 m or shorter
The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
(1) Example of selecting the wire sizes

Use the 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire) for wiring. The following
shows the wire size selection example.
Table app. 1 Wire size selection example (HIV wire)

2
Wire [mm ] (Note 1)
Servo amplifier
L1/L2/L3/N-/ L11/L21
MR-J4-10GF-RJ
MR-J4-20GF-RJ
MR-J4-40GF-RJ
2 (AWG 14)
MR-J4-60GF-RJ 1.25 to 2
MR-J4-70GF-RJ (AWG 16 to 14)
MR-J4-100GF-RJ
MR-J4-200GF-RJ
3.5 (AWG 12)
MR-J4-350GF-RJ
MR-J4-500GF-RJ (Note 2) 5.5 (AWG 10): a 1.25 (AWG 16): a
MR-J4-700GF-RJ (Note 2) 8 (AWG 8): b 2 (AWG 14): d
MR-J4-11KGF-RJ (Note 2) 14 (AWG 6): e

1.25 (AWG 16): c
MR-J4-15KGF-RJ (Note 2) 22 (AWG 4): f
2 (AWG 14): c
MR-J4-22KGF-RJ (Note 2) 38 (AWG 2): g
Note 1. Alphabets in the table indicate crimping tools. For crimp terminals and applicable
tools, refer to (2) in this section.
2. To connect these models to a terminal block, be sure to use the screws that come
with the terminal block.
(2) Selection example of crimp terminals

Servo amplifier-side crimp terminal
Symbol (Note 2) Applicable tool
Manufacturer
Crimp terminal Body Head Dice
c FVD2-4
YNT-1614
d FVD2-M3
DH-122
e FVD14-6 YF-1 YNE-38 JST
DH-112
DH-123
f FVD22-6 YF-1 YNE-38
DH-113
DH-124
g FVD38-8 YF-1 YNE-38
DH-114

2. Some crimp terminals may not be mounted depending on their sizes. Make sure to use the
App. - 3
APPENDIX
App. 1.4 Molded-case circuit breakers, fuses, magnetic contactors
(1) For main circuit power supply
To prevent the servo amplifier from smoke and a fire, select a molded-case circuit
breaker which shuts off with high speed.
CAUTION Always use one molded-case circuit breaker and one magnetic contactor with one
servo amplifier.
When using a fuse instead of the molded-case circuit breaker, use the one having the specifications
given in this section.
Molded-case circuit breaker (Note 1) Fuse
Frame, rated current Magnetic
Servo amplifier Power factor Power factor Voltage AC Voltage DC contactor
Class Current [A]
improving reactor is improving reactor is [V] [V] (Note 2)
not used used
MR-J4-10GF-RJ 30 A frame 5 A 30 A frame 5 A
10
MR-J4-40GF-RJ 30 A frame 10 A 30 A frame 5 A 15
MR-J4-100GF-RJ
(3-phase power 30 A frame 15 A 30 A frame 10 A DUD-N30
20
supply input)
MR-J4-100GF-RJ
240 T 400
(1-phase power 30 A frame 15 A 30 A frame 15 A
supply input)
DUD-N60
MR-J4-11KGF-RJ 100 A frame 100 A 100 A frame 100 A 125
DUD-N120
MR-J4-15KGF-RJ 125 A frame 125 A 125 A frame 125 A 175
MR-J4-22KGF-RJ 225 A frame 175 A 225 A frame 175 A 300 DUD-N180
Note 1. Use a molded-case circuit breaker which has the same or more operation characteristics than our lineup.
contacts) of 80 ms or less.
App. - 4
APPENDIX
(2) For control circuit power supply

When the wiring for the control circuit power supply (L11/L21) is thinner than that for the main circuit
power supply (L1/L2/L3/N-), install an overcurrent protection device (fuse, etc.) to protect the branch
circuit.
Fuse (Class T) Fuse (Class K5)
Servo amplifier
Current [A] Voltage DC [V] Current [A] Voltage DC [V]
MR-J4-10GF-RJ
MR-J4-20GF-RJ
MR-J4-40GF-RJ
MR-J4-60GF-RJ
MR-J4-70GF-RJ
MR-J4-100GF-RJ
MR-J4-200GF-RJ 1 400 1 400
MR-J4-350GF-RJ
MR-J4-500GF-RJ
MR-J4-700GF-RJ
MR-J4-11KGF-RJ
MR-J4-15KGF-RJ
MR-J4-22KGF-RJ
App. 2 Handling of AC servo amplifier batteries for the United Nations Recommendations
on the Transport of Dangerous Goods
United Nations Recommendations on the Transport of Dangerous Goods Rev. 15 (hereinafter

Recommendations of the United Nations) has been issued. To reflect this, transport regulations for lithium
metal batteries are partially revised in the Technical Instruction (ICAO-TI) by the International Civil Aviation
Organization (ICAO) and the International Maritime Dangerous Goods Code (IMDG Code) by the
International Maritime Organization (IMO).
To comply the instruction and code, we have modified the indication on the package for general-purpose AC
servo batteries.
The above change will not affect the function and performance of the product.
(1) Target model

(a) Battery (cell)
Lithium Mass of
Model Option model Type Remark
content battery
ER6 MR-J3BAT Cell 0.65 g 16 g Cells with more than 0.3 grams of
MR-BAT Cell 0.48 g 13 g lithium content must be handled as
dangerous goods (Class 9)
ER17330
A6BAT Cell 0.48 g 13 g depending on packaging
requirements.
App. - 5
APPENDIX
(b) Battery unit (assembled battery)

Lithium Mass of
Model Option model Type Remark
content battery
Assembled batteries with more than
Assembled two grams of lithium content must be
ER6 MR-J2M-BT battery 4.55 g 112 g handled as dangerous goods (Class
(Seven) 9) regardless of packaging
requirements.
Assembled 1.20 g 34 g Assembled batteries with more than
MR-BAT6V1
battery (Two) 0.3 grams of lithium content must be
Assembled 1.20 g 34 g handled as dangerous goods (Class
CR17335A MR-BAT6V1SET(-A) 9) depending on packaging
battery (Two)
Assembled 1.20 g 34 g requirements.
MR-BAT6V1BJ
battery (Two)
(2) Purpose
Safer transportation of lithium metal batteries.
(3) Change in regulations

The following points are changed for lithium metal batteries in transportation by sea or air based on the
revision of Recommendations of the United Nations Rev. 15 and ICAO-TI 2009-2010 edition, and IATA
Dangerous Goods Regulations 54th Edition (effective January 1, 2013). For lithium metal batteries, cells
are classified as UN3090, and batteries contained in or packed with equipment are classified as
UN3091.
(a) Transportation of lithium metal batteries alone

Packaging requirement Classification Main requirement
Less than eight cells per package with
less than one gram of lithium content The package must pass a 1.2 m drop test, and the
Less than two assembled batteries per UN3090 PI968 Section II handling label with battery illustration (size: 120 ×
package with less than two grams of 110 mm) must be attached on the package.
lithium content
More than eight cells per package with The package must pass a 1.2 m drop test, and the
less than one gram of lithium content handling label with battery illustration (size: 120 ×
More than two assembled batteries per UN3090 PI968 Section IB 110 mm) must be attached on the package.
package with less than two grams of The Class 9 hazard label must be attached or
lithium content others to comply with dangerous goods (Class 9).
Cells with more than one gram of lithium The package must be compliant with Class 9
content Packages, and the Class 9 hazard label must be
UN3090 PI968 Section IA
Assembled batteries with more than two attached or others to comply with dangerous
grams of lithium content goods (Class 9).
App. - 6
APPENDIX
(b) Transportation of lithium metal batteries packed with or contained in equipment

1) For batteries packed with equipment, follow the necessary requirements of UN3091 PI969.
Batteries are classified into either Section II/Section I depending on the lithium content/packaging
requirements.
2) For batteries contained in equipment, follow the necessary requirements of UN3091 PI970.
Batteries are classified into either Section II/Section I depending on the lithium content/packaging
requirements.
The special handling may be unnecessary depending on the number of batteries and gross mass
per package.
Fig. Example of Mitsubishi label with battery illustration
(4) Details of the package change

The following caution is added to the packages of the target batteries.
"Containing lithium metal battery. Regulations apply for transportation."
(5) Transportation precaution for customers

For sea or air transportation, attaching the handling label (figure) must be attached to the package of a
Mitsubishi cell or battery. In addition, attaching it to the outer package containing several packages of
Mitsubishi cells or batteries is also required. When the content of a package must be handled as
dangerous goods (Class 9), the Shipper's Declaration for Dangerous Goods is required, and the
package must be compliant with Class 9 Packages. Documentations like the handling label in the
specified design and the Shipper's Declaration for Dangerous Goods are required for transportation.
Please attach the documentations to the packages and the outer package.
The IATA Dangerous Goods Regulations are revised, and the requirements are changed annually.
When customers transport lithium batteries by themselves, the responsibility for the cargo lies with the
customers. Thus, be sure to check the latest version of the IATA Dangerous Goods Regulations.
App. - 7
APPENDIX
App. 3 Symbol for the new EU Battery Directive
Symbol for the new EU Battery Directive (2006/66/EC) that is plastered to general-purpose AC servo battery
is explained here.
Note. This symbol mark is for EU countries only.
This symbol mark is according to the directive 2006/66/EC Article 20 Information for end-users and Annex II.
Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and
components which can be recycled and/or reused.
This symbol means that batteries and accumulators, at their end-of-life, should be disposed of separately
from your household waste.
If a chemical symbol is printed beneath the symbol shown above, this chemical symbol means that the
battery or accumulator contains a heavy metal at a certain concentration.
This will be indicated as follows.
Hg: mercury (0.0005%), Cd: cadmium (0.002%), Pb: lead (0.004%)
In the European Union there are separate collection systems for used batteries and accumulators. Please,
dispose of batteries and accumulators correctly at your local community waste collection/recycling center.
Please, help us to conserve the environment we live in!
App. - 8
APPENDIX
App. 4 Compliance with global standards
App. 4.1 Terms related to safety (IEC 61800-5-2 Stop function)
STO function (Refer to IEC 61800-5-2:2007 4.2.2.2 STO.) The MR-J4 servo amplifiers have the STO
function. The STO function shuts down energy to servo motors, thus removing torque. This function
electronically cuts off power supply in the servo amplifier. In addition, MR-J4-03A6 and MR-J4W2-0303B6
don’t support this function.
App. 4.2 About safety
This chapter explains safety of users and machine operators. Please read the section carefully before
mounting the equipment.
App. 4.2.1 Professional engineer
Only professional engineers should mount MR-J4 servo amplifiers.

Here, professional engineers should meet all the conditions below.
(1) Persons who took a proper training of related work of electrical equipment or persons who can avoid risk
based on past experience.
(2) Persons who have read and familiarized himself/herself with this installation guide and operating
manuals for the protective devices (e.g. light curtain) connected to the safety control system.
App. 4.2.2 Applications of the devices
MR-J4 servo amplifiers comply with the following standards.

IEC/EN 61800-5-1, IEC/EN 61800-3, IEC/EN 60204-1
ISO/EN ISO 13849-1 Category 3 PL e, IEC/EN 62061 SIL CL 3, IEC/EN 61800-5-2 (STO) (Except for MR-
J4-03A6 and MR-J4W2-0303B6. Refer to section app. 4.8.1 for compatible models.)
MR-J4 servo amplifiers can be used with the MR-D30 functional safety unit, MR-J3-D05 safety logic unit, or
safety PLCs. (except for MR-J4-03A6 and MR-J4W2-0303B6)
App. 4.2.3 Correct use
Use the MR-J4 servo amplifiers within specifications. Refer to each instruction manual for specifications
such as voltage, temperature, etc. Mitsubishi Electric Co. accepts no claims for liability if the equipment is
used in any other way or if modifications are made to the device, even in the context of mounting and
installation.
It takes 15 minutes maximum for capacitor discharging. Do not touch the unit and
WARNING terminals immediately after power off.
App. - 9
APPENDIX
(1) Peripheral device and power wiring

The followings are selected based on IEC/EN 61800-5-1, UL 508C, and CSA C22.2 No. 14.
(a) Power Wiring (local wiring and crimping tool)

The following table shows the stranded wire sizes [AWG] and the crimp terminal symbols rated at
75 °C/60 °C.
Table app. 2 Recommended wires

75 °C/60 °C stranded wire [AWG] (Note 2)
Servo amplifier (Note 7) L1/L2/L3 U/V/W/
L11/L21 P+/C
(Note 3)
MR-J4-03A6/MR-J4W2-0303B6 19/- (Note 5) 19/- (Note 6)
MR-J4-10_(1)/MR-J4-20_(1)/MR-J4-40_(1)/MR-J4-60_(4)/
MR-J4-70_/MR-J4-100_(4)/MR-J4-200_(4) (T)/ 14/14
14/14
MR-J4-350_4 14/14 14/14
MR-J4-200_ (S)
12/12
MR-J4-350_ 12/12
MR-J4-500_ (Note 1) 10: a/10: a 14: c/14: c 10: b/10: b
MR-J4-700_ (Note 1) 8: b/8: b 12: a/12: a 8: b/8: b
MR-J4-11K_ (Note 1) 6: d/4: f 12: e/12: e 4: f/4: f
MR-J4-15K_ (Note 1) 4: f/3: f 10: e/10: e 3: g/2: g
MR-J4-22K_ (Note 1) 1: h/-: - 10: i/10: i 1: j/-: -
14: c/14: c
MR-J4-500_4 (Note 1) 14: c/14: c 12: a/10: a
14: c/14: c
MR-J4-700_4 (Note 1) 12: a/12: a 10: a/10: a
MR-J4-11K_4 (Note 1) 10: e/10: e 14: k/14: k 8: l/8: l
MR-J4-15K_4 (Note 1) 8: l/8: l 12: e/12: e 6: d/4: d
MR-J4-22K_4 (Note 1) 6: m/4: m 12: i/12: i 6: n/4: n
MR-J4W_-_B 14/14 (Note 4) 14/14 14/14 14/14
Note 1. To connect these models to a terminal block, be sure to use the screws that come with the terminal block.
2. Alphabets in the table indicate crimping tools. Refer to table app. 3 for the crimp terminals and crimping tools.
3. Select wire sizes depending on the rated output of the servo motors. The values in the table are sizes based on rated output of
the servo amplifiers.
4. Use the crimp terminal c for the PE terminal of the servo amplifier.
5. This value is of 24/0/PM/ for MR-J4-03A6 and MR-J4W2-0303B6.
6. This value is of U/V/W/E for MR-J4-03A6 and MR-J4W2-0303B6.
7. "(S)" means 1-phase 200 V AC power input and "(T)" means 3-phase 200 V AC power input in the table.
Table app. 3 Recommended crimp terminals

Symbol Crimp terminal Manufacturer
Applicable tool
(Note 2)
c FVD2-4 YNT-1614
d FVD14-6 YF-1
e FVD5.5-6 YNT-1210S
f FVD22-6 YF-1
g FVD38-6 YF-1 JST
(J.S.T. Mfg. Co.,
h R60-8 YF-1 Ltd.)
i FVD5.5-8 YNT-1210S
j CB70-S8 YF-1
k FVD2-6 YNT-1614
l FVD8-6 YF-1
m FVD14-8 YF-1
n FVD22-8 YF-1

2. Some crimp terminals may not be mounted depending on the size. Make sure to
use the recommended ones or equivalent ones.
App. - 10
APPENDIX
(b) Selection example of MCCB and fuse

Use T class fuses or molded-case circuit breaker (UL 489 Listed MCCB) as the following table. The
T class fuses and molded-case circuit breakers in the table are selected examples based on rated
I/O of the servo amplifiers. When you select a smaller capacity servo motor to connect it to the servo
amplifier, you can also use smaller capacity T class fuses or molded-case circuit breaker than ones
in the table. For selecting ones other than Class T fuses and molded-case circuit breakers below
and selecting a Type E Combination motor controller, refer to each servo amplifier instruction
manual.
Servo amplifier (100 V class) Molded-case circuit breaker (120 V AC) Fuse (300 V)
MR-J4-10_1/MR-J4-20_1/MR-J4-40_1 NV50-SVFU-15A (50 A frame 15 A) 20 A
Servo amplifier (200 V class) (Note) Molded-case circuit breaker (240 V AC) Fuse (300 V)
MR-J4-10_/MR-J4-20_/MR-J4-40_/MR-J4-60_ (T)/MR-J4-70_ (T)/
NF50-SVFU-5A (50 A frame 5 A) 10 A
MR-J4W2-22B (T)
MR-J4-60_ (S)/MR-J4-70_ (S) /MR-J4-100_ (T)/MR-J4W2-22B
(S)/
MR-J4W2-44B (T)/MR-J4W2-77B (T)/MR-J4W3-222B/
MR-J4W3-444B (T)
MR-J4-100_ (S)/MR-J4-200_ (T)/MR-J4W2-44B (S)/
MR-J4W2-1010B
MR-J4-200_ (S)/MR-J4-350_/MR-J4W2-77B (S)/
MR-J4W3-444B (S)
MR-J4-500_ NF50-SVFU-30A (50 A frame 30 A) 60 A
MR-J4-700_ NF50-SVFU-40A (50 A frame 40 A) 80 A
MR-J4-11K_ NF100-CVFU-60A (100 A frame 60 A) 125 A
MR-J4-15K_ NF100-CVFU-80A (100 A frame 80 A) 150 A
MR-J4-22K_ NF225-CWU-125A (225 A frame 125 A) 300 A
Note. "(S)" means 1-phase 200 V AC power input and "(T)" means 3-phase 200 V AC power input in the table.
Servo amplifier (400 V class) Molded-case circuit breaker (480 V AC) Fuse (600 V)
MR-J4-60_4/MR-J4-100_4 NF100-HRU-5A (100 A frame 5 A) 10 A
MR-J4-200_4 NF100-HRU-10A (100 A frame 10 A) 15 A
MR-J4-11K_4 NF100-HRU-30A (100 A frame 30 A) 60 A
(c) Power supply

This servo amplifier can be supplied from star-connected supply with grounded neutral point of
overvoltage category III (overvoltage category II for 1-phase servo amplifiers, MR-J4-03A6, and MR-
J4W2-0303B6) set forth in IEC/EN 60664-1. For the interface power supply, use an external 24 V
DC power supply with reinforced insulation on I/O terminals.
In case of MR-J4-03A6 and MR-J4W2-0303B6, use DC power supplies of reinforced insulation type
to main circuit, control circuit, and UL listed (recognized) 48 V DC/24 V DC power supplies which
can generate more than 1.2 A/2.4 A per axis.
App. - 11
APPENDIX
(d) Grounding
To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the
servo amplifier to the protective earth (PE) of the cabinet. Do not connect two grounding cables to
the same protective earth (PE) terminal. Always connect cables to the terminals one-to-one.
This product can cause a DC current in the protective earthing conductor. To protect direct/indirect
contact using an earth-leakage current breaker (RCD), only an RCD of type B can be used for the
power supply side of the product.
The MR-J4-700_4 is high protective earthing conductor current equipment, the minimum size of the
protective earthing conductor must comply with the local safety regulations.
PE
terminals PE
terminals
(2) EU compliance
The MR-J4 servo amplifiers are designed to comply with the following directions to meet requirements
for mounting, using, and periodic technical inspections: Machinery directive (2006/42/EC), EMC directive
(2014/30/EU), and Low-voltage directive (2014/35/EU).
(a) EMC requirement

MR-J4 servo amplifiers comply with category C3 in accordance with EN 61800-3. As for I/O wires
(max. length 10 m. However, 3 m for STO cable for CN8.) and encoder cables (max. length 50 m),
use shielded wires and ground the shields. Install an EMC filter and surge protector on the primary
side for input and output of 200 V class and for output of 400 V class servo amplifiers. In addition,
use a line noise filter for outputs of the 11 kW and 15 kW of 400 V class servo amplifiers. The
following shows recommended products.
EMC filter: Soshin Electric HF3000A-UN series, TF3000C-TX series, COSEL FTB series
Surge protector: Okaya Electric Industries RSPD series
Line noise filter: Mitsubishi Electric FR-BLF
MR-J4 Series are not intended to be used on a low-voltage public network which supplies domestic
premises; radio frequency interference is expected if used on such a network. The installer shall
provide a guide for Installation and use, including recommended mitigation devices. To avoid the risk
of crosstalk to signal cables, the installation instructions shall either recommend that the power
interface cable be segregated from signal cables.
Use the DC power supply installed with the amplifiers in the same cabinet. Do not connect the other
electric devices to the DC power supply.
(b) For Declaration of Conformity (DoC)

Hereby, MITSUBISHI ELECTRIC EUROPE B.V., declares that the servo amplifiers are in
compliance with the necessary requirements and standards (2006/42/EC, 2014/30/EU, and 2014/35/
EU). For the copy of Declaration of Conformity, contact your local sales office.
App. - 12
APPENDIX
(3) USA/Canada compliance

This servo amplifier is designed in compliance with UL 508C and CSA C22.2 No. 14.
(a) Installation
The minimum cabinet size is 150% of each MR-J4 servo amplifier's volume. Also, design the cabinet
so that the ambient temperature in the cabinet is 55 °C or less. The servo amplifier must be installed
in the metal cabinet. Additionally, mount the servo amplifier on a cabinet that the protective earth
based on the standard of IEC/EN 60204-1 is correctly connected. For environment, the units should
be used in open type (UL 50) and overvoltage category shown in table in section app. 4.8.1. The
servo amplifier needs to be installed at or below pollution degree 2. For connection, use copper
wires.
(b) Short-circuit current rating (SCCR)

Suitable For Use On A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical
Amperes, 500 Volts Maximum (Not More Than 5 kA rms Symmetrical Amperes, 48 Volts Maximum
for MR-J4-03A6 and MR-J4W2-0303B6). For SCCR when using a Type E Combination motor
controller, refer to each servo amplifier instruction manual.
(c) Overload protection characteristics

The MR-J4 servo amplifiers have solid-state servo motor overload protection. (It is set on the basis
(full load current) of 120% rated current of the servo amplifier.)
(d) Over-temperature protection for motor

Motor Over temperature sensing is not provided by the drive.
Integral thermal protection(s) is necessary for motor and refer to app. 4.4 for the proper connection.
(e) Branch circuit protection

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

This product complies with the Radio Wave Law (KC mark). Please note the following to use the
product.
이 기기는 업무용 (A급) 전자파적합기기로서 판매자 또는 사용자는 이 점을 주의하시기 바라며, 가정외의
지역에서 사용하는 것을 목적으로 합니다.
(The product is for business use (Class A) and meets the electromagnetic compatibility requirements.
The seller and the user must note the above point, and use the product in a place except for home.)
In addition, use an EMC filter, surge protector, ferrite core, and line noise filter on the primary side for
inputs. Use a ferrite core and line noise filter for outputs. Use a distance greater than 30 m between the
product and third party sensitive radio communications for an MR-J4-22K_(4).
App. - 13
APPENDIX
App. 4.2.4 General cautions for safety protection and protective measures
Observe the following items to ensure proper use of the MR-J4 servo amplifiers.
(1) For safety components and installing systems, only qualified personnel and professional engineers
should perform.
(2) When mounting, installing, and using the MELSERVO MR-J4 servo amplifier, always observe standards
and directives applicable in the country.
(3) The item about noises of the test notices in the manuals should be observed.
App. 4.2.5 Residual risk
(1) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards.
(2) Perform all risk assessments and safety level certification to the machine or the system as a whole.
the servo motor may make a half revolution at a maximum.
(4) Only qualified personnel are authorized to install, start-up, repair or service the machines in which these
components are installed. Only trained engineers should install and operate the equipment. (ISO 13849-
1 Table F.1 No. 5)
(5) Separate the wiring for safety observation function from other signal wirings. (ISO 13849-1 Table F.1 No.
1)
(6) Protect the cables with appropriate ways (routing them in a cabinet, using a cable guard, etc.).
(7) Keep the required clearance/creepage distance depending on voltage you use.
App. 4.2.6 Disposal
Disposal of unusable or irreparable devices should always occur in accordance with the applicable country-
specific waste disposal regulations. (Example: European Waste 16 02 14)
App. 4.2.7 Lithium battery transportation
To transport lithium batteries, take actions to comply with the instructions and regulations such as the United
Nations (UN), the International Civil Aviation Organization (ICAO), and the International Maritime
Organization (IMO).
The batteries (MR-BAT6V1SET, MR-BAT6V1SET-A, MR-BAT6V1, and MR-BAT6V1BJ) are assembled
batteries from two batteries (lithium metal battery CR17335A) which are not subject to the dangerous goods
(Class 9) of the UN Recommendations.
App. - 14
APPENDIX
App. 4.3 Mounting/dismounting
Installation direction and clearances
The devices must be installed in the specified direction. Not doing so may cause
a malfunction.
Mount the servo amplifier on a cabinet which meets IP54 in the correct vertical
direction to maintain pollution degree 2.
The regenerative resistor supplied with 11 kW to 22 kW servo amplifiers does not
CAUTION have a protective cover. Touching the resistor (including wiring/screw hole area)
may cause a burn injury and electric shock. Even if the power was shut-off, be
careful until the bus voltage discharged and the temperature decreased because
of the following reasons.
It may cause a burn injury due to very high temperature without cooling.
It may cause an electric shock due to charged capacitor of the servo amplifier.
To adapt your machine using MR-J4-03A6 or MR-J4W2-0303B6 to IEC/EN 60950-1, either supply the
amplifier with a power supply complying with the requirement of 2.5 stated in IEC/EN 60950-1 (Limited
Power Source), or cover the amplifier and motors connected to the outputs with a fire enclosure.
Cabinet Top Cabinet
40 mm or
more 80 mm or longer
for wiring
Servo amplifier
10 mm or 10 mm or Servo amplifier
more more
(Note 2)
40 mm or
more
(Note 1)
Bottom
Note 1. For 11 kW to 22 kW servo amplifiers, the clearance between the bottom and
ground will be 120 mm or more.
2. When mounting MR-J4-500GF(-RJ), maintain a minimum clearance of 25 mm on
the left side.
App. - 15
APPENDIX
App. 4.4 Electrical Installation and configuration diagram
Turn off the molded-case circuit breaker (MCCB) to avoid electrical shocks or
WARNING damages to the product before starting the installation or wiring.
The installation complies with IEC/EN 60204-1. The voltage supply to machines
must be 20 ms or more of tolerance against instantaneous power failure as
CAUTION specified in IEC/EN 60204-1.
Connecting a servo motor for different axis to U, V, W, or CN2_ of the servo
The following shows representative configuration examples to conform to the IEC/EN/UL/CSA standards.
(1) 3-phase input for MR-J4 1-axis servo amplifier
Servo amplifier
(3-phase MCCB MC
230 V AC) L1 L2 L3 P+
or fuse C
D
N-
L11
L21 CN8
Power STO
supply (Note 1) CN1
(3-phase MCCB Controller
400 V AC) or fuse CN2 Encoder cable
PE
Transformer (Note 3)
(star-connected) U/V/W/PE
Cabinet side
To protective equipment Machine side
(Thermal signal) (Note 2) Servo motor
Encoder
Note 1. When the wire sizes of L1 and L11 are the same, MCCB or fuse is not required.
2. Please use a thermal sensor, etc. for thermal protection of the servo motor.
3. For 400 V class, a step-down transformer is not required.
(2) 1-phase input for MR-J4 1-axis servo amplifier
Servo amplifier
(1-phase MCCB MC
230 V AC) L1 L2 L3 P+
or fuse (Note 2) C
D
N-
L11
L21 CN8
Power STO
supply (Note 1) CN1
(3-phase MCCB Controller
(Note 2) or fuse
400 V AC) CN2 Encoder cable
PE
Transformer
(star-connected) U/V/W/PE
Cabinet side
(Thermal signal) (Note 3) Servo motor
Encoder
Note 1. When the wire sizes of L1 and L11 are the same, MCCB or fuse is not required.
2. When using a 100 V class servo amplifier, step down the power supply voltage to
100 V and connect the main circuit power supply lines to L1 and L2. For 1-phase
200 V AC servo amplifiers, connect the lines to L1 and L3.
3. Please use a thermal sensor, etc. for thermal protection of the servo motor.
App. - 16
APPENDIX
(3) Main circuit 48 V DC input for MR-J4 1-axis servo amplifier

Servo amplifier
24 V DC CNP1
24
0
PM
48 V DC CN1
U/V/W/E Controller
CN2 Encoder cable
Cabinet side
(Thermal signal) (Note) Servo motor
Encoder
Note. Please use a thermal sensor, etc. for thermal protection of the servo motor.
The connectors described by rectangles are safely separated from the main circuits described by circles.
The connected motors will be limited as follows.
(1) HG/HF/HC/HA series servo motors (Mfg.: Mitsubishi Electric)
(2) Using a servo motor complied with IEC 60034-1 and Mitsubishi Electric encoder (OBA, OSA)
App. - 17
APPENDIX
App. 4.5 Signal
App. 4.5.1 Signal
The following shows MR-J4-10B signals as a typical example. For other servo amplifiers, refer to each servo
amplifier instruction manual.
CN3
STO I/O signal
connector 1 11
CN8 2 12
LG LG
2 1 DI1 DI2
3 13
4 14
DOCOM MBR
4 3 MO1 MO2
5 15
STO1 STOCOM
6 16
DICOM ALM
6 5
LA LAR
TOFB1 STO2 7 17
8 18
8 7 LB LBR
TOFCOM TOFB2 LZ LZR
9 19
10 20
INP DI3
DICOM EM2
App. 4.5.2 I/O device
Input device
Symbol Device Connector Pin No.
EM2 Forced stop 2 CN3 20
STOCOM Common terminal for input signals STO1/STO2 3
STO1 STO1 state input CN8 4
STO2 STO2 state input 5
Output device
TOFCOM Common terminal for monitor output signal in STO state 8
TOFB1 Monitor output signal in STO1 state CN8 6
TOFB2 Monitor output signal in STO2 state 7
Power supply
DICOM Digital I/F power supply input 5, 10
DOCOM Digital I/F common CN3 3
SD Shield Plate
App. - 18
APPENDIX
App. 4.6 Maintenance and service
To avoid an electric shock, only qualified personnel should attempt inspections.

WARNING For repair and parts replacement, contact your local sales office.
App. 4.6.1 Inspection items
It is recommended that the following points periodically be checked.
(1) Check for loose terminal block screws. Retighten any loose screws.(Except for MR-J4-03A6 and MR-
J4W2-0303B6)
Tightening torque [N•m]
Servo amplifier
L1 L2 L3 N- P3 P4 P+ C D L11 L21 U V W PE
MR-J4-10_(1)/MR-J4-20_(1)/
MR-J4-40_(1)/MR-J4-60_(4)/
1.2
MR-J4-70_/MR-J4-100_(4)/
MR-J4-200_(4)/MR-J4-350_(4)
MR-J4-500_ 1.2 0.8 1.2
MR-J4-700_(4)/MR-J4-500_4 1.2 0.8 1.2
MR-J4-11K_(4)/MR-J4-15K_(4) 3.0 1.2 3.0
MR-J4-22K_(4) 6.0 1.2 6.0
MR-J4W_-_B 1.2
(2) Servo motor bearings, brake section, etc. for unusual noise.
(3) Check the cables and the like for scratches or cracks. Perform periodic inspection according to
operating conditions.
(4) Check that the connectors are securely connected to the servo motor.
(5) Check that the wires are not coming out from the connector.
(6) Check for dust accumulation on the servo amplifier.
(7) Check for unusual noise generated from the servo amplifier.
(8) Check the servo motor shaft and coupling for connection.
(9) Make sure that the emergency stop circuit operates properly such that an operation can be stopped
App. - 19
APPENDIX
App. 4.6.2 Parts having service life
Service life of the following parts is listed below. However, the service life varies depending on operation and
environment. If any fault is found in the parts, they must be replaced immediately regardless of their service
life. For parts replacement, please contact your local sales office.
Part name Life guideline
Smoothing capacitor (Note 3) 10 years
Number of power-on,
Relay forced stop and controller forced stop times: 100,000 times
Number of on and off for STO: 1,000,000 times
Cooling fan 10,000 hours to 30,000 hours (2 years to 3 years)
Approximately 20,000 hours (equipment power supply: off,
(Note 1) Battery backup time
ambient temperature: 20 °C)
(Note 2) Battery life 5 years from date of manufacture
Note 1. The time is for using MR-J4 1-axis servo amplifier with an rotary servo motor using MR-BAT6V1SET, MR-BAT6V1SET-A, or
MR-BAT6V1BJ. For details and other battery backup time, refer to chapter 12.
2. Quality of the batteries degrades by the storage condition. The battery life is 5 years from the production date regardless of the
connection status.
3. The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the capacitor greatly depends
on ambient temperature and operating conditions. The capacitor will be the end of its life in 10 years of continuous operation in
normal air-conditioned environment (40 °C surrounding air temperature or less for use at the maximum 1000 m above sea
level, 30 °C or less for over 1000 m to 2000 m).
App. - 20
APPENDIX
App. 4.7 Transportation and storage
Transport the products correctly according to their mass.

Stacking in excess of the limited number of product packages is not allowed.
Do not hold the front cover to transport the servo amplifier. Otherwise, it may
drop.
CAUTION For detailed information on transportation and handling of the battery, refer to
app. 2 and app. 3.
Install the product in a load-bearing place of servo amplifier and servo motor in
accordance with the instruction manual.
Do not put excessive load on the machine.
When you keep or use it, please fulfill the following environment.
Item Environment
Operation [°C] 0 to 55 Class 3K3 (IEC/EN 60721-3-3)
Ambient
Transportation (Note) [°C] -20 to 65 Class 2K4 (IEC/EN 60721-3-2)
temperature
Storage (Note) [°C] -20 to 65 Class 1K4 (IEC/EN 60721-3-1)
Ambient Operation, transportation,
5 %RH to 90 %RH
humidity storage
10 Hz to 57 Hz with constant amplitude of 0.075 mm
2
Test condition 57 Hz to 150 Hz with constant acceleration of 9.8 m/s to IEC/EN 61800-5-1
Vibration (Test Fc of IEC 60068-2-6)
2
resistance Operation 5.9 m/s
Transportation (Note) Class 2M3 (IEC/EN 60721-3-2)
Storage Class 1M2 (IEC/EN 60721-3-2)
Pollution degree 2
IP20 (IEC/EN 60529), Terminal block IP00
IP rating
Open type (UL 50)
Operation, storage Max. 2000 m above sea level
Altitude
Transportation Max. 10000 m above sea level
Note. In regular transport packaging
App. - 21
APPENDIX
App. 4.8 Technical data
App. 4.8.1 MR-J4 servo amplifier

MR-J4-10_/
MR-J4-20_/
MR-J4-60_4/
MR-J4-40_/
MR-J4-350_/ MR-J4-100_4/
MR-J4-60_/
MR-J4-500_/ MR-J4-200_4/
MR-J4-70_/
MR-J4-700_/ MR-J4-10_1/ MR-J4-350_4/
MR-J4-100_/ MR-J4-03A6/
Item MR-J4W2-1010B/ MR-J4-20_1/ MR-J4-500_4/
MR-J4-200_/ MR-J4W2-0303B6
MR-J4-11K_/ MR-J4-40_1 MR-J4-700_4/
MR-J4W2-22B/
MR-J4-15K_/ MR-J4-11K_4/
MR-J4W2-44B/
MR-J4-22K_ MR-J4-15K_4/
MR-J4W2-77B/
MR-J4-22K_4
MR-J4W3-222B/
MR-J4W3-444B
3-phase or
3-phase
1-phase 1-phase 3-phase
200 V AC to
Main circuit (line 200 V AC to 100 V AC to 380 V AC to 48 V DC or
240 V AC,
voltage) 240 V AC, 120 V AC, 480 V AC, 24 V DC
50 Hz/60 Hz
50 Hz/60 Hz 50 Hz/60 Hz 50 Hz/60 Hz
(Note 2)
Power (Note 2)
supply 1-phase 1-phase
Control circuit (line 1-phase 200 V AC to 240 V AC, 100 V AC to 380 V AC to
24 V DC
voltage) 50/60 Hz (Note 2) 120 V AC, 480 V AC,
50 Hz/60 Hz 50 Hz/60 Hz
24 V DC (required current capacity: MR-J4-_A_, 500 mA; MR-J4-_B_, 300 mA;
Interface (SELV)
MR-J4W2-_B_, 350 mA; MR-J4W3-_B, 450 mA; MR-J4-_ GF_, 300 mA)
Safety observation function (STO) EN ISO 13849-1 category 3 PL e, IEC 61508 SIL 3,
IEC/EN 61800-5-2 (Note 3) EN 62061 SIL CL 3, and EN 61800-5-2
Mean time to dangerous failure MTTFd ≥ 100 [years] (314a)
Effectiveness of fault monitoring
DC = Medium, 97.6 [%]
of a system or subsystem
Average probability of dangerous -9
PFH = 6.4 × 10 [1/h]
failures per hour
Mission time TM = 20 [years]
Pollution degree 2 (IEC/EN 60664-1)
1-phase 100 V AC/200 V AC: II (IEC/EN 60664-1), II
Overvoltage category
3-phase 200 V AC/400 V AC: III (IEC/EN 60664-1) (IEC/EN 60664-1)
III
Protective class I (IEC/EN 61800-5-1)
(IEC/EN 61800-5-1)
Short-circuit current rating
100 kA 5 kA (Note 1)
(SCCR)
Note 1. For the use in US/Canada, constitute a branch circuit including the power supply which endures SCCR of 5 kA minimum in the
industrial cabinet.
2. For MR-J4-_-RJ, 283 V DC to 340 V DC are also supported.
3. Servo amplifiers manufactured in June 2015 or later comply with SIL 3 requirements. However, MR-J4-_A_/MR-J4-_B_ servo
amplifiers manufactured in China comply with SIL 3 requirements from the December 2015 production.
App. - 22
APPENDIX
App. 4.8.2 Dimensions/mounting hole process drawing

Variable dimensions [mm]
Servo amplifier Mass [kg]
W H D
MR-J4-03A6 30 100 90 0.2
H Front Side MR-J4-10_(1)/MR-J4-20_(1) (Note) 40 (50) 168 135 (155) 0.8 (1.0)
MR-J4-40_(1)/MR-J4-60_ (Note) 40 (50) 168 170 (155) 1.0
MR-J4-70_/MR-J4-100_ 60 168 185 1.4
W D MR-J4-200_(4) 90 168 195 2.1
MR-J4-350_ 90 168 195 2.3
MR-J4-500_ 105 250 200 4.0
MR-J4-700_ 172 300 200 6.2
MR-J4-11K_(4)/MR-J4-15K_(4) 220 400 260 13.4
MR-J4-22K_(4) 260 400 260 18.2
MR-J4-60_4/MR-J4-100_4 60 168 195 1.7
MR-J4-350_4 105 250 200 3.6
MR-J4-500_4 130 250 200 4.3
MR-J4-700_4 172 300 200 6.5
MR-J4W2-0303B6 30 168 100 0.3
MR-J4W2-22B/MR-J4W2-44B 60 168 195 1.4
MR-J4W2-77B/MR-J4W2-1010B 85 168 195 2.3
MR-J4W3-222B/MR-J4W3-444B 85 168 195 2.3
Note. The value in the parenthesis shows the value of MR-J4-_GF_.
Screw
a1 e1 Variable dimensions [mm]
Servo amplifier size
c a a1 b c d d1 e e1 f
d1 f MR-J4-03A6 90 ± 0.5 5 4 4 M4
b MR-J4-10_(1)/MR-J4-20_(1)/
6 6 156 ± 0.5 6 M5
MR-J4-40_(1)/MR-J4-60_
MR-J4-70_/MR-J4-100_ 12 12 156 ± 0.5 6 42 ± 0.3 M5
c
MR-J4-200_(4)/MR-J4-350_ 6 45 156 ± 0.5 6 78 ± 0.3 M5
a d e
MR-J4-500_ 6 6 235 ± 0.5 7.5 93 ± 0.5 93 ± 0.5 M5
MR-J4-700_ 6 6 285 ± 0.5 7.5 160 ± 0.5 160 ± 0.5 M5
MR-J4-11K_(4)/MR-J4-15K_(4) 12 12 380 ± 0.5 10 196 ± 0.5 196 ± 0.5 M5
MR-J4-22K_(4) 12 12 376 ± 0.5 12 236 ± 0.5 236 ± 0.5 M10
MR-J4-60_4/MR-J4-100_4 12 12 156 ± 0.5 6 42 ± 0.3 M5
MR-J4-350_4 6 6 235 ± 0.5 7.5 93 ± 0.5 93 ± 0.5 M5
MR-J4-500_4 6 6 235 ± 0.5 7.5 118 ± 0.5 118 ± 0.5 M5
MR-J4-700_4 6 6 285 ± 0.5 7.5 160 ± 0.5 160 ± 0.5 M5
MR-J4W2-0303B6 6 6 156 ± 0.5 6 M5
MR-J4W2-22B/MR-J4W2-44B 6 6 156 ± 0.5 6 M5
MR-J4W2-77B/MR-J4W2-1010B 6 6 156 ± 0.5 6 73 ± 0.3 M5
MR-J4W3-222B/MR-J4W3-444B 6 6 156 ± 0.5 6 73 ± 0.3 M5
App. - 23
APPENDIX
App. 4.9 Check list for user documentation
MR-J4 installation checklist for manufacturer/installer
The following items must be satisfied by the initial test operation at least. The manufacturer/installer must
be responsible for checking the standards in the items.
Maintain and keep this checklist with related documents of machines to use this for periodic inspection.
1. Is it based on directive/standard applied to the machine? Yes [ ], No [ ]
2. Is directive/standard contained in Declaration of Conformity (DoC)? Yes [ ], No [ ]
3. Does the protection instrument conform to the category required? Yes [ ], No [ ]
4. Are electric shock protective measures (protective class) effective? Yes [ ], No [ ]
5. Is the STO function checked (test of all the shut-off wiring)? Yes [ ], No [ ]
Checking the items will not be instead of the first test operation or periodic inspection by professional
engineers.
App. - 24
APPENDIX
App. 5 MR-J3-D05 Safety logic unit
App. 5.1 Contents of the package
Open packing, and confirm the content of packing.

Contents Quantity
MR-J3-D05 Safety logic unit 1
Connector for CN9 1-1871940-4 (TE Connectivity) 1
Connector for CN10 1-1871940-8 (TE Connectivity) 1
MR-J3-D05 Safety Logic Unit Installation Guide 1
App. 5.2 Terms related to safety
App. 5.2.1 Stop function for IEC/EN 61800-5-2
(1) STO function (Refer to IEC/EN 61800-5-2: 2007 4.2.2.2 STO.)

This function is integrated into the MR-J4 series servo amplifiers.
The STO function shuts down energy to servo motors, thus removing torque. This function electronically
cuts off power supply in servo amplifiers for MR-J4 series servo amplifiers.
The purpose of this function is as follows.
1) Uncontrolled stop according to stop category 0 of IEC/EN 60204-1
2) Preventing unexpected start-up
(2) SS1 function (Refer to IEC/EN 61800-5-2: 2007 4.2.2.3C Safe stop 1 temporal delay.)
SS1 is a function which initiates the STO function when the previously set delay time has passed after
the servo motor starts decelerating. The delay time can be set with MR-J3-D05.
The purpose of this function is as follows. This function is available by using an MR-J4 series servo
amplifier with MR-J3-D05.
Controlled stop according to stop category 1 of IEC/EN 60204-1
App. 5.2.2 Emergency operation for IEC/EN 60204-1
(1) Emergency stop (Refer to IEC/EN 60204-1: 2005 9.2.5.4.2 Emergency Stop.)
Emergency stop must override all other functions and actuation in all operation modes. Power to the
machine driving part which may cause a hazardous state must be either removed immediately (stop
category 0) or must be controlled to stop such hazardous state as soon as possible (stop category 1).
Restart must not be allowed even after the cause of the emergency state has been removed.
(2) Emergency switching off (Refer to IEC/EN 60204-1: 2005 9.2.5.4.3 Emergency Switching OFF.)
Removal of input power to driving device to remove electrical risk and to meet above mentioned safety
standards.
App. - 25
APPENDIX
App. 5.3 Cautions
The following basic safety notes must be read carefully and fully in order to prevent injury to persons or
damage to property.
Only qualified personnel are authorized to install, start-up, repair or service the machines in which these
components are installed.
They must be familiar with all applicable local safety regulations and laws in which machines with these
components are installed, particularly the standards and guidelines mentioned in this Instruction Manual and
the requirements mentioned in ISO/EN ISO 13849-1, IEC 61508, IEC/EN 61800-5-2, and IEC/EN 60204-1.
The staff responsible for this work must be given express permission from the company to perform start-up,
programming, configuration, and maintenance of the machine in accordance with the safety standards.
Improper installation of the safety related components or systems may cause

WARNING improper operation in which safety is not assured, and may result in severe
injuries or even death.
Protective Measures
As described in IEC/EN 61800-5-2, the Safe Torque Off (STO) function only prevents the servo amplifier
from supplying energy to the servo motor. Therefore, if an external force acts upon the drive axis,
additional safety measures, such as brakes or counter-weights must be used.
App. 5.4 Residual risk
Machine manufacturers are responsible for all risk evaluations and all associated residual risks. Below are
residual risks associated with the STO/EMG function. Mitsubishi is not liable for any damages or injuries
caused by the residual risks.
(1) The SS1 function only guarantees the delay time before STO/EMG is engaged. Proper setting of this
delay time is the full responsibility of the company and/or individuals responsible for installation and
commissioning of the safety related system. The system, as a whole, must pass safety standards
certification.
(2) When the SS1 delay time is shorter than the required servo motor deceleration time, if the forced stop
function is malfunctioning, or if STO/EMG is engaged while the servo motor is still rotating; the servo
motor will stop with the dynamic brake or freewheeling.
(3) For proper installation, wiring, and adjustment, thoroughly read the manual of each individual safety
related component.
(4) Be sure that all safety related switches, relays, sensors, etc., meet the required safety standards.
The Mitsubishi Electric safety related components mentioned in this manual are certified by Certification
Body as meeting the requirements of ISO/EN ISO 13849-1 Category 3, PL d and IEC 61508 SIL 2.
(5) Safety is not assured until safety-related components of the system are completely installed or adjusted.
(6) When replacing a servo amplifier etc. or MR-J3-D05, confirm that the new equipment is exactly the
same as those being replaced. Once installed, be sure to verify the performance of the functions before
commissioning the system.
App. - 26
APPENDIX
(7) Perform all risk assessments and safety level certification to the machine or the system as a whole.
It is recommended that a Certification Body final safety certification of the system be used.
(8) To prevent accumulation of multiple malfunctions, perform a malfunction check at regular intervals as
deemed necessary by the applicable safety standard. Regardless of the system safety level, malfunction
checks should be performed at least once per year.
the servo motor may make a half revolution at a maximum. For a linear servo motor, the primary side will
move a distance of pole pitch.
App. 5.5 Block diagram and timing chart
(1) Function block diagram

A-axis circuit
+24V SRESA+ SRESA- TOF1A TOF2A TOFA STO1A+ STO2A+ SDO1A+ SDO2A+
Safety logic
TIMER1
DCDC
power
B-axis circuit
TIMER2
0V SDI1A- SDI2A- SDI1B- SDI2B- STO1A- STO2A- SDO1A- SDO2A-

SW1 SW2
(2) Operation sequence

Power supply
15 ms or longer
A-axis shutdown 1 and 2 Energizing (close)

SDI
B-axis shutdown 1 and 2 Shut-off (open)
50 ms or longer
A-axis EMG start/reset Release (close)
SRES
B-axis EMG start/reset Normal (open)
10 ms or shorter Shut off delay (SW1 and SW2) (Note)
A-axis STO state 1 and 2 Normal (close)
STO
B-axis STO state 1 and 2 Shut-off (open)
STO status Control enabled STO status

Control enabled
Note. Refer to App. 5.10.
App. 5.6 Maintenance and disposal
MR-J3-D05 is equipped with LED displays to check errors for maintenance.

Please dispose this unit according to your local laws and regulations.
App. 5.7 Functions and configuration
App. 5.7.1 Summary
MR-J3-D05 has two systems in which the each system has SS1 function (delay time) and output of STO
function.
App. - 27
APPENDIX
App. 5.7.2 Specifications

Safety logic unit model MR-J3-D05
Voltage 24 V DC
Permissible
Control circuit 24 V DC ± 10%
voltage fluctuation
power supply
Power supply
[A] 0.5 (Note 1, 2)
capacity
Compatible system 2 systems (A-axis, B-axis independent)
Shut-off input 4 points (2 point × 2 systems) SDI_: (source/sink compatible) (Note 3)
Shut-off release input 2 points (1 point × 2 systems) SRES_: (source/sink compatible) (Note 3)
Feedback input 2 points (1 point × 2 systems) TOF_: (source compatible) (Note 3)
Input type Photocoupler insulation, 24 V DC (external supply), internal limited resistance 5.4 kΩ
STO_: (source compatible) (Note 3)
Shut-off output 8 points (4 point × 2 systems)
SDO_: (source/sink compatible) (Note 3)
Photocoupler insulation, open-collector type
Output method
Permissible current: 40 mA/1 output, Inrush current: 100 mA/1 output
A-axis: Select from 0 s, 1.4 s, 2.8 s, 5.6 s, 9.8 s, or 30.8 s.
Delay time setting B-axis: Select from 0 s, 1.4 s, 2.8 s, 9.8 s, or 30.8 s.
Accuracy: ±2%
STO, SS1 (IEC/EN 61800-5-2)
Functional safety
EMG STOP, EMG OFF IEC/EN 60204-1)
Standards certified
EN ISO 13849-1 category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2, and EN 61800-5-2 SIL 2
by CB
Response
performance (when
10 ms or less (STO input off → shut-off output off)
delay time is set to
0 s) (Note 4)
Mean time to
Safety
dangerous failure MTTFd ≥ 100 [years] (516a)
performance
(MTTFd)
Diagnosis
DC = Medium, 93.1 [%]
converge (DC avg)
Average
probability of -9
PFH = 4.75 × 10 [1/h]
dangerous failures
per hour (PFH)
LVD: EN 61800-5-1
Compliance to
standards
MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
Structure Natural-cooling, open (IP rating: IP 00)
Ambient
0 °C to 55 °C (non-freezing), storage: -20 °C to 65 °C (non-freezing)
temperature
Ambient humidity 5 %RH to 90 %RH (non-condensing), storage: 5 %RH to 90 %RH (non-condensing)
Environment Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude Max. 1000 m above sea level
Vibration 2
5.9 m/s at 10 Hz to 55 Hz (directions of X, Y and Z axes)
resistance
Mass [kg] 0.2 (including CN9 and CN10 connectors)
Note 1. Inrush current of approximately 1.5 A flows instantaneously when turning the control circuit power supply on. Select an
appropriate capacity of power supply considering the inrush current.
2. Power-on duration of the safety logic unit is 100,000 times.
3. _: in signal name indicates a number or axis name.
4. For the test pulse input, contact your local sales office.
App. - 28
APPENDIX
App. 5.7.3 When using MR-J3-D05 with an MR-J4 series servo amplifier
(1) System configuration diagram

The following shows the connection targets of the STO switch and STO release switch.
POINT
MR-D05UDL_M (STO cable) for MR-J3 series cannot be used.
MR-J3-D05
MR-J4_GF_(-RJ)
Power Magnetic
supply CN3
contactor EM2 (Forced stop 2)
L1
L2
L3
CN8
MCCB
CN9
STO cable STO switch
MR-D05UDL3M-B
U
V
W
STO release switch CN10

FG
Servo motor
App. - 29
APPENDIX

24 V DC
(Note 2) (Note 2)
S2 S1 S4 S3
MR-J3-D05 RESA RESB
(Note 1) (Note 1)
SW1 SW2 STOA STOB
EM2 EM2
(A-axis) (B-axis)
CN9
1A SDI1A+
1B SDI1A- MC
MR-J4_GF_(-RJ)
4A SDO1A+ CN8
Control circuit
CN8A 4B SDO1A- STO1 4
CN10 STO2 5
3A SDI2A+
STOCOM 3
3B SDI2A-
TOFB1 6
1A SRESA+
1B SRESA- TOFB2 7
6A SDO2A+
TOFCOM 8
6B SDO2A-
8A TOFA CN3
EM2 (A-axis)
Servo motor
CN9
2A SDI1B+
2B SDI1B- MC
MR-J4_GF_(-RJ)
CN8B 3A SDO1B+ CN8
Control circuit
3B SDO1B- STO1 4
CN10 STO2 5
4A SDI2B+
STOCOM 3
4B SDI2B-
TOFB1 6
2A SRESB+
FG
2B SRESB- TOFB2 7
5A SDO2B+
TOFCOM 8
5B SDO2B-
8B TOFB CN3
EM2 (B-axis)
7A +24 V M
7B 0V
Servo motor
0V
Note 1. Set the delay time of STO output with SW1 and SW2. These switches are located where dented from the front panel.
2. To release the STO state (base circuit shut-off), turn RESA and RESB on and turn them off.
App. - 30
APPENDIX
App. 5.8 Signal
App. 5.8.1 Connector/pin assignment
(1) CN8A
I/O
Device Symbol Pin No. Function/application
division
A-axis STO1 STO1A- 1 Outputs STO1 to A-axis driving device. O
STO1A+ 4 Outputs the same signal as A-axis STO2.
STO state (base shutdown): Between STO1A+ and STO1A- is opened.
STO release state (in driving): Between STO1A+ and STO1A- is closed.
A-axis STO2 STO2A- 5 Outputs STO2 to A-axis driving device. O
STO2A+ 6 Outputs the same signal as A-axis STO1.
STO state (base shutdown): Between STO2A+ and STO2A- is opened.
STO release state (in driving): Between STO2A+ and STO2A- is closed.
A-axis STO TOF2A 7 Inputs STO state of A-axis driving device. I
state TOF1A 8 STO state (base shutdown): Open between TOF2A and TOF1A.
STO release state (in driving): Close between TOF2A and TOF1A.
(2) CN8B
I/O
division
B-axis STO1 STO1B- 1 Outputs STO1 to B-axis driving device. O
STO1B+ 4 Outputs the same signal as B-axis STO2.
STO state (base shutdown): Between STO1B+ and STO1B- is opened.
STO release state (in driving): Between STO1B+ and STO1B- is closed.
B-axis STO2 STO2B- 5 Outputs STO2 to B-axis driving device. O
STO2B+ 6 Outputs the same signal as B-axis STO1.
STO state (base shutdown): Between STO2B+ and STO2B- is opened.
STO release state (in driving): Between STO2B+ and STO2B- is closed.
B-axis STO TOF2B 7 Inputs STO state of B-axis driving device. I
state TOF1B 8 STO state (base shutdown): Open between TOF2B and TOF1B.
STO release state (in driving): Close between TOF2B and TOF1B.
(3) CN9
I/O
division
A-axis SDI1A+ 1A Connect this device to a safety switch for A-axis driving device. DI-1
shutdown 1 SDI1A- 1B Input the same signal as A-axis shutdown 2.
STO state (base shutdown): Open between SDI1A+ and SDI1A-.
STO release state (in driving): Close between SDI1A+ and SDI1A-.
B-axis SDI1B+ 2A Connect this device to a safety switch for B-axis driving device. DI-1
shutdown 1 SDI1B- 2B Input the same signal as B-axis shutdown 2.
STO state (base shutdown): Open between SDI1B+ and SDI1B-.
STO release state (in driving): Close between SDI1B+ and SDI1B-.
A-axis SDO1 SDO1A+ 4A Outputs STO1 to A-axis driving device. DO-1
SDO1A- 4B Outputs the same signal as A-axis SDO2.
STO state (base shutdown): Between SDO1A+ and SDO1A- is opened.
STO release state (in driving): Between SDO1A+ and SDO1A- is closed.
B-axis SDO1 SDO1B+ 3A Outputs STO1 to B-axis driving device. DO-1
SDO1B- 3B Outputs the same signal as B-axis SDO2.
STO state (base shutdown): Between SDO1B+ and SDO1B- is opened.
STO release state (in driving): Between SDO1B+ and SDO1B- is closed.
App. - 31
APPENDIX
(4) CN10
Pin I/O
Device Symbol Function/application
No. division
A-axis SDI2A+ 3A Connect this device to a safety switch for A-axis driving device. DI-1
shutdown 2 SDI2A- 3B Input the same signal as A-axis shutdown 1.
STO state (base shutdown): Open between SDI2A+ and SDI2A-.
STO release state (in driving): Close between SDI2A+ and SDI2A-.
B-axis SDI2B+ 4A Connect this device to a safety switch for B-axis driving device. DI-1
shutdown 2 SDI2B- 4B Input the same signal as B-axis shutdown 1.
STO state (base shutdown): Open between SDI2B+ and SDI2B-.
STO release state (in driving): Close between SDI2B+ and SDI2B-.
A-axis EMG SRESA+ 1A Signal for releasing STO state (base shutdown) on A-axis driving device. DI-1
start/reset SRESA- 1B Releases STO state (base shutdown) on A-axis driving device by switching between
SRESA+ and SRESA- from on (connected) to off (opened).
B-axis EMG SRESB+ 2A Signal for releasing STO state (base shutdown) on B-axis driving device. DI-1
start/reset SRESB- 2B Releases STO state (base shutdown) on B-axis driving device by switching between
SRESB+ and SRESB- from on (connected) to off (opened).
A-axis SDO2 SDO2A+ 6A Outputs STO2 to A-axis driving device. DO-1
SDO2A- 6B Outputs the same signal as A-axis STO1.
STO state (base shutdown): Between SDO2A+ and SDO2A- is opened.
STO release state (in driving): Between SDO2A+ and SDO2A- is closed.
B-axis SDO2 SDO2B+ 5A Outputs STO2 to B-axis driving device. DO-1
SDO2B- 5B Outputs the same signal as B-axis SDO1.
STO state (base shutdown): Between SDO2B+ and SDO2B- is opened.
STO release state (in driving): Between SDO2B+ and SDO2B- is closed.
Control circuit +24V 7A Connect + side of 24 V DC.
power supply
Control circuit 0V 7B Connect - side of 24 V DC.
power GND
A-axis STO TOFA 8A TOFA is internally connected with TOF2A.
state
B-axis STO TOFB 8B TOFB is internally connected with TOF2B.
state
App. 5.8.2 Interfaces
(1) Sink I/O interface (CN9, CN10 connector)

(a) Digital input interface DI-1
MR-J3-D05
For transistor
Approximately
SRESA-,
5 mA etc.
Approx. 5.4 k
Switch
TR SRESA+,
etc.
VCES 1.0 V 24 V DC ± 10%

ICEO 100 µA 200 mA
App. - 32
APPENDIX
(b) Digital output interface DO-1

This is a circuit of collector output terminal of the output transistor. When the output transistor is
turned on, collector terminal current will be applied for the output. A lamp, relay or photocoupler can
be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor
(R) for a lamp load. (Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current:
100 mA or less) A maximum of 2.6 V voltage drop occurs in the MR-J3-D05.
MR-J3-D05
reversed, MR-J3-D05
SDO2B+, Load will malfunction.
etc.
SDO2B-,
etc.
(Note) 24 V DC ± 10%
200 mA
(2) Source I/O interfaces (CN9, CN10 connector)

(a) Digital input interface DI-1
This is an input circuit whose photocoupler anode side is input terminal. Transmit signals from
source (open-collector) type transistor output, relay switch, etc.
MR-J3-D05
SRESA-,
etc.
Approx. 5.4 k
Switch
SRESA+,
etc.
Approximately 5 mA 24 V DC ± 10%
VCES 1.0 V 200 mA
ICEO 100 µA
(b) Digital output interface DO-1

This is a circuit of emitter output terminal of the output transistor. When the output transistor is turned
on, current will be applied from the output to a load. A maximum of 2.6 V voltage drop occurs in the
MR-J3-D05.
MR-J3-D05
reversed, MR-J3-D05
SDO2B+, Load will malfunction.
etc.
SDO2B-,
etc.
(Note) 24 V DC ± 10%
200 mA
App. - 33
APPENDIX
App. 5.8.3 Wiring CN9 and CN10 connectors
Handle with the tool with care when connecting wires.
(1) Wire strip

(a) Use wires with size of AWG 24 to 20 (0.22 mm2 to 0.5 mm2) (recommended electric wire: UL 1007)
and strip the wires to make the stripped length 7.0 mm ± 0.3 mm. Confirm the stripped length with
gauge, etc. before using the wires.
(b) If the stripped wires are bent, loose or too thick due to twisting too much, fix the wires by twisting
lightly, etc. Then, confirm the stripped length before using the wires. Do not use excessively
deformed wires.
(c) Smooth out the wire surface and stripped insulator surface.
(2) Connecting wires

Before connecting wires, be sure to pull out the receptacle assembly from the header connector. If wires
are connected with inserted connector, the connector and the printed board may malfunction.
(a) Using extraction tool (1891348-1 or 2040798-1)

1) Dimensions and mass
[Unit: mm]
100
15
Mass : Approx. 20 g
App. - 34
APPENDIX
2) Connecting wires
a) Confirm the model number of the housing, contact and tool to be used.
b) Insert the tool diagonally into the receptacle assembly.
c) Insert the tool until it hits the surface of the receptacle assembly. At this
stage, the tool is vertical to the receptacle assembly.
d) Insert wires in the wiring hole till the end. The wires should be slightly
twisted in advance to prevent it from being loose.
It is easy to insert the wire if the wire is inserted diagonally while twisting
the tool.
e) Remove the tool.
App. - 35
APPENDIX
(b) Using a screwdriver

To avoid damaging housings and springs when wiring with screwdriver, do not put excessive force.
Be cautious when connecting.
1) Adjusting screw driver
Diameter: 2.3 mm ± 0.05 mm Diameter: 2.5 mm ± 0.05 mm

Length: 120 mm or less Length: 120 mm or less
Width: 2.3 mm Width: 2.5 mm
Thickness: 0.25 mm Thickness: 0.3 mm
Angle in tip of the blade: 18 ± 1 degrees Angle in tip of the blade: 12 ± 1 degrees
2.5 mm ± 0.05 mm 12° ± 1°

2.3 mm ± 0.05 mm
18° ± 1°
0.25 mm
2.3 mm 0.3 mm
2.5 mm
Screwdriver diameter: φ 2.3 mm Screwdriver diameter: φ 2.5 mm
2) Connecting wires
a) Insert a screwdriver in the front slot a little diagonally, and depress the spring. While
depressing the spring, insert the wires until they hit the end. Note that the housing and spring
may be damaged if the screwdriver is inserted strongly. Never insert the screwdriver in the
wire hole. Otherwise, the connector will be damaged.
b) Pull the screwdriver out while pressing the wires. Connecting wires is completed.
c) Pull the wire lightly to confirm that the wire is surely connected.
d) To remove the wires, depress the spring by the screwdriver in the same way as connecting
wires, and then pull the wires out.
Tool insertion slot
Screw driver
App. - 36
APPENDIX
(3) Connector insertion

Insert the connector all the way straight until you hear or feel clicking. When removing the connector,
depress the lock part completely before pulling out. If the connector is pulled out without depressing the
lock part completely, the housing, contact and/or wires may be damaged.
(4) Compatible wire

Compatible wire size is listed below.
Wire size
2
mm AWG
0.22 24
0.34 22
0.50 20
(5) Others
(a) Fix a wire tie at least distance of "A" × 1.5 away from the end of the connector.
A × 1.5 or more
(b) Be sure that wires are not pulled excessively when the connector is inserted.
App. 5.8.4 Wiring FG
Wire range
Single wire: φ 0.4 mm to 1.2 mm (AWG 26 to AWG 16)
Stranded wire: 0.2 mm2 to 1.25 mm2 (AWG 24 to AWG 16),
wire φ 0.18 mm or more
Bottom face
Lead wire
App. - 37
APPENDIX
App. 5.9 LED display
I/O status, malfunction and power on/off are displayed with LED for each A-axis and B-axis.
LED
LED Definition
MR-J3-D05 Column A Column B
A B
SRES Monitor LED for start/reset
SDI1 SRES Off: The start/reset is off. (The switch contact is opened.)
SDI2
TOF On: The start/reset is on. (The switch contact is closed.)
SDO1 Monitor LED for shut-off 1
SDO2
SW SDI1 Off: The shut-off 1 is off. (The switch contact is closed.)
FAULT On: The shut-off 1 is on. (The switch contact is opened.)
Monitor LED for shut-off 2
SDI2 Off: The shut-off 2 is off. (The switch contact is closed.)
POWER On: The shut-off 2 is on. (The switch contact is opened.)
Monitor LED for STO state
TOF Off: Not in STO state
On: In STO state
A-axis B-axis
Monitor LED for SDO1
SDO1 Off: Not in STO state
On: In STO state
Monitor LED for SDO2
SDO2 Off: Not in STO state
On: In STO state
Monitor LED for confirming shutdown delay setting
SW Off: The settings of SW1 and SW2 do not match.
On: The settings of SW1 and SW2 match.
FAULT LED
FAULT Off: Normal operation (STO monitoring state)
On: Fault has occurred.
Power
POWER Off: Power is not supplied to MR-J3-D05.
On: Power is being supplied to MR-J3-D05.
App. 5.10 Rotary switch setting
Rotary switch is used to shut off the power after control stop by SS1 function.
Set the delay time from when the STO shut off switch is pressed until when STO output is performed. Set the
same setting for SW1 and SW2. The following table shows the delay time to be set according to the setting
value of the rotary switch.
Setting cannot be changed while power is on. Notify users that setting cannot be changed by putting a seal
or by another method so that end users will not change the setting after the shipment.
0 to F in the following table is the set value of the rotary switches (SW1 and SW2).
Rotary switch setting and delay time at A/B-axis [s]

B-axis
0s 1.4 s 2.8 s 5.6 s 9.8 s 30.8 s
0s 0 1 2 - 3 4
1.4 s - 5 - 6 7
2.8 s 8 - 9 A
A-axis
5.6 s - B C
9.8 s D E
30.8 s F
App. - 38
APPENDIX
App. 5.11 Troubleshooting
When power is not supplied or FAULT LED turns on, refer the following table and take the appropriate
action.
Event Definition Cause Action
Power is not supplied. Power LED does not turn on 1. 24 V DC power supply is Replace the 24 V DC power supply.
although power is supplied. malfunctioning.
2. Wires between MR-J3-D05 and 24 Check the wiring.
V DC power supply are
disconnected or are in contact with
other wires.
3. MR-J3-D05 is malfunctioning. Replace the MR-J3-D05.
FAULT LED is on. FAULT LED of A-axis or B- 1. The delay time settings are not Check the settings of the rotary
axis is on, and will not turn matched. switch.
off. 2. Switch input error Check the wiring or sequence of the
input signals.
3. TOF signal error Check the connection with the servo
amplifier.
4. MR-J3-D05 is malfunctioning. Replace the MR-J3-D05.
App. - 39
APPENDIX
App. 5.12 Dimensions
[Unit: mm]
22.5
19.5 Approx. 22.5
Approx. 5
Approx. 80 86
φ5 mounting hole 9.75
Rating plate 80 6 9.75
12
CN8B CN8A
2-M4 screw
Approx. 192
182
182
168
192
CN10 CN9
Approx. 5
5
5
FG
Pin assignment Mounting screw

CN8A CN8B
Screw size: M4
7 8 7 8
TOF2A TOF1A TOF2B TOF1B Tightening torque: 1.2 N•m
5 6 5 6
STO2A- STO2A+ STO2B- STO2B+ Mass: 0.2 [kg]
3 4 3 4
STO1A+ STO1B+
1 2 1 2
STO1A- STO1B-
CN9 CN10
1A 1B 1A 1B
SDI1A+ SDI1A- SRESA+ SRESA-
2A 2B 2A 2B
SDI1B+ SDI1B- SRESB+ SRESB-
3A 3B 3A 3B
SDO1B+ SDO1B- SDI2A+ SDI2A-
4A 4B 4A 4B
SDO1A+ SDO1A- SDI2B+ SDI2B-
5A 5B
SDO2B+ SDO2B-
6A 6B
SDO2A+ SDO2A-
7A 7B
+24 V 0V
8A 8B
TOFA TOFB
App. - 40
APPENDIX
App. 5.13 Installation
Follow the instructions in this section and install MR-J3-D05 in the specified direction. Leave clearances
between MR-J3-D05 and other equipment including the cabinet.
Cabinet Cabinet Cabinet
40 mm or 100 mm or longer
80 mm or longer Top
longer 10 mm or for wiring
longer
10 mm or 10 mm or 30 mm or
longer longer longer
MR-J3-D05
Other device
MR-J3-D05
30 mm or MR-J3-D05
longer
40 mm or 40 mm or
longer longer Bottom
App. 5.14 Combinations of cable/connector
POINT
MR-D05UDL_M (STO cable) for MR-J3 series cannot be used.
MR-J3-D05 MR-J4-_GF_(-RJ)
2) CN8
1)
MR-J4-_GF_(-RJ)
CN9
CN10
MR-J3-D05 2) CN8
attachment
connector
App. - 41
APPENDIX
No. Product Model Description

1) Connector MR-J3-D05
attachment
connector
Connector for CN9: 1-1871940-4 Connector for CN10: 1-1871940-8

(TE Connectivity) (TE Connectivity)
2) STO cable MR-D05UDL3M-B Connector set: 2069250-1
Cable length: 3 m (TE Connectivity)
App. - 42
APPENDIX
App. 6 EC declaration of conformity
The MR-J4 series servo amplifiers and MR-J3-D05 safety logic unit complies with the safety component laid
down in the Machinery directive.
App. - 43
APPENDIX
App. - 44
APPENDIX
App. 7 How to replace servo amplifier without magnetic pole detection
Be sure to write the magnetic pole information of the servo amplifier before the
CAUTION replacement to the servo amplifier after the replacement. If the information before
and after replacement are different, the servo motor may operate unexpectedly.
When replacing the servo amplifier, carry out the magnetic pole detection again. If the magnetic pole
detection cannot be performed unavoidably, write the magnetic pole information from the servo amplifier
before the replacement to the one after the replacement using MR Configurator2.
(1) Procedures
(a) Read the magnetic pole information of the servo amplifier before the replacement.
(b) Write the read magnetic pole information to the servo amplifier after the replacement.
(c) Perform the test operation with the torque limit for ensuring the safety, and confirm that there is no
trouble.
(2) Migration method of the magnetic pole information

(a) How to read the magnetic pole information from the servo amplifier before the replacement
1) Open the project in MR Configurator2, select "MR-J4-GF" for model, and select "Linear" for
operation mode.
2) Check that the personal computer is connected with the servo amplifier, and select "Diagnosis"
and then "Linear diagnosis".
3) Click "Magnetic pole information" ( 1) in figure) to open the magnetic pole information window.
4) Click "Read All" of the magnetic pole information window. ( 2) in figure)
5) Confirm the data 1 and data 2 ( 3) in figure) of the magnetic pole information window and take
notes.
(b) How to write the magnetic pole information to the servo amplifier after the replacement
1) Open the project in MR Configurator2, select "MR-J4-GF" for model, and select "Linear" for
operation mode.
2) Check that the personal computer is connected with the servo amplifier, and select "Diagnosis"
and then "Linear diagnosis".
3) Click "Magnetic pole information" ( 1) in figure) to open the magnetic pole information window.
4) Input the value of the magnetic pole information taken notes to the data 1 and data 2 ( 3) in
figure) of the magnetic pole information window.
5) Click "Write All" ( 4) in figure) of the magnetic pole information window.
6) Cycle the power of the servo amplifier.
App. - 45
APPENDIX
2) 3) 4) 1)
App. 8 Two-wire type encoder cable for HG-MR/HG-KR
Use a two-wire type encoder cable for the fully closed loop control by the MR-J4-_GF_ servo amplifiers.
For MR-EKCBL_M-_ encoder cables for HG-MR and HG-KR, up to 20 m cables are two-wire type.
Therefore, when you need a longer encoder cable of two-wire type than 20 m, fabricate one using MR-
ECNM connector set. Use the internal wiring diagram in the section to fabricate a cable up to 50 m.
App. 8.1 Configuration diagram

Fabricate a two-wire type
encoder cable.
CN2 MOTOR HG-KR
CN2 HG-MR
For driving
SCALE
Servo motor
HG-KR
HG-MR
For load-side encoder
App. - 46
APPENDIX
App. 8.2 Connector set

Connector set 1) Servo amplifier-side connector 2) Servo motor-side connector
MR-ECNM Receptacle: 36210-0100PL Connector set: 54599-1019 Housing: 1-172161-9
Shell kit: 36310-3200-008 (Molex) Connector pin: 170359-1
(3M) (TE Connectivity or equivalent)
Cable clamp: MTI-0002
2 6 10 (Toa Electric Industrial)
LG 4 8 2 4 6 8 10
MRR
LG MRR
1 2 3
1 5 9 or
P5 3 7 BAT
1 3 5 7 9 MR MRR BAT
P5 MR BAT 4 5 6
MR
CONT
View seen from wiring side. (Note) View seen from wiring side. (Note) 7 8 9
P5 LG SHD
Note. Keep open the pins shown with . Especially, pin 10 is provided
View seen from wiring side.
for manufacturer adjustment. If it is connected with any other pin, the
servo amplifier cannot operate normally.
App. 8.3 Internal wiring diagram

Servo amplifier-side Servo motor-side
connector connector
P5 1 7 P5
LG 2 8 LG
MR 3 1 MR
MRR 4 2 MRR
BAT 9 3 BAT
SD Plate 9 SHD
(Note)
Note. Always make connection for use in an absolute position detection system. Wiring is
not necessary for use in an incremental system.
App. - 47
APPENDIX
2) 3) 4) 1)
App. 9 Analog monitor
POINT
A voltage of analog monitor output may be irregular at power-on.
The servo status can be output to two channels in terms of voltage.
(1) Setting
Change the following digits of [Pr. PC09] and [Pr. PC10].
[Pr. PC09]
0 0
Analog monitor 1 output selection
(the signal provided to the output across MO1 and LG)
[Pr. PC10]
0 0
Analog monitor 2 output selection
(the signal provided to the output across MO2 and LG)
[Pr. PC11] and [Pr. PC12] can be used to set the offset voltages to the analog output voltages. Setting
value is -999 mV to 999 mV.
Parameter Description Setting range [mV]
PC11 This is used to set the offset voltage of MO1 (Analog monitor 1).
-999 to 999
PC12 This is used to set the offset voltage of MO2 (Analog monitor 2).
App. - 48
APPENDIX
(2) Setting
POINT
words.
CCW direction →Positive direction
CW direction →Negative direction
Torque →Thrust
The servo amplifier is factory-set to output the servo motor speed to MO1 (Analog monitor 1) and the
torque to MO2 (Analog monitor 2). The setting can be changed as listed below by setting the [Pr. PC09]
and [Pr. PC10] value.
Refer to (3) for the detection point.
Setting Setting
Output item Description Output item Description
value value
00 Servo motor speed 01 Torque/Thrust Power running in
CCW direction CCW direction
8 [V] 8 [V]
Maximum speed Maximum torque

0 Maximum speed 0 Maximum torque
-8 [V] -8 [V]
CW direction Power running in
CW direction
02 Servo motor speed 03 Torque/Thrust Power running in Power running in

8 [V] CW direction CCW direction
CW direction CCW direction
8 [V]
Maximum speed 0 Maximum speed

Maximum torque 0 Maximum torque
04 Current command CCW direction 05 Speed command CCW direction

8 [V] 8 [V]
(Note 3)
Maximum current command
(Maximum torque command) Maximum speed
0 0 Maximum speed
Maximum current command
(Maximum torque command)
-8 [V] -8 [V]
CW direction CW direction
06 Servo motor-side droop CCW direction 07 Servo motor-side droop CCW direction
10 [V] 10 [V]
pulses pulses
(Note 1, 3, 5, 6) (Note 1, 3, 5, 6)
(±10 V/100 pulses) 100 [pulse] (±10 V/1000 pulses) 1000 [pulse]
0 100 [pulse] 0 1000 [pulse]
-10 [V] -10 [V]

08 Servo motor-side droop CCW direction 09 Servo motor-side droop CCW direction
10 [V] 10 [V]
pulses pulses
(Note 1, 3, 5, 6) (Note 1, 3, 5, 6)
(±10 V/10000 pulses) 10000 [pulse] (±10 V/100000 pulses) 100000 [pulse]
0 10000 [pulse] 0 100000 [pulse]
-10 [V] -10 [V]

App. - 49
APPENDIX
Setting Setting
Output item Description Output item Description
value value
0D Bus voltage (Note 4) 0E Speed command 2 CCW direction
8 [V]
(Note 3)
8 [V]
Maximum speed
0 Maximum speed
0 400 [V]
-8 [V]
CW direction
10 Load-side droop pulses CCW direction 11 Load-side droop pulses CCW direction
10 [V] 10 [V]
(Note 3, 5, 6) (Note 3, 5, 6)
(±10 V/100 pulses) (±10 V/1000 pulses)
100 [pulse] 1000 [pulse]
0 100 [pulse] 0 1000 [pulse]
-10 [V] -10 [V]

12 Load-side droop pulses CCW direction 13 Load-side droop pulses CCW direction
10 [V] 10 [V]
(Note 3, 5, 6) (Note 3, 5, 6)
(±10 V/10000 pulses) (±10 V/100000 pulses)
10000 [pulse] 100000 [pulse]
0 10000 [pulse] 0 100000 [pulse]
-10 [V] -10 [V]

14 Load-side droop pulses CCW direction 15 Motor-side/load-side CCW direction

10 [V] 10 [V]
(Note 3, 5, 6) position deviation
(±10 V/1 Mpulses) (Note 3, 5, 6)
1 [Mpulse] (±10 V/100000 pulses) 100000 [pulse]
0 1 [Mpulse] 0 100000 [pulse]
-10 [V] -10 [V]

16 Servo motor-side/load- CCW direction 17 Internal temperature of 10 [V]

8 [V]
side speed deviation encoder
(±10 V/±128 °C)
-128 [°C]
Maximum speed
0 128 [°C]
0 Maximum speed
-10 [V]
-8 [V]
CW direction
Note 1. Encoder pulse unit.

2. Available in position mode
3. This cannot be used in the torque mode.
4. For 400 V class servo amplifier, the bus voltage becomes +8 V/800 V.
5. This cannot be used in the velocity mode.
6. Output in the load-side encoder unit for the fully closed loop control. Output in the servo motor encoder unit for the semi closed
loop control.
App. - 50
APPENDIX
(3) Analog monitor block diagram

(a) Semi closed loop control
Speed Speed Current +

command Droop pulses command 2 command Bus voltage
Differen- Current
tiation Speed encoder
Position command + Position command + Speed + Current
received from a control control control PWM M Servo motor
- - -
controller
Internal
temperature
Current feedback of encoder
Encoder
Differen-
tiation
Position feedback data Position feedback

returned to a controller
Servo motor
Torque
speed
(b) Fully closed loop control
Speed Speed Current +

command Droop pulses command 2 command Bus voltage
Differ- Current Servo

entiation Speed encoder motor
Position + Position command + Speed + Current Load-side
command control control control PWM M encoder
- - -
Internal
temperature
Current feedback Encoder of encoder
Differ- Servo motor Torque

entiation
speed
FBN
FBD
+ Semi closed loop Position feedback
+ -
Dual filter
Fully closed loop +
Servo motor-side
droop pulses
Servo motor-side feedback pulses
+ - (load-side encoder resolution unit)
Servo motor-side/load-side
Load-side speed deviation
droop pulses
+ - Load-side feedback pulses
Differen- +
tiation
-
Servo motor-side/load-side + Differen-
position deviation -
tiation
App. - 51
APPENDIX
App. 10 Special specification
App. 10.1 Amplifiers without dynamic brake
App. 10.1.1 Summary
This section explains servo amplifiers without a dynamic brake. The things not explained in this section will
be the same as MR-J4-_GF_(-RJ).
App. 10.1.2 Model
available.
MR - J 4 - 6 0 G F 4 - ED
Special specifications
Series
ED MR-J4_-GF_ without a dynamic brake
RU MR-J4-_GF_-RJ without a dynamic brake
Power supply
Symbol Power supply
None 3-phase 200 V AC to 240 V AC
Rated output
10 0.1
20 0.2
40 0.4
60 0.6
70 0.75
100 1
200 2
350 3.5
500 5
700 7
Dynamic brake which is built in 7 kW or smaller servo amplifiers is removed.

Take safety measures such as making another circuit for an emergency stop, alarm occurrence, and power
shut-off.
The following servo motors may function an electronic dynamic brake at an alarm occurrence.
Series Servo motor
Setting the following parameter disables the electronic dynamic brake.

Servo amplifier Parameter Setting value
MR-J4-_GF_-ED
[Pr. PF06] ___2
MR-J4-_GF_-RU
When [Pr. PA04] is "2 _ _ _" (default), the motor can be a state of forced stop deceleration at an alarm
occurrence. Setting "0 _ _ _" in [Pr. PA04] disables the forced stop deceleration function.
App. - 52
APPENDIX
App. 10.2 Without regenerative resistor
App. 10.2.1 Summary
This section explains servo amplifiers without a regenerative resistor. The things not explained in this section
will be the same as MR-J4-_GF_(-RJ).
App. 10.2.2 Model
available.
MR - J 4 - 1 1 K G F 4 - PX
Series
PX MR-J4-_GF_ without regenerative resistor
RZ MR-J4-_GF_-RJ without regenerative resistor
Power supply
Symbol Power supply
None 3-phase 200 V AC to 240 V AC
Rated output
11K 11
15K 15
22K 22
Indicates a servo amplifier of 11 kW to 22 kW that does not use a regenerative resistor as standard
accessory. When using any of these servo amplifiers, always use the MR-RB5R, MR-RB9F, MR-RB9T, MR-
RB5K-4, or MR-RB6K-4 regenerative option.
App. - 53
APPENDIX
App. 10.3 Special coating-specification product (IEC 60721-3-3 Class 3C2)
App. 10.3.1 Summary
This section explains servo amplifiers with a special coating specification. Items not given in this section will
be the same as MR-J4-_GF_(-RJ).
App. 10.3.2 Model
available.
MR - J 4 - 6 0 G F 4 - EB
Series
Rated output EB MR-J4-_GF_ with a special coating specification (3C2)
Symbol Rated output [kW] KS MR-J4-_GF_-RJ with a special coating specification (3C2)
10 0.1
20 0.2 Power supply
40 0.4 Symbol Power supply
60 0.6 None 3-phase 200 V AC to 240 V AC
70 0.75 4 3-phase 380 V AC to 480 V AC
100 1
200 2
350 3.5
500 5
700 7
11K 11
15K 15
22K 22
App. - 54
APPENDIX
(1) Special coating

Using the MR-J4 series in an atmosphere containing a corrosive gas may cause its corrosion with time,
resulting in a malfunction. For the printed circuit board of the servo amplifiers with a special coating
specification, a urethane coating agent is applied to some parts capable of being coated technically
(except LEDs, connectors, terminal blocks, etc.) to improve the resistance to corrosive gases. Use a
servo amplifier with a special coating specification specifically for applications susceptible to corrosive
gases, including tire manufacturing and water treatment. Although the special coating-specification
products have the improved resistance to corrosive gases, proper operations in environments
mentioned above are not guaranteed. Therefore, perform periodic inspections for any abnormality.
(2) Standard for corrosive gases

In IEC 60721-3-3, corrosive gases refer to sea salt, sulfur dioxide, hydrogen sulfide, chlorine, hydrogen
chloride, hydrogen fluoride, ammonia, ozone, and nitrogen oxides shown in the environmental
parameter column of the table below.
The table also shows the corrosive gas concentrations defined in IEC 60721-3-3, Class 3C2.
3C2
Environmental parameter Unit
Mean value Maximum value
a) Sea salt None Salt mist
3 3
b) Sulfur dioxide cm /m 0.11 0.37
3 3
c) Hydrogen sulfide cm /m 0.071 0.36
3 3
d) Chlorine cm /m 0.034 0.1
3 3
e) Hydrogen chloride cm /m 0.066 0.33
3 3
f) Hydrogen fluoride cm /m 0.012 0.036
3 3
g) Ammonia cm /m 1.4 4.2
3 3
h) Ozone cm /m 0.025 0.05
3 3
i) Nitrogen oxides cm /m 0.26 0.52
The special coating-specification products have the improved corrosion resistance in environments with
corrosive gas concentrations conforming to IEC 60721-3-3, Class 3C2. We tested typical models and
confirmed that their corrosive gas resistance was improved, compared with the standard models.
App. - 55
APPENDIX
App. 11 Driving on/off of main circuit power supply with DC power supply
App. 11.1 Connection example
The power circuit is common to all capacity type of servo amplifiers. For the signal and wirings not given in
this section, refer to section 3.1.1 to 3.1.3.
Malfunction OFF MC
RA1 ON
MC
SK
24 V DC (Note 7, 8) Servo amplifier

MCCB MC (Note 3)
L1
Power supply L2
(Note 1)
L3
(Note 4)
Main circuit CN3 CN3
(Note 2) power supply 24 V DC (Note 6)
(Note 2)
DOCOM ALM RA1 Malfunction
CN8
(Note 5)

amplifier.
App. - 56
APPENDIX
App. 11.2 Magnetic contactor
Use a magnetic contactor with an operation delay time (interval between current being applied to the coil
until closure of contacts) of 80 ms or less.
Magnetic Magnetic
contactor contactor
MR-J4-10GF(-RJ) MR-J4-15KGF(-RJ) SD-N65
MR-J4-20GF(-RJ) MR-J4-22KGF(-RJ) SD-N95
MR-J4-40GF(-RJ) SD-N11 MR-J4-60GF4(-RJ)
SD-N11
MR-J4-60GF(-RJ) SD-T12 MR-J4-100GF4(-RJ)
SD-T12
MR-J4-70GF(-RJ) MR-J4-200GF4(-RJ)
MR-J4-100GF(-RJ) MR-J4-350GF4(-RJ)
SD-N21
MR-J4-200GF(-RJ) SD-N21 MR-J4-500GF4(-RJ)
SD-T21
MR-J4-350GF(-RJ) SD-T21 MR-J4-700GF4(-RJ)
MR-J4-500GF(-RJ) SD-N35 MR-J4-11KGF4(-RJ) SD-N25
MR-J4-700GF(-RJ) MR-J4-15KGF4(-RJ) SD-N35
SD-N50
MR-J4-11KGF(-RJ) MR-J4-22KGF4(-RJ) SD-N50
App. - 57
APPENDIX
App. 12 List of registration objects
POINT
words.
CCW direction → Positive direction
CW direction → Negative direction
Torque → Thrust
App. 12.1 Servo cyclic transmission function
The servo cyclic transmission function is used to monitor data in the servo amplifier with the servo system
controller. In the servo cyclic transmission function, data types of registered monitor objects can be set.
Setting Index, Sub Index, and Data Type for 2B01h allows you to write to 2B01h.
For details of usage, the unit of data types, and others, refer to RD77GF Simple Motion Module User's
Manual.
Sub Data
Index Access Data type Description
Index Type
Cumulative feedback pulses Feedback pulses from the servo motor encoder are
counted and displayed.
2B01 0 I32 rw
Writing "0000 1EA5h" to this object clears the
cumulative feedback pulses.
2B02 0 I32 ro Servo motor speed The servo motor speed is displayed.
Droop pulses The number of droop pulses in the deviation counter
2B03 0 I32 ro is displayed. The number of pulses displayed is in
the encoder pulse unit.
Cumulative command pulses Position command input pulses are counted and
2B04 0 I32 ro
displayed.
Command pulse frequency The frequency of position command input pulses is
2B05 0 I32 ro
counted and displayed.
Regenerative load ratio The ratio of regenerative power to permissible
2B08 0 U16 ro
regenerative power is displayed in %.
Effective load ratio The continuous effective load current is displayed.
2B09 0 U16 ro The effective value is displayed considering a rated
current as 100%.
Peak load ratio The maximum torque generated is displayed.
2B0A 0 U16 ro The highest value in the past 15 s is displayed, with
the rated torque being 100%.
Instantaneous torque The instantaneous torque is displayed.
2B0B 0 I16 ro The value of torque being occurred is displayed in
real time considering a rated torque as 100%.
Within one-revolution position Position within one revolution is displayed in
2B0C 0 I32 ro
encoder pulses.
ABS counter The travel distance from the home position is
displayed as multi-revolution counter value of the
2B0D 0 I32 ro
absolution position encoder in the absolution
position detection system.
Load to motor inertia ratio The set ratio of the load inertia moment to the servo
2B0E 0 U16 ro
motor shaft inertia moment is displayed.
Bus voltage The voltage of main circuit converter (between P+
2B0F 0 U16 ro
and N-) is displayed.
Load side encoder cumulative Feedback pulses from the load-side encoder are
2B10 0 I32 ro
feedback pulses counted and displayed.
Load side encoder droop pulses Droop pulses of the deviation counter between a
2B11 0 I32 ro
load-side position and a command are displayed.
App. - 58
APPENDIX
Sub Data
Index Type
Load side encoder information 1 When an incremental type linear encoder is used for
the load-side encoder, the Z-phase counter of the
load-side encoder is displayed by encoder pulses.
2B12 0 I32 Ro
When an absolute position type linear encoder is
used for the load-side encoder, the encoder
absolute position is displayed.
Load side encoder information 2 When an incremental type linear encoder is used for
the load-side encoder, the display shows 0.
2B13 0 I32 ro used for the load-side encoder, the display shows 0.
When a rotary encoder is used for the load-side
encoder, the display shows the multi-revolution
counter value of the encoder.
Temperature of motor thermistor The thermistor temperature is displayed for the
servo motor with a thermistor.
For the servo motor without thermistor, "9999" is
2B17 0 I16 ro
displayed.
For the servo motor with a thermistor, refer to each
servo motor instruction manual.
Motor side cumulative F/B pulses Feedback pulses from the servo motor encoder are
2B18 0 I32 ro
(BeforeGear) counted and displayed. (Servo motor encoder unit)
2B19 0 I32 ro Electrical angle The servo motor electrical angle is displayed.
Motor/load side position difference During fully closed loop control, a deviation between
servo motor-side position and load-side position is
2B23 0 I32 ro displayed.
The number of pulses displayed is in the load-side
encoder pulse unit.
Motor/load side speed difference During fully closed loop control, a deviation between
2B24 0 I32 ro servo motor-side speed and load-side speed is
displayed.
Internal temperature of encoder Inside temperature of encoder detected by the
2B25 0 I16 ro
encoder is displayed.
Settling time The time (Settling time) after command is completed
2B26 0 I16 ro
until INP (In-position) turns on is displayed.
Oscillation detection frequency Frequency at the time of oscillation detection is
2B27 0 I16 ro
displayed.
Number of tough drive operations The number of tough drive functions activated is
2B28 0 U16 ro
displayed.
Unit power consumption The module power consumption is displayed.
2B2D 0 I16 ro The positive value is displayed in power running.
The negative value is displayed in regeneration.
Unit total power consumption The module integral power consumption is
2B2E 0 I32 ro
displayed.
Position actual value The current position in the command unit is
6064 0 I32 ro displayed.
The servo amplifier monitor value (Feedback).
App. - 59
APPENDIX
App. 12.2 Servo transient transmission function
The servo transient transmission function is used to monitor data in the servo amplifier with the servo system
controller. In the servo transient transmission function, the following data can be monitored by setting Index,
Sub Index, and Data Type for each command.
For details of usage, the unit of data types, and others, refer to RD77GF Simple Motion Module User's
Manual.
Sub Data
Index Type
Position encoder resolution The encoder resolution is displayed.
When the linear servo motor is connected, the virtual
608Fh 1 U32 ro resolution per revolution is returned. When the fully
closed loop system is used, the number of load-side
pulses per servo motor-side revolution is returned.
Scale measurement encoder For rotary type, for example, when an encoder of
resolution 4194304 pulse/rev is connected, the object value is
2D38h 0 U32 ro
4194304.
The value is always 0 except for rotary type.
Manufacturer Device Name The number of characters of the servo amplifier
0 VISIBLE
1008h ro name (N) is displayed.
STRING
1 to N The servo amplifier name is displayed.
Manufacturer Software Version The number of characters of the servo amplifier
0
VISIBLE software version (N) is displayed.
100Ah ro
STRING The software version of the servo amplifier is
1 to N
displayed.
Power ON cumulative time The cumulative time after power on of the servo
2C18h 0 U32 ro
amplifier is displayed.
Number of inrush relay ON/OFF The number of on and off for inrush relay of the
2C19h 0 U32 ro
times servo amplifier is displayed.
2A00h to Alarm No. The alarm history/detail #1 to #16 are displayed.
1 U32 ro
2A0F (Hexadecimal)
2A00h to Alarm time (Hour) The alarm occurrence time #1 to #16 are displayed.
2 U32 ro
2A0F (Hexadecimal)
Bus voltage The voltage of main circuit converter (between P+
2B0Fh 0 U16 ro
and N-) is displayed.
Regenerative load ratio The ratio of regenerative power to permissible
2B08h 0 U16 ro
regenerative power is displayed in %.
Effective load ratio The continuous effective load current is displayed.
2B09h 0 U16 ro The effective value is displayed considering a rated
current as 100%.
Peak load ratio The maximum torque generated is displayed.
2B0Ah 0 U16 ro The highest value in the past 15 s is displayed, with
the rated torque being 100%.
Load to motor inertia ratio The set ratio of the load inertia moment to the servo
2B0Eh 0 U16 ro
motor shaft inertia moment is displayed.
Load-side encoder information 1 When an incremental type linear encoder is used for
the load-side encoder, the Z-phase counter of the
load-side encoder is displayed by encoder pulses.
2B12h 0 I32 ro
used for the load-side encoder, the encoder
absolute position is displayed.
Load-side encoder information 2 When an incremental type linear encoder is used for
the load-side encoder, the display shows 0.
2B13h 0 I32 ro used for the load-side encoder, the display shows 0.
When a rotary encoder is used for the load-side
encoder, the display shows the multi-revolution
counter value of the encoder.
App. - 60
APPENDIX
Sub Data
Index Type
Temperature of motor thermistor The thermistor temperature is displayed for the
servo motor with a thermistor.
For the servo motor without thermistor, "9999" is
2B17h 0 I16 ro
displayed.
For the servo motor with a thermistor, refer to each
servo motor instruction manual.
Unit power consumption The module power consumption is displayed. (16 bit
version)
2B2Dh 0 I16 ro
The positive value is displayed in power running.
The negative value is displayed in regeneration.
Unit total power consumption The module integral power consumption is
2B2Eh 0 I32 ro
displayed.
Instantaneous torque The instantaneous torque is displayed.
2B0Bh 0 I16 ro The value of torque being occurred is displayed in
real time considering a rated torque as 100%.
Settling time The time (Settling time) after command is completed
2B26h 0 I16 ro
until INP (In-position) turns on is displayed.
Motor-side/load-side position During fully closed loop control, a deviation between
deviation servo motor-side position and load-side position is
2B23h 0 I32 ro displayed.
The number of pulses displayed is in the load-side
encoder pulse unit.
Motor-side/load-side speed During fully closed loop control, a deviation between
2B24h 0 I32 ro deviation servo motor-side speed and load-side speed is
displayed.
Error excessive alarm margin The margin to the level which triggers the error
excessive alarm is displayed in units of encoder
2B3Fh 0 I32 ro
pulses.
The error excessive alarm occurs at 0 pulses.
Overload alarm margin The margins to the levels which trigger [AL. 50] and
2B40h 0 I16 ro
[AL. 51] are displayed in percentage.
Overshoot amount The overshoot amount during position mode is
2B41h 0 I32 ro
displayed in units of encoder pulses.
Torque/thrust equivalent to The difference between the torque necessary to
disturbance drive the servo motor and the actually required
2B42h 0 I16 ro
torque (Torque current value) is displayed as the
disturbance torque.
App. - 61
APPENDIX
Sub Data
Index Type
Machine diagnostic status [Bit 0 to 3: Friction estimation status at forward
rotation]
0: Friction is being estimated. (normal)
1: Estimation is completed. (normal)
2: The motor may rotate in one direction too
frequently. (warning)
3: The servo motor speed may too slow for friction
estimation. (warning)
4: The change in the servo motor speed may be
small for friction estimation. (warning)
5: The acceleration/deceleration time constants may
be too short for friction estimation. (warning)
6: The operation time may not be enough. (warning)
When warning conditions for 2 to 6 are met at the
same time, the smaller number is returned.
When an estimation is completed even though a
warning has once occurred, the status changes to
estimation is completed.
[Bit 4 to 7: Friction estimation status at reverse

rotation]
2C20h 0 U16 ro 0: Friction is being estimated. (normal)
1: Estimation is completed. (normal)
2: The motor may rotate in one direction too
frequently. (warning)
3: The servo motor speed may too slow for friction
estimation. (warning)
4: The change in the servo motor speed may be
small for friction estimation. (warning)
5: The acceleration/deceleration time constants may
be too short for friction estimation. (warning)
6: The operation time may not be enough. (warning)
When warning conditions for 2 to 6 are met at the
same time, the smaller number is returned.
When an estimation is completed even though a
warning has once occurred, the status changes to
estimation is completed.
[Bit 8 to 11: Vibration estimation status]

0: During estimation
1: Estimation is completed.
[Bit 12 to 15: reserved]

Coulomb friction torque in positive Static friction at forward rotation torque is displayed
2C21h 0 I16 ro
direction in increments of 0.1%.
Friction torque at rated speed in Kinetic friction at forward rotation torque at the rated
2C22h 0 I16 ro
positive direction speed is displayed in increments of 0.1%.
Coulomb friction torque in negative Static friction at reverse rotation torque is displayed
2C23h 0 I16 ro
direction in increments of 0.1%.
Friction torque at rated speed in Kinetic friction at reverse rotation torque is displayed
2C24h 0 I16 ro
negative direction in increments of 0.1%.
Oscillation frequency during motor Vibration frequency during stop/servo-lock is
2C25h 0 I16 ro
stop displayed in increments of 1 Hz.
Vibration level during motor stop Vibration level during stop/servo-lock is displayed in
2C26h 0 I16 ro
increments of 0.1%.
Oscillation frequency during motor Vibration frequency during operation is displayed in
2C27h 0 I16 ro
operating increments of 1 Hz.
Vibration level during motor Vibration level during operation is displayed in
2C28h 0 I16 ro
operating increments of 0.1%.
App. - 62
APPENDIX
Sub Data
Index Type
2C29h 0 U32 ro Fault prediction status Refer to section 17.5.3 (4) for details.
Friction based fault prediction upper
2C2Ah 0 I32 ro
threshold
Friction based fault prediction lower
2C2Bh 0 I32 ro
threshold
Friction based fault prediction
2C2Ch 0 I16 ro
prepare status
Vibration based fault prediction
2C2Dh 0 I32 ro
threshold
Vibration based fault prediction
2C2Eh 0 I16 ro
prepare status
2C2Fh 0 U32 ro Motor total distance
Clear alarm history Used for alarm history clear.
2A40h 0 U16 wo
Writing "1EA5h" clears the alarm history.
Serial Number 2 The number of characters of the servo amplifier
0 VISIBLE
2D33h ro serial number (N) is displayed.
STRING
1 to N The servo amplifier serial number is displayed.
Optional unit identification The number of characters of optional unit
0
information identification information (N) is displayed.
VISIBLE
2D43h ro When functional safety unit / optional unit is
STRING
1 to N displayed, the identification information is displayed.
When not connected, "No Connection" is displayed.
Servo motor serial number The number of characters of the servo motor serial
0
number (N) is displayed.
VISIBLE
2D46h ro The servo motor serial number is displayed.
STRING
1 to N When the serial number cannot be read, " " (blank)
is displayed.
2D50h 0 U8 rw One-touch tuning mode Refer to section 6.2.4 (1) for details.
2D51h 0 I8 ro One-touch tuning status
2D52h 0 U16 wo One-touch tuning Stop
2D53h 0 U16 wo One-touch tuning Clear
2D54h 0 U16 ro One-touch tuning Error Code
0 U8 ro Motor data The number of entries is returned.
Motor ID The servo motor ID is displayed.
For details, refer to "Servo Motor Instruction Manual
1 U64 rw
(Vol. 3)".
6410h When an encoder is not connected, 0 is displayed.
Encoder ID 1 The ID No. of the encoder is displayed.
For details, refer to "Servo Motor Instruction Manual
2 U16 rw
(Vol. 3)".
When an encoder is not connected, 0 is displayed.
App. - 63
APPENDIX
App. 13 Status of general-purpose AC servo products for compliance with the China RoHS
directive
(1) Summary
The China RoHS directive: 电子信息产品污染控制管理办法 (Management Methods for Controlling
Pollution by Electronic Information Products) came into effect on March 1, 2007. The China RoHS
directive was replaced by the following China RoHS directive: 电器电子产品有害物质限制使用管理办法
(Management Methods for the Restriction of the Use of Hazardous Substances in Electrical and
Electronic Products). The succeeding China RoHS directive has been in effect since July 1, 2016.
The China RoHS directive restricts the use of six hazardous substances (lead, mercury, cadmium,
hexavalent chromium, polybrominated biphenyls (PBB), and polybrominated diphenyl ethers (PBDE))
and other hazardous substances specified by the State (currently no applicable substances). The EU
RoHS directive (2011/65/EU) also restricts the use of the above six hazardous substances.
(2) Status of our products for compliance with the China RoHS directive
The following tables show the content of six hazardous substances in our products and Environment-
Friendly Use Period marks. Table app. 1 is created based on the standard SJ/T11364.
Table app. 1 Names and the content of hazardous substances in the products
Substance name Hazardous substance (Note 1)
Threshold standard Hexavalent Environment-
Lead Mercury Cadmium
chromium PBB PBDE Friendly Use
(Pb) (Hg) (Cd) Remark
(Cr(VI)) Period mark
Threshold of cadmium: 0.01 wt% (100 ppm), (Note 2)
Part name Threshold of substances other than cadmium: 0.1 wt% (1000 ppm)
Servo amplifier Mounting board
Servo system Heat sink
controller Resin cabinet
Plate and screw
Servo motor Bracket
Mounting board
Resin cabinet
Core and cable
Cable product Cable Including
Connector connector set
Optional unit Mounting board
Resin cabinet
Plate and screw
Note 1. : Indicates that said hazardous substance contained in all of the homogeneous materials for this part is below the limit
requirement of GB/T26572.
: Indicates that said hazardous substance contained in at least one of the homogeneous materials for this part is above the
limit requirement of GB/T26572.
2. Indications based on "Marking for the restriction of the use of hazardous substances in electrical and electronic product"
[SJ/T11364-2014]
Indicates that a certain hazardous substance is contained in the product manufactured or sold in China.
Observe safety and usage precautions for the product, and use it within a limited number of years from the
production date. Thereby, any of the hazardous substances in the product does not cause environmental
pollution, or seriously affect human health or property.
Indicates that no certain hazardous substance is contained in the product.
App. - 64
APPENDIX
(3) Difference between the China RoHS directive and the EU RoHS directive
The China RoHS directive allows no restriction exemption unlike the EU RoHS directive. Although a
product complies with the EU RoHS directive, a hazardous substance in the product may be considered
to be above the limit requirement (marked " ") in the China RoHS directive.
The following shows some restriction exemptions and their examples according to the EU RoHS
directive.
Lead as an alloying element in steel for machining purposes and in galvanized steel containing up to
0.35% lead by weight, lead as an alloying element in aluminum containing up to 0.4% lead by weight,
and copper alloy containing up to 4% lead by weight, e.g. brass-made insert nuts
Lead in high melting temperature type solders (i.e. lead-based alloys containing 85% by weight or
more lead)
Electrical and electronic components containing lead in a glass or ceramic other than dielectric
ceramic in capacitors, e.g. piezoelectronic devices
Electrical and electronic components containing lead in a glass or ceramic matrix compound, e.g. chip
resistors
(4) Status of our products for compliance with the China RoHS directive (Chinese)
The following shows Table app. 1 in Chinese according to "Management Methods for the Restriction of
the Use of Hazardous Substances in Electrical and Electronic Products".
表附.2 产品中所含有害物质的名称及含量
物质名称有害物质 (注1)
阈值铅汞镉六价铬环境保护
PBB PBDE
基准 (Pb) (Hg) (Cd) (Cr(VI)) 使用期限标识备注
阈值：镉：0.01wt%(100ppm)、 (注2)
部件名称镉以外：0.1wt%(1000ppm)、
伺服放大器电路板组件
伺服系统散热片
控制器树脂壳体
金属板、螺丝
伺服电机托架
电路板组件
树脂壳体
铁心、电线
电缆电线包括连接器组
加工品连接器件
选件电路板组件
模块树脂壳体
金属板、螺丝
注 1. : 表示该有害物质在该部件所有均质材料中的含量均在GB/T26572规定的限量要求以下。
: 表示该有害物质在该部件的至少一种均质材料中的含量超出GB/T26572规定的限量要求。
2. 根据“电子电气产品有害物质限制使用标识要求”、[SJ/T11364-2014]的表示
该标志表示在中国制造/销售的产品中含有特定有害物质。
只要遵守本产品的安全及使用方面的注意事项，从生产日算起的环保使用期限内不会造成环境污染或对人体、财
产产生深刻的影响。
该标志表示制造的产品中不含有特定有害物质。
App. - 65
REVISION
*The manual number is given on the bottom left of the back cover.
Revision Date *Manual Number Revision
Feb. 2016 SH(NA)030218ENG-A First edition
May 2016 SH(NA)030218ENG-B Section 5.2.2 [Pr. PB52], [Pr. PB53], [Pr. PB54], and [Pr. PB55] are partially
changed.
App. 4.2.3 (2) Partially changed.
Dec. 2016 SH(NA)030218ENG-C "Available in the future" is deleted. The machine diagnosis function is added. The items of
the optional data monitor are added.
Front cover "Available in the future" is deleted.
4. Additional instructions
(1) Transportation and The ambient humidity is changed. Partially added.
installation
(2) Wiring Partially added.
(5) Corrective actions Partially added.
(6) Maintenance, inspection Partially added and partially changed.
and parts replacement
«About the manuals» "MELSERVO MR-D30 Instruction Manual" is added.
Section 1.3 Partially changed.
Section 1.4 "Available in the future" is deleted.
Section 1.5 Partially added.
Section 3.3.1 "Available in the future" is deleted.
Section 4.5.2 Partially changed.
Chapter 5 Partially added and partially changed.
Section 6.2.4 Newly added.
Section 9.1 The diagrams are partially changed.
Chapter 10 "Available in the future" is deleted.
Chapter 11 "Available in the future" is deleted.
Section 11.2.2 (1) Partially added.
Section 11.2.4 (3) Partially added.
Section 11.3.3 (3) Partially changed.
Section 11.4 (4) Partially changed.
Section 11.5.2 (5) The ambient humidity is changed.
Section 11.8.3 (3) The ambient humidity is changed.
Section 11.8.5 The ambient humidity is changed.
Section 11.10 (1) Partially added.
Section 14.3.1 (4) POINT is changed.
Section 14.3.2 (3) (b) POINT is changed.
Section 16.3.1 (2) (b) Partially changed.
Section 17.1 POINT is changed.
Section 17.3 Partially added and partially changed.
Section 17.5 Newly added.
Revision Date *Manual Number Revision
Dec. 2016 SH(NA)030218ENG-C App. 4.2.3 Partially added and partially changed.
App. 4.3 Note is changed.
App. 4.7 Partially changed.
App. 5.7.2 The ambient humidity is changed.
App. 5.10 Partially changed.
App. 12 POINT is added. Partially added and partially changed.
App. 13 Newly added.
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses.
Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which
may occur as a result of using the contents noted in this manual.
 2016 MITSUBISHI ELECTRIC CORPORATION
MEMO
Country/Region Sales office Tel/Fax
USA Mitsubishi Electric Automation, Inc. Tel : +1-847-478-2100
500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A. Fax : +1-847-478-2253
Mexico Mitsubishi Electric Automation, Inc. Mexico Branch Tel : +52-55-3067-7500

Mariano Escobedo #69, Col. Zona Industrial, Tlalnepantla Edo. Mexico, C.P.54030 Fax : –
Brazil Mitsubishi Electric do Brasil Comercio e Servicos Ltda. Tel : +55-11-4689-3000

Avenida Adelino Cardana, 293, 21 andar, Bethaville, CEP 06401-147, Barueri SP, Brazil Fax : +55-11-4689-3016
Germany Mitsubishi Electric Europe B.V. German Branch Tel : +49-2102-486-0

Mitsubishi-Electric-Platz 1, 40882 Ratingen, Germany Fax : +49-2102-486-1120
UK Mitsubishi Electric Europe B.V. UK Branch Tel : +44-1707-28-8780

Travellers Lane, UK-Hatfield, Hertfordshire, AL10 8XB, U.K. Fax : +44-1707-27-8695
Italy Mitsubishi Electric Europe B.V. Italian Branch Tel : +39-039-60531

Centro Direzionale Colleoni - Palazzo Sirio, Viale Colleoni 7, 20864 Agrate Brianza (MB), Italy Fax : +39-039-6053-312
Spain Mitsubishi Electric Europe B.V. Spanish Branch Tel : +34-935-65-3131

Carretera de Rubi, 76-80-Apdo. 420, 08190 Sant Cugat del Valles (Barcelona), Spain Fax : +34-935-89-1579
France Mitsubishi Electric Europe B.V. French Branch Tel : +33-1-55-68-55-68

25, Boulevard des Bouvets, 92741 Nanterre Cedex, France Fax : +33-1-55-68-57-57
Czech Republic Mitsubishi Electric Europe B.V. Czech Branch Tel : +420-251-551-470
Avenir Business Park, Radlicka 751/113e, 158 00 Praha 5, Czech Republic Fax : +420-251-551-471
Poland Mitsubishi Electric Europe B.V. Polish Branch Tel : +48-12-347-65-00

ul. Krakowska 50, 32-083 Balice, Poland Fax : +48-12-630-47-01
Russia Mitsubishi Electric (Russia) LLC St. Petersburg Branch Tel : +7-812-633-3497
Piskarevsky pr. 2, bld 2, lit “Sch”, BC “Benua”, office 720; 195027 St. Petersburg, Russia Fax : +7-812-633-3499
Sweden Mitsubishi Electric Europe B.V. (Scandinavia) Tel : +46-8-625-10-00

Fjelievagen 8, SE-22736 Lund, Sweden Fax : +46-46-39-70-18
Turkey Mitsubishi Electric Turkey A.S. Umraniye Branch Tel : +90-216-526-3990

Serifali Mahallesi Nutuk Sokak No:5, TR-34775 Umraniye / Istanbul, Turkey Fax : +90-216-526-3995
UAE Mitsubishi Electric Europe B.V. Dubai Branch Tel : +971-4-3724716

Dubai Silicon Oasis, P.O.BOX 341241, Dubai, U.A.E. Fax : +971-4-3724721
South Africa Adroit Technologies Tel : +27-11-658-8100

20 Waterford Office Park, 189 Witkoppen Road, Fourways, South Africa Fax : +27-11-658-8101
China Mitsubishi Electric Automation (China) Ltd. Tel : +86-21-2322-3030

Mitsubishi Electric Automation Center, No.1386 Hongqiao Road, Shanghai, China Fax : +86-21-2322-3000
Taiwan SETSUYO ENTERPRISE CO., LTD. Tel : +886-2-2299-2499

6F, No.105, Wugong 3rd Road, Wugu District, New Taipei City 24889, Taiwan Fax : +886-2-2299-2509
Korea Mitsubishi Electric Automation Korea Co., Ltd. Tel : +82-2-3660-9510

7F-9F, Gangseo Hangang Xi-tower A, 401, Yangcheon-ro, Gangseo-Gu, Seoul 07528, Korea Fax : +82-2-3664-8372/8335
Singapore Mitsubishi Electric Asia Pte. Ltd. Tel : +65-6473-2308

307 Alexandra Road, Mitsubishi Electric Building, Singapore 159943 Fax : +65-6476-7439
Thailand Mitsubishi Electric Factory Automation (Thailand) Co., Ltd. Tel : +66-2682-6522 to 6531
12th Floor, SV.City Building, Office Tower 1, No. 896/19 and 20 Rama 3 Road, Kwaeng Fax : +66-2682-6020
Bangpongpang, Khet Yannawa, Bangkok 10120, Thailand
Indonesia PT. Mitsubishi Electric Indonesia Tel : +62-21-3192-6461

Gedung Jaya 11th Floor, JL. MH. Thamrin No.12, Jakarta Pusat 10340, Indonesia Fax : +62-21-3192-3942
Vietnam Mitsubishi Electric Vietnam Company Limited Tel : +84-8-3910-5945

Unit 01-04, 10th Floor, Vincom Center, 72 Le Thanh Ton Street, District 1, Ho Chi Minh City, Vietnam Fax : +84-8-3910-5947
India Mitsubishi Electric India Pvt. Ltd. Pune Branch Tel : +91-20-2710-2000
Emerald House, EL-3, J Block, M.I.D.C., Bhosari, Pune - 411026, Maharashtra, India Fax : +91-20-2710-2100
Australia Mitsubishi Electric Australia Pty. Ltd. Tel : +61-2-9684-7777

348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, Australia Fax : +61-2-9684-7245
Japan Mitsubishi Electric Co., Ltd. Tel : +81-3-3218-2111

Tokyo Building, 2-7-3, Marunouchi, Chiyoda-ku, Tokyo 100-8310, Japan
MELSERVO, CC-Link IE, and GOT are trademarks or registered trademarks of Mitsubishi Electric Corporation in Japan and/or other
countries.
Microsoft, Windows, Internet Explorer, and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in the
United States, Japan, and/or other countries.
Intel, Pentium, and Celeron are trademarks of Intel Corporation in the United States and/or other countries.
Modbus is registered trademark of SCHNEIDER ELECTRIC USA, INC.
Ethernet is a trademark of Xerox Corporation.
All other product names and company names are trademarks or registered trademarks of their respective companies.
Warranty
1. Warranty period and coverage
We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product"
arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you
purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site
repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial
run that may be required after a defective unit are repaired or replaced.
[Term]
The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or
eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product
cannot exceed beyond the original warranty period before any repair work.
[Limitations]
(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.
It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not
be charged if we are responsible for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and
conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label
affixed to the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;
(i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your
hardware or software problem
(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval
(iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a
safety device required by applicable laws and has any function or structure considered to be indispensable according to a
common sense in the industry
(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly
maintained and replaced
(v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)
(vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of
voltage, and acts of God, including without limitation earthquake, lightning and natural disasters
(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment
of the Product from our company
(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for
2. Term of warranty after the stop of production

(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The
announcement of the stop of production for each model can be seen in our Sales and Service, etc.
(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.
3. Service in overseas countries

Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the
repair work may differ depending on each FA Center. Please ask your local FA center for details.
4. Exclusion of loss in opportunity and secondary loss from warranty liability
Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:
(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.
(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.
(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for
damages to products other than Mitsubishi products.
(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.
5. Change of Product specifications

Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Application and use of the Product
(1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any
failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external
system to General-Purpose AC Servo when any failure or malfunction occurs.
(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries.
Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of
electric power companies, and also which require a special quality assurance system, including applications for railway companies
and government or public offices are not recommended, and we assume no responsibility for any failure caused by these
applications when used
In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments,
railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety
machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used.
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific
application. Please contact us for consultation.
SH(NA)030218ENG-C
General-Purpose AC Servo
MR-J4-_GF_(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL (MOTION MODE)

CC-Link IE Field Network Interface
MODEL
MR-J4-_GF_(-RJ)
SERVO AMPLIFIER
INSTRUCTION MANUAL
(MOTION MODE)
MR-J4-GF-(RJ)
MODEL INSTRUCTIONMANUALMOTIONMODE
MODEL
CODE 1CW861
C
C
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
This Instruction Manual uses recycled paper.

SH(NA)030218ENG-C(1612)MEE Printed in Japan Specifications are subject to change without notice.

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General-Purpose AC Servo

MR-J4-_GF_(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL (MOTION MODE)

This Instruction Manual uses recycled paper.

Indicates that incorrect handling may cause hazardous conditions,

Indicates that incorrect handling may cause hazardous conditions,

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

2. To prevent fire, note the following

3. To prevent injury, note the following

(1) Transportation and installation

Control output Control output

For sink output interface For source output interface

(3) Test run and adjustment

(5) Corrective actions

(7) General instruction

STO function of the servo amplifier

Compliance with global standards

Manual name Manual No.

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

«U.S. customary units»

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-50

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

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

3. SIGNALS AND WIRING 3- 1 to 3-42

3.1 Connection example of power circuit ................................................................................................ 3- 3

4.1 Switching power on for the first time ................................................................................................. 4- 2

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

6. NORMAL GAIN ADJUSTMENT 6- 1 to 6-20

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

7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7-38

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

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

9.1 Servo amplifier .................................................................................................................................. 9- 2

10. CHARACTERISTICS 10- 1 to 10-14

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

11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-112

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

12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12- 6

12.1 Summary....................................................................................................................................... 12- 1

13. USING STO FUNCTION 13- 1 to 13-12

13.1 Introduction ................................................................................................................................... 13- 1

14. USING A LINEAR SERVO MOTOR 14- 1 to 14-32

14.1 Functions and configuration ......................................................................................................... 14- 1

15. USING A DIRECT DRIVE MOTOR 15- 1 to 15-20

15.1 Functions and configuration ......................................................................................................... 15- 1

16. FULLY CLOSED LOOP SYSTEM 16- 1 to 16-24

16.1 Functions and configuration ......................................................................................................... 16- 1

17. APPLICATION OF FUNCTIONS 17- 1 to 17-32

17.1 Scale measurement function ........................................................................................................ 17- 1

APPENDIX App.- 1 to App.-65

1. FUNCTIONS AND CONFIGURATION

Table 1.1 Connectors to connect from external encoders

Note 1. The MR-J4THCBL03M branch cable is necessary.

1.2 Function block diagram

The function block diagram of this servo is shown below.

(1) 200 V class

Servo amplifier P3 P4 (Note 4) P+ C D N- Servo motor

switch Base Voltage Current

Model position Model speed Model torque

Actual Actual Current