MR J4 Eng

General-Purpose AC Servo
MR-J4-_B_(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL

SSCNET /H Interface AC Servo
MODEL
MR-J4-_B(-RJ)
MR-J4-_B4(-RJ)
MR-J4-_B1(-RJ)
SERVO AMPLIFIER
INSTRUCTION MANUAL
MODEL MR-J4-B INSTRUCTIONMANUAL

MODEL
CODE 1CW805
G
G
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
This Instruction Manual uses recycled paper.

SH (NA) 030106-G (1403) 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.
When using a residual current device (RCD), select the type B.
To avoid an electric shock, insulate the connections of the power supply terminals.
2. To prevent fire, note the following

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

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

CAUTION
Transport the products correctly according to their 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.
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
90 %RH or less (non-condensing)
humidity Storage
Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude Max. 1000 m above sea level
Vibration resistance 5.9 m/s2 at 10 Hz to 55 Hz (directions of X, Y, and Z axes)
When the equipment has been stored for an extended period of time, consult 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 (FR-BIF-(H) option) on the servo
amplifier output side.
To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo
amplifier and servo motor.
Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W)
directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
Servo amplifier 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.
(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.
(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.
A- 4
CAUTION
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic
interference may be given to the electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be
used for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor
are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,
install a stopper on the machine side.
(5) Corrective actions

CAUTION
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with an electromagnetic brake or external brake to prevent the condition.
Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch.
Contacts must be opened when ALM Contacts must be opened
(Malfunction) or MBR (Electromagnetic with the EMG 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.
(6) Maintenance, inspection and parts replacement

CAUTION
With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary
accident due to a malfunction, it is recommend that the electrolytic capacitor be replaced every 10 years
when it is used in general environment. Please 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- 5
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 appendix 5.
Compliance with global standards

For the compliance with global standards, refer to appendix 4.
A- 6
«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-J4 SERVO AMPLIFIER INSTRUCTION MANUAL (TROUBLESHOOTING) SH(NA)030109
MELSERVO Servo Motor Instruction Manual (Vol. 3) (Note 1) SH(NA)030113
MELSERVO Linear Servo Motor Instruction Manual (Note 2) SH(NA)030110
MELSERVO Direct Drive Motor Instruction Manual (Note 3) SH(NA)030112
MELSERVO Linear Encoder Instruction Manual (Note 2, 4) SH(NA)030111
EMC Installation Guidelines IB(NA)67310
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.
«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 [in]
Torque 1 [N•m] 141.6 [oz•in]
Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•in2]
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [°C] × 9/5 + 32 N [°F]
A- 7
MEMO
A- 8
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-50
1.1 Summary........................................................................................................................................... 1- 1
1.2 Function block diagram..................................................................................................................... 1- 3
1.3 Servo amplifier standard specifications ........................................................................................... 1-11
1.4 Combinations of servo amplifiers and servo motors ....................................................................... 1-17
1.5 Function list...................................................................................................................................... 1-19
1.6 Model designation............................................................................................................................ 1-21
1.7 Structure .......................................................................................................................................... 1-22
1.7.1 Parts identification..................................................................................................................... 1-22
1.7.2 Removal and reinstallation of the front cover............................................................................ 1-35
1.8 Configuration including peripheral equipment ................................................................................. 1-37
2. INSTALLATION 2- 1 to 2- 8
2.1 Installation direction and clearances ................................................................................................ 2- 2

2.2 Keep out foreign materials................................................................................................................ 2- 3
2.3 Encoder cable stress ........................................................................................................................ 2- 4
2.4 SSCNET III cable laying ................................................................................................................... 2- 4
2.5 Inspection items ................................................................................................................................ 2- 6
2.6 Parts having service lives ................................................................................................................. 2- 7
3. SIGNALS AND WIRING 3- 1 to 3-42
3.1 Input power supply circuit ................................................................................................................. 3- 3

3.1.1 200 V class................................................................................................................................. 3- 4
3.1.2 400 V class................................................................................................................................. 3- 9
3.1.3 100 V class................................................................................................................................ 3-12
3.2 I/O signal connection example......................................................................................................... 3-13
3.2.1 For sink I/O interface................................................................................................................. 3-13
3.2.2 For source I/O interface ............................................................................................................ 3-15
3.3 Explanation of power supply system ............................................................................................... 3-16
3.3.1 Signal explanations ................................................................................................................... 3-16
3.3.2 Power-on sequence .................................................................................................................. 3-17
3.3.3 Wiring CNP1, CNP2, and CNP3 ............................................................................................... 3-18
3.4 Connectors and pin assignment ...................................................................................................... 3-22
3.5 Signal (device) explanations............................................................................................................ 3-23
3.5.1 Input device ............................................................................................................................... 3-23
3.5.2 Output device ............................................................................................................................ 3-24
3.5.3 Output signal ............................................................................................................................. 3-25
3.5.4 Power supply............................................................................................................................. 3-25
3.6 Forced stop deceleration function ................................................................................................... 3-26
3.6.1 Forced stop deceleration function............................................................................................. 3-26
3.6.2 Base circuit shut-off delay time function ................................................................................... 3-27
3.6.3 Vertical axis freefall prevention function ................................................................................... 3-28
3.6.4 Residual risks of the forced stop function (EM2) ...................................................................... 3-28
3.7 Alarm occurrence timing chart ......................................................................................................... 3-29
3.7.1 When you use the forced stop deceleration function................................................................ 3-29
1
3.7.2 When you do not use the forced stop deceleration function..................................................... 3-30
3.8 Interfaces ......................................................................................................................................... 3-31
3.8.1 Internal connection diagram...................................................................................................... 3-31
3.8.2 Detailed explanation of interfaces............................................................................................. 3-32
3.8.3 Source I/O interfaces ................................................................................................................ 3-34
3.9 SSCNET III cable connection .......................................................................................................... 3-35
3.10 Servo motor with an electromagnetic brake .................................................................................. 3-37
3.10.1 Safety precautions .................................................................................................................. 3-37
3.10.2 Timing chart ............................................................................................................................ 3-38
3.11 Grounding ...................................................................................................................................... 3-42
4. STARTUP 4- 1 to 4-20
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- 6
4.2 Startup .............................................................................................................................................. 4- 6
4.3 Switch setting and display of the servo amplifier.............................................................................. 4- 8
4.3.1 Switches ..................................................................................................................................... 4- 8
4.3.2 Scrolling display ........................................................................................................................ 4-11
4.3.3 Status display of an axis ........................................................................................................... 4-12
4.4 Test operation .................................................................................................................................. 4-14
4.5 Test operation mode ........................................................................................................................ 4-14
4.5.1 Test operation mode in MR Configurator2................................................................................ 4-15
4.5.2 Motor-less operation in controller.............................................................................................. 4-18
5. PARAMETERS 5- 1 to 5-50
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- 6
5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])............................................................................ 5- 7
5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])............................................................................ 5- 8
5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ................................................ 5- 9
5.2 Detailed list of parameters ............................................................................................................... 5-11
5.2.1 Basic setting parameters ([Pr. PA_ _ ])..................................................................................... 5-11
5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) .............................................................................. 5-22
5.2.3 Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 5-34
5.2.4 I/O setting parameters ([Pr. PD_ _ ]) ........................................................................................ 5-40
5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])........................................................................... 5-45
5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])........................................................................... 5-47
5.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 5-48
6. NORMAL GAIN ADJUSTMENT 6- 1 to 6-18
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
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- 8
6.3 Auto tuning........................................................................................................................................ 6- 9
6.3.1 Auto tuning mode ....................................................................................................................... 6- 9
6.3.2 Auto tuning mode basis............................................................................................................. 6-10
6.3.3 Adjustment procedure by auto tuning ....................................................................................... 6-11
6.3.4 Response level setting in auto tuning mode ............................................................................. 6-12
6.4 Manual mode ................................................................................................................................... 6-13
6.5 2 gain adjustment mode .................................................................................................................. 6-16
7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7-30
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 ........................................................................................................................ 7-23
7.3.1 Vibration tough drive function.................................................................................................... 7-23
7.3.2 Instantaneous power failure tough drive function ..................................................................... 7-25
7.4 Compliance with SEMI-F47 standard .............................................................................................. 7-28
8. TROUBLESHOOTING 8- 1 to 8-10
8.1 Alarm and warning list ...................................................................................................................... 8- 1

8.2 Troubleshooting at power on ............................................................................................................ 8- 9
9. OUTLINE DRAWINGS 9- 1 to 9-22
9.1 Servo amplifier .................................................................................................................................. 9- 1

9.2 Connector ........................................................................................................................................ 9-20
10. CHARACTERISTICS 10- 1 to 10-14
10.1 Overload protection characteristics .............................................................................................. 10- 1

10.2 Power supply capacity and generated loss .................................................................................. 10- 4
10.3 Dynamic brake characteristics...................................................................................................... 10- 7
10.3.1 Dynamic brake operation ....................................................................................................... 10- 7
10.3.2 Permissible load to motor inertia when the dynamic brake is used...................................... 10-10
10.4 Cable bending life ........................................................................................................................ 10-11
10.5 Inrush currents at power-on of main circuit and control circuit.................................................... 10-12
3
11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-90
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- 5
11.1.3 SSCNET III cable ................................................................................................................... 11- 6
11.2 Regenerative options.................................................................................................................... 11- 8
11.2.1 Combination and regenerative power .................................................................................... 11- 8
11.2.2 Selection of regenerative option ........................................................................................... 11-10
11.2.3 Parameter setting.................................................................................................................. 11-13
11.2.4 Selection of regenerative option ........................................................................................... 11-13
11.2.5 Dimensions ........................................................................................................................... 11-18
11.3 FR-BU2-(H) brake unit................................................................................................................. 11-22
11.3.1 Selection................................................................................................................................ 11-22
11.3.2 Brake unit parameter setting................................................................................................. 11-23
11.3.3 Connection example ............................................................................................................. 11-24
11.3.4 Dimensions ........................................................................................................................... 11-32
11.4 FR-RC-(H) power regeneration converter ................................................................................... 11-35
11.5 FR-CV-(H) power regeneration common converter .................................................................... 11-39
11.5.1 Model designation ................................................................................................................. 11-40
11.5.2 Selection................................................................................................................................ 11-40
11.6 Junction terminal block PS7DW-20V14B-F (recommended) ...................................................... 11-48
11.7 MR Configurator2 ........................................................................................................................ 11-49
11.7.1 Specifications ........................................................................................................................ 11-49
11.7.2 System configuration............................................................................................................. 11-50
11.7.3 Precautions for using USB communication function............................................................. 11-51
11.8 Battery.......................................................................................................................................... 11-52
11.8.1 MR-BAT6V1SET battery ....................................................................................................... 11-52
11.8.2 MR-BAT6V1BJ battery for junction battery cable ................................................................. 11-52
11.9 Selection example of wires .......................................................................................................... 11-53
11.10 Molded-case circuit breakers, fuses, magnetic contactors (recommended)............................. 11-57
11.11 Power factor improving DC reactors.......................................................................................... 11-59
11.12 Power factor improving AC reactors.......................................................................................... 11-61
11.13 Relay (recommended) ............................................................................................................... 11-64
11.14 Noise reduction techniques ....................................................................................................... 11-65
11.15 Earth-leakage current breaker................................................................................................... 11-72
11.16 EMC filter (recommended) ........................................................................................................ 11-75
11.17 External dynamic brake ............................................................................................................. 11-79
11.18 Heat sink outside mounting attachment (MR-J4ACN15K/MR-J3ACN)..................................... 11-85
12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12-10
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- 2
12.2 Battery........................................................................................................................................... 12- 3
12.2.1 Using MR-BAT6V1SET battery.............................................................................................. 12- 3
12.2.2 Using MR-BAT6V1BJ battery for junction battery cable ........................................................ 12- 7
4
13. USING STO FUNCTION 13- 1 to 13-14
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
13.3.4 External I/O signal connection example using a motion controller ....................................... 13-10
13.4 Detailed description of interfaces ................................................................................................ 13-11
13.4.1 Sink I/O interface................................................................................................................... 13-11
13.4.2 Source I/O interface .............................................................................................................. 13-13
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- 5
14.3 Operation and functions................................................................................................................ 14- 7
14.3.1 Startup.................................................................................................................................... 14- 7
14.3.2 Magnetic pole detection ........................................................................................................ 14-10
14.3.3 Home position return............................................................................................................. 14-18
14.3.4 Test operation mode in MR Configurator2............................................................................ 14-22
14.3.5 Operation from controller ...................................................................................................... 14-23
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 15-22

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
5
15.3.4 Function................................................................................................................................. 15-15
15.4 Characteristics ............................................................................................................................. 15-17
15.4.1 Overload protection characteristics ...................................................................................... 15-17
15.4.2 Power supply capacity and generated loss .......................................................................... 15-19
15.4.3 Dynamic brake characteristics .............................................................................................. 15-20
16. FULLY CLOSED LOOP SYSTEM 16- 1 to 16-26

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................................................................ 16-21
16.3.5 Auto tuning function .............................................................................................................. 16-22
16.3.6 Machine analyzer function .................................................................................................... 16-22
16.3.7 Test operation mode ............................................................................................................. 16-22
16.3.8 Absolute position detection system under fully closed loop system ..................................... 16-23
16.3.9 About MR Configurator2 ....................................................................................................... 16-24
17. APPLICATION OF FUNCTIONS 17- 1 to 17-22
17.1 J3 compatibility mode ................................................................................................................... 17- 1

17.1.1 Outline of J3 compatibility mode ............................................................................................ 17- 1
17.1.2 Operation modes supported by J3 compatibility mode.......................................................... 17- 2
17.1.3 J3 compatibility mode supported function list ........................................................................ 17- 2
17.1.4 How to switch J4 mode/J3 compatibility mode ...................................................................... 17- 5
17.1.5 How to use the J3 compatibility mode ................................................................................... 17- 6
17.1.6 Cautions for switching J4 mode/J3 compatibility mode ......................................................... 17- 7
17.1.7 Cautions for the J3 compatibility mode .................................................................................. 17- 7
17.1.8 Change of specifications of "J3 compatibility mode" switching process................................ 17- 8
17.2 Master-slave operation function .................................................................................................. 17-11
17.3 Scale measurement function ....................................................................................................... 17-15
17.3.1 Functions and configuration.................................................................................................. 17-15
17.3.2 Scale measurement encoder ................................................................................................ 17-18
17.3.3 How to use scale measurement function.............................................................................. 17-21
APPENDIX App.- 1 to App.-48
App. 1 Peripheral equipment manufacturer (for reference).............................................................. App.- 1

App. 2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the
Transport of Dangerous Goods ............................................................................................App.- 1
6
App. 3 Symbol for the new EU Battery Directive.............................................................................. App.- 3
App. 4 Compliance with global standards ........................................................................................App.- 3
App. 5 MR-J3-D05 Safety logic unit ................................................................................................ App.-19
App. 6 EC declaration of conformity ................................................................................................ App.-37
App. 7 How to replace servo amplifier without magnetic pole detection......................................... App.-39
App. 8 Two-wire type encoder cable for HG-MR/HG-KR................................................................ App.-40
App. 9 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service
............................................................................................................................................. App.-42
App. 10 Analog monitor ..................................................................................................................... App.-42
App. 11 Special specification............................................................................................................. App.-47
7
MEMO
8
1. FUNCTIONS AND CONFIGURATION
1.1 Summary
The Mitsubishi MELSERVO-J4 series general-purpose AC servo has further higher performance and higher
functions compared to the previous MELSERVO-J3 series.
MR-J4-_B_ servo amplifier is connected to controllers, including a servo system controller, on the high-
speed synchronous network SSCNET III/H. The servo amplifier directly receives a command from a
controller to drive a servo motor.
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-_B_ 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 automatically 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.
SSCNET III/H achieves high-speed communication of 150 Mbps full duplex with high noise immunity due to
the SSCNET III optical cables. Large amounts of data are exchanged in real-time between the controller and
the servo amplifier. Servo monitor information is stored in the upper information system and is used for
control.
On the SSCNET III/H network, the stations are connected with a maximum distance of 100 m between them.
This allows you to create a large system.
The MR-J4-_B_ servo amplifier supports the Safe Torque Off (STO) function. When the MR-J4W_-B servo
amplifier is connected to a SSCNET III/H-compatible servo system controller, in addition to the STO function,
the servo amplifier also supports the Safe Stop 1 (SS1), Safe Stop 2 (SS2), Safe Operating Stop (SOS),
Safely-Limited Speed (SLS), Safe Brake Control (SBC), and Safe Speed Monitor (SSM) functions.
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 MELSERVO-J4 series, servo amplifiers with CN2L connector is also available as MR-J4-_B_-RJ. By using
CN2L connector, an A/B/Z-phase differential output method 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-_B_ and
MR-J4-_B_-RJ servo amplifiers.
1- 1
Table 1.1 Connectors to connect from external encoders

Operation External encoder Connector
mode communication
method MR-J4-_B_ MR-J4-_B_-RJ
Two-wire type
CN2 (Note 1) CN2 (Note 1)
Linear servo Four-wire type
motor system A/B/Z-phase
differential output CN2L (Note 6)
method
CN2
Two-wire type
(Note 2, 3, 4)
Fully closed Four-wire type
CN2L
loop system A/B/Z-phase
differential output
method
CN2
Two-wire type
(Note 2, 3, 5)
Scale
Four-wire type
measurement CN2L (Note 5)
function A/B/Z-phase
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-_B_ cannot be used. Use an MR-J4-_B_-RJ.
4. This is used with servo amplifiers with software version A3 or later.
5. This is used with servo amplifiers with software version A8 or later.
6. Connect a thermistor to CN2.
1- 2
1.2 Function block diagram
The function block diagram of this servo is shown below.
POINT
The diagram shows for MR-J4-_B_-RJ as an example. MR-J4-_B_ 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
Servo system Servo Personal Analog monitor Digital I/O

controller or amplifier computer (2 channels) control
servo amplifier or cap USB
1- 3
Note 1. The built-in regenerative resistor is not provided for MR-J4-10B(-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-J4-70B(-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-_B-RJ servo amplifier. MR-J4-_B 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-J4-700B(-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
L11 Control
+ circuit 24 V DC B Electromagnetic
brake
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

Note 1. Refer to section 1.3 for the power supply specifications.

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

Diode
Thyristor
stack
MCCB MC L1 U U
(Note 1) U
Current V
Power L2 Regene- V
+ encoder M
supply U U rative
L3 TR W W
CHARGE
Cooling fan lamp
RA B1
L11 Control
brake
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


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 section 8.1.
1- 6
(2) 400 V class

(a) MR-J4-350B4(-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
+ circuit 24 V DC B brake
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

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

2. Servo amplifiers MR-J4-200B4(-RJ) or more have a cooling fan.
4. This is for MR-J4-_B4-RJ servo amplifier. MR-J4-_B4 servo amplifier does not have CN2L connector.
1- 7
(b) MR-J4-500B4(-RJ)/MR-J4-700B4(-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
L11 Control
brake
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


1- 8
(c) MR-J4-11KB4(-RJ)/MR-J4-15KB4(-RJ)/MR-J4-22KB4(-RJ)
(Note 5) External
Power factor regenerative resistor
improving or (Note 4)
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
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


safety in the entire equipment. For alarms for which the servo motor does not decelerate to stop, refer to chapter 8.
1- 9
(3) 100 V class

Regenerative
option
Servo amplifier P+ C D N- Servo motor
(Note 1) Dynamic brake

circuit
MCCB MC L1 U U
+ Charge
(Note 2) V V
lamp Current
Power U
Regene- M
encoder
supply L2 Relay rative TR W W
+
Diode stack
RA B1
+ circuit B brake
24 V DC
L21 power
supply STO B2
circuit
STO
CN8
CN2
Overcurrent
Encoder
Position Virtual
down
position speed
control control
Virtual
motor
CN4
Battery
detection system)
position speed
control control control
CN2L
External encoder
(Note 3)
IF Control USB D/A
CN1A CN1B CN5 CN3
Personal Analog monitor Digital I/O

Servo system Servo
controller or amplifier computer (two channel) control
Note 1. The built-in regenerative resistor is not provided for MR-J4-10B1(-RJ).

2. Refer to section 1.3 for the power supply specifications.
1 - 10
1.3 Servo amplifier standard specifications
(1) 200 V class

Model: MR-J4-_(-RJ) 10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB
Rated voltage 3-phase 170 V AC
Output
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
3-phase or 1-phase 200 V AC to 240 V
Voltage/Frequency 3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
AC, 50 Hz/60 Hz
Rated current 3.2
[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 11) (Note 6)
Main circuit Permissible voltage 3-phase or 1-phase 170 V AC to
3-phase 170 V AC to 264 V AC
power supply fluctuation 264 V AC
input Permissible frequency
Within ±5%
fluctuation
Power supply capacity
Refer to section 10.2.
[kVA]
Inrush current [A] Refer to section 10.5.
Rated current [A] 0.2 0.3
Permissible voltage
Control circuit 1-phase 170 V AC to 264 V AC
fluctuation
power supply
Within ±5%
fluctuation
Power consumption [W] 30 45
Interface power Voltage 24 V DC ± 10%
supply Current capacity [A] (Note 1) 0.3 (including CN8 connector signals)
Control method Sine-wave PWM control, current control method
External option
Dynamic brake Built-in
(Note 9)
SSCNET III/H communication cycle
0.222 ms, 0.444 ms, 0.888 ms
(Note 8)
Fully closed loop control Available (Note 7)
Scale measurement function Available (Note 10)
Load-side encoder interface (Note 5) Mitsubishi high-speed serial communication
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, undervoltage protection,
Protective functions
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)
Standards certified by CB EN ISO 13849-1 category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2, and EN 61800-5-2 SIL 2
Response performance 8 ms or less (STO input off → energy shut off)
(Note 3) Test pulse interval: 1 Hz to 25 Hz
Test pulse input (STO) Test pulse off time: Up to 1 ms
Safety Mean time to dangerous
performance 100 years or longer
failure (MTTFd)
Diagnosis coverage (DC) Medium (90% to 99%)
Average probability of
dangerous failures per 1.68 × 10-10 [1/h]
hour (PFH)
LVD: EN 61800-5-1
Compliance CE marking EMC: EN 61800-3
to global
standards MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
UL standard UL 508C
Structure (IP rating) Natural cooling, open (IP20) Force cooling, open (IP20) Force cooling, open (IP20) (Note 4)
Close mounting (Note 2) Possible Impossible
Ambient Operation 0 ˚C to 55 ˚C (non-freezing)
temperature Storage -20 ˚C to 65 ˚C (non-freezing)
Ambient Operation
humidity Storage
Environment
Indoors (no direct sunlight),
Ambience
free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 1000 m or less above sea level
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
Mass [kg] 0.8 1.0 1.4 2.1 2.3 4.0 6.2 13.4 18.2
1 - 11
Note 1. 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points.
2. When closely mounting the servo amplifier of 3.5 kW or less, operate them at the ambient temperatures of 0 ˚C to 45 ˚C or at
75% or smaller effective load ratio.
3. 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. MR-J4-_B servo amplifier is compatible only with two-wire type. MR-J4-_B-RJ servo amplifier is compatible with two-wire type,
four-wire type, and A/B/Z-phase differential output method. Refer to table 1.1 for details.
6 The rated current is 2.9 A when the servo amplifier is used with UL or CSA compliant servo motor.
7. For the compatible version of fully closed loop system, refer to table 1.1. Check the software version of the servo amplifier
using MR Configurator2.
8. 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.
10. For the compatible version for the scale measurement function, refer to table 1.1. Check the software version of the servo
amplifier using MR Configurator2.
11. This value is applicable when a 3-phase power supply is used.
1 - 12
(2) 400 V class

Model: MR-J4-_(-RJ) 60B4 100B4 200B4 350B4 500B4 700B4 11KB4 15KB4 22KB4
Output
Rated current [A] 1.5 2.8 5.4 8.6 14.0 17.0 32.0 41.0 63.0
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
input Within ±5%
fluctuation
Power supply
[kVA] Refer to section 10.2.
capacity
Rated current [A] 0.1 0.2
Permissible voltage
fluctuation
power supply
Within ±5%
fluctuation
Power consumption [W] 30 45
Dynamic brake Built-in External option (Note 6)
SSCNET III/H communication cycle (Note 5) 0.222 ms, 0.444 ms, 0.888 ms
Fully closed loop control Compatible
Scale measurement function Compatible (Note 7)
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo
motor overheat protection, encoder error protection, regenerative error protection, undervoltage
protection, instantaneous power failure protection, overspeed protection, error excessive protection,
magnetic pole detection protection, and linear servo control fault protection
EN ISO 13849-1 category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2, and EN
Standards certified by CB
61800-5-2 SIL 2
Safety
Mean time to dangerous
failure (MTTFd)
Diagnosis converge (DC) Medium (90% to 99%)
dangerous failures per hour 1.68 × 10-10 [1/h]
(PFH)
LVD: EN 61800-5-1
Compliance to CE marking EMC: EN 61800-3
UL standard UL 508C
Natural cooling, open Force cooling, open
Structure (IP rating) Force cooling, open (IP20) (Note 3)
(IP20) (IP20)
Close mounting Impossible
Ambient Operation
humidity Storage
Environment
Ambience
Mass [kg] 1.7 2.1 3.6 4.3 6.5 13.4 18.2
1 - 13
I/O points.
self-diagnose.
3. Except for the terminal block.
4. MR-J4-B4 servo amplifier is compatible only with two-wire type. MR-J4-B4-RJ servo amplifier is compatible with two-wire type,
four-wire type, and A/B/Z-phase differential output method. Refer to table 1.1 for details.
5. 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.
1 - 14
(3) 100 V class

Model: MR-J4-_(-RJ) 10B1 20B1 40B1
Output
Rated current [A] 1.1 1.5 2.8
Rated current
[A] 3.0 5.0 9.0
(Note 11)
Permissible voltage
Main circuit 1-phase 85 V AC to 132 V AC
fluctuation
power supply
Within ±5%
fluctuation
Refer to section 10.2.
[kVA]
Rated current [A] 0.4
Permissible voltage
fluctuation
power supply
Within ±5%
fluctuation
Power consumption [W] 30
Dynamic brake Built-in
SSCNET III/H communication cycle
0.222 ms, 0.444 ms, 0.888 ms
(Note 6)
Fully closed loop control Available (Note 5)
Scale measurement function Available (Note 7)
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor
overheat protection, encoder error protection, regenerative error protection, undervoltage protection,
instantaneous power failure protection, overspeed protection, error excessive protection, magnetic pole
detection protection, and linear servo control fault protection
Standards certified by CB EN ISO 13849-1 category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2, and EN 61800-5-2 SIL 2
Safety Mean time to dangerous
failure (MTTFd)
Diagnosis coverage (DC) Medium (90% to 99%)
dangerous failures per 1.68 × 10-10 [1/h]
hour (PFH)
LVD: EN 61800-5-1
Compliance CE marking EMC: EN 61800-3
to global
UL standard UL 508C
Structure (IP rating) Natural cooling, open (IP20)
Close mounting (Note 2) Possible
Ambient Operation
humidity Storage
Environment
Ambience
Mass [kg] 0.8 1.0
1 - 15
I/O points.
2. When closely mounting the servo amplifier of 3.5 kW or less, operate them at the ambient temperatures of 0 ˚C to 45 ˚C or at
75% or smaller effective load ratio.
self-diagnose.
4. MR-J4-_B servo amplifier is compatible only with two-wire type. MR-J4-_B-RJ servo amplifier is compatible with two-wire type,
four-wire type, and A/B/Z-phase differential output type. Refer to table 1.1 for details.
5. For the compatible version of fully closed loop system, refer to table 1.1. Check the software version of the servo amplifier
6 The communication cycle depends on the controller specifications and the number of axes connected.
1 - 16
1.4 Combinations of servo amplifiers and 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-J4-10B(-RJ) 053 053
13 13
MR-J4-20B(-RJ) LM-U2PAB-05M-0SS0 TM-RFM002C20
23 23
LM-U2PBB-07M-1SS0
MR-J4-40B(-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-J4-60B(-RJ) 51 LM-U2PBD-15M-1SS0 TM-RFM006C20
53
52 TM-RFM006E20
MR-J4-70B(-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-J4-100B(-RJ) 81 TM-RFM018E20
103 53
102
MR-J4-200B(-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-J4-350B(-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-J4-500B(-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-J4-700B(-RJ) LM-FP2F-18M-1SS0
702 703 503
LM-FP4D-24M-1SS0
MR-J4-11KB(-RJ) 903 LM-FP4F-36M-1SS0
11K1M
MR-J4-15KB(-RJ) 15K1M LM-FP4F-48M-1SS0
MR-J4-22KB(-RJ) 22K1M
(2) 400 V class

Rotary servo motor
Servo amplifier HG-JR Linear servo motor (primary side)
HG-SR HG-JR (When the maximum
torque is 400%)
MR-J4-60B4(-RJ) 524 534
MR-J4-100B4(-RJ) 1024 734, 1034 534
MR-J4-200B4(-RJ) 1524, 2024 1534, 2034 734, 1034
MR-J4-350B4(-RJ) 3524 3534 1534, 2034
MR-J4-500B4(-RJ) 5024 5034 3534
MR-J4-700B4(-RJ) 7024 7034 5034
MR-J4-11KB4(-RJ) 9034, 11K1M4
MR-J4-15KB4(-RJ) 15K1M4
MR-J4-22KB4(-RJ) 22K1M4 LM-FP5H-60M-1SS0
1 - 17
(3) 100 V class

Rotary servo motor
Servo amplifier
HG-KR HG-MR
MR-J4-10B1(-RJ) 053 053
13 13
MR-J4-20B1(-RJ) 23 23
MR-J4-40B1(-RJ) 43 43
1 - 18
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
Position control mode This servo is used as a position control servo.
Speed control mode This servo is used as a speed control servo.
Torque control mode This servo is used as a torque control servo.
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]
Output signal selection The output devices including ALM (Malfunction) and DB (Dynamic brake interlock) can [Pr. PD07] to
(device settings) be assigned to certain pins of the CN3 connector. [Pr. PD09]
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)
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 Linear servo system can be configured using a linear servo motor and liner encoder. Chapter 14
Direct drive servo system Direct drive servo system can be configured to drive a direct drive motor. Chapter 15
Fully closed loop system can be configured using the load-side encoder.
Fully closed loop system This is used with servo amplifiers with software version A3 or later. Check the Chapter 16
software version of the servo amplifier using MR Configurator2.
Gain adjustment is performed just by one click on a certain button on MR
One-touch tuning Configurator2. Section 6.2
1 - 19
Detailed
Function Description
explanation
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 (Note) [Pr. PE25]
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
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. For the SSCNET III/H
Power monitoring function system, MR Configurator2 can display the data, including the power consumption.
Since the servo amplifier can send the data to a servo system controller, you can
analyze the data and display the data on a display.
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 diagnosis function
machine parts, including a ball screw and bearing.
The function transmits a master axis torque to slave axes using driver communication
Master-slave operation and the torque as a command drives slave axes by torque control.
Section 17.2
function This is used with servo amplifiers with software version A8 or later. Check the
The function transmits position information of a scale measurement encoder to the
controller by connecting the scale measurement encoder in semi closed loop control.
Scale measurement function Section 17.3
This is used with servo amplifiers with software version A8 or later. Check the
This amplifier has "J3 compatibility mode" which compatible with the previous MR-J3-
J3 compatibility mode Section 17.1
B series. Refer to section 17.1 for software versions.
[Pr. PB03]
This enables to smoothly switch the mode from position control mode/speed control
mode to torque control mode without stopping. This also enables to decrease load to
Continuous operation to Refer to the
the machine and high quality molding without rapid changes in speed or torque. For
torque control mode servo system
details of the continuous operation to torque control mode, refer to the manuals for
servo system controllers. controller
manual used.
Note. For servo system controllers which are available with this, contact your local sales office.
1 - 20
1.6 Model designation
(1) Rating plate

The following shows an example of rating plate for explanation of each item.
AC SERVO
SER.S21001001 Serial number
MODEL MR-J4-10B 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/EN61800-5-1 MAN.: IB(NA)0300175 Standard, Manual number
Max. Surrounding Air Temp.: 55°C Ambient temperature
IP20 IP rating
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] Fully closed loop control four-wire type/
-RJ load-side encoder A/B/Z-phase input compatible
10 0.1
20 0.2 -ED MR-J4-_B_ without a dynamic brake (Note 2)
40 0.4 -RU MR-J4-_B_-RJ without a dynamic brake (Note 2)
60 0.6 -PX MR-J4-_B_ without regenerative resistor (Note 1)
70 0.75 -RZ MR-J4-_B_-RJ without regenerative resistor (Note 1)
100 1 Note1. Indicates a servo amplifier of 11 kW to 22 kW that
200 2 does not use a regenerative resistor as standard
accessory. Refer to Appendix 11.2 for details.
350 3.5 2. Dynamic brake which is built in 7 kw or smaller servo
500 5 amplifiers is removed. Refer to Appendix 11.1 for details.
700 7 Power supply
11K 11 Symbol Power supply
15K 15
None 3-phase or 1-phase
22K 22 200 V AC to 240 V AC
1 1-phase 100 V AC to 120 V AC
SSCNETIII/H interface
1 - 21
1.7 Structure
1.7.1 Parts identification
(1) 200 V class

The diagram is for MR-J4-10B-RJ.
No. Name/Application Detailed
explanation
Display
(1) The 3-digit, seven-segment LED shows the servo
(1) (2) status and the alarm number.
Axis selection rotary switch (SW1)
(2) Section 4.3
Used to set the axis No. of servo amplifier.
Control axis setting switch (SW2)
(3)
(3) The test operation switch, the control axis
deactivation setting switch, and the auxiliary axis
number setting switch are available.
USB communication connector (CN5) Section
(4) 11.7
Connect with the personal computer.
Inside of the display cover 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 MR-J3-D05 safety logic unit and
App. 5
external safety relay.
SSCNET III cable connector (CN1A)
(7) Used to connect the servo system controller or the
previous axis servo amplifier. Section 3.2
(4) SSCNET III cable connector (CN1B) Section 3.4
(8) Used to connect the next axis servo amplifier. For
(5) the final axis, put a cap.
(13) Encoder connector (CN2) Section 3.4
(9) Used to connect the servo motor encoder. "Servo
(Note Used to connect the servo motor encoder or Motor
(6) 2) external encoder. Refer to table 1.1 for the Instruction
compatible external encoders. Manual
(15) (Vol. 3)"
(7) Battery connector (CN4)
(10) Used to connect the battery for absolute position Chapter 12
(8) data backup.
(16) Battery holder Section
(11) 12.2
Install the battery for absolute position data backup.
(9) Protective earth (PE) terminal
(17) (12)
Grounding terminal Section 3.1
(18) Main circuit power supply connector (CNP1) Section 3.3
(13)
Connect the input power supply.
(14)
(14) Rating plate Section 1.6
Side
Control circuit power supply connector (CNP2)
(10) (15) Connect the control circuit power supply and
(11) regenerative option. Section 3.1
Bottom (12) Section 3.3
Servo motor power output connector (CNP3)
(16)
Connect the servo motor.
Charge lamp
(17) When the main circuit is charged, this will light.
While this lamp is lit, do not reconnect the cables.
(18) External encoder connector (CN2L) "Linear
Encoder
(Note Refer to table 1.1 for connections of external Instruction
1, 2) encoders. Manual"
Manufacturer setting connector (CN7)
(19) This connector is attached on MR-J4-_B-RJ servo
amplifier, but not for use. MR-J4-_B servo amplifier
does not have this connector.
This connector is attached on MR-J4-_B-RJ servo
(20)
amplifier, but not for use. MR-J4-_B servo amplifier
Note 1. This is for MR-J4-_B-RJ servo amplifier. MR-J4-_B servo
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
(b) MR-J4-350B(-RJ)
Detailed
The broken line area is the same as No. Name/Application
explanation
MR-J4-200B(-RJ) or less.
Main circuit power supply connector (CNP1) Section 3.1
(1)
Connect the input power supply. Section 3.3
Servo motor power supply connector (CNP3)
(1) (3)
Section 3.1
Section 3.3
(4) Connect the control circuit power supply and
regenerative option.
Charge lamp
(3)
(2)
Protective earth (PE) terminal Section 3.1
Side (6)
(4)
Battery holder Section
(5) (7)
Install the battery for absolute position data backup. 12.2
(7)
(6)
1 - 23
(c) MR-J4-500B(-RJ)
POINT
The servo amplifier is shown with the front cover open. The front cover cannot
be removed.
Detailed
MR-J4-200B(-RJ) or less. 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)
(3)
(1) (4) Rating plate Section 1.6
Regenerative option/power factor improving reactor
terminal block (TE3)
(5)
Used to a connect a regenerative option and a Section 3.1
power factor improving DC reactor. Section 3.3
(2)
Servo motor power supply terminal block (TE4)
(6)
Charge lamp
(3)
(Note) (7) When the main circuit is charged, this will light.
(4) (8)
Side Grounding terminal Section 3.3
(5)
(6)
(7)
(8)
Note. Lines for slots around the battery holder are omitted from the illustration.
1 - 24
(d) MR-J4-700B(-RJ)
POINT
The servo amplifier is shown without the front cover. For removal of the front
cover, refer to section 1.7.2.
Detailed
explanation
MR-J4-200B4(-RJ) or less.
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
regenerative option, and servo motor.
Section 3.3
(7) (3)
Used to connect the control circuit power supply.
(4)
Grounding terminal
(Note) (5)
Charge lamp
(1)
(2)
(4)
(3)
1 - 25
(e) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ)
POINT
Detailed
explanation
MR-J4-200B(-RJ) or less.
Power factor improving reactor terminal block (TE1-
2)
(1)
Used to connect a power factor improving DC
reactor and a regenerative option.
Main circuit terminal block (TE1-1)
Section 3.1
(7) (2) Used to connect the input power supply and servo
Section 3.3
motor.
(3)
(4)
Grounding terminal
(5)
(5) (6) Rating plate Section 1.6
(Note) Charge lamp
(2) While this lamp is lit, do not reconnect the cables.
(3)
(4)
(1)
1 - 26
(f) MR-J4-22KB(-RJ)
POINT
Detailed
MR-J4-200B4(-RJ) or less. explanation
Power factor improving reactor terminal block (TE1-
2)
(1)
(7) Main circuit terminal block (TE1-1)
Section 3.1
(2) Used to connect the input power supply and servo
Section 3.3
(5) motor.
(Note) Control circuit terminal block (TE2)
(3)
(4)
Grounding terminal
(5)
Charge lamp
(2)
(3)
(1)
(4)
1 - 27
(2) 400 V class

The diagram is for MR-J4-60B4-RJ.
No. Name/Application Detailed
explanation
Display
(2) Section 4.3
Control axis setting switch (SW2)
(3) ON

1 2 3 4 deactivation setting switch, and the auxiliary axis
USB communication connector (CN5)
(4) Section 11.7
Connect with the personal computer.
Inside of the display cover 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 MR-J3-D05 safety logic unit and App. 5
(7) Used to connect the servo system controller or the
(20) (19) previous axis servo amplifier. Section 3.2
(17) SSCNET III cable connector (CN1B) Section 3.4
(4) the final axis, put a cap.
(9) Used to connect the servo motor encoder or "Servo
(6)
(Note external encoder. Refer to table 1.1 for the Motor
(13) 2) compatible external encoders. Instruction
Manual
(15) (Vol. 3)"
Battery connector (CN4)
(7) (10) Used to connect the battery for absolute position Chapter 12
(8) data backup.
Battery holder
(16) (11) Install the battery for absolute position data Section
12.2
backup.
(9)
Protective earth (PE) terminal
(12)
(18) Grounding terminal Section 3.2
(14) (13)
Side (10) (11) (12) (14) Rating plate Section 1.6
Bottom Control circuit power supply connector (CNP2)
regenerative option. Section 3.2
Section 3.3
(16)
Charge lamp
Encoder
(Note Used to connect the external encoder. Refer to Instruction
1, 2) table 1.1 for the compatible external encoders. Manual"
(19) This connector is attached on MR-J4-_B4-RJ
servo amplifier, but not for use. MR-J4-_B4 servo
amplifier does not have this connector.
(20) This connector is attached on MR-J4-_B4-RJ
servo amplifier, but not for use. MR-J4-_B4 servo
amplifier does not have this connector.
Note 1. This is for MR-J4-_B4-RJ servo amplifier. MR-J4-_B4 servo

1 - 28
(b) MR-J4-350B4(-RJ)
Detailed
(1)
Connect the input power supply. Section 3.3
(1)
Section 3.2
(7) regenerative option.
Section 3.3
(4)
Charge lamp
(3) (5) When the main circuit is charged, this will light.
(2) (6)
Side Grounding terminal Section 3.3
Battery holder
(4) (7) Install the battery for absolute position data Section 12.2
backup.
(5)
(6)
1 - 29
(c) MR-J4-500B4(-RJ)
POINT
Detailed
(1)
Used to connect the control circuit power supply. Section 3.2
Main circuit terminal block (TE1) Section 3.3
(2)
(6) Connect the input power supply.
Battery holder
(3) Install the battery for absolute position data Section 12.2
(3) backup.
(Note) (4) Rating plate Section 1.6
Regenerative option/power factor improving
reactor terminal block (TE3) Section 3.2
(5)
Used to connect a regenerative option and a Section 3.3
(4) power factor improving DC reactor.
Charge lamp
(5) Protective earth (PE) terminal Section 3.2
(7)
(1) Grounding terminal Section 3.3
(2)
(7)
1 - 30
(d) MR-J4-700B4(-RJ)
POINT
Detailed
Power factor improving reactor terminal block
(1) (TE3)
Used to connect the DC reactor.
Main circuit terminal block (TE1)
(2) Used to connect the input power supply, Section 3.2
regenerative option, and servo motor. Section 3.3
(7)
(3)
(6) Used to connect the control circuit power supply.
(5) (4)
Grounding terminal
(Note)
Battery holder
backup.
Charge lamp
(1)
(2)
(4)
(3)
1 - 31
(e) MR-J4-11KB4(-RJ)/MR-J4-15KB4(-RJ)
POINT
Detailed
(TE1-2)
(1)
Main circuit terminal block (TE1-1)
(7) Section 3.2
Section 3.3
motor.
(3)
(6)
(4)
Grounding terminal
Battery holder
(5) backup.
(Note) (6) Rating plate Section 1.6
Charge lamp
(2)
(3)
(4)
(1)
1 - 32
(f) MR-J4-22KB4(-RJ)
POINT
Detailed
(TE1-2)
(1)
(7) Main circuit terminal block (TE1-1)
Section 3.2
(5) Section 3.3
motor.
(Note)
(3)
(4)
Grounding terminal
Battery holder
backup.
(2) Charge lamp
(3)
(1)
(4)
1 - 33
(3) 100 V class

Detailed
No. Name/Application
explanation
Display
(2) Section 4.3
(3) Control axis setting switch (SW2)
deactivation setting switch, and the auxiliary axis
USB communication connector (CN5) Section
Inside of the display cover (4)
Connect with the personal computer. 11.7
I/O signal connector (CN3) Section 3.2
(5)
(20) (19) Used to connect digital I/O signals. Section 3.4
STO input signal connector (CN8)
Chapter 13
(6) Used to connect MR-J3-D05 safety logic unit and
App. 5
(4) (7) Used to connect the servo system controller or the
(5) previous axis servo amplifier. Section 3.2
SSCNET III cable connector (CN1B) Section 3.4
(13)
the final axis, put a cap.
(15) (9) Used to connect the servo motor encoder. "Servo
Motor
(7) (Note Used to connect the servo motor encoder or
external encoder. Refer to table 1.1 for the Instruction
2)
(8) compatible external encoders. Manual
(Vol. 3)"
(16) Battery connector (CN4)
(9) (10) Used to connect the battery for absolute position Chapter 12
(17) data backup.
(11)
Side (12)
(10) Section 3.3
Main circuit power supply connector (CNP1)
(11) (13)
Bottom (12) Connect the input power supply.
Section 3.1
Section 3.3
(16)
Charge lamp
Encoder
(Note Refer to table 1.1 for connections of external
Instruction
1, 2) encoders.
Manual"
(19) This connector is attached on MR-J4-_B1-RJ servo
amplifier, but not for use. MR-J4-_B1 servo amplifier
This connector is attached on MR-J4-_B1-RJ servo
(20)
amplifier, but not for use. MR-J4-_B1 servo amplifier
Note 1. This is for MR-J4-_B1-RJ servo amplifier. MR-J4-_B1 servo
1 - 34
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
CAUTION 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-J4-700B(-RJ) to MR-J4-22KB(-RJ)
and MR-J4-500B4(-RJ) to MR-J4-22KB4(-RJ).
The diagram is for MR-J4-700B.
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. Hold the ends of

lower side of the front cover with both hands.
1 - 35
Reinstallation of the front cover
Front cover
setting tab A)
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 - 36
1.8 Configuration including peripheral equipment
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo

CAUTION amplifier may cause a malfunction.
POINT
Equipment other than the servo amplifier and servo motor are optional or
recommended products.
(1) 200 V class

The diagram is for MR-J4-20B-RJ.
RS T
(Note 2)
Power supply
Molded-case Personal
circuit breaker computer
(MCCB) MR Configurator2
CN5
(Note 3)
Magnetic
contactor
(MC)
(Note 1) CN3 Junction terminal
block
Line noise CN8 To safety relay or MR-J3-D05

filter safety logic unit
(FR-BSF01)
CN1A Servo system controller or
previous servo amplifier
CN1B
U
L1
V CN1B Next servo amplifier CN1A or
L2
W cap
L3
Power factor P3 CN2

improving DC
reactor CN2L (Note 4)
(FR-HEL) P4
P+ CN4
Regenerative Battery
option
C
L11
L21
Servo motor
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. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-70B(-RJ) or less. 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-_B-RJ servo amplifier. MR-J4-_B servo amplifier does not have CN2L connector. When using MR-J4-_B-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 - 37
(b) MR-J4-350B(-RJ)
RS T
(Note 2)
Power supply
Molded-case
circuit breaker Personal
(MCCB) computer
MR Configurator2
CN5
(Note 3)
Magnetic
contactor
(MC)
(Note 1)
CN3 Junction terminal
block
Line noise
filter CN8
(FR-BSF01) To safety relay or MR-J3-D05
safety logic unit

U CN1B
L1 V
L2
W CN1B Next servo amplifier CN1A or
L3 cap
Power factor P3
improving DC CN2
reactor
(FR-HEL) P4
CN2L (Note 4)
P+
Regenerative CN4
Battery
option
C
L11
L21
Servo motor
1 - 38
(c) MR-J4-500B(-RJ)
RS T
(Note 2)
Power supply
Molded-case
(MCCB) computer
MR Configurator2
CN5
(Note 3)
Magnetic L11
contactor
(MC)
(Note 1) L21 CN3 Junction terminal
block
Line noise
filter CN8 To safety relay or MR-J3-D05
(FR-BLF) safety logic unit

CN1B
L1
L2 CN1B Next servo amplifier CN1A or
L3 cap
Power factor P3 CN2

improving DC
reactor U
CN2L (Note 4)
(FR-HEL) P4
V
P+ CN4
Regenerative W Battery
option
C
Servo motor
1 - 39
(d) MR-J4-700B(-RJ)
RS T
(Note 2)
Power supply Personal
computer
Molded-case MR Configurator2
circuit breaker CN5
(MCCB)
(Note 3)
Magnetic
contactor CN3
(MC) Junction terminal
block
(Note 1)
CN8 To safety relay or MR-J3-D05

safety logic unit
Line noise
filter CN1A Servo system controller or
(FR-BLF) previous servo amplifier
CN1B

L11 cap
Power factor
improving DC
reactor CN2
(FR-HEL)
P3 CN2L (Note 4)
P4 CN4
Battery
L3
L2
L1
U V W
P+ C
Regenerative
option
Servo motor
1 - 40
(e) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ)
Personal
computer
MR Configurator2
RS T CN5
(Note 2)
Power supply
Molded-case
circuit breaker
(MCCB)

block
(Note 3)
Magnetic CN8 To safety relay or MR-J3-D05
contactor safety logic unit
(MC)
(Note 1) CN1A Servo system controller or
CN1B
Line noise CN1B

filter Next servo amplifier CN1A or
(FR-BLF) cap
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
Regenerative
option
Servo motor
1 - 41
(f) MR-J4-22KB(-RJ)
RS T
(Note 2)
computer
circuit breaker CN5
(MCCB)
(Note 3)
Magnetic
contactor CN3 Junction terminal
(MC) block
(Note 1)
CN8 To safety relay or MR-J3-D05

safety logic unit
Line noise
filter Servo system controller or
CN1A previous servo amplifier
(FR-BLF)
CN1B

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

The diagram is for MR-J4-60B4-RJ and MR-J4-100B4-RJ.
RS T
(Note 2)
Power supply
CN5
(Note 3)
Magnetic
contactor
(MC)
block
CN8 To safety relay or

Line noise filter MR-J3-D05 safety
(FR-BSF01) logic unit
CN1A Servo system controller
or previous servo
amplifier CN1B
L1
CN1B Next servo amplifier
L2
CN1A or cap
L3
U
Power factor P3 CN2
improving DC
reactor V
(FR-HEL-H) P4 CN2L (Note 4)
W
P+ CN4
option
C
L11
L21
Servo motor
2. Refer to section 1.3 for the power supply specification.
4. This is for MR-J4-_B4-RJ servo amplifier. MR-J4-_B4 servo amplifier does not have CN2L connector. When using MR-J4-_B4-
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-J4-350B4(-RJ)
RS T
(Note 2)
Power supply
Molded-case
(MCCB) computer
MR Configurator2
CN5
(Note 3)
Magnetic
contactor
(MC)
block

Line noise filter MR-J3-D05 safety
or previous servo
amplifier CN1B
L1
L2
CN1A or cap
L3
Power factor P3 CN2

improving DC
reactor U
(FR-HEL-H) P4 CN2L (Note 4)
V
P+ CN4
Regenerative W Battery
option
C
L11
L21
Servo motor
1 - 44
(c) MR-J4-500B4(-RJ)
RS T
(Note 2)
computer
circuit breaker CN5
(MCCB)
(Note 3)
Magnetic
contactor CN3 Junction terminal
(MC) block
(Note 1)
Power factor
improving DC To safety relay or
reactor CN8
MR-J3-D05 safety
(FR-HEL-H) logic unit
P3
Line noise filter CN1A Servo system controller
(FR-BSF01) or previous servo
amplifier CN1B
P4
CN1A or cap
CN2
CN2L (Note 4)
CN4
Battery
L21
L3 L11
L2
L1
U V W
P+ C
Regenerative
option
Servo motor
1 - 45
(d) MR-J4-700B4(-RJ)
Personal
computer
MR Configurator2
RS T CN5
(Note 2)
Power supply
Molded-case
circuit breaker
(MCCB)

block
(Note 3)
Magnetic CN8 To safety relay or
contactor MR-J3-D05 safety
(MC) logic unit
(Note 1) CN1A Servo system controller
or previous servo
amplifier CN1B
Line noise filter CN1B Next servo amplifier

(FR-BLF) CN1A or cap
CN2
L21
L11 CN2L (Note 4)
Power factor CN4
improving DC Battery
reactor
(FR-HEL-H)
P3
P4
L3
L2
L1
U V W
P+ C
Regenerative
option
Servo motor
1 - 46
(e) MR-J4-11K4B(-RJ)/MR-J4-15K4B(-RJ)
Personal
computer
MR Configurator2
RS T CN5
(Note 2)
Power supply
Molded-case
circuit breaker
(MCCB)

block
(Note 3) To safety relay or

Magnetic CN8
MR-J3-D05 safety
contactor logic unit
(MC)
(Note 1) or previous servo
amplifier CN1B
Line noise filter CN1B Next servo amplifier

(FR-BLF) CN1A or cap
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
Regenerative
option
Servo motor
1 - 47
(f) MR-J4-22K4B(-RJ)
Personal
computer
MR Configurator2
CN5
RS T
(Note 2)
Power supply
Molded-case
circuit breaker CN3 Junction terminal
(MCCB) block

MR-J3-D05 safety
logic unit
Magnetic or previous servo
contactor amplifier CN1B
(MC)
(Note 1)
CN1A or cap
CN2
Line noise filter
(FR-BLF) CN2L (Note 4)
CN4
Battery
L21
L11
L3
L2
L1
U V W
Power factor
improving DC
reactor
(FR-HEL-H)
P3
P4 P+ C
Regenerative
option
Servo motor
1 - 48
(3) 100 V class

R T
(Note 2)
Power supply
CN5
(Note 3)
Magnetic
contactor
(MC)
Power factor (Note 1) (Note1) CN3
improving AC Junction terminal
reactor block
(FR-HAL)
Line noise CN8 To safety relay or MR-J3-D05
filter safety logic unit
(FR-BSF01)
CN1B
U
L1
V CN1B Next servo amplifier CN1A or
W cap
L2
CN2
CN2L (Note 4)
P+ CN4
option
C
L11
L21
Servo motor
Note 1. The power factor improving DC reactor cannot be used.

2. For power supply specifications, refer to section 1.3.
4. This is for MR-J4-_B1-RJ servo amplifier. MR-J4-_B1 servo amplifier does not have CN2L connector. Refer to Table 1.1 and
Linear Encoder Instruction Manual for the compatible external encoders.
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.
POINT
When pulling out CNP1, CNP2, and CNP3 connectors of 100 V class/600 W or
lower 200 V class servo amplifier, pull out CN3 and CN8 connectors
beforehand.
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. For the MR-J4-500B(-RJ), the clearance between the left side and wall will be 25 mm or more.
2- 2
2. INSTALLATION
(b) Installation of two or more servo amplifiers
POINT
Close mounting is possible depending on the capacity of the servo amplifier.
Refer to section 1.3 for availability of close mounting.
When mounting the servo amplifiers closely, do not install the servo amplifier
whose depth is larger than that of the left side servo amplifier since CNP1,
CNP2, and CNP3 connectors cannot be disconnected.
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
(Note 1) 40 mm or more
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 you install the MR-J4-500B(-RJ) on the right side, the clearance between the left side and wall will be 25 mm or more.
(2) Others
When using heat generating equipment such as the regenerative option, install them with full
consideration of heat generation so that the servo amplifier is not affected.
Install the servo amplifier on a perpendicular wall in the correct vertical direction.
2.2 Keep out foreign materials
(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.
2- 3
2. INSTALLATION
(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 sheath might be cut by sharp chips, rubbed by a machine corner or
stamped by workers or vehicles.
(4) For installation on a machine where the servo motor moves, the bending radius should be made as large
as possible. Refer to section 10.4 for the bending life.
2.4 SSCNET III cable laying
SSCNET III cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral
pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be
available. Especially, as optical fiber for MR-J3BUS_M/MR-J3BUS_M-A is made of synthetic resin, it melts
down if being left near the fire or high temperature. Therefore, do not make it touched the part, which can
become hot, such as heat sink or regenerative option of servo amplifier.
Read described item of this section carefully and handle it with caution.
(1) Minimum bend radius

Make sure to lay the cable with greater radius than the minimum bend radius. Do not press the cable to
edges of equipment or others. For SSCNET III cable, the appropriate length should be selected with due
consideration for the dimensions and arrangement of servo amplifier. When closing the door of cabinet,
pay careful attention for avoiding the case that SSCNET III cable is hold down by the door and the cable
bend becomes smaller than the minimum bend radius. For the minimum bend radius, refer to section
11.1.3.
(2) Prohibition of vinyl tape use

Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS_M, and MR-J3BUS_M-A cables away
from vinyl tape because the optical characteristic may be affected.
SSCNET III cable Cord Cable
MR-J3BUS_M
MR-J3BUS_M-A
MR-J3BUS_M-B
: Phthalate ester plasticizer such as DBP and DOP
Optical cord Cable may affect optical characteristic of cable.
: Cord and cable are not basically affected by
plasticizer.
2- 4
2. INSTALLATION
(3) Precautions for migrating plasticizer added materials

Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and fluorine resin contain non-migrating
plasticizer and they do not affect the optical characteristic of SSCNET III cable. However, some wire
sheaths and cable ties, which contain migrating plasticizer (phthalate ester), may affect MR-J3BUS_M
and MR-J3BUS_M-A cables (plastic).
In addition, MR-J3BUS_M-B cable (silica glass) is not affected by plasticizer.
A chemical substance may affect its optical characteristic. Therefore, previously check that the cable is
not affected by the environment.
(4) Bundle fixing

Fix the cable at the closest part to the connector with bundle material in order to prevent SSCNET III
cable from putting its own weight on CN1A/CN1B connector of servo amplifier. Optical cord should be
given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be
twisted.
When bundling the cable, fix and hold it in position by using cushioning such as sponge or rubber which
does not contain migratable plasticizers.
If adhesive tape for bundling the cable is used, fire resistant acetate cloth adhesive tape 570F (Teraoka
Seisakusho Co., Ltd) is recommended.
Connector
Optical cord
Loose slack
Cable
Bundle material
Recommended product: NK clamp SP type
(NIX, INC)
(5) Tension
If tension is added on optical cable, the increase of transmission loss occurs because of external force
which concentrates on the fixing part of optical fiber or the connecting part of optical connector. Doing so
may cause the breakage of the optical fiber or damage of the optical connector. For cable laying, handle
without putting forced tension. For the tension strength, refer to section 11.1.3.
(6) Lateral pressure

If lateral pressure is added on optical cable, the optical cable itself distorts, internal optical fiber gets
stressed, and then transmission loss will increase. Doing so may cause the breakage of the optical
cable. As the same condition also occurs at cable laying, do not tighten up optical cable with a thing
such as nylon band (TY-RAP).
Do not trample it down or tuck it down with the door of cabinet or others.
2- 5
2. INSTALLATION
(7) Twisting
If optical fiber is twisted, it will become the same stress added condition as when local lateral pressure or
bend is added. Consequently, transmission loss increases, and the breakage of optical fiber may occur.
(8) Disposal
When incinerating optical cable (cord) used for SSCNET III, hydrogen fluoride gas or hydrogen chloride
gas which is corrosive and harmful may be generated. For disposal of optical fiber, request for
specialized industrial waste disposal services who has incineration facility for disposing hydrogen
fluoride gas or hydrogen chloride gas.
2.5 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.
(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.
2- 6
2. INSTALLATION
2.6 Parts having service lives
Service lives of the following parts are listed below. However, the service lives vary depending on operation
and environment. If any fault is found in the parts, they must be replaced immediately regardless of their
service lives. For parts replacement, please contact your local sales office.
Part name Life guideline
Smoothing capacitor 10 years
Number of power-on, forced stop by EM1 (Forced
stop 1), and controller forced stop times: 100,000
Relay
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 normal air-conditioned environment (40 ˚C
surrounding air temperature or less).
(2) Relays
Contact faults will occur due to contact wear arisen from switching currents. Relays reach the end of
their lives when the power has been turned on, forced stop by EM1 (Forced stop 1) has occurred, and
controller forced stop has occurred 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- 7
2. INSTALLATION
MEMO
2- 8
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
Control output
CAUTION Control output
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, and W) to the servo motor power
input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene.
Otherwise, it may cause a malfunction.
Servo amplifier Servo motor Servo amplifier Servo motor
U U
U U
CAUTION V
V
M V
V
M
W W
W W

amplifier may cause a malfunction.
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
(Servo motor) speed → (Linear servo motor) speed
3- 2
3.1 Input power supply circuit
Always connect a magnetic contactor between the power supply and the main
circuit power supply (L1, L2, and L3) of the servo amplifier, in order to configure a
circuit that shuts down the power supply on the side of the servo amplifier’s power
supply. If a 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.
CAUTION Check the servo amplifier model, and then input proper voltage to the servo
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 noise and to
suppress lightning surge. The varistor can break down due to its aged
deterioration. To prevent a fire, use a molded-case circuit breaker or fuse for input
power supply.
amplifier may cause a malfunction.
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, optical module
does not operate, and optical transmission of SSCNET III/H communication is
interrupted. Therefore, the next axis 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 control mode.
Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of
the connecting destinations is different from MR-J3 Series Servo Amplifier's.
When using MR-J4 as a replacement for MR-J3, be careful not to connect the
power to L2.
Configure the wiring so that the main circuit power supply is shut off and the servo-on command turned off
after deceleration to a stop due to an alarm occurring, an enabled servo forced stop, or an enabled controller
forced stop. 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-J4-10B(-RJ) to MR-J4-350B(-RJ)

(Note 4)
Malfunction OFF
RA1 ON
MC
MC
SK
EMG 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 is for 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-J4-10B(-RJ) to MR-J4-70B(-RJ)
POINT
Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of
the connecting destinations is different from MR-J3 Series Servo Amplifier's.
When using MR-J4 as a replacement for MR-J3, be careful not to connect the
power to L2.
(Note 4)
Malfunction OFF
RA1 ON
MC
MC
EMG 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
CN2 Encoder Encoder
L11 cable
L21
(Note 8)
Main circuit power supply CN3
EM2 CN3 24 V DC (Note 12)
(Note 5) Forced stop 2
DICOM DOCOM
24 V DC (Note 12) ALM RA1 Malfunction (Note 4) (Note 5)

CN8
(Note 9)
Manual (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-J4-500B(-RJ)
(Note 4)
Malfunction OFF
RA1 ON
MC
MC
SK
EMG stop switch
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)
EM2 DOCOM
24 V DC (Note 12)
(Note 9) CN8
Manual (Vol. 3)".
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.
amplifier.
to section 11.10.)
3- 6
(4) MR-J4-700B(-RJ)
(Note 4)
Malfunction OFF
RA1 ON
MC
MC
SK
EMG stop switch

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)
EM2 DOCOM
24 V DC (Note 12)
(Note 9) CN8
2. When using the regenerative option, refer to section 11.2.
Manual (Vol. 3)".
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.
amplifier.
to section 11.10.)
3- 7
(5) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ)/MR-J4-22KB(-RJ)
(Note 4)
Malfunction OFF
RA1 ON
MC
MC (Note 14)
EMG stop switch SK Cooling fan
power supply
Servo amplifier External Servo motor
MC dynamic
MCCB (Note 7) 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)
EM2 DOCOM
24 V DC (Note 12)
(Note 9) CN8
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.
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
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.)
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.
13. For the servo motor with a cooling fan.
14. For the cooling fan power supply, refer to "Servo Motor Instruction Manual (Vol. 3)".
3- 8
3.1.2 400 V class
(1) MR-J4-60B4(-RJ) to MR-J4-350B4(-RJ)

(Note 4)
Malfunction OFF
RA1 ON
MC
MC
Emergency stop switch SK
(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
Manual (Vol. 3)".
amplifier.
to 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- 9
(2) MR-J4-500B4(-RJ)/MR-J4-700B4(-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-
P3 Encoder cable
(Note 1)
P4
(Note 8)
DICOM ALM RA1 (Note 4) (Note 5)

24 V DC (Note 13) Malfunction
(Note 9) CN8
Manual (Vol. 3)".
amplifier.
to section 11.10.)
3 - 10
(3) MR-J4-11KB4(-RJ) to MR-J4-22KB4(-RJ)

(Note 4)
Malfunction OFF
RA1 ON
MC
MC
(Note 14)
(Note 12) Emergency stop switch SK Cooling fan
Step-down power supply
transformer External
Servo amplifier dynamic brake Servo motor
(Note 7)
MCCB MC (optional)
L1 (Note 16)
3-phase (Note 11)
380 V AC to L2 U U
480 V AC Motor
L3 V V MCCB
M
P+ W W
(Note 6)
(Note 10) C
Regenerative
resistor
(Note 2)
L11
L21
(Note 11)
N-
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
2. When using the regenerative resistor, 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)".
5. This diagram is for sink I/O interface. For source I/O interface, refer to section 3.8.3 in MR-J4-_B(-RJ) Servo Amplifier
Instruction Manual.
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
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.)
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.
3 - 11
3.1.3 100 V class

(Note 4)
Malfunction OFF
RA1 ON
MC
MC
SK
EMG stop switch
MC
MCCB (Note 7) CNP1
1-phase (Note 11)
L1
100 V AC to CNP3 (Note 6)
120 V AC Unassigned U U
Motor
L2 V V
M
N- W W
Unassigned
(Note 10) (Note 1)
Unassigned
CNP2
P+
(Note 2) C
CN2 Encoder Encoder
L11 cable
L21
(Note 8)

24 V DC (Note 12)
(Note 9) CN8
Note 1. The power factor improving DC reactor cannot be used.

Manual (Vol. 3)".
amplifier.
10. When wires used for L11 and L21 are thinner than wires used for L1 and L2, use a molded-case circuit breaker. (Refer to
section 11.10.)
3 - 12
3.2 I/O signal connection example
POINT
3.2.1 For sink I/O interface

Servo amplifier
CN8
(Note 16)
(Note 12) 10 m or less

10 m or less CN3 24 V DC (Note 10)
(Note 15) (Note 12) 3 DOCOM

(Note 2)
Main circuit power supply CN3 (Note 17)
(Note 3, 4) 13 MBR RA1 Electromagnetic brake interlock
Forced stop 2 EM2 20
(Note 13)
9 INP RA2 In-position
FLS DI1 2
(Note 14) RLS DI2 12 15 ALM RA3 Malfunction (Note 11)
DOG DI3 19
DICOM 5 6 LA Encoder A-phase pulse
(Note 10) 24 V DC (differential line driver)
DICOM 10 16 LAR
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

1 LG DC ± 10 V
DC ± 10 V
Plate SD
Servo system
controller 2 m or less Servo amplifier
(Note 6)
SSCNET III cable (Note 7)
(option)
CN1A CN1B CN1A
(Note 1)
CN1B
The last servo amplifier (Note 8)

(Note 7)
CN1A
(Note 6)
SSCNET III cable
(option) (Note 9) CN1B
Cap
3 - 13
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). (Normally closed contact)
5. Use SW1DNC-MRC2-J. (Refer to section 11.7.)
6. Use SSCNET III cables listed in the following table.
Cable Cable model Cable length

Standard cord inside
MR-J3BUS_M 0.15 m to 3 m
cabinet
Standard cable
MR-J3BUS_M-A 5 m to 20 m
outside cabinet
Long-distance cable MR-J3BUS_M-B 30 m to 50 m
7. The wiring after the second servo amplifier is omitted.

8. Up to 64 axes of servo amplifiers can be connected. The number of connectable axes depends on the controller you use.
Refer to section 4.3.1 for setting of axis selection.
9. Make sure to cap the unused CN1B connector.
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. Devices can be assigned for these signals with controller setting. For devices that can be assigned, refer to the controller
instruction manual. The following devices can be assigned for Q172DSCPU, Q173DSCPU, and QD77MS_.
FLS: Upper stroke limit
RLS: Lower stroke limit
DOG: Proximity dog
amplifier.
17. When you use a linear servo motor or direct drive motor, use MBR (Electromagnetic brake interlock) for an external brake
mechanism.
3 - 14
3.2.2 For source I/O interface
POINT
For notes, refer to section 3.2.1.
Servo amplifier
CN8
(Note 16)
(Packed with the servo
amplifier) (Note 12) 10 m or less
10 m or less CN3 24 V DC (Note 10)
(Note 15) (Note 12) 3 DOCOM
Main circuit power supply CN3 (Note 2)

(Note 3, 4) 13 MBR RA1 Electromagnetic brake interlock
Forced stop 2 EM2 20
(Note 13)
9 INP RA2 In-position
FLS DI1 2
(Note 14) RLS DI2 12 15 ALM RA3 Malfunction (Note 11)
DOG DI3 19
DICOM 5 6 LA Encoder A-phase pulse
(Note 10) 24 V DC (differential line driver)
DICOM 10 16 LAR
7 LB Encoder B-phase pulse
17 LBR (differential line driver)
Personal 8 LZ Encoder Z-phase pulse

(Note 5) computer USB cable 18 LZR (differential line driver)
MR Configurator2 MR-J3USBCBL3M 11 LG Control common
(option)
CN5
+ 4 MO1 Analog monitor 1
1 LG
Plate SD
Servo system
controller 2 m or less Servo amplifier
(Note 6)
SSCNET III cable (Note 7)
(option)
CN1A CN1B CN1A
(Note 1)
CN1B
The last servo amplifier (Note 8)

(Note 7)
CN1A
(Note 6)
SSCNET III cable
(option) (Note 9) CN1B
Cap
3 - 15
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.
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-J4-10B MR-J4-100B MR-J4-60B4

(-RJ) to (-RJ) to (-RJ) to MR-J4-10B1 to
Power MR-J4-70B MR-J4-22KB MR-J4-22KB4 MR-J4-40B1
(-RJ) (-RJ) (-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
1-phase 100 V AC to
L1/L2
120 V AC, 50 Hz/60 Hz
When not using the power factor improving DC reactor, connect P3 and P4. (factory-wired)
When using the power factor improving DC reactor, disconnect P3 and P4, and connect the
Power factor
P3/P4 power factor improving DC reactor to P3 and P4. Additionally, the power factor improving DC
improving DC reactor
reactor cannot be used for the 100 V class servo amplifiers.
Refer to section 11.11 for details.
(1) 200 V class/100 V class
1) MR-J4-500B(-RJ) or less and MR-J4-40B1(-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-J4-700B(-RJ) to MR-J4-22KB(-RJ)
MR-J4-700B(-RJ) to MR-J4-22KB(-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-J4-350B4(-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-J4-500B4(-RJ) to MR-J4-22KB4(-RJ)
MR-J4-500B4(-RJ) to MR-J4-22KB4(-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 - 16
Connection target
Symbol Description
(application)
Supply the following power to L11 and L21.
Servo amplifier MR-J4-10B(-RJ) to MR-J4-60B4(-RJ) to MR-J4-10B1 to

Power MR-J4-22KB(-RJ) MR-J4-22KB4(-RJ) MR-J4-40B1
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
L11/L21
120 V AC, 50 Hz/60 Hz
Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V,
Servo motor power
U/V/W and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a
output
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
A voltage, output signal, etc. of analog monitor output may be irregular 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 and 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 within 3 s to 4 s after the main circuit power
supply is switched on.
(Refer to (2) of this section.)
3 - 17
(2) Timing chart

Servo-on command accepted
(Note 1)
(3 s to 4 s)
Main circuit ON
Control circuit power supply 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" 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-J4-500B(-RJ) or more and MR-J4-500B4(-RJ) or more do not have these
connectors.
Use the servo amplifier power connector for wiring CNP1, CNP2, and CNP3.
(1) Connector
(a) MR-J4-10B(-RJ) to MR-J4-100B(-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
CNP2 05JFAT-SAXGDK-H5.0 AWG 18 to 14 39 mm or shorter 9 J-FAT-OT JST
3 - 18
(b) MR-J4-200B(-RJ)/MR-J4-350B(-RJ)
MR-J4-200B(-RJ) MR-J4-350B(-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-J4-60B4(-RJ) to MR-J4-350B4(-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 - 19
(d) MR-J4-10B1(-RJ) to MR-J4-40B1(-RJ)

Servo amplifier
CNP1
CNP2
CNP3

CNP2 05JFAT-SAXGDK-H5.0 AWG 18 to 14 39 mm or shorter 9 J-FAT-OT JST
(2) Cable connection procedure

(a) Fabrication on cable insulator
Refer to table 3.1 to 3.4 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 - 20
You can also use a ferrule to connect with the connectors. The following shows references to select
ferrules according to wire sizes.
Ferrule model (Phoenix Contact) Crimping tool
Servo amplifier Wire size
For one For two (Phoenix Contact)
MR-J4-10B(-RJ) to AWG 16 AI1.5-10BK AI-TWIN2×1.5-10BK
MR-J4-100B(-RJ) AWG 14 AI2.5-10BU
AWG 16 AI1.5-10BK AI-TWIN2×1.5-10BK
MR-J4-200B(-RJ) to
AWG 14 AI2.5-10BU AI-TWIN2×2.5-10BU
MR-J4-350B(-RJ)
AWG 12 AI4-10GY CRIMPFOX-ZA3
MR-J4-60B4(-RJ) to AWG 16 AI1.5-10BK AI-TWIN2×1.5-10BK
MR-J4-350B4(-RJ) AWG 14 AI2.5-10BU
MR-J4-10B1(-RJ) to AWG 16 AI1.5-10BK AI-TWIN2×1.5-10BK
MR-J4-40B1(-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-J4-200B(-RJ) and MR-J4-
350B(-RJ).
1) Push down the open tool.
3) Release the open tool to fix the wire.
2) Insert the wire.
3 - 21
3.4 Connectors and pin assignment
POINT
The pin assignment of the connectors are 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-J4-20B-RJ or less. Refer to chapter 9 DIMENSIONS
for the appearances and connector layouts of the other servo amplifiers.
CN5(USB connector) CN3
Refer to section 11.7
1 11
CN8 2 12
For the STO I/O signal LG LG
connector, refer to section 13.2. DI1 DI2
3 13
4 14
DOCOM MBR
MO1 MO2
5 15
6 16
DICOM ALM
CN1A LA
Connector for SSCNET III LAR
(Note 2) CN2 7 17
cable for previous servo
amplifier axis 8 18
LB LBR
2 6 10
LG 4 THM2 8 CN1B LZ LZR
9 19
MRR MXR Connector for SSCNET III
1 5 9 cable for next servo 10 20
amplifier axis INP DI3
P5 3 THM1 7 BAT
MR MX DICOM EM2
The frames of the CN2 and CN3 CN4

connectors are connected to the (Battery connector)
protective earth terminal in the Refer to section 11.8
servo amplifier.
(Note1, 2) CN2L (Note 1, 2) CN2L

(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-_B_ servo amplifiers have CN2L connectors. This CN2L is a connector of 3M.
When using any other connector, refer to each servo motor instruction manual.
2. Refer to table 1.1 for connections of external encoders.
3 - 22
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

Connector I/O
Device Symbol Function and application
pin No. division
Turn off EM2 (open between commons) to decelerate the servo motor to a stop
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.
Forced stop 2 EM2 CN3-20 MBR (Electromagnetic MBR (Electromagnetic DI-1
brake interlock) turns off brake interlock) turns off
20__ EM2
after the forced stop after the forced stop
deceleration. deceleration.
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.

When using EM1, set [Pr. PA04] to "0 0 _ _" to enable EM1.
Turn EM1 off (open between commons) to bring the motor to an forced stop
state. The base circuit is shut off, the dynamic brake is operated and decelerate
Forced stop 1 EM1 (CN3-20) the servo motor to a stop. DI-1
Turn EM1 on (short between commons) in the forced stop state to reset that
state.
Set [Pr. PA04] to "0 1 _ _" to disable EM1.
DI1 CN3-2 Devices can be assigned for these signals with controller setting. For devices DI-1
that can be assigned, refer to the controller instruction manual. The following
DI2 CN3-12 DI-1
devices can be assigned for MR-J4 compatible controller (Q172DSCPU,
DI3 CN3-19 Q173DSCPU, and QD77MS_). DI-1
3 - 23
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
CN3-15 [Pr. PD09] ALM DO-1
CN3-9 [Pr. PD08] INP
(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 speed control mode, torque control mode, and for continuous
operation to torque control 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.
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 control mode and torque control mode.
Limiting speed VLC When the speed reaches the speed limit value in the torque control mode, VLC will turn on. When
the servo is off, TLC will be turned off.
The device cannot be used in the position control mode and speed control mode.
Zero speed detection ZSP ZSP turns on when the servo motor speed is zero speed (50r/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 - 24

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 control 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 speed control mode and torque control 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
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 CN3-10 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 CN3-1 Common terminal of MO1 and MO2.
CN3-11 Pins are connected internally.
Shield SD Plate Connect the external conductor of the shielded wire.
3 - 25
3.6 Forced stop deceleration function
POINT
When alarms not related to the forced stop function occur, control of motor
deceleration can not be guaranteed. (Refer to section 8.1.)
When SSCNET III/H communication brake occurs, forced stop deceleration will
operate. (Refer to section 3.7.1 (3).)
In the torque control 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 the servo amplifier
life may be shortened.
(1) Connection diagram

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

When EM2 (Forced stop 2) turns 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 - 26
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 SSCNET III/H communication brake 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 - 27
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 SSCNET III/H communication brake 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 - 28
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 or give the error reset or CPU reset command from
the servo system controller. 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 ignored.
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 - 29
(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 SSCNET III/H communication brake occurs

The dynamic brake may operate depending on the communication shut-off status.
SSCNET III/H communication
has broken.
(Note)
0 r/min
Base circuit ON
(Energy supply to
Servo amplifier
display No alarm (d1 or E7) AA
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 SSCNET III/H communication brake
occurs is the same as section 3.7.1 (2).
3 - 30
3.8 Interfaces
3.8.1 Internal connection diagram
POINT
Refer to section 13.3.1 for the CN8 connector.
Servo amplifier
(Note 5)
Forced stop 2 CN3 CN3
Approximately
6.2 k
24 V DC
EM2 20 3 DOCOM
DI1 2 13 MBR RA
(Note 2) (Note 3)
(Note 1) DI2 12 9
(Note 3) Approximately INP
6.2 k
DI3 19 15 ALM RA
DICOM 5
(Note 5)
24 V DC DICOM 10
Isolated
CN3
6 LA
16 LAR
7 LB Differential line
17 LBR driver output
(35 mA or less)
8 LZ
18 LZR
11 LG
CN3 Analog monitor
CN5 4 MO1
D- 2
USB D+ 3 14 MO2 ±10 V DC
±10 V DC
GND 5
1 LG
Servo motor
CN2
Encoder
7 MX
8 MXR
3 MR
4 MRR
2 LG
PE
M
External encoder
(Note 4, 6) CN2L
Encoder
7 MX2
8 MXR2
3 MR2
4 MRR2
2 LG
Note 1. Signal can be assigned for these pins with the controller setting.
For contents of signals, refer to the instruction manual of the controller.
2. The signal cannot be used in the speed control mode and torque control mode.
4. This is for MR-J4-_B_-RJ servo amplifier. MR-J4-_B_ servo amplifier does not have CN2L connector.
6. Refer to table 1.1 for connections of external encoders.
3 - 31
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.
Approximately
6.2 kΩ
Switch
TR
DICOM
VCES 1.0 V 24 V DC ± 10%
ICEO 100 µA 300 mA
(2) 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 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 - 32
(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 - 33
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.
Approximately
6.2 kΩ
TR Switch
DICOM
Approximately 24 V DC ± 10%
5 mA 300 mA
VCES 1.0 V
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 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 - 34
3.9 SSCNET III cable connection
POINT
Do not look directly at the light generated from CN1A/CN1B connector of the
servo amplifier or the end of SSCNET III cable. The light can be a discomfort
when it enters the eye.
(1) SSCNET III cable connection

For the CN1A connector, connect the SSCNET III cable connected to a controller in host side or a servo
amplifier of the previous axis. For CN1B connector, connect SSCNET III cable connected to servo
amplifier of the next axis. For CN1B connector of the final axis, put a cap came with servo amplifier.
The first axis servo amplifier The second axis servo amplifier The last axis servo amplifier
SSCNET III SSCNET III

SSCNET III cable cable cable
Controller CN1A CN1A CN1A
Cap
CN1B CN1B CN1B
(2) How to connect/disconnect cable
POINT
CN1A and CN1B connector are capped to protect light device inside connector
from dust. For this reason, do not remove a cap until just before mounting
SSCNET III cable. Then, when removing SSCNET III cable, make sure to put a
cap.
Keep the cap for CN1A/CN1B connector and the tube for protecting optical cord
end of SSCNET III cable in a plastic bag with a zipper of SSCNET III cable to
prevent them from becoming dirty.
When asking repair of servo amplifier for some malfunctions, make sure to cap
CN1A and CN1B connector. When the connector is not put a cap, the light
device may be damaged at the transit. In this case, replacing and repairing the
light device is required.
(a) Connection
1) For SSCNET III cable in the shipping status, the tube for protect optical cord end is put on the
end of connector. Remove this tube.
2) Remove the CN1A and CN1B connector caps of the servo amplifier.
3 - 35
3) With holding a tab of SSCNET III cable connector, make sure to insert it into the CN1A and CN1B
connector of the servo amplifier until you hear the click. If the end face of optical cord tip is dirty,
optical transmission is interrupted and it may cause malfunctions. If it becomes dirty, wipe with a
bonded textile, etc. Do not use solvent such as alcohol.
Click
CN1A CN1A
CN1B CN1B
Tab
(b) Disconnection
With holding a tab of SSCNET III cable connector, pull out the connector.
When pulling out the SSCNET III cable from servo amplifier, be sure to put the cap on the connector
parts of servo amplifier to prevent it from becoming dirty. For SSCNET III cable, attach the tube for
protection optical cord's end face on the end of connector.
3 - 36
3.10 Servo motor with an electromagnetic brake
3.10.1 Safety precautions
Configure an electromagnetic brake circuit so that it is activated also by an

external EMG stop switch.
Contacts must be opened when ALM (Malfunction) Contacts must be opened with the
or MBR (Electromagnetic brake interlock) turns off. EMG stop switch.
Servo motor
RA
B U 24 V DC
CAUTION Electromagnetic brake
The electromagnetic brake is provided for holding purpose and must not be used
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.
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.

Servo amplifier
(Note 2)
MBR ALM Servo motor
24 V DC B1
RA1 (Malfaunction) (Note 1)
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 3.10.2.
3 - 37
3.10.2 Timing chart
(1) When you use the forced stop deceleration function
POINT
To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].
(a) 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) Forced stop 2 on/off
POINT
(Note 2)
0 r/min
Base circuit ON
(Energy supply to
ON
EM2 (Forced stop 2)
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 forced stop command (from controller) or EM1 (Forced stop)
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
Forced stop command
(from controller) Disabled (ON)
or
EM1 (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) of 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.
3.11 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 the EMC Installation Guidelines (IB(NA)67310).
Cabinet
CN2
MCCB MC
L1
Line filter
(Note) Encoder
Power L2
supply
L3
L11
L21 U U
V V M
W W
CN1A
Servo system
controller
Ensure to connect the wire to the

PE terminal of the servo amplifier.
Do not connect the wire directly to
the grounding of the cabinet.
Outer
Protective earth (PE) 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 power is on or for some time after power-off. Take safety measures, e.g.
CAUTION provide covers, to prevent accidental contact of hands and parts (cables, etc.)
with them.
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
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.)
Surrounding environment check Check the surrounding environment of the servo amplifier and servo motor.
(Refer to section 4.1.3.)
Axis No. settings Confirm that the control axis No. set with the auxiliary axis number setting
switches (SW2-3 and SW2-4) and with the axis selection rotary switch
(SW1) match the control axis No. set with the servo system controller. (Refer
to section 4.3.1 (3).)
Parameter setting Set the parameters as necessary, such as the used operation mode and
regenerative option selection. (Refer to chapter 5.)
Test operation of the servo motor For the test operation, with the servo motor disconnected from the machine
alone in test operation mode and operated at the speed as low as possible, check whether the servo
motor rotates correctly. (Refer to section 4.5.)
Test operation of the servo For the test operation with the servo motor disconnected from the machine
motor alone by commands and operated at the speed as low as possible, give commands to the servo
amplifier and check whether the servo motor rotates correctly.
Test operation with the servo After connecting the servo motor with the machine, check machine motions
motor and machine connected with sending operation commands from the servo system controller.
Gain adjustment Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)
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, and 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
(Note)
P4
Note. The 100 V class servo amplifiers do not have P3 and P4.
(b) Connection of servo amplifier and servo motor

1) The servo amplifier power output (U, V, and W) should match in phase with the servo motor
power input terminals (U, V, and 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, and W). To do so will fail the connected 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.
A twisted cable 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 to 11.4.)
A twisted cable should be used when wiring is over 5 m and under 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 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.
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 to 11.4.)
A twisted cable should be used when wiring is over 5 m and under 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.
3) 100 V class
(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. This function can be used
to perform a wiring check. 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) SD and DOCOM of the CN3 connector is not shorted.

Servo amplifier
CN3
DOCOM
SD
4- 5
4. STARTUP
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.
4.2 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 axis) 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 servo system 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.
4- 6
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 3.10 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
Servo system Ready-off command
bring the servo motor to a stop.
controller
The servo motor decelerates to a stop with the command. [AL.
Forced stop command
E7 Controller forced stop warning] occurs.
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 section 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 control 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.
4- 7
4. STARTUP
4.3 Switch setting and display of the servo amplifier
Switching to the test operation mode, deactivating control axes, and setting control axis 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
servo system controller at power-on, and the axis number, and diagnose a malfunction at occurrence of an
alarm.
4.3.1 Switches
When switching the axis selection rotary switch (SW1) and auxiliary axis number
setting switch (SW2), 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 control axis setting switches (SW2) enables an
operation mode for manufacturer setting and displays "off". The mode is not
available. Set the control axis setting switches (SW2) 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 test operation select switch, the disabling control axis switch, auxiliary axis
number setting switches, and the axis selection rotary switch.
3-dight, 7-segment LED Axis selection rotary switch

(SW1)
Control axis setting switch

(SW2) ON
1 2 3 4
Auxiliary axis number setting switch

Control axis deactivation switch
Test operation select switch
(1) Test operation select switch (SW2-1)

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. Before turning "ON (up)" the test operation
select switch, turn "OFF (down)" the disabling control axis switch.
ON
1 2 3 4
Set to the "OFF (down)" position.
Test operation select switch
Set to the "ON (up)" position.
4- 8
4. STARTUP
(2) Disabling control axis switch (SW2-2)

Turning "ON (up)" the disabling control axis switch disables the corresponding servo motor. The servo
motor will be disabled-axis status and will not be recognized by the controller.
ON
1 2 3 4
(3) Switches for setting control axis No.
POINT
The control axis No. set to the auxiliary axis number setting switches (SW2-3
and SW2-4) and the axis selection rotary switch (SW1) should be the same as
the one set to the servo system controller. The number of the axes you can set
depends on the servo system controller.
For setting the axis selection rotary switch, use a flat-blade screwdriver with the
blade edge width of 2.1 mm to 2.3 mm and the blade edge thickness of 0.6 mm
to 0.7 mm.
When the test operation mode is selected with the test operation select switch
(SW2-1), the SSCNET III/H communication for the servo amplifier in the test
operation mode and the following servo amplifiers is blocked.
You can set the control axis No. between 1 and 64 by using auxiliary axis number setting switches with
the axis selection rotary switch. (Refer to (3) (c) of this section.)
If the same numbers are set to different control axes in a single communication system, the system will
not operate properly. The control axes may be set independently of the SSCNET III cable connection
sequence. The following shows the description of each switch.
(a) Auxiliary axis number setting switches (SW2-3 and SW2-4)

Turning these switches "ON (up)" enables you to set the axis No. 17 or more.
(b) Axis selection rotary switch (SW1)

You can set the control axis No. between 1 and 64 by using auxiliary axis number setting switches
with the axis selection rotary switch. (Refer to (3) (c) of this section.)
7 8 9
A
3 4 5 6
B C D E
2
F 0 1
4- 9
4. STARTUP
(c) Switch combination list for the control axis No. setting
The following lists show the setting combinations of the auxiliary axis number setting switches and
the axis selection rotary switch.
Axis Axis
Auxiliary axis number selection Control Auxiliary axis number selection Control
setting switch rotary axis No. setting switch rotary axis No.
switch switch
0 1 0 17
1 2 1 18
2 3 2 19
3 4 3 20
4 5 4 21
5 6 5 22
6 7 6 23
ON ON
7 8 7 24
1 2 3 4 8 9 1 2 3 4 8 25
9 10 9 26
A 11 A 27
B 12 B 28
C 13 C 29
D 14 D 30
E 15 E 31
F 16 F 32
Axis Axis
Auxiliary axis number selection Control Auxiliary axis number selection Control
setting switch rotary axis No. setting switch rotary axis No.
switch switch
0 33 0 49
1 34 1 50
2 35 2 51
3 36 3 52
4 37 4 53
5 38 5 54
6 39 6 55
ON ON
7 40 7 56
1 2 3 4 8 41 1 2 3 4 8 57
9 42 9 58
A 43 A 59
B 44 B 60
C 45 C 61
D 46 D 62
E 47 E 63
F 48 F 64
4 - 10
4. STARTUP
4.3.2 Scrolling display
(1) Normal display

When there is no alarm, the axis No. and blank are displayed in rotation.
After 1.6 s
Status Blank
After 0.2 s
Status Axis 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 Axis No. Alarm No. Alarm detail

(1 digit) (2 digits) (2 digits) (1 digit)
"n": Indicates that an alarm is occurring.
4 - 11
4. STARTUP
4.3.3 Status display of an axis
(1) Display sequence

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

(SSCNET III/H communication)
Servo system controller power on

(SSCNET III/H communication begins)
Initial data communication with the

servo system controller
(initialization communication)
When an alarm No. or warning No. is displayed

(Note) Ready-off and ready-off Example: When [AL. 50 Overload 1]
occurs at axis No. 1
Flickering
Ready-on After 0.8 s
Flickering
(Note) Ready-on and servo-off After 0.8 s
When alarm occurs, its
alarm code appears. Blank
Servo-on
Example: When [AL. E1 Overload warning 1]
occurs at axis No. 1
(Note) Ready-on and servo-on Flickering
After 0.8 s
Flickering
Ordinary operation
After 0.8 s
Blank
Servo system controller power off
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

Servo system controller power on
Note. The segment of the last 2 digits shows the axis number.
Axis Axis Axis
No. 1 No. 2 No. 64
4 - 12
4. STARTUP
(2) Indication list

Indication Status Description
Initializing System check in progress
Power of the servo amplifier was switched on at the condition that the power of the
servo system controller is off.
The control axis No. set to the auxiliary axis number setting switches (SW2-3 and
SW2-4) and the axis selection rotary switch (SW1) do not match the one set to the
servo system controller.
A b Initializing
A servo amplifier malfunctioned, or communication error occured with the servo
system controller or the previous axis servo amplifier. In this case, the indication
changes as follows:
"Ab", "AC", "Ad", and "Ab"
The servo system controller is malfunctioning.
A b . Initializing During initial setting for communication specifications
Initial setting for communication specifications completed, and then it synchronized
AC Initializing
with servo system controller.
A d Initializing During initial parameter setting communication with servo system controller
During the servo motor/encoder information and telecommunication with servo
A E Initializing
system controller
A F Initializing During initial signal data communication with servo system controller
The process for initial data communication with the servo system controller is
AH Initializing completion
completed.
The power supply of servo system controller is turned off during the power supply of
A A Initializing standby
servo amplifier is on.
(Note 1) b # # Ready-off The ready-off signal from the servo system controller was received.
(Note 1) d # # Servo-on The ready-off signal from the servo system controller was received.
(Note 1) C # # Servo-off The ready-off signal from the servo system controller was received.
The alarm No. and the warning No. that occurred is displayed. (Refer to section 8.
(Note 2) * * * Alarm and warning
(Note 4))
8 8 8 CPU error CPU watchdog error has occurred.
(Note 1) b # #.
(Note 3)
d # #. Motor-less operation
Test operation mode
C # #.
Note 1. The meanings of ## are listed below.
## Description
01 Axis No. 1
64 Axis No. 64
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 - 13
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 without connecting the servo system controller.
4 - 14
4. STARTUP
4.5.1 Test operation mode in MR Configurator2
POINT
(1) Test operation mode

(a) Jog operation
Jog operation can be performed without using the servo system 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 servo system controller is connected or not.
Exercise control on the jog operation screen of MR Configurator2.
1) Operation pattern
Item initial value Setting range
Speed [r/min] 200 0 to max. speed
Acceleration/deceleration
1000 0 to 50000
time constant [ms]
2) Operation method
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 the "Forward" button.
Reverse rotation start Keep pressing the "Reverse" button.
Stop Release the "Forward" or "Reverse" button.
Forced stop Click the "Forced stop" button.
When the check box of "Rotation only while the CCW or CW button is being pushed." is not
checked.
Forward rotation start Click the "Forward" button.
Reverse rotation start Click the "Reverse" button.
Stop Click the "Stop" button.
4 - 15
4. STARTUP
(b) Positioning operation

Positioning operation can be performed without using the servo system 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 servo system 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
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 the "Forward" button.
Reverse rotation start Click the "Reverse" button.
Pause Click the "Pause" button.
(c) Program operation

Positioning operation can be performed in two or more operation patterns combined, without using
the servo system 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 servo system 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 the "Start" button.
(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 - 16
4. STARTUP
(2) Operation procedure

1) Turn off the power.
2) Turn "ON (up)" SW2-1.
ON ON
Set SW2-1 to "ON (up)".
1 2 3 4 1 2 3 4
Turning "ON (up)" SW2-1 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 - 17
4. STARTUP
4.5.2 Motor-less operation in controller
POINT
Use motor-less operation which is available by making the servo system
controller parameter setting.
Connect the servo system controller to the servo amplifier before the motor-less
operation.
The motor-less operation using a controller is available with rotary servo motors
only. It will be available with linear servo motors and direct drive motors in the
future.
(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 servo system controller commands as if the servo motor is actually running.
This operation may be used to check the servo system controller sequence. Use this operation with the
forced stop reset. Use this operation with the servo amplifier connected to the servo system controller.
To stop the motor-less operation, set the motor-less operation selection to "Disable" in the servo
parameter setting of the servo system controller. When the power supply is turned on next time, motor-
less operation will be disabled.
(a) Load conditions

Load item Condition
Load torque 0
Load to motor inertia ratio Same as the moment of inertia of the servo motor
(b) Alarms
The following alarms and warning do not occur. However, the other alarms and warnings occur as
when the servo motor is connected.
(Note) Rotary servo
Rotary servo
Alarm and warning Linear servo motor Direct drive motor motor in fully closed
motor
loop system
[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. 28 Linear encoder error 2]
[AL. 2A Linear encoder error 1]
[AL. 2B Encoder counter error]
[AL. 92 Battery cable disconnection warning]
[AL. 9F Battery warning]
[AL. 70 Load-side encoder error 1]
[AL. 71 Load-side encoder error 2]
Note. The fully closed loop system is available for the MR-J4-_B_(-RJ) servo amplifiers of which software version is A3 or above. Check
the software version using MR Configurator2.
4 - 18
4. STARTUP

1) Set the servo amplifier to the servo-off status.
2) Set [Pr. PC05] to "_ _ _ 1", turn "OFF (down: normal condition side)" the test operation mode
switch (SW2-1), and then turn on the power supply.
ON
Set SW2-1 to "OFF (down)".
1 2 3 4
3) Start the motor-less operation with the servo system controller.

The display shows the following screen.
The decimal point flickers.
4 - 19
4. STARTUP
MEMO
4 - 20
5. PARAMETERS
5. PARAMETERS
Never make a drastic adjustment or change to the parameter values as doing so

will make the operation unstable.
CAUTION If fixed values are written in the digits of a parameter, do not change these values.
Do not change parameters for manufacturer setting.
Do not set values other than described values to each parameter.
POINT
When you connect the amplifier to a servo system controller, servo parameter
values of the servo system controller will be written to each parameter.
Setting may not be made to some parameters and their ranges depending on
the servo system controller model, servo amplifier software version, and MR
Configurator2 software version. For details, refer to the servo system controller
user's manual.
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.
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
D.D.: Direct drive (D.D.) motor use
5- 1
5. PARAMETERS
5.1.1 Basic setting parameters ([Pr. PA_ _ ])

Operation
mode
Initial
Standard
No. Symbol Name Unit
value
D.D.
Full.
Lin.
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 For manufacturer setting 1000.0
PA12 1000.0
PA13 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
D.D.
Full.
Lin.
PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h
PB02 VRFT Vibration suppression control tuning mode (advanced vibration 0000h
suppression control II)
PB03 TFBGN Torque feedback loop gain 18000 [rad/s]
PB04 FFC Feed forward gain 0 [%]
PB05 For manufacturer setting 500
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 For manufacturer setting 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
PB37 For manufacturer setting 1600
PB38 0.00
PB39 0.00
PB40 0.00
PB41 0
PB42 0
PB43 0000h
PB44 0.00
PB45 CNHF Command notch filter 0000h
5- 3
5. PARAMETERS
Operation
mode
Initial
Standard
value
D.D.
Full.
Lin.
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
D.D.
Full.
PC01 ERZ Error excessive alarm level 0 [rev]/ Lin.
[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 MOSDL Analog monitor - Feedback position output standard data - Low 0 [pulse]
PC14 MOSDH Analog monitor - Feedback position output standard data - High 0 [10000pulses]
PC15 For manufacturer setting 0
PC16 0000h
PC19 For manufacturer setting 0000h
5- 4
5. PARAMETERS
Operation
mode
Initial
Standard
value
D.D.
Full.
Lin.
PC21 *BPS Alarm history clear 0000h
PC23 0000h
PC24 RSBR Forced stop deceleration time constant 100 [ms]
(Note)

(Note)

PC29 *COPB Function selection C-B 0000h
PC31 RSUP1 Vertical axis freefall prevention compensation amount 0 [0.0001rev]/
[0.01mm]
PC33 0
PC34 100
PC35 0000h
PC36 0000h
PC37 0000h
PC38 0000h
PC39 0000h
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
Note. It is available when the scale measurement function is enabled ([Pr. PA22] is "1 _ _ _" or "2 _ _ _").
5- 5
5. PARAMETERS
5.1.4 I/O setting parameters ([Pr. PD_ _ ])

Operation
mode
Initial
Standard
value
D.D.
Full.
Lin.
PD01 For manufacturer setting 0000h
PD02 *DIA2 Input signal automatic on selection 2 0000h
PD04 0021h
PD05 0022h
PD06 0000h
PD07 *DO1 Output device selection 1 0005h
PD11 *DIF Input filter setting (Note) 0004h [ms]
PD12 *DOP1 Function selection D-1 0000h
PD14 *DOP3 Function selection D-3 0000h
PD15 *IDCS Driver communication setting 0000h
PD16 *MD1 Driver communication setting - Master - Transmit data selection 1 0000h
PD17 *MD2 Driver communication setting - Master - Transmit data selection 2 0000h
PD19 0000h
PD20 *SLA1 Driver communication setting - Slave - Master axis No. selection 1 0
PD21 For manufacturer setting 0
PD22 0
PD23 0
PD24 0000h
PD25 0000h
PD26 0000h
PD27 0000h
PD28 0000h
PD29 0000h
PD30 TLC Master-slave operation - Torque command coefficient on slave 0
PD31 VLC Master-slave operation - Speed limit coefficient on slave 0
PD32 VLL Master-slave operation - Speed limit adjusted value on slave 0 [r/min]
PD34 0000h
PD35 0000h
PD36 0000h
PD37 0000h
PD38 0000h
PD39 0000h
PD40 0000h
PD41 0000h
PD42 0000h
PD43 0000h
PD44 0000h
PD45 0000h
PD46 0000h
PD47 0000h
PD48 0000h
Note. Refer to the servo system controller instruction manual for the setting.
5- 6
5. PARAMETERS
5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])

Operation
mode
Initial
Standard
value
D.D.
Full.
Lin.
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 - Denominator 1
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 0000h
PE45 0000h
PE46 0000h
PE47 0000h
PE48 0000h
PE49 0000h
PE50 0000h
5- 7
5. PARAMETERS
Operation
mode
Initial
Standard
value
D.D.
Full.
Lin.
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
D.D.
Full.
Lin.
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 0000h
PF19 0000h
PF20 0000h
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- 8
5. PARAMETERS
Operation
mode
Initial
Standard
value
D.D.
Full.
Lin.
PF30 0
PF31 FRIC Machine diagnosis function - Friction judgement speed 0 [r/min]/
[mm/s]
PF33 0000h
PF34 0000h
PF35 0000h
PF36 0000h
PF37 0000h
PF38 0000h
PF39 0000h
PF40 0000h
PF41 0000h
PF42 0000h
PF43 0000h
PF44 0000h
PF45 0000h
PF46 0000h
PF47 0000h
PF48 0000h
5.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])

Operation
mode
Initial
Standard
value
D.D.
Full.
Lin.
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 [r/min]/
[mm/s]
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 0
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
5- 9
5. PARAMETERS
Operation
mode
Initial
Standard
value
D.D.
Full.
Lin.
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
PL46 0000h
PL47 0000h
PL48 0000h
5 - 10
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
Setting
No. Symbol Name and function value
range
[unit]
PA01 **STY Operation mode Refer to Name
Select a operation mode. and function
column.
Setting Initial
Explanation
digit value
___x For manufacturer setting 0h
__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 (Except 400 V class servo amplifiers)
Setting other than above will result in [AL. 37 Parameter error]. The
fully closed loop system is available for the MR-J4-_B_(-RJ) servo
amplifiers of which software version is A3 or above.
_x__ For manufacturer setting 0h
x___ Operation mode selection 1h
To change this digit, use an application software "MR-J4(W)-B
mode selection". When you change it without the application, [AL.
3E Operation mode error] will occur.
0: J3 compatibility mode
1: J4 mode
5 - 11
5. PARAMETERS
Initial
Setting
range
[unit]
PA02 **REG Regenerative option Refer to Name
Used to select the regenerative option. and function
Incorrect setting may cause the regenerative option to burn. column.
If a selected regenerative option is not for use with the servo amplifier, [AL. 37 Parameter
error] occurs.
Setting Initial
Explanation
digit value
__xx Regenerative option selection 00h
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-RC-(H)/FR-CV-(H)/FR-BU2-(H)
When you use FR-RC-(H), FR-CV-(H) or FR-BU2-(H), select
"Mode 2 (_ _ _ 1)" of "Undervoltage alarm detection mode
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
5 - 12
5. PARAMETERS
Initial
Setting
range
[unit]
PA03 *ABS Absolute position detection system Refer to Name
Set this parameter when using the absolute position detection system. The parameter is not and function
available in the speed control mode and torque control mode. column.
Setting Initial
Explanation
digit value
___x Absolute position detection system selection 0h
0: Disabled (used in incremental system)
1: Enabled (used in absolute position detection system)
__x_ For manufacturer setting 0h
_x__ 0h
x___ 0h
PA04 *AOP1 Function selection A-1 Refer to Name

This is used to select the forced stop input and forced stop deceleration function. and function
column.
Setting Initial
Explanation
digit value
__x_ 0h
_x__ Servo forced stop selection 0h
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 5.1 for details.
x___ Forced stop deceleration function selection 2h
0: Forced stop deceleration function disabled (EM1)
2: Forced stop deceleration function enabled (EM2)
Table 5.1 Deceleration method

Setting Deceleration method
EM2/EM1
value EM2 or EM1 is off Alarm occurred
00__ EM1 MBR (Electromagnetic brake MBR (Electromagnetic brake
interlock) turns off without the interlock) turns off without the
forced stop deceleration. forced stop deceleration.
20__ EM2 MBR (Electromagnetic brake MBR (Electromagnetic brake
interlock) turns off after the interlock) turns off after the
forced stop deceleration. forced stop deceleration.
0 1 _ _ Not using MBR (Electromagnetic brake
EM2 or EM1 interlock) turns off without the
forced stop deceleration.
2 1 _ _ Not using MBR (Electromagnetic brake
EM2 or EM1 interlock) turns off after the
forced stop deceleration.
5 - 13
5. PARAMETERS
Initial
Setting
range
[unit]
PA08 ATU Auto tuning mode Refer to Name
Select the gain adjustment mode. and function
column.
Setting Initial
Explanation
digit value
___x Gain adjustment mode selection 1h
0: 2 gain adjustment mode 1 (interpolation 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 5.2 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 motor
mode 1 mass ratio]
(interpolation 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 - 14
5. PARAMETERS
Initial
Setting
range
[unit]
PA09 RSP Auto tuning response 16 1 to 40
Set a response of the auto tuning.
Machine characteristic Machine characteristic

Setting Guideline for Setting Guideline for
value Response machine value Response machine
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
PA10 INP In-position range 1600 0 to

Set an in-position range per command pulse. [pulse] 65535
5 - 15
5. PARAMETERS
Initial
Setting
range
[unit]
PA14 *POL Rotation direction selection/travel direction selection 0 0 to 1
This is used to select a rotation direction or travel direction.
For the setting for the master-slave operation function, refer to section 17.2.
Servo motor rotation direction/linear servo motor travel

Setting direction
value Positioning address Positioning address
increase decrease
0 CCW or positive direction CW or negative direction
1 CW or negative direction CCW or positive direction
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
Negative direction Secondary side
Secondary side Positive direction
Positive direction Table
Primary side
Positive direction Secondary side

Primary side
Primary side
Negative direction
LM-H3/LM-F series LM-U2 series LM-K2 series

PA15 *ENR Encoder output pulses 4000 1 to
Set the encoder output pulses from the servo amplifier by using the number of output pulses [pulse/ 65535
per revolution, dividing ratio, or electronic gear ratio. (after multiplication by 4) rev]
To set a numerator of the electronic gear, select "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 *ENR2 Encoder output pulses 2 1 1 to
Set a denominator of the electronic gear for the A/B-phase pulse output. To set a denominator 65535
of the electronic gear, select "A-phase/B-phase pulse electronic gear setting (_ _ 3 _)" of
"Encoder output pulse setting selection" in [Pr. PC03].
5 - 16
5. PARAMETERS
Initial
Setting
range
[unit]
PA17 **MSR Servo motor series setting 0000h Refer to
When you use a linear servo motor, select its model from [Pr. PA17] and [Pr. PA18]. Set this Name
and [Pr. PA18] at a time. and
Refer to the following table for settings. function
column.
Linear servo motor Servo motor model Parameter
series (primary side) [Pr. PA17] setting [Pr. PA18] 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)
LM-FP4B-12M-1SS0
4201h
(natural cooling)
LM-FP4D-24M-1SS0
4401h
(natural cooling)
LM-FP4F-36M-1SS0
4601h
(natural cooling)
LM-FP4H-48M-1SS0
4801h
(natural cooling)
LM-FP5H-60M-1SS0
5801h
(natural cooling)
LM-F 00B2h
LM-FP2B-06M-1SS0
2202h
(liquid cooling)
LM-FP2D-12M-1SS0
2402h
(liquid cooling)
LM-FP2F-18M-1SS0
2602h
(liquid cooling)
LM-FP4B-12M-1SS0
4202h
(liquid cooling)
LM-FP4D-24M-1SS0
4402h
(liquid cooling)
LM-FP4F-36M-1SS0
4602h
(liquid cooling)
LM-FP4H-48M-1SS0
4802h
(liquid cooling)
LM-FP5H-60M-1SS0
5802h
(liquid cooling)
5 - 17
5. PARAMETERS
Initial
Setting
range
[unit]
PA17 **MSR 0000h Refer to
Linear servo motor Servo motor model Name
Parameter and
series (primary side)
function
LM-K2P1A-01M-2SS1 1101h
column.
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 **MTY Servo motor type setting 0000h Refer to

When you use a linear servo motor, select its model from [Pr. PA17] and [Pr. PA18]. Set this Name
and [Pr. PA17] at a time. and
Refer to the table of [Pr. PA17] for settings. function
column
of [Pr.
PA17].
PA19 *BLK Parameter writing inhibit 00ABh Refer to
Select a reference range and writing range of the parameter. Name
Refer to table 5.3 for settings. and
function
Table 5.3 [Pr. PA19] setting value and reading/writing range column.
Setting
PA19 PA PB PC PD PE PF PL
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
5 - 18
5. PARAMETERS
Initial
Setting
range
[unit]
PA20 *TDS Tough drive setting Refer to Name
Alarms may not be avoided with the tough drive function depending on the situations of the and function
power supply and load fluctuation. column.
You can assign MTTR (During tough drive) to pins CN3-9, CN3-13 and CN3-15 with [Pr.
PD07] to [Pr. PD09].
Setting Initial
Explanation
digit value
__x_ Vibration tough drive selection 0h
0: Disabled
1: Enabled
Selecting "1" enables to suppress vibrations by automatically

changing setting values of [Pr. PB13 Machine resonance
suppression filter 1] and [Pr. PB15 Machine resonance suppression
filter 2] in case that the vibration exceed the value of the oscillation
level set in [Pr. PF23].
_x__ SEMI-F47 function selection 0h
0: Disabled
1: Enabled
Selecting "1" enables to avoid occurring [AL. 10 Undervoltage] using

the electrical energy charged in the capacitor in case that an
instantaneous power failure occurs during operation. Set the time of
until [AL. 10.1 Voltage drop in the control circuit power] occurs in [Pr.
PF25 SEMI-F47 function - Instantaneous power failure detection
time].
x___ For manufacturer setting 0h
PA21 *AOP3 Function selection A-3 Refer to Name

and function
Setting Initial
Explanation column.
digit value
___x One-touch tuning function selection 1h
0: Disabled
1: Enabled
When the digit is "0", the one-touch tuning with MR Configurator2

will be disabled.
_x__ 0h
x___ 0h
5 - 19
5. PARAMETERS
Initial
Setting
range
[unit]
PA22 **PCS Position control composition selection Refer to Name
and function
Setting Initial
Explanation column.
digit value
__x_ 0h
_x__ 0h
x___ Scale measurement mode 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 DRAT Drive recorder arbitrary alarm trigger setting Refer to Name
and function
Setting Initial
Explanation column.
digit value
__xx Alarm detail No. setting 00h
Set the digits when you execute the trigger with arbitrary alarm
detail No. for the drive recorder function.
When these digits are "0 0", only the arbitrary alarm No. setting will
be enabled.
xx__ Alarm No. setting 00h
Set the digits when you execute the trigger with arbitrary alarm No.
for the drive 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 AOP4 Function selection A-4 Refer to Name
and function
Setting Initial
Explanation column.
digit value
___x Vibration suppression function selection 0h
0: Standard mode
1: 3 inertia mode
2: Low response mode
When two low resonance frequencies are generated, select "3
inertia mode (_ _ _ 1)". When the load to motor inertia ratio exceeds
the recommended load to motor inertia ratio, select "Low response
mode (_ _ _ 2)".
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 with the controller during the 3
inertia mode or low response mode, stop the motor.
_x__ 0h
x___ 0h
5 - 20
5. PARAMETERS
Initial
Setting
range
[unit]
PA25 OTHOV One-touch tuning - Overshoot permissible level 0 0 to 100
This is used to set a permissible value of overshoot amount with a percentage to in-position [%]
range.
However, setting "0" will be 50%.
PA26 *AOP Function selection A-5 Refer to Name
and function
Setting Initial
Explanation column.
digit value
___x Torque limit function selection at instantaneous power failure 0h
(instantaneous power failure tough drive selection)
0: Disabled
1: Enabled
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].
To enable the torque limit function at instantaneous power failure,
select "Enabled (_ 1 _ _)" of "SEMI-F47 function selection" in [Pr.
PA20].
This parameter setting is used with servo amplifier with software
version A6 or later.
_x__ 0h
x___ 0h
5 - 21
5. PARAMETERS
5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])

Initial
Setting
range
[unit]
PB01 FILT Adaptive tuning mode (adaptive filter II) Refer to Name
Set the adaptive filter tuning. and function
column.
Setting Initial
Explanation
digit value
___x Filter tuning mode selection 0h
Select the adjustment mode of the machine resonance suppression
filter 1. Refer to section 7.1.2 for details.
0: Disabled
1: Automatic setting
2: Manual setting
_x__ 0h
x___ 0h
PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control II) Refer to Name
This is used to set the vibration suppression control tuning. Refer to section 7.1.5 for details. and function
column.
Setting Initial
Explanation
digit value
___x Vibration suppression control 1 tuning mode selection 0h
Select the tuning mode of the vibration suppression control 1.
0: Disabled
2: Manual setting
__x_ Vibration suppression control 2 tuning mode selection 0h
Select the tuning mode of the vibration suppression control 2. To
enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration
suppression mode selection" in [Pr. PA24 Function selection A-4].
0: Disabled
2: Manual setting
x___ 0h
PB03 TFBGN Torque feedback loop gain 18000 0 to

This is used to set a torque feedback loop gain in the continuous operation to torque control [rad/s] 18000
mode.
Decreasing the setting value will also decrease a collision load during continuous operation to
torque control mode.
Setting a value less than 6 rad/s will be 6 rad/s.
PB04 FFC Feed forward gain 0 0 to 100
Set the feed forward gain. [%]
When the setting is 100%, the droop pulses during operation at constant speed are nearly
zero. However, sudden acceleration/deceleration will increase the overshoot. As a guideline,
when the feed forward gain setting is 100%, set 1 s or more as the acceleration time constant
up to the rated speed.
5 - 22
5. PARAMETERS
Initial
Setting
range
[unit]
PB06 GD2 Load to motor inertia ratio/load to motor mass ratio 7.00 0.00 to
This is used to set the load to motor inertia ratio or load to motor mass ratio. Multiplier 300.00
The setting of the parameter will be the automatic setting or manual setting depending on the
[Pr. PA08] setting. Refer to the following table for details. When the parameter is automatic
setting, the value will vary between 0.00 and 100.00.
Pr. PA08 This parameter

_ _ _ 0 (2 gain adjustment mode 1 (interpolation mode)) Automatic setting
_ _ _ 1 (Auto tuning mode 1)
_ _ _ 2 (Auto tuning mode 2) Manual setting
_ _ _ 3 (Manual mode)
_ _ _ 4 (2 gain adjustment mode 2)
PB07 PG1 Model loop gain 15.0 1.0 to

Set the response gain up to the target position. [rad/s] 2000.0
Increasing the setting value will also increase the response level to the position command but
will be liable to generate vibration and/or noise.
[Pr. PA08] setting. Refer to the following table for details.

_ _ _ 0 (2 gain adjustment mode 1 (interpolation mode)) Manual setting
_ _ _ 1 (Auto tuning mode 1) Automatic setting
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4 (2 gain adjustment mode 2)
PB08 PG2 Position loop gain 37.0 1.0 to

This is used to set the gain of the position loop. [rad/s] 2000.0
Set this parameter to increase the position response to level load disturbance.
Increasing the setting value will also increase the response level to the load disturbance but
will be liable to generate vibration and/or noise.
[Pr. PA08] setting. Refer to the following table for details.

_ _ _ 0 (2 gain adjustment mode 1 (interpolation mode)) Automatic setting
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4 (2 gain adjustment mode 2) Automatic setting
PB09 VG2 Speed loop gain 823 20 to

This is used to set the gain of the speed loop. [rad/s] 65535
Set this parameter when vibration occurs on machines of low rigidity or large backlash.
Increasing the setting value will also increase the response level but will be liable to generate
vibration and/or noise.
[Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.
PB10 VIC Speed integral compensation 33.7 0.1 to
This is used to set the integral time constant of the speed loop. [ms] 1000.0
Decreasing the setting value will increase the response level but will be liable to generate
vibration and/or noise.
[Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.
5 - 23
5. PARAMETERS
Initial
Setting
range
[unit]
PB11 VDC Speed differential compensation 980 0 to
This is used to set the differential compensation. 1000
To enable the parameter, select "Continuous PID control enabled (_ _ 3 _)" of "PI-PID
switching control selection" in [Pr. PB24].
PB12 OVA Overshoot amount compensation 0 0 to 100
This is used to set a viscous friction torque or thrust to rated torque in percentage unit at servo [%]
motor rated speed or linear servo motor rated speed.
When the response level is low or when the torque/thrust is limited, the efficiency of the
parameter may be lower.
PB13 NH1 Machine resonance suppression filter 1 4500 10
Set the notch frequency of the machine resonance suppression filter 1. [Hz] to
When you select "Automatic setting (_ _ _ 1)" of "Filter tuning mode selection" in [Pr. PB01], 4500
this parameter will be adjusted automatically.
When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the
setting value will be enabled.
PB14 NHQ1 Notch shape selection 1 Refer to Name
Set the shape of the machine resonance suppression filter 1. and function
When you select "Automatic setting (_ _ _ 1)" of "Filter tuning mode selection" in [Pr. PB01], column.
this parameter will be adjusted automatically.
Set manually for the manual setting.
Setting Initial
Explanation
digit value
__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
PB15 NH2 Machine resonance suppression filter 2 4500 10

Set the notch frequency of the machine resonance suppression filter 2. [Hz] to
To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance suppression 4500
filter 2 selection" in [Pr. PB16].
column.
Setting Initial
Explanation
digit value
___x Machine resonance suppression filter 2 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
5 - 24
5. PARAMETERS
Initial
Setting
range
[unit]
PB17 NHF Shaft resonance suppression filter Refer to Name
This is used for setting the shaft resonance suppression filter. and function
This is used to suppress a low-frequency machine vibration. column.
When you select "Automatic setting (_ _ _ 0)" of "Shaft resonance suppression filter selection"
in [Pr. PB23], the value will be calculated automatically from the servo motor you use and load
to motor inertia ratio. It will not automatically calculated for the liner servo motor. Set manually
for "Manual setting (_ _ _ 1)".
When "Shaft resonance suppression filter selection" is "Disabled (_ _ _ 2)" in [Pr. PB23], the
setting value of this parameter will be disabled.
When you select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4 selection" in
[Pr. PB49], the shaft resonance suppression filter is not available.
Setting Initial
Explanation
digit value
__xx Shaft resonance suppression filter setting frequency selection 00h
This is used for setting the shaft resonance suppression filter.
Refer to table 5.4 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 5.4 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
PB18 LPF Low-pass filter setting 3141 100 to

Set the low-pass filter. [rad/s] 18000
The following shows a relation of a required parameter to this parameter.
[Pr. PB23] [Pr. PB18]

_ _ 0 _ (Initial value) Automatic setting
__1_ Setting value
enabled
__2_ Setting value
disabled
5 - 25
5. PARAMETERS
Initial
Setting
range
[unit]
PB19 VRF11 Vibration suppression control 1 - Vibration frequency 100.0 0.1
Set the vibration frequency for vibration suppression control 1 to suppress low-frequency [Hz] to
machine vibration. 300.0
When "Vibration suppression control 1 tuning mode selection" is "Automatic setting (_ _ _ 1)"
in [Pr. PB02], this parameter will be set automatically. Set manually for "Manual setting (_ _ _
2)". Refer to section 7.1.5 for details.
PB20 VRF12 Vibration suppression control 1 - Resonance frequency 100.0 0.1
Set the resonance frequency for vibration suppression control 1 to suppress low-frequency [Hz] to
machine vibration. 300.0
PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping 0.00 0.00
Set a damping of the vibration frequency for vibration suppression control 1 to suppress low- to
frequency machine vibration. 0.30
PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping 0.00 0.00
Set a damping of the resonance frequency for vibration suppression control 1 to suppress low- to
frequency machine vibration. 0.30
PB23 VFBF Low-pass filter selection Refer to Name
Select the shaft resonance suppression filter and low-pass filter. and function
column.
Setting Initial
Explanation
digit value
___x Shaft resonance suppression filter selection 0h
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
1: Manual setting
2: Disabled
x___ 0h
5 - 26
5. PARAMETERS
Initial
Setting
range
[unit]
PB24 *MVS Slight vibration suppression control Refer to Name
Select the slight vibration suppression control and PI-PID switching control. and function
column.
Setting Initial
Explanation
digit value
___x Slight vibration suppression control selection 0h
0: Disabled
1: Enabled
To enable the slight vibration suppression control, select "Manual
mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08].
Slight vibration suppression control cannot be used in the speed
control mode.
__x_ PI-PID switching control selection 0h
0: PI control enabled
(Switching to PID control is possible with commands of servo
system controller.)
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
PB26 *CDP Gain switching function Refer to Name

Select the gain switching condition. and function
Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. column.
PB56] to [Pr. PB60].
Setting Initial
Explanation
digit value
___x Gain switching selection 0h
0: Disabled
1: Control command from controller is enabled
2: Command frequency
3: Droop pulses
4: Servo motor speed/linear 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___ 0h
PB27 CDL Gain switching condition 10 0 to

This is used to set the value of gain switching (command frequency, droop pulses, and servo [kpulse/s] 65535
motor speed/linear servo motor speed) selected in [Pr. PB26]. /[pulse]
The set value unit differs depending on the switching condition item. (Refer to section 7.2.3.) /[r/min]
The unit "r/min" will be "mm/s" for linear servo motors.
PB28 CDT Gain switching time constant 1 0 to 100
This is used to set the time constant at which the gains will change in response to the [ms]
conditions set in [Pr. PB26] and [Pr. PB27].
PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain switching 7.00 0.00 to
This is used to set the load to motor inertia ratio/load to motor mass ratio when gain switching [Multiplier] 300.00
is enabled.
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain adjustment
mode selection" in [Pr. PA08].
5 - 27
5. PARAMETERS
Initial
Setting
range
[unit]
PB30 PG2B Position loop gain after gain switching 0.0 0.0 to
Set the position loop gain when the gain switching is enabled. [rad/s] 2000.0
When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB08].
PB31 VG2B Speed loop gain after gain switching 0 0 to
Set the speed loop gain when the gain switching is enabled. [rad/s] 65535
When you set a value less than 20 rad/s, the value will be the same as [Pr. PB09].
PB32 VICB Speed integral compensation after gain switching 0.0 0.0 to
Set the speed integral compensation when the gain changing is enabled. [ms] 5000.0
When you set a value less than 0.1 ms, the value will be the same as [Pr. PB10].
PB33 VRF11B Vibration suppression control 1 - Vibration frequency after gain switching 0.0 0.0 to
Set the vibration frequency for vibration suppression control 1 when the gain switching is [Hz] 300.0
enabled.
When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB19].
This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual setting (_ _
_ 2)".
"Gain switching selection" in [Pr. PB26] is "Control command from controller is enabled (_ _
_ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo motor or
linear servo motor stops.
PB34 VRF12B Vibration suppression control 1 - Resonance frequency after gain switching 0.0 0.0 to
Set the resonance frequency for vibration suppression control 1 when the gain switching is [Hz] 300.0
enabled.
When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB20].
_ 2)".
_ 1)".
PB35 VRF13B Vibration suppression control 1 - Vibration frequency damping after gain switching 0.00 0.00
Set a damping of the vibration frequency for vibration suppression control 1 when the gain to
switching is enabled. 0.30
_ 2)".
_ 1)".
PB36 VRF14B Vibration suppression control 1 - Resonance frequency damping after gain switching 0.00 0.00
Set a damping of the resonance frequency for vibration suppression control 1 when the gain to
switching is enabled. 0.30
_ 2)".
_ 1)".
5 - 28
5. PARAMETERS
Initial
Setting
range
[unit]
PB45 CNHF Command notch filter Refer to Name
Set the command notch filter. and function
column.
Setting Initial
Explanation
digit value
__xx Command notch filter setting frequency selection 00h
Refer to table 5.5 for the relation of setting values to frequency.
_x__ Notch depth selection 0h
Table 5.5 Command notch filter setting frequency selection

Setting Frequency Setting Frequency Setting Frequency
value [Hz] value [Hz] value [Hz]
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
5 - 29
5. PARAMETERS
Initial
Setting
range
[unit]
PB45 CNHF Table 5.6 Notch depth selection Refer to Name
and function
Setting Setting column.
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
PB46 NH3 Machine resonance suppression filter 3 4500 10 to

Set the notch frequency of the machine resonance suppression filter 3. [Hz] 4500
To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance suppression
column.
Setting Initial
Explanation
digit value
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

5 - 30
5. PARAMETERS
Initial
Setting
range
[unit]
column.
Setting Initial
Explanation
digit value
0: Disabled
1: Enabled
When you select "Enabled" of this digit, [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

When you select "Enabled (_ _ _ 1)" of "Robust filter selection" in [Pr. PE41], the machine column.
resonance suppression filter 5 is not available.
Setting Initial
Explanation
digit value
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 VRF21 Vibration suppression control 2 - Vibration frequency 100.0 0.1 to

Set the vibration frequency for vibration suppression control 2 to suppress low-frequency [Hz] 300.0
machine vibration.
To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in
[Pr. PA24].
When "Vibration suppression control 2 tuning mode selection" is "Automatic setting (_ _ 1 _)"
in [Pr. PB02], this parameter will be set automatically. Set manually for "Manual setting (_ _ 2
_)".
5 - 31
5. PARAMETERS
Initial
Setting
range
[unit]
PB53 VRF22 Vibration suppression control 2 - Resonance frequency 100.0 0.1 to
Set the resonance frequency for vibration suppression control 2 to suppress low-frequency [Hz] 300.0
machine vibration.
[Pr. PA24].
_)".
PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping 0.00 0.00 to
Set a damping of the vibration frequency for vibration suppression control 2 to suppress low- 0.30
frequency machine vibration.
[Pr. PA24].
_)".
PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping 0.00 0.00 to
Set a damping of the resonance frequency for vibration suppression control 2 to suppress low- 0.30
frequency machine vibration.
[Pr. PA24].
_)".
PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching 0.0 0.0 to
Set the vibration frequency for vibration suppression control 2 when the gain switching is [Hz] 300.0
enabled.
[Pr. PA24].
2 _)".
_ 1)".
PB57 VRF22B Vibration suppression control 2 - Resonance frequency after gain switching 0.0 0.0 to
Set the resonance frequency for vibration suppression control 2 when the gain switching is [Hz] 300.0
enabled.
[Pr. PA24].
2 _)".
_ 1)".
5 - 32
5. PARAMETERS
Initial
Setting
range
[unit]
PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching 0.00 0.00 to
Set a damping of the vibration frequency for vibration suppression control 2 when the gain 0.30
switching is enabled.
[Pr. PA24].
2 _)".
_ 1)".
PB59 VRF24B Vibration suppression control 2 - Resonance frequency damping after gain switching 0.00 0.00 to
Set a damping of the resonance frequency for vibration suppression control 2 when the gain 0.30
switching is enabled.
[Pr. PA24].
2 _)".
_ 1)".
PB60 PG1B Model loop gain after gain switching 0.0 0.0 to
Set the model loop gain when the gain switching is enabled. [rad/s] 2000.0
When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB07].
_ 1)".
5 - 33
5. PARAMETERS
5.2.3 Extension setting parameters ([Pr. PC_ _ ])

Initial
Setting
range
[unit]
PC01 ERZ Error excessive alarm level 0 0 to
Set an error excessive alarm level. [rev]/ 1000
Set this per rev. for rotary servo motors and direct drive motors. Setting "0" will be 3 rev. [mm]
Setting over 200 rev will be clamped with 200 rev. (Note)
Set this per mm for linear servo motors. Setting "0" will be 100 mm.
Note. Setting can be changed in [Pr. PC06].

PC02 MBR Electromagnetic brake sequence output 0 0 to
This is used to set the delay time between MBR (Electromagnetic brake interlock) and the [ms] 1000
base drive circuit is shut-off.
PC03 *ENRS Encoder output pulse selection Refer to Name
This is used to select the encoder pulse direction and encoder output pulse setting. and function
column.
Setting Initial
Explanation
digit value
___x Encoder output pulse phase selection 0h
0: Increasing A-phase 90° in CCW or positive direction
1: Increasing A-phase 90° in CW or negative direction
Servo motor rotation direction/

Setting
linear servo motor 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
3: A-phase/B-phase pulse electronic gear setting
A/B-phase pulse through output setting
For linear servo motors, selecting "0" will output as division ratio
setting because the output pulse setting is not available.
Setting "4" will be enabled only when A/B/Z-phase differential
output linear encoder is used. And "Encoder output pulse phase
selection (_ _ _ x)" will be disabled. When another encoder is
connected, [AL. 37 Parameter error] will occur. Selecting "Standard
control mode (_ _ 0 _)" in [Pr. PA01 Operation mode] will trigger
[AL. 37 Parameter error].
_x__ Selection of the encoders for encoder output pulse 0h
This is used for selecting an encoder for servo amplifier output.
0: Servo motor encoder
1: Load-side encoder
Selecting "1" in other than fully closed loop system or standard
control system (scale measurement function: enabled) triggers [AL.
37 Parameter error].
5 - 34
5. PARAMETERS
Initial
Setting
range
[unit]
PC04 **COP1 Function selection C-1 Refer to Name
Select the encoder cable communication method selection. and function
column.
Setting Initial
Explanation
digit value
__x_ 0h
_x__ 0h
x___ Encoder cable communication method selection 0h
0: Two-wire type
1: Four-wire type
Incorrect setting will result in [AL. 16 Encoder initial communication
error 1]. Or [AL. 20 Encoder initial communication error 1] will
occur. Setting "1" will trigger [AL. 37] while "Fully closed loop
control mode (_ _ 1 _)" is selected in [Pr. PA01] (except MR-J4-
_B_-RJ).

This is used to select the motor-less operation. This is not used in linear servo motor control and function
mode, fully closed loop control, and DD motor control mode. column.
Setting Initial
Explanation
digit value
___x Motor-less operation selection 0h
0: Disabled
1: Enabled
_x__ 0h
x___ 0h
PC06 *COP3 Function selection C-3 Refer to Name

Select the error excessive alarm level setting for [Pr. PC01]. The parameter is not available in and function
the speed control mode and torque control mode. column.
Setting Initial
Explanation
digit value
__x_ 0h
_x__ 0h
x___ Error excessive alarm level unit selection 0h
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 ZSP Zero speed 50 0

Used to set the output range of ZSP (Zero speed detection). [r/min]/ to
ZSP (Zero speed detection) has hysteresis of 20 r/min or 20 mm/s. [mm/s] 10000
PC08 OSL Overspeed alarm detection level 0 0
This is used to set an overspeed alarm detection level. [r/min]/ to
When you set a value more than "servo motor maximum speed × 120%" or "linear servo motor [mm/s] 20000
maximum speed × 120%", the set value will be clamped.
When you set "0", the value of "(linear) servo motor maximum speed × 120%" will be set.
5 - 35
5. PARAMETERS
Initial
Setting
range
[unit]
PC09 MOD1 Analog monitor 1 output Refer to Name
Select a signal to output to MO1 (Analog monitor 1). Refer to appendix 11 (3) for detection and function
point of output selection. column.
Setting Initial
Explanation
digit value
__xx Analog monitor 1 output selection 00h
x___ 0h
Table 5.7 Analog monitor setting value

Operation
mode (Note 1)
Setting
Item
Standard
value
D.D.
Full.
Lin.
00 (Linear) servo motor speed
(±8 V/max. speed)
01 Torque or thrust
(±8 V/max. torque or max. thrust)
02 (Linear) servo motor speed
(+8V/max. speed)
03 Torque or thrust
(+8 V/max. torque or max. thrust)
04 Current command (±8 V/max. current command)
05 Speed command (±8 V/max. speed)
06 Servo motor-side droop pulses (±10 V/100 pulses) (Note 2)
0A Feedback position (±10 V/1 Mpulse) (Note 2)
0B Feedback position (±10 V/10 Mpulses) (Note 2)
0C Feedback position (±10 V/100 Mpulses) (Note 2)
0D Bus voltage (200 V class and 100 V class: +8 V/400 V, 400 V
class: +8 V/800 V)
0E Speed command 2 (±8 V/max. speed)
10 Load-side droop pulses (±10 V/100 pulses) (Note 2)
14 Load-side droop pulses (±10 V/1 Mpulse) (Note 2)
15 Servo motor-side/load-side position deviation
(±10 V/100000 pulses)
16 Servo motor-side/load-side speed deviation
(±8 V/max. speed)
17 Encoder inside temperature (±10 V/±128 ˚C)
Note 1. Items with ○ are available for each operation mode.

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
D.D.: Direct drive (D.D.) motor use
2. Encoder pulse unit
5 - 36
5. PARAMETERS
Initial
Setting
range
[unit]
PC10 MOD2 Analog monitor 2 output Refer to Name
Select a signal to output to MO2 (Analog monitor 2). Refer to appendix 11 (3) for detection and function
point of output selection. column.
Setting Initial
Explanation
digit value
__xx Analog monitor 2 output selection 01h
Refer to [Pr. PC09] for settings.
x___ 0h
PC11 MO1 Analog monitor 1 offset 0 -999 to

This is used to set the offset voltage of MO1 (Analog monitor 1). [mV] 999
PC12 MO2 Analog monitor 2 offset 0 -999 to
This is used to set the offset voltage of MO2 (Analog monitor 2). [mV] 999
PC13 MOSDL Analog monitor - Feedback position output standard data - Low 0 -9999 to
Set a monitor output standard position (lower 4 digits) for the feedback position for when [pulse] 9999
selecting "Feedback position" for MO1 (Analog monitor 1) and MO2 (Analog monitor 2).
Monitor output standard position = [Pr. PC14] setting × 10000 + [Pr. PC13] setting
PC14 MOSDH Analog monitor - Feedback position output standard data - High 0 -9999 to
Set a monitor output standard position (higher 4 digits) for the feedback position for when [10000 9999
selecting "Feedback position" for MO1 (Analog monitor 1) and MO2 (Analog monitor 2). pulses]
Monitor output standard position = [Pr. PC14] setting × 10000 + [Pr. PC13] setting
This is used to select a home position setting condition. and function
column.
Setting Initial
Explanation
digit value
___x Selection of home position setting condition 0h
0: Need to pass servo motor Z-phase after power on
1: Not need to pass servo motor Z-phase after power on
_x__ 0h
x___ 0h

This is used to select an occurring condition of [AL. E9 Main circuit off warning]. and function
column.
Setting Initial
Explanation
digit value
__x_ 0h
_x__ 0h
x___ [AL. E9 Main circuit off warning] selection 0h
0: Detection with ready-on and servo-on command
1: Detection with servo-on command
5 - 37
5. PARAMETERS
Initial
Setting
range
[unit]
This is used to select an undervoltage alarm detection method. and function
column.
Setting Initial
Explanation
digit value
___x [AL. 10 Undervoltage] detection method selection 0h
This is set when FR-RC-(H) or FR-CV-(H) is used and if [AL. 10
undervoltage] occurs due to distorted power supply voltage
waveform.
0: [AL. 10] not occurrence
1: [AL. 10] occurrence
_x__ 0h
x___ 0h
PC21 *BPS Alarm history clear Refer to Name

Used to clear the alarm history. and function
column.
Setting Initial
Explanation
digit value
___x Alarm history clear selection 0h
0: Disabled
1: Enabled
When you select "Enabled", the alarm history will be cleared at next
power-on. After the alarm history is cleared, the setting is
automatically disabled.
_x__ 0h
x___ 0h
PC24 RSBR Forced stop deceleration time constant 100 0 to

This is used to set deceleration time constant when you use the forced stop deceleration [ms] 20000
function.
Set the time per ms from the rated speed to 0 r/min or 0 mm/s.
Dynamic brake
Rated speed Forced stop deceleration deceleration
Servo motor speed

(Linear 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 torque
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 alarm 1] or [AL. 51 Overload alarm 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.
Set a longer time than deceleration time at quick stop of the controller. If a shorter time is
set, [AL. 52 Error excessive] may occur.
5 - 38
5. PARAMETERS
Initial
Setting
range
[unit]
Used to select the communication method of the encoder cable to be connected to the CN2L and function
connector of MR-J4-_B_-RJ. column.
Setting Initial
Explanation
digit value
__x_ 0h
_x__ 0h
x___ Load-side encoder communication method 0h
0: Two-wire type
1: Four-wire type
Setting "1" by using a servo amplifier other than MR-J4-_B_-RJ will
trigger [AL. 37].

This is used to select a polarity of the linear encoder or load-side encoder. and function
column.
Setting Initial
Explanation
digit value
___x Encoder pulse count polarity selection 0h
0: Encoder pulse increasing direction in the servo motor CCW or
positive direction
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 0h
connection judgement function
This is used to select a non-signal detection of A/B/Z-phase input
interface encoder pulse train signal used as linear encoder or load-
side encoder.
This digit is enabled only when you use an A/B/Z-phase input
interface encoder.
Detection of
Alarm status
disconnection
Setting
value Standard (scale
Z-phase-side Fully closed Linear servo
measurement
non-signal loop system system
enabled)
[AL. 20.6] [AL. 71.6] [AL. 20.6]
0 Enabled
(Z-phase) (Z-phase) (Z-phase)
1 Disabled
PC29 *COPB Function selection C-B Refer to Name

This is used to select the POL reflection at torque control. and function
column.
Setting Initial
Explanation
digit value
__x_ 0h
_x__ 0h
x___ POL reflection selection at torque control 0h
0: Enabled
1: Disabled
5 - 39
5. PARAMETERS
Initial
Setting
range
[unit]
PC31 RSUP1 Vertical axis freefall prevention compensation amount 0 -25000
Set the compensation amount of the vertical axis freefall prevention function. [0.0001 to
Set it per servo motor rotation amount or linear servo motor travel distance. rev]/ 25000
When a positive value is set, compensation is performed to the address increasing direction. [0.01mm]
When a negative value is set, compensation is performed to the address decreasing direction.
The vertical axis freefall prevention function is performed when all of the following conditions
are met.
1) Position control mode
2) The value of the parameter is other than "0".
3) The forced stop deceleration function is enabled.
4) Alarm occurs or EM2 turns off when the (linear) 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. PC16].
5.2.4 I/O setting parameters ([Pr. PD_ _ ])

Initial
Setting
range
[unit]
PD02 *DIA2 Input signal automatic on selection 2 Refer to Name
and function
Setting digit Initial column.
Explanation
HEX. BIN. value
___x ___x FLS (Upper stroke limit) selection 0h

0: Disabled
1: Enabled
__x_ RLS (Lower stroke limit) selection
0: Disabled
1: Enabled
_x__ For manufacturer setting
x___
_x__ 0h
x___ 0h
Convert the setting value into hexadecimal as follows.
0 0 0
Initial value
Signal name
BIN HEX
FLS (Upper stroke limit) selection 0
RLS (Lower stroke limit) selection 0
0
0
0
BIN 0: Use for an external input signal.
BIN 1: Automatic on
5 - 40
5. PARAMETERS
Initial
Setting
range
[unit]
PD07 *DO1 Output device selection 1 Refer to Name
You can assign any output device to the CN3-13 pin. and function
column.
Setting Initial
Explanation
digit value
__xx Device selection 05h
x___ 0h
Table 5.8 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)
0C ZSP (Zero speed detection)
0F CDPS (Variable gain selection)
10 CLDS (During fully closed loop control)
11 ABSV (Absolute position undetermined)
17 MTTR (During tough drive)

You can assign any output device to the CN3-9 pin. INP (In-position) is assigned as the initial and function
value. column.
The devices that can be assigned and the setting method are the same as in [Pr. PD07].
Setting Initial
Explanation
digit value
Refer to table 5.8 in [Pr. PD07] for settings.
x___ 0h

You can assign any output device to the CN3-15 pin. ALM (Malfunction) is assigned as the and function
initial value. column.
The devices that can be assigned and the setting method are the same as in [Pr. PD07].
Setting Initial
Explanation
digit value
Refer to table 5.8 in [Pr. PD07] for settings.
x___ 0h
5 - 41
5. PARAMETERS
Initial
Setting
range
[unit]
PD11 *DIF Input filter setting Refer to Name
Select the input filter. and function
column.
Setting Initial
Explanation
digit value
___x Input signal filter selection 4h
Refer to the servo system controller instruction manual for the
setting.
If external input signal causes chattering due to noise, etc., input
filter is used to suppress it.
0: None
1: 0.888 [ms]
2: 1.777 [ms]
3: 2.666 [ms]
4: 3.555 [ms]
_x__ 0h
x___ 0h
PD12 *DOP1 Function selection D-1 Refer to Name

and function
Setting Initial
Explanation column.
digit value
__x_ 0h
_x__ 0h
x___ Servo motor or linear servo motor thermistor enabled/disabled 0h
selection
(Supported by servo amplifiers with software version A5 or above.)
0: Enabled
1: Disabled
For servo motors or linear servo motor without thermistor, the
setting will be disabled.
PD14 *DOP3 Function selection D-3 Refer to Name

and function
Setting Initial
Explanation column.
digit value
__x_ Selection of output device at warning occurrence 0h
Select WNG (Warning) and ALM (Malfunction) output status at
warning occurrence.
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
5 - 42
5. PARAMETERS
Initial
Setting
range
[unit]
PD15 *IDCS Driver communication setting Refer to Name
This parameter is supported with software version A8 or later. Check the software version and function
using MR Configurator2. column.
This parameter is used to select master/slave axis for the driver communication.
This is available only when the deceleration to a stop function is disabled. When the
deceleration to a stop function is enabled, [AL. 37] will occur.
Setting Initial
Explanation
digit value
___x Master axis operation selection 0h
Setting "1" other than in standard control mode and fully closed loop
control mode will trigger [AL. 37].
0: Disabled (not using master-slave operation function)
1: Enabled (this servo amplifier: master axis)
__x_ Slave axis operation selection 0h
Setting "1" other than in standard control mode will trigger [AL. 37].
0: Disabled (not using master-slave operation function)
1: Enabled (this servo amplifier: slave axis)
x___ 0h
Master-slave operation function Setting value

Not used 0000
Master 0001
Used
Slave 0010
PD16 *MD1 Driver communication setting - Master - Transmit data selection 1 Refer to Name
This parameter is used to select transmit data from master axis to slave axis.
When setting this amplifier as master axis ([Pr. PD15] is "_ _ 0 1".), select "_ _ 3 8 (torque
command)" with this parameter.
Setting Initial
Explanation
digit value
__xx Transmission data selection 00h
00: Disabled
38: Torque command
x___ 0h
PD17 *MD2 Driver communication setting - Master - Transmit data selection 2 Refer to Name
This parameter is used to select transmit data from master axis to slave axis.
When setting this amplifier as master axis ([Pr. PD15] is "_ _ 0 1".), select "_ _ 3 A (speed limit
command)" with this parameter.
Setting Initial
Explanation
digit value
__xx Transmission data selection 00h
00: Disabled
3A: speed limit command
x___ 0h
5 - 43
5. PARAMETERS
Initial
Setting
range
[unit]
PD20 *SLA1 Driver communication setting - Slave - Master axis No. selection 1 0 0 to 32
This parameter is supported with software version A8 or later. Check the software version
Select a master axis when this amplifier is slave axis.
When setting this amplifier as slave axis ([Pr. PD15] is "_ _ 1 0".), set the axis No. of the servo
amplifier of master. Refer to section 4.3.1 for details of axis Nos. Setting "0" disables this
parameter.
PD30 TLC Master-slave operation - Torque command coefficient on slave 0 [%] 0 to 500
This parameter is used to set a internal torque command coefficient to torque command value
received from master axis.
This parameter is enabled when this amplifier is set as slave axis ([Pr. PD15] is "_ _ 1 0".).
The maximum value is 500. Setting over 500 will be 500.
Setting 100 [%] means multiplication of one. The torque ratio will be 100 (master) to 100
(slave).
Setting 90 [%] means multiplication of 0.9. The torque ratio will be 100 (master) to 90 (slave).
PD31 VLC Master-slave operation - Speed limit coefficient on slave 0 [%] 0 to 500
This parameter is used to set a internal speed limit value coefficient to speed limit command
value received from master axis.
The maximum value is 500. Setting over 500 will be 500.
Setting 100 [%] means multiplication of one.
Setting example: [Pr. PD31 (VLC)] = 140 [%], [Pr. PD32 (VLL)] = 300 [r/min], and master side
acceleration/deceleration at 1000 [r/min]
Speed limit value of

Speed command from
Speed (r/min)
slave side
master side × VLC [%]
1400 r/min
1000 r/min
VLL Speed limit command
300 r/min from master side (driver
communication)
0
PD32 VLL Master-slave operation - Speed limit adjusted value on slave 0 [r/min] 0 to
This parameter is supported with software version A8 or later. Check the software version 32767
This parameter is used to set a minimum value for internal speed limit value.
The speed limit value will not be this setting value or lower.
This parameter ensures torque control range at low speed driving (avoid area likely to reach
speed limit). Set 100 to 500 [r/min] normally as a reference.
Refer to [Pr. PD31] for the setting example.
5 - 44
5. PARAMETERS
5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])

Initial
Setting
range
[unit]
PE01 **FCT1 Fully closed loop function selection 1 Refer to Name
and function
Setting Initial
Explanation column.
digit value
___x Fully closed loop function selection 0h
0: Always enabled
1: Switching with the control command of controller
(switching semi./full.)
Switching with the control

Control method
command of controller
Off Semi closed loop control
On Fully closed loop control
To enable the digit, select "Fully closed loop control mode (_ _ 1 _)"
of "operation mode selection" in [Pr. PA01].
_x__ 0h
x___ 0h
PE03 *FCT2 Fully closed loop function selection 2 Refer to Name

and function
Setting Initial
Explanation column.
digit value
___x Fully closed loop control error detection function selection 3h
0: Disabled
1: Speed deviation error detection
2: Position deviation error detection
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
PE04 **FBN Fully closed loop control - Feedback pulse electronic gear 1 - Numerator 1 1 to
This is used to set a numerator of electronic gear for the servo motor encoder pulse at the fully 65535
closed loop control.
Set the electronic gear so that the number of servo motor encoder pulses for one servo motor
revolution is converted to the resolution of the load-side encoder.
PE05 **FBD Fully closed loop control - Feedback pulse electronic gear 1 - Denominator 1 1 to
This is used to set a denominator of electronic gear for the servo motor encoder pulse at the 65535
fully closed loop control.
PE06 BC1 Fully closed loop control - Speed deviation error detection level 400 1 to
This is used to set [AL. 42.9 Fully closed loop control error by speed deviation] of the fully [r/min] 50000
closed loop control error detection.
When the speed deviation between the servo motor encoder and load-side encoder becomes
larger than the setting value, the alarm will occur.
PE07 BC2 Fully closed loop control - Position deviation error detection level 100 1 to
This is used to set [AL. 42.8 Fully closed loop control error by position deviation] of the fully [kpulse] 20000
closed loop control error detection.
When the position deviation between the servo motor encoder and load-side encoder
becomes larger than the setting value, the alarm will occur.
5 - 45
5. PARAMETERS
Initial
Setting
range
[unit]
PE08 DUF Fully closed loop dual feedback filter 10 0 to
This is used to set a dual feedback filter band. [rad/s] 4500
Refer to section 16.3.1 (7) for details.
PE10 FCT3 Fully closed loop function selection 3 Refer to Name
and function
Setting Initial
Explanation column.
digit value
__x_ Fully closed loop control - Position deviation error detection level - 0h
Unit selection
0: 1 kplulse unit
1: 1 pulse unit
_x__ Droop pulse monitor selection for controller display 0h
2: Deviation between the servo motor and load side
x___ Cumulative feedback pulses monitor selection for controller display 0h
The setting of this digit is used for the fully closed loop system and
scale measurement function.
PE34 **FBN2 Fully closed loop control - Feedback pulse electronic gear 2 - Numerator 1 1 to
This is used to set a numerator of electronic gear for the servo motor encoder pulse at the fully 65535
closed loop control.
PE35 **FBD2 Fully closed loop control - Feedback pulse electronic gear 2 - Denominator 1 1 to
This is used to set a denominator of electronic gear for the servo motor encoder pulse at the 65535
fully closed loop control.
PE41 EOP3 Function selection E-3 Refer to Name
and function
Setting Initial
Explanation column.
digit value
___x Robust filter selection 0h
0: Disabled
1: Enabled
When you select "Enabled" of this digit, the machine resonance
suppression filter 5 set in [Pr. PB51] is not available.
_x__ 0h
x___ 0h
5 - 46
5. PARAMETERS
5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])

Initial
Setting
range
[unit]
PF06 *FOP5 Function selection F-5 Refer to Name
and function
Setting Initial
Explanation column.
digit value
___x Electronic dynamic brake selection 0h
0: Automatic (enabled only for specified servo motors)
2: Disabled
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 DBT Electronic dynamic brake operating time 2000 0 to

Set a operating time for the electronic dynamic brake. [ms] 10000
PF21 DRT Drive recorder switching time setting 0 -1 to
This is used to set a drive recorder switching time. [s] 32767
When a USB communication is cut during using a graph function, the function will be changed
to the drive recorder function after the settling time of this parameter.
When a value from "1" to "32767" is set, it will switch after the setting value.
However, when "0" is set, it will switch after 600 s.
When "-1" is set, the drive recorder function is disabled.
PF23 OSCL1 Vibration tough drive - Oscillation detection level 50 0 to 100
This is used to set a filter readjustment sensitivity of [Pr. PB13 Machine resonance [%]
suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] while the vibration
tough drive is enabled.
However, setting "0" will be 50%.
Example: When you set "50" to the parameter, the filter will be readjusted at the time of 50%
or more oscillation level.
PF24 *OSCL2 Vibration tough drive function selection Refer to Name
and function
Setting Initial
Explanation column.
digit value
___x Oscillation detection alarm selection 0h
0: [AL. 54 Oscillation detection] will occur at oscillation detection.
1: [AL. F3.1 Oscillation detection warning] will occur at oscillation
detection.
2: Oscillation detection function disabled
Select alarm or warning when a oscillation continues at a filter
readjustment sensitivity level of [Pr. PF23].
The digit is continuously enabled regardless of the vibration tough
drive in [Pr. PA20].
_x__ 0h
x___ 0h
PF25 CVAT SEMI-F47 function - Instantaneous power failure detection time 200 30 to
Set the time of the [AL. 10.1 Voltage drop in the control circuit power] occurrence. [ms] 200
To disable the parameter, select "Disabled (_ 0 _ _)" of "SEMI-F47 function selection" in [Pr.
PA20].
5 - 47
5. PARAMETERS
Initial
Setting
range
[unit]
PF31 FRIC Machine diagnosis function - Friction judgement speed 0 0 to
Set a (linear) servo motor speed to divide a friction estimation area into high and low for the [r/min]/ permiss
friction estimation process of the machine diagnosis. [mm/s] -ible
However, setting "0" will be the value half of the rated speed. speed
When your operation pattern is under rated speed, we recommend that you set half value to
the maximum speed with this.
Maximum speed in operation
Forward rotation
direction
[Pr. PF31] setting
Servo motor
speed 0 r/min
(0 mm/s)
Operation pattern
Reverse rotation
direction
5.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])

Initial
Setting
range
[unit]
PL01 **LIT1 Linear servo motor/DD motor function selection 1 Refer to Name
Select a magnetic pole detection timing of the linear servo motor/DD motor and stop interval of and function
the home position returning. column.
Setting Initial
Explanation
digit value
___x Linear servo motor/DD motor magnetic pole detection selection 1h
The setting value "0" will be enabled only with absolute position
linear encoders.
0: Magnetic pole detection disabled
1: Magnetic pole detection at first servo-on
5: Magnetic pole detection at every servo-on
_x__ Stop interval selection at the home position return 3h
Set a stop interval of the home position returning.
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 **LIM Linear encoder resolution - Numerator 1000 1 to

Set a linear encoder resolution per µm in [Pr. PL02] and [Pr. PL03]. [μm] 65535
Set the numerator in [Pr. PL02].
This is enabled only for linear servo motors.
PL03 **LID Linear encoder resolution - Denominator 1000 1 to
Set a linear encoder resolution per µm in [Pr. PL02] and [Pr. PL03]. [μm] 65535
Set the denominator in [Pr. PL03].
This is enabled only for linear servo motors.
5 - 48
5. PARAMETERS
Initial
Setting
range
[unit]
PL04 *LIT2 Linear servo motor/DD motor function selection 2 Refer to Name
This is used to select a detection function and detection controller reset condition of [AL. 42 and function
Servo control error]. column.
Setting Initial
Explanation
digit value
___x [AL. 42 Servo control error] detection function selection 3h
Refer to the following table.
Torque/thrust Position
Setting Speed deviation
deviation error deviation error
value error (Note)
(Note) (Note)
0 Disabled
Disabled
1 Enabled
Disabled
2 Disabled
Enabled
3 Enabled
4 Disabled
Disabled
5 Enabled
Enabled
6 Disabled
Enabled
7 Enabled
Note. Refer to chapter 14 and 15 for details of each deviation

error.
_x__ 0h
x___ [AL. 42 Servo control error] detection function controller reset 0h
condition selection
0: Reset disabled (reset by powering off/on enabled)
1: Reset enabled
PL05 LB1 Position deviation error detection level 0 0 to

This is used to set the position deviation error detection level of the servo control error [mm]/ 1000
detection. [0.01rev]
When the deviation between a model feedback position and actual feedback position is larger
than the setting value, [AL. 42 Servo control error] will occur.
However, when "0" is set, the level vary depending on the operation mode in [Pr. PA01].
Linear servo motor: 50 mm
Direct drive motor: 0.09 rev
PL06 LB2 Speed deviation error detection level 0 0 to
This is used to set the speed deviation error detection level of the servo control error [mm/s]/ 5000
detection. [r/min]
When the deviation between a model feedback speed and actual feedback speed is larger
than the setting value, [AL. 42 Servo control error] will occur.
However, when "0" is set, the level vary depending on the operation mode in [Pr. PA01].
Linear servo motor: 1000 mm/s
Direct drive motor: 100 r/min
PL07 LB3 Torque/thrust deviation error detection level 100 0 to
This is used to set the torque/thrust deviation error detection level of the servo control error [%] 1000
detection.
When the deviation between a current command and current feedback is larger than the
setting value, [AL. 42.3 Servo control error by torque/thrust deviation] will occur.
PL08 *LIT3 Linear servo motor/DD motor function selection 3 Refer to Name
and function
Setting Initial column.
Explanation
digit value
___x Magnetic pole detection method selection 0h
0: Position detection method
4: Minute position detection method
_x__ Magnetic pole detection - Stroke limit enabled/disabled selection 0h
0: Enabled
1: Disabled
5 - 49
5. PARAMETERS
Initial
Setting
range
[unit]
PL09 LPWM Magnetic pole detection voltage level 30 0 to 100
This is used to set a direct current exciting voltage level during the magnetic pole detection. [%]
If [AL. 32 Overcurrent], [AL. 50 Overload 1], or [AL. 51 Overload 2] occurs during the magnetic
pole detection, decrease the setting value.
If [AL. 27 Initial magnetic pole detection error] occurs during the magnetic pole detection,
increase the setting value.
PL17 LTSTS Magnetic pole detection - Minute position detection method - Function selection Refer to Name
To enable the parameter, select "Minute position detection method (_ _ _ 4)" in [Pr. PL08]. and function
column.
Setting Initial
Explanation
digit value
___x Response selection 0h
Set a response of the minute position detection method.
When reducing a travel distance at the magnetic pole detection,
increase the setting value. Refer to table 5.9 for settings.
__x_ Load to motor mass ratio/load to motor inertia ratio selection 0h
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 5.9 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 5.10 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
PL18 IDLV Magnetic pole detection - Minute position detection method - Identification signal amplitude 0 0 to 100
Set an identification signal amplitude used in the minute position detection method. [%]
This parameter is enabled only when the magnetic pole detection is the minute position
detection method.
However, setting "0" will be 100% amplitude.
5 - 50
6. NORMAL GAIN ADJUSTMENT
POINT
In the torque control 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.
Basic mode This mode is for standard system.
Low mode This mode is for low rigid system.
Refer to the following table for selecting a response mode.
6- 4
Response
Machine characteristic
mode 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- 5
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.
(2) One-touch tuning execution

After the response mode is selected in (1), 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- 6
(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 lager 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 control mode or speed
torque control mode was selected in the control mode for the control mode from the
control modes. controller, and then 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 to100 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.
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- 7
(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 control mode.
(2) The one-touch tuning cannot be executed while an alarm or warning which does not continue the motor
driving is occurring.
6- 8
(3) The tuning is not available during the following test operation mode.
(a) Output signal (DO) forced output
(b) Motor-less operation
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.
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- 9
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 - 10
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 - 11
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 - 12
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 - 13
(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 - 14
(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 - 15
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 - 16
(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 position 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 - 17
(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

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 - 18
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 deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
A deeper 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. For [Pr. PB23], "_ _ _ 0" (automatic setting) is recommended
because setting "Shaft resonance suppression filter selection" in [Pr. PB23] or
setting [Pr. PB17 Shaft resonance suppression filter] can degrades in
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].
CDP
[Pr. PB26]
Control command
from controller
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 selection 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] You can 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 digit and second
digit.
[Pr. PB26]
0 0
Gain switching selection
0: Disabled
1: Control command from controller is enabled
2: Command frequency
3: Droop pulses
4: Servo motor speed/linear 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
(b) [Pr. PB27 Gain switching condition]

Set a level to switch gains after you select "Command frequency", "Droop pulses", or "Servo motor
speed/linear servo motor speed" 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/linear 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, 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 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.)
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

In this case, 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
After-switching gain
63.4%
Before-switching gain
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
7 - 22
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 - 23
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 - 24
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 the load of instantaneous power failure is large, the undervoltage alarm
([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].
(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
Control circuit
power supply OFF
[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 - 25
(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
Control circuit
power supply OFF
[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 - 26
(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
Control circuit
power supply OFF
[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 - 27
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. Be sure to check them by
testing the entire equipment using actual machines.
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.
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.
(1) Parameter setting

Setting [Pr. PA20] and [Pr. PF25] as follows will enable SEMI-F47 function.
Setting
Parameter Description
value
PA20 _1__ 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-J4-10B(-RJ)
to 158 V DC
MR-J4-700B(-RJ)
MR-J4-11KB(-RJ)
to 200 V DC
MR-J4-22KB(-RJ)
MR-J4-60B4(-RJ)
to 380 V DC
MR-J4-22KB4(-RJ)
(c) MBR (Electromagnetic brake interlock) will turn off when [AL. 10.1 Voltage drop in the control circuit
power] occurs.
7 - 28
(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 model
output [W] power failure [W]
(voltage drop between lines)
MR-J4-10B(-RJ) 350 250
MR-J4-20B(-RJ) 700 420
MR-J4-40B(-RJ) 1400 630
MR-J4-60B(-RJ) 2100 410
MR-J4-70B(-RJ) 2625 1150
MR-J4-100B(-RJ) 3000 1190
MR-J4-200B(-RJ) 5400 2040
MR-J4-350B(-RJ) 10500 2600
MR-J4-500B(-RJ) 15000 4100
MR-J4-700B(-RJ) 21000 5900
MR-J4-11KB(-RJ) 40000 2600
MR-J4-15KB(-RJ) 50000 3500
MR-J4-22KB(-RJ) 56000 4300
MR-J4-60B4(-RJ) 1900 190
MR-J4-100B4(-RJ) 3500 200
MR-J4-200B4(-RJ) 5400 350
MR-J4-350B4(-RJ) 10500 730
MR-J4-500B4(-RJ) 15000 890
MR-J4-700B4(-RJ) 21000 1500
MR-J4-11KB4(-RJ) 40000 2400
MR-J4-15KB4(-RJ) 50000 3200
MR-J4-22KB4(-RJ) 56000 4200
7 - 29
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 - 30
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.
8.1 Alarm and warning list
When an error occurs during operation, the corresponding alarm and warning are displayed. When the alarm
or the warning occurs, refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" to
remove the failure. When an alarm occurs, ALM will turn off.
After its cause has been removed, the alarm can be deactivated in any of the methods marked ○ in the
alarm deactivation column in the following table. Warnings are automatically canceled after the cause of
occurrence is removed.
For the alarms and warnings in which "SD" is written in the stop method column, the axis 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 axis stops with the dynamic brake without forced stop deceleration.
Alarm reset
Stop
Error reset
CPU reset
off → on
Power
Detail method
No. Name Detail name
number (Note 4,
5)
10.1 Voltage drop in the control circuit power EDB

Alarm
10 Undervoltage
10.2 Voltage drop in the main circuit power SD
12.1 RAM error 1 DB
12.2 RAM error 2 DB
12 Memory error 1 (RAM) 12.3 RAM error 3 DB
12.4 RAM error 4 DB
12.5 RAM error 5 DB
13.1 Clock error 1 DB
13 Clock error
13.2 Clock error 2 DB
14.1 Control process error 1 DB
14 Control process error
14.A Control process error 10 DB
Memory error 2 15.1 EEP-ROM error at power on DB
15
(EEP-ROM) 15.2 EEP-ROM error during operation DB
8- 1
8. TROUBLESHOOTING
Alarm reset
Stop
Error reset
CPU reset
off → on
Power
Detail method
number (Note 4,
5)
Encoder initial communication - Receive data

Alarm
16.1 DB
error 1
16.2 DB
error 2
16.3 DB
error 3
Encoder initial communication - Transmission
16.5 DB
data error 1
Encoder initial Encoder initial communication - Transmission
16 16.6 DB
communication error 1 data error 2
Encoder initial communication - Transmission
16.7 DB
data error 3
16.A Encoder initial communication - Process error 1 DB
16.B Encoder initial communication - Process error 2 DB
16.C Encoder initial communication - Process error 3 DB
16.D Encoder initial communication - Process error 4 DB
16.E Encoder initial communication - Process error 5 DB
16.F Encoder initial communication - Process error 6 DB
17.1 Board error 1 DB
17 Board error
17.8 Board error 6 (Note 6) EDB
Memory error 3 19.1 Flash-ROM error 1 DB
19
(FLASH-ROM) 19.2 Flash-ROM error 2 DB
Servo motor combination 1A.1 Servo motor combination error DB
1A
error 1A.2 Servo motor control mode combination error DB
Encoder initial 1E.1 Encoder malfunction DB
1E
communication error 2 1E.2 Load-side encoder malfunction DB
Encoder initial 1F.1 Incompatible encoder DB
1F
communication error 3 1F.2 Incompatible load-side encoder DB
Encoder normal communication - Receive data
20.1 EDB
error 1
20.2 EDB
error 2
20.3 EDB
error 3
Encoder normal communication - Transmission
20.5 EDB
Encoder normal data error 1
20
communication error 1 Encoder normal communication - Transmission
20.6 EDB
data error 2
Encoder normal communication - Transmission
20.7 EDB
data error 3
20.9 EDB
error 4
20.A EDB
error 5
8- 2
8. TROUBLESHOOTING
Alarm reset
Stop
Error reset
CPU reset
off → on
Power
Detail method
number (Note 4,
5)
21.1 Encoder data error 1 EDB

Alarm
21.2 Encoder data update error EDB

21.3 Encoder data waveform error EDB
Encoder normal
21 21.4 Encoder non-signal error EDB
communication error 2
21.5 Encoder hardware error 1 EDB
21.6 Encoder hardware error 2 EDB
21.9 Encoder data error 2 EDB
Ground fault detected by hardware detection
24.1 DB
circuit
24 Main circuit error
Ground fault detected by software detection
24.2 DB
function
25.1 Servo motor encoder - Absolute position erased DB
25 Absolute position erased Scale measurement encoder - Absolute position
25.2 DB
erased
27.1 Magnetic pole detection - Abnormal termination DB
27.2 Magnetic pole detection - Time out error DB
27.3 Magnetic pole detection - Limit switch error DB
Initial magnetic pole 27.4 Magnetic pole detection - Estimated error DB
27
detection error Magnetic pole detection - Position deviation
27.5 DB
error
27.6 Magnetic pole detection - Speed deviation error DB
27.7 Magnetic pole detection - Current error DB
28 Linear encoder error 2 28.1 Linear encoder - Environment error EDB
2A.1 Linear encoder error 1-1 EDB
2A Linear encoder error 1
2B.1 Encoder counter error 1 EDB
2B Encoder counter error
2B.2 Encoder counter error 2 EDB
30.1 Regeneration heat error DB

(Note 1) (Note 1) (Note 1)
30 Regenerative error (Note 1) 30.2 Regeneration signal error DB

30.3 Regeneration feedback signal error DB

31 Overspeed 31.1 Abnormal motor speed SD
8- 3
8. TROUBLESHOOTING
Alarm reset
Stop
Error reset
CPU reset
off → on
Power
Detail method
number (Note 4,
5)
Overcurrent detected at hardware detection

Alarm
32.1 DB
circuit (during operation)
Overcurrent detected at software detection
32.2 DB
function (during operation)
32 Overcurrent
Overcurrent detected at hardware detection
32.3 DB
circuit (during a stop)
Overcurrent detected at software detection
32.4 DB
function (during a stop)
33 Overvoltage 33.1 Main circuit voltage error EDB
34.1 SSCNET receive data error SD

(Note 2)
34 SSCNET receive error 1 34.2 SSCNET connector connection error SD
34.3 SSCNET communication data error SD
34.4 Hardware error signal detection SD
35 Command frequency error 35.1 Command frequency error SD
36 SSCNET receive error 2 36.1 Continuous communication data error SD
37.1 Parameter setting range error DB
37 Parameter error
37.2 Parameter combination error DB
Inrush current suppression
3A 3A.1 Inrush current suppression circuit error EDB
circuit error
Parameter combination error for driver
3D.1 DB
Parameter setting error for communication on slave
3D
driver communication Parameter combination error for driver
3D.2 DB
communication on master
3E Operation mode error 3E.1 Operation mode error DB
42.1 Servo control error by position deviation EDB

(Note 3) (Note 3)
Servo control error
(for linear servo motor and 42.2 Servo control error by speed deviation EDB
(Note 3) (Note 3)
direct drive motor)
42.3 Servo control error by torque/thrust deviation EDB
(Note 3) (Note 3)
42
Fully closed loop control error by position
42.8 EDB
deviation (Note 3) (Note 3)
Fully closed loop control
Fully closed loop control error by speed
error (during fully closed 42.9 EDB
deviation (Note 3) (Note 3)
loop control)
Fully closed loop control error by position
42.A EDB
deviation during command stop (Note 3) (Note 3)
Main circuit device
45 45.1 Main circuit device overheat error SD
overheat (Note 1) (Note 1) (Note 1) (Note 1)
46.1 Abnormal temperature of servo motor 1 SD

46.2 Abnormal temperature of servo motor 2 SD

Servo motor overheat
46 46.3 Thermistor disconnected error SD
(Note 1) (Note 1) (Note 1) (Note 1)
46.5 Abnormal temperature of servo motor 3 DB

46.6 Abnormal temperature of servo motor 4 DB

47.1 Cooling fan stop error SD
47 Cooling fan error
47.2 Cooling fan speed reduction error SD
50.1 Thermal overload error 1 during operation SD



50 Overload 1 (Note 1)
50.4 Thermal overload error 1 during a stop SD


8- 4
8. TROUBLESHOOTING
Alarm reset
Stop
Error reset
CPU reset
off → on
Power
Detail method
number (Note 4,
5)
Alarm
51.1 Thermal overload error 3 during operation DB

51 Overload 2 (Note 1)
51.2 Thermal overload error 3 during a stop DB
52.1 Excess droop pulse 1 SD
52.3 Excess droop pulse 2 SD
52 Error excessive
52.4 Error excessive during 0 torque limit SD
52.5 Excess droop pulse 3 EDB
54 Oscillation detection 54.1 Oscillation detection error EDB
56.2 Over speed during forced stop EDB
56 Forced stop error
56.3 Estimated distance over during forced stop EDB
63.1 STO1 off DB
63 STO timing error
63.2 STO2 off DB
Load-side encoder initial communication -
70.1 DB
Receive data error 1
70.2 DB
70.3 DB
70.5 DB
Transmission data error 1
70.6 DB
70.7 DB
Load-side encoder initial Transmission data error 3
70
communication error 1 Load-side encoder initial communication -
70.A DB
Process error 1
70.B DB
Process error 2
70.C DB
Process error 3
70.D DB
Process error 4
70.E DB
Process error 5
70.F DB
Process error 6
8- 5
8. TROUBLESHOOTING
Alarm reset
Stop
Error reset
CPU reset
off → on
Power
Detail method
number (Note 4,
5)
Load-side encoder communication - Receive

Alarm
71.1 EDB
data error 1
71.2 EDB
data error 2
71.3 EDB
data error 3
Load-side encoder communication -
71.5 EDB
Load-side encoder normal Transmission data error 1
71
communication error 1 Load-side encoder communication -
71.6 EDB
71.7 EDB
71.9 EDB
71.A EDB
72.1 Load-side encoder data error 1 EDB
72.2 Load-side encoder data update error EDB
72.3 Load-side encoder data waveform error EDB
Load-side encoder normal
72 72.4 Load-side encoder non-signal error EDB
communication error 2
72.5 Load-side encoder hardware error 1 EDB
72.6 Load-side encoder hardware error 2 EDB
72.9 Load-side encoder data error 2 EDB
Master-slave operation
82 82.1 Master-slave operation error 1 EDB
error 1
USB communication time-
8A 8A.1 USB communication time-out error SD
out error
8E.1 USB communication receive error SD
8E.2 USB communication checksum error SD
8E USB communication error 8E.3 USB communication character error SD
8E.4 USB communication command error SD
8E.5 USB communication data number error SD
888 Watchdog 88._ Watchdog DB
8- 6
8. TROUBLESHOOTING
Note 1. Leave for about 30 minutes of cooling time after removing the cause of occurrence.
2. In some controller communication status, the alarm factor may not be removed.
3. 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 a direct drive motor is used: set [Pr. PL04] to "1 _ _ _".
4. The following shows three stop methods of DB, EDB, and SD.
DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)
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

SD: Forced stop deceleration

5. 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].
6. This alarm will occur only in the J3 compatibility mode.
8- 7
8. TROUBLESHOOTING
Stop
Detail method
number (Note 2,
3)
Servo amplifier overheat
Warning
91 91.1 Main circuit device overheat warning
warning (Note 1)
Battery cable 92.1 Encoder battery cable disconnection warning
92
disconnection warning 92.3 Battery degradation
95.1 STO1 off detection DB
95 STO warning
95.2 STO2 off detection DB
Home position setting 96.1 In-position warning at home positioning
96
warning 96.2 Command input warning at home positioning
9F.1 Low battery
9F Battery warning
9F.2 Battery degradation warning
Excessive regeneration
E0 E0.1 Excessive regeneration warning
warning (Note 1)
E1.1 Thermal overload warning 1 during operation
E1 Overload warning 1 (Note 1)
E1.5 Thermal overload error 1 during a stop
Servo motor overheat
E2 E2.1 Servo motor temperature warning
warning
Absolute position counter E3.2 Absolute position counter warning
E3
warning E3.5 Encoder absolute positioning counter warning
E4 Parameter warning E4.1 Parameter setting range error warning
E6 Servo forced stop warning E6.1 Forced stop warning SD
Controller forced stop
E7 E7.1 Controller forced stop warning SD
warning
Cooling fan speed E8.1 Decreased cooling fan speed warning
E8
reduction warning E8.2 Cooling fan stop
E9.1 Servo-on signal on during main circuit off DB
E9 Main circuit off warning E9.2 Bus voltage drop during low speed operation DB
E9.3 Ready-on signal on during main circuit off DB
EC Overload warning 2 (Note 1) EC.1 Overload warning 2
Output watt excess
ED ED.1 Output watt excess warning
warning
F0.1 Instantaneous power failure tough drive warning
F0 Tough drive warning
F0.3 Vibration tough drive warning
Drive recorder - Miswriting F2.1 Drive recorder - Area writing time-out warning
F2
warning F2.2 Drive recorder - Data miswriting warning
Oscillation detection
F3 F3.1 Oscillation detection warning
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.)
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].
8- 8
8. TROUBLESHOOTING
8.2 Troubleshooting at power on
When the servo system does not boot and system error occurs at power on of the servo system controller,
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 Communication with the The power of the servo Check the power of the servo Switch on the power of the servo
servo system controller system controller was system controller. system controller.
has disconnected. turned off.
A SSCNET III cable was "AA" is displayed in the Replace the SSCNET III cable of
disconnected. corresponding axis and following the corresponding axis.
axes.
Check if the connectors (CNIA, Connect it correctly.
CNIB) are unplugged.
The power of the servo "AA" is displayed in the Check the power of the servo
amplifier was turned off. corresponding axis and following amplifier.
axes. Replace the servo amplifier of the
corresponding axis.
Ab Initialization The control axis is Check if the disabling control axis Turn off the disabling control axis
communication with the disabled. switch (SW2-2) is on. switch (SW2-2).
servo system controller The setting of the axis Check that the other servo Set it correctly.
has not completed. No. is incorrect. amplifier is not assigned to the
same axis No.
Axis No. does not match Check the setting and axis No. of Set it correctly.
with the axis No. set to the servo system controller.
the servo system
controller.
Information about the Check the value set in Servo Set it correctly.
servo series has not set series (Pr.100) in the simple
in the simple motion motion module.
module.
Communication cycle Check the communication cycle Set it correctly.
does not match. at the servo system controller
side.
When using 8 axes or less: 0.222
ms
When using 16 axes or less:
0.444 ms
When using 32 axes or less:
0.888 ms
A SSCNET III cable was "Ab" is displayed in the Replace the SSCNET III cable of
disconnected. corresponding axis and following the corresponding axis.
axes.
Check if the connectors (CNIA, Connect it correctly.
CNIB) are unplugged.
The power of the servo "Ab" is displayed in an axis and Check the power of the servo
amplifier was turned off. the following axes. amplifier.
The servo amplifier is "Ab" is displayed in an axis and Replace the servo amplifier of the
malfunctioning. the following axes. corresponding axis.
Ab Communication between An MR-J4-_B_(-RJ) servo Check if "J3 compatibility mode" Select "J4 mode" with "MR-
servo system controller amplifier or MR-J4W_-_B is set using "MR-J4(W)-B mode J4(W)-B mode selection".
AC and servo amplifier are servo amplifier which is selection" which came with MR
repeating connection and set to J3 compatibility Configurator2.
or shut-off. mode is connected to the
SSCNET III/H network.
Ab
AC
Ad
b##. The system has been in Test operation mode has Test operation setting switch Turn off the test operation setting
(Note) the test operation mode. been enabled. (SW2-1) is turned on. switch (SW2-1).
off Operation mode for Operation mode for Check if all of the control axis Set the control axis setting
manufacturer setting is manufacturer setting is setting switches (SW2) are on. switches (SW2) correctly.
set. enabled.
Note. ## indicates axis No.
8- 9
8. TROUBLESHOOTING
MEMO
8 - 10
9. OUTLINE DRAWINGS
9. OUTLINE DRAWINGS
9.1 Servo amplifier
POINT
Only MR-J4-_B_-RJ are shown for dimensions. MR-J4-_B_ does not have
CN2L, CN7 and CN9 connectors. The dimensions of MR-J4-_B_ are not
different from those of MR-J4-_B_-RJ except CN2L, CN7 and CN9 connectors.
9- 1
9. OUTLINE DRAWINGS
(1) 200 V class

(a) MR-J4-10B(-RJ)/MR-J4-20B(-RJ)
[Unit: mm]
40
φ6 mounting hole 6 Approx. 80 135
Lock knob
6
CNP1
CNP2
168
156
161
CNP3
6
Approx. 21
PE With
6 MR-BAT6V1SET Approx. 69.3
Approx. 38.5
Mass: 0.8 [kg]

Mounting screw
Terminal
Screw size: M5
Tightening torque: 3.24 [N•m]
CNP1 CNP2 CNP3 Approx. 40
Approx. 6
L1 P+ U
6 2-M5 screw
L2 C V
L3 D W
N- L11
P3 L21
P4
Approx. 168
156 ± 0.5
PE
Screw size: M4
Approx. 6
Mounting hole process drawing
9- 2
9. OUTLINE DRAWINGS
(b) MR-J4-40B(-RJ)/MR-J4-60B(-RJ)
[Unit: mm]
40
Lock knob
6
CNP1
CNP2
156
161
168
CNP3
6
With
Approx. 21
MR-BAT6V1SET
6 Approx. 69.3
Approx. 38.5
PE
5
Mass: 1.0 [kg]

Mounting screw
Terminal
Screw size: M5
CNP1 CNP2 CNP3
L1 P+ U Approx. 40
Approx. 6
L2 C V 2-M5 screw
6
L3 D W
N- L11
P3 L21
P4
Approx. 168
156 ± 0.5
PE Screw size: M4
Approx. 6
9- 3
9. OUTLINE DRAWINGS
(c) MR-J4-70B(-RJ)/MR-J4-100B(-RJ)
[Unit: mm]
φ6 mounting hole 60
12 Approx. 80 185
Lock knob
Exhaust
6 CNP1
CNP2
168
161
156
CNP3
6
PE
6 Cooling fan
Approx. 21
Approx. 69.3 air intake

12 42
Approx. 38.5
With
MR-BAT6V1SET
6
Mass: 1.4 [kg]

Mounting screw
Terminal
Screw size: M5
CNP1 CNP2 CNP3
Approx. 6
L1 P+ U
L2 C V Approx. 60
L3 D W
N- L11
P3 L21
P4
Approx. 168
156 ± 0.5
PE
Screw size: M4 3-M5 screw
Approx. 6
Approx. 12 42 ± 0.3 Approx. 6
9- 4
9. OUTLINE DRAWINGS
(d) MR-J4-200B(-RJ)
[Unit: mm]
90
85
Lock knob Exhaust
6
CNP1
CNP2
156
161
168
CNP3
6
PE Cooling fan
air intake
Approx. 21
6 Approx. 69.3
6 78 6
Approx. 38.5
With
MR-BAT6V1SET
Mass: 2.1 [kg]

Mounting screw
Terminal
Screw size: M5
CNP1 CNP2 CNP3
Approx. 6
L1 P+ U
L2 C V Approx. 90
L3 D W
N- L11
P3 L21
P4
Approx. 168
156 ± 0.5
3-M5 screw
PE Screw size: M4
Approx. 6
9- 5
9. OUTLINE DRAWINGS
(e) MR-J4-350B(-RJ)
[Unit: mm]
90
85
Mounting hole 45 Approx. 80 195
Lock knob
6 Exhaust
CNP1
CNP3
156
168
161
CNP2
6
PE Cooling fan
air intake
Approx. 21
6 Approx. 69.3
6 78 6
Approx. 38.5
With
MR-BAT6V1SET
Mass: 2.3 [kg]

Mounting screw
Terminal
Screw size: M5
CNP1 CNP2 CNP3
Approx. 6
L1 P+ U
L2 C V Approx. 90
L3 D W
N- L11
6
P3 L21 (R
)
P4
Approx. 168
156 ± 0.5
10
φ13 hole
3-M5 screw
PE Mounting hole
Screw size: M4 dimensions
Approx. 6

9- 6
9. OUTLINE DRAWINGS
(f) MR-J4-500B(-RJ)
[Unit: mm]
Approx. 25 105 Approx. 80 200

2-φ6 mounting hole 6 93 6 Approx. 28 6
Cooling fan
7.5
exhaust
TE2
TE1
250
235
TE3
TE4
With
MR-BAT6V1SET
PE
7.5
6
Intake
Approx.
38.5
Approx.
34
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
L2
Approx. 7.5
L3
N-
4-M5 screw
TE3 P3 TE3 Screw size: M4
P4
P+
C
Approx. 250
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- 7
9. OUTLINE DRAWINGS
(g) MR-J4-700B(-RJ)
[Unit: mm]
172 Approx. 80 200

Cooling fan
7.5
exhaust
300
285
TE3
With TE1
MR-BAT6V1SET TE2
PE
7.5
6 Intake
Built-in regenerative resistor

Approx. Approx.
38.5
lead terminal fixing screw

Screw size: M4
101
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
PE 4-M5 screw
TE3 Screw size: M4
TE1 Screw size: M4

TE2 Screw size: M3.5

Approx. 300
285 ± 0.5
PE Screw size: M4
Approx. 7.5
9- 8
9. OUTLINE DRAWINGS
(h) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ)
[Unit: mm]
220 Approx. 80 260

2-φ6 mounting hole 12 196 12 Approx. 28 10.5
Cooling fan
exhaust
10
400
380
24.2 11 PE
TE1-1
TE2
TE1-2
60 43
78.5
6 188 Intake 25.5 22.8
10
With
MR-BAT6V1SET 224.2 57.9
237.4 5 × 25.5 (= 127.5)
Approx. Approx.
139.5 38.5
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- 9
9. OUTLINE DRAWINGS
(i) MR-J4-22KB(-RJ)
[Unit: mm]
260 Approx. 80 260

2-φ12 mounting hole 12 236 12 Approx. 28
Cooling fan
12
exhaust
400
376
TE1-1
32.7 11
TE2 TE1-2
40
PE
25.5 22.8
40.5
188.5 Intake
26.5
12
12
With
MR-BAT6V1SET 223.4 59.9
235.4 5 × 25.5 (= 127.5)
Approx. Approx.
179 38.5
Mass: 18.2 [kg]

Terminal Mounting screw
Screw size: M10
Approx. 260
TE1-2 P3 P4 P+ C N- Approx. 12 236 ± 0.5 Approx. 12
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 - 10
9. OUTLINE DRAWINGS
(2) 400 V class

(a) MR-J4-60B4(-RJ)/MR-J4-100B4(-RJ)
[Unit: mm]
60
Lock knob
6
CNP1
CNP2
161
156
168
CNP3
6
PE
6
Approx. 21
Approx. 69.3
12 42
Approx. 38.5
With
MR-BAT6V1SET
Mass: 1.7 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
N- Tightening torque: 3.24 [N•m]
Approx.
L1
Approx. 60
6
L2
L3
P3
P4
CNP2
Approx. 168
156 ± 0.5
P+
C
D
L11
L21
3-M5 screw
CNP3
U
Approx.
V
6
W 42 ± 0.3
PE Screw size: M4 Approx. 12 Approx. 6
9 - 11
9. OUTLINE DRAWINGS
(b) MR-J4-200B4(-RJ)
[Unit: mm]
90
φ6 mounting hole 85
45 Approx. 80 195
Lock knob
6 Exhaust
CNP1
161
CNP2
156
168
CNP3
6
PE Cooling fan
air intake
Approx. 21
6 Approx. 69.3
6 78 6
Approx. 38.5
With
MR-BAT6V1SET
Mass: 2.1 [kg]

Mounting screw
Terminal
CNP1 Screw size: M5
L1
Approx.
Approx. 90
L2
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 Approx. 6 78 ± 0.3 Approx. 6
Screw size: M4
Tightening torque: 1.2 [N•m] Mounting hole process drawing
9 - 12
9. OUTLINE DRAWINGS
(c) MR-J4-350B4(-RJ)
[Unit: mm]
2-φ6 mounting hole
Approx. 73.5
105 Approx. 80 200
6 93 6 Approx. 28 6
Lock knob
7.5
Cooling fan exhaust
CNP1
CNP2
250
235
CNP3
Approx. 69.3
With
MR-BAT6V1SET
Intake
7.5
6
Approx.
38.5
Approx.
34
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
L11
Approx. 250
235 ± 0.5
L21
CNP3
U
V
W
PE Screw size: M4
Approx.
7.5
9 - 13
9. OUTLINE DRAWINGS
(d) MR-J4-500B4(-RJ)
[Unit: mm]
Approx. 28
Approx. 73.5
130 Approx. 80 200

Approx. 200 6
7.5
118 Approx. 28 6
Cooling fan exhaust

250
235
Approx. 69.3
TE2 TE3
TE1
With Intake PE
7.5
MR-BAT6V1SET
Approx.
38.5

Screw size: M4
Approx.
60
Mass: 4.3 [kg]

Screw size: M5
TE2 L11 L21 TE3 N- P3 P4
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 - 14
9. OUTLINE DRAWINGS
(e) MR-J4-700B4(-RJ)
[Unit: mm]
172 Approx. 80 200

Cooling fan
7.5
exhaust
300
285
TE3
With TE1
MR-BAT6V1SET TE2
PE
7.5
6 Intake

Approx. Approx.
38.5

Screw size: M4
101
Mass: 6.5 [kg]

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. 6 160 0.5 Approx. 6
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 - 15
9. OUTLINE DRAWINGS
(f) MR-J4-11KB4(-RJ)/MR-J4-15KB4(-RJ)
[Unit: mm]
220 Approx. 80 260

2-φ6 mounting hole 12 196 12 Approx. 28 10.5
Cooling fan
exhaust
10
400
380
24.2 11 PE
TE1-1
TE2
TE1-2
60 43
78.5
6 188 Intake 25.5 22.8
10
With
MR-BAT6V1SET 224.2 57.9
237.4 5 × 25.5 (= 127.5)
Approx. Approx.
139.5 38.5
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 - 16
9. OUTLINE DRAWINGS
(g) MR-J4-22KB4(-RJ)
[Unit: mm]
260 Approx. 80 260

2-φ12 mounting hole 12 236 12 Approx. 28
Cooling fan
12
exhaust
400
376
TE1-1
32.7 11
TE2 TE1-2
40
PE
25.5 22.8
40.5
188.5 Intake
26.5
12
12
With
MR-BAT6V1SET 223.4 59.9
235.4 5 × 25.5 (= 127.5)
Approx. Approx.
179 38.5
Mass: 18.2 [kg]

Screw size: M10
Approx. 260
TE1-2 P3 P4 P+ C N- Approx. 12 236 ± 0.5 Approx. 12
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 - 17
9. OUTLINE DRAWINGS
(3) 100 V class

(a) MR-J4-10B1(-RJ)/MR-J4-20B1(-RJ)
[Unit: mm]
40
Lock knob
6
CNP1
CNP2
168
156
161
CNP3
6
PE
Approx. 21
6 Approx. 69.3
Approx. 38.5
With
MR-BAT6V1SET
4
Mass: 0.8 [kg]

Mounting screw
Terminal
Screw size: M5
CNP1 CNP2 CNP3
L1 P+ U Approx. 40
2-M5 screw
Approx.
C V 6
6
L2 D W
N- L11
L21
Approx. 168
156 ± 0.5
PE
Screw size: M4
Approx.
6
9 - 18
9. OUTLINE DRAWINGS
(b) MR-J4-40B1(-RJ)
[Unit: mm]
40
Lock knob
6
CNP1
CNP2
156
161
168
CNP3
6
PE
Approx. 21
6 Approx. 69.3
Approx. 38.5
With
MR-BAT6V1SET
5
Mass: 1.0 [kg]

Mounting screw
Terminal
Screw size: M5
CNP1 CNP2 CNP3
L1 P+ U Approx. 40
2-M5 screw
Approx.
C V 6
6
L2 D W
N- L11
L21
Approx. 168
156 ± 0.5
PE
Screw size: M4
Approx.
6
9 - 19
9. OUTLINE DRAWINGS
9.2 Connector
(1) CN1A/CN1B connector
[Unit: mm]
F0-PF2D103 F0-PF2D103-S
4.8 4.8
13.4
13.4
1.7 1.7
15
15
2.3 2.3
6.7
6.7
9.3
9.3
17.6 ± 0.2 8 17.6 ± 0.2 8
20.9 ± 0.2 20.9 ± 0.2
(2) Miniature delta ribbon (MDR) system (3M)

(a) One-touch lock type
[Unit: mm]
E
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
9 - 20
9. OUTLINE DRAWINGS
(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
23.8
5.2
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
(3) SCR connector system (3M)

Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
[Unit: mm]
39.5
34.8
11.0
22.4
9 - 21
9. OUTLINE DRAWINGS
MEMO
9 - 22
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, it is recommended that the
unbalanced torque of the machine be kept at 70% or less 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.)
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
421 352 353 503 353 Characteristics d
502 502 503 703 503
702
903 Characteristics e
11K1M
15K1M
22K1M
524 534 534 Characteristics b
1024 734
1034
1524 1534 734 Characteristics c
2024 2034 1034
3524 3534 1534
2034
5024 5034 3534 Characteristics d
7024 7034 5034
9034 Characteristics e
11K1M4
15K1M4
22K1M4
10 - 1
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 - 2
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 - 3
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-J4-10B(-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-J4-20B(-RJ)
HG-KR23 0.5 25 15 0.5
HG-MR43 0.9 35 15 0.7
MR-J4-40B(-RJ)
HG-KR43 0.9 35 15 0.7
HG-SR52 1.0 40 15 0.8
MR-J4-60B(-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-J4-70B(-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
HG-SR81 1.5 50 15 1.0
MR-J4-100B(-RJ)
HG-JR73 1.3 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-J4-200B(-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-J4-350B(-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-J4-500B(-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
MR-J4-700B(-RJ)
HG-JR703 10 300 25 6.0
10 - 4
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
MR-J4-11KB(-RJ)
HG-JR11K1M 16 530 160 45 11.0
MR-J4-15KB(-RJ) HG-JR15K1M 22 640 195 45 13.0
MR-J4-22KB(-RJ) HG-JR22K1M 33 850 260 55 17.0
HG-SR524 1.0 40 18 0.8
MR-J4-60B4(-RJ)
HG-JR534 1.0 40 18 0.8
HG-SR1024 1.7 60 18 1.2
MR-J4-100B4(-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-J4-200B4(-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-J4-350B4(-RJ)
HG-JR3534 5.5 160 20 2.7
HG-SR5024 7.5 195 25 3.9
MR-J4-500B4(-RJ)
HG-JR5034 7.5 195 25 3.9
HG-SR7024 10 300 25 6.0
MR-J4-700B4(-RJ)
HG-JR7034 10 300 25 6.0
HG-JR9034 13 435 130 45 8.7
MR-J4-11KB4(-RJ)
HG-JR11K1M4 16 530 160 45 11.0
MR-J4-15KB4(-RJ) HG-JR15K1M4 22 640 195 45 13.0
MR-J4-22KB4(-RJ) HG-JR22K1M4 33 850 260 55 17.0
HG-MR053 0.3 25 15 0.5
HG-MR13 0.3 25 15 0.5
MR-J4-10B1(-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-J4-20B1(-RJ)
HG-KR23 0.5 25 15 0.5
HG-MR43 0.9 35 15 0.7
MR-J4-40B1(-RJ)
HG-KR43 0.9 35 15 0.7
Note 1. Note that the power supply capacity will vary according to 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 heat sink outside mounting attachment.
10 - 5
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]
ΔT: 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 - 6
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) of
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 7 kW or lower servo, there is internal relay delay time of about 10 ms. For 11 kW to 22 kW servo,
there is delay caused by magnetic contactor built into the external dynamic brake (about 50 ms) and
delay caused by the external relay.
10 - 7
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
Speed [r/min] 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

80 260
70 15K1M 53
Dynamic brake time
220
Dynamic brake time
60
constant [ms]
903
constant [ms]
180
50 22K1M
40 140 103
703
30 11K1M 100 353
20 73 503
60
10
20 203 153
0 0
0 500 1000 1500 2000 2500 3000 0 1000 2000 3000 4000 5000 6000
HG-JR1500 r/min series HG-JR3000 r/min series

18 100
16 90
Dynamic brake time
72
Dynamic brake time
14 80
constant [ms]
502
constant [ms]
12 70 352
10 103 60
503
8 50
153 40
6
4 30
2 353 20 202
203 152
10
0
0 500 1000 1500 2000 2500 3000 0
0 500 1000 1500 2000
HG-RR series HG-UR series
10 - 8
10. CHARACTERISTICS
(b) 400 V class

100 50
524 45
Dynamic brake time

40 11K1M4
Dynamic brake time

80 3524
constant [ms]
35
constant [ms]
60 30 22K1M4
25 15K1M4
2024 20
40 5024 15
1024 10
20 5
7024 0
1524 0 500 1000 1500 2000 2500 3000
0
0 500 1000 1500 2000 2500 3000 Speed [r/min]
Speed [r/min]
HG-SR series HG-JR1500r/min series

120
7034
100
Dynamic brake time
constant [ms]
80 534
9034
60
1034
40 3534
5034
20
2034 1534
734
0
0 1000 2000 3000 4000 5000 6000
Speed [r/min]
HG-SR3000r/min series
10 - 9
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-UR202
16
HG-KR13 HG-UR352
HG-KR23 30 HG-UR502 15
HG-KR43 HG-RR103
30
HG-KR73 HG-RR153
HG-MR053 35 HG-RR203 16
HG-MR13 HG-RR353
15
HG-MR23 HG-RR503
32
HG-MR43 HG-JR53
HG-MR73 HG-JR73
30
HG-SR51 HG-JR103
HG-SR81 HG-JR203
30
HG-SR121 HG-JR353 16 (30)
HG-SR201 HG-JR503 15 (30)
HG-SR301 16 HG-JR703 11 (30)
HG-SR421 15 HG-JR903 18 (30)
HG-SR52 HG-JR11K1M
30 10 (30)
HG-SR102 HG-JR15K1M
HG-SR152 HG-JR22K1M 20 (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-JR11K1M4
10 (30)
HG-SR7024 HG-JR15K1M4
HG-UR72 HG-JR22K1M4 20 (30)
30
HG-UR152
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 - 10
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
SSCNET III cable using long distance cable
1 × 106
5 × 105
b: Standard encoder cable
Standard motor power cable
Standard electromagnetic brake cable
1 × 105 SSCNET III cable using inside panel standard cord
5 × 104 SSCNET III cable using outside panel standard cable
1 × 104 b
5 × 103
1 × 103
4 7 10 20 40 70 100 200
Bend radius [mm]
10 - 11
10. CHARACTERISTICS
10.5 Inrush currents at power-on of main circuit and control circuit
POINT
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-J4-10B(-RJ) to MR-J4-70B(-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, and L3) Control circuit power supply (L11 and L21)
MR-J4-10B(-RJ)
MR-J4-20B(-RJ)
30 A (attenuated to approx. 3 A in 20 ms)
MR-J4-40B(-RJ)
MR-J4-60B(-RJ) 20 A to 30 A
MR-J4-70B(-RJ) (attenuated to approx. 1 A in 20 ms)
MR-J4-100B(-RJ)
MR-J4-200B(-RJ)
MR-J4-350B(-RJ)
MR-J4-500B(-RJ) 42 A (attenuated to approx. 20 A in 20 ms) 34 A
MR-J4-700B(-RJ) 85 A (attenuated to approx. 20 A in 30 ms) (attenuated to approx. 2 A in 20 ms)
MR-J4-11KB(-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.
Servo amplifier Main circuit power supply Control circuit power supply
(L1, L2 and L3) (L11 and L21)
MR-J4-60B4(-RJ) 65 A
MR-J4-100B4(-RJ) (attenuated to approx. 5 A in 10 ms)
80 A 40 A to 50 A
MR-J4-200B4(-RJ) (attenuated to approx. 0 A in 2 ms)
100 A
MR-J4-350B4(-RJ)
65 A
MR-J4-500B4(-RJ)
(attenuated to approx. 9 A in 20 ms) 41 A
MR-J4-700B4(-RJ)
339 A
MR-J4-11KB4(-RJ)
339 A 38 A
MR-J4-15KB4(-RJ)
(attenuated to approx. 15 A in 30 ms) (attenuated to approx. 1 A in 30 ms)
339 A
MR-J4-22KB4(-RJ)
10 - 12
10. CHARACTERISTICS
(3) 100 V class

The following shows the inrush currents (reference data) that will flow when 120 V AC is applied at the
power supply capacity of 2500 kVA and the wiring length of 1 m.
Servo amplifier Main circuit power supply Control circuit power supply
(L1 and L2) (L11 and L21)
MR-J4-10B1(-RJ) 20 A to 30 A
38 A
MR-J4-20B1(-RJ) (attenuated to approx. 0 A
MR-J4-40B1(-RJ) in 1 ms to 2 ms)
10 - 13
10. CHARACTERISTICS
MEMO
10 - 14
11. Options and peripheral devices
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-_B_ servo amplifier

Personal Safety logic unit
Servo system computer MR-J3-D05
controller
CN9
8) 8)
5) CN10
2) 3) 4) Servo Servo
amplifier 7) amplifier
1) (packed with the servo amplifier) CN5 CN5

CN3 6) CN3
(Note 1) (Note 2)
CNP1
CN8 (Note 2) CN8
CNP2 CN1A CN1A

2) 3) 4)
CN1B CN1B
CNP3
CN2 CN2
Cap
(packed with the
servo amplifier)
CN4 CN4
Refer to "Servo Motor Instruction Manual (Vol. 3)" for options for
servo motor power supply, electromagnetic brake, and encoder.
Battery To 24 V DC power supply

for electromagnetic brake Servo motor
Power supply Brake Encoder

connector connector connector
Refer to "Liner Encoder Instruction Manual" about options
for liner encoder. Liner servo motor
To CN2
Liner encoder
Power supply connector
To CN2
The connection method changes
depending on incremental system Encoder connector
and absolute position detection system.
Direct drive motor
Refer to "Direct Drive Motor Instruction Manual" about
options for direct drive motor power and encoder.
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 ( 9)) came with a servo amplifier.
11 - 2
For MR-J4-_B_-RJ servo amplifier

Personal Safety logic unit
Servo system MR-J3-D05
controller computer
CN9
8) 8)
5) CN10
2) 3) 4) Servo Servo
amplifier 7) amplifier
1) (packed with the servo amplifier) CN5 CN5

CN3 6) CN3
(Note 1) (Note 2)
CNP1
CN8 (Note 2) CN8
CNP2 CN1A CN1A

2) 3) 4)
CN1B CN1B
CNP3
CN2 CN2
Cap
CN2L CN2L (packed with the
servo amplifier)
CN4 CN4
Refer to "Servo Motor Instruction Manual (Vol. 3)" for options for
servo motor power supply, electromagnetic brake, and encoder.
Battery To 24 V DC power supply

for electromagnetic brake Servo motor
Power supply Brake Encoder

connector connector connector
Refer to "Liner Encoder Instruction Manual" about options
for liner encoder. Liner servo motor
To CN2
Liner encoder
Power supply connector
To CN2
The connection method changes
depending on incremental system Encoder connector
and absolute position detection system.
Direct drive motor
Refer to "Direct Drive Motor Instruction Manual" about
options for direct drive motor power and encoder.
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 ( 9)) came with a servo amplifier.
11 - 3
No. Product name Model Description Application

1) Servo amplifier Supplied
power connector with 200 V
set class and
100 V class
servo
CNP1 Connector: CNP2 Connector: CNP3 Connector: amplifiers
06JFAT-SAXGDK-H7.5 05JFAT-SAXGDK-H5.0 03JFAT-SAXGDK-H7.5 of 1 kW or
(JST) (JST) (JST) less
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
(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) SSCNET III MR-J3BUS_M Connector: PF-2D103 Connector: PF-2D103 Standard
cable Cable length: (JAE) (JAE) cord
0.15 m to 3 m inside
(Refer to section cabinet
11.1.3.)
3) SSCNET III MR-J3BUS_M-A Standard
cable Cable length: cable
5 m to 20 m outside
(Refer to section cabinet
11.1.3.)
4) SSCNET III MR-J3BUS_M-B Connector: CF-2D103-S Connector: CF-2D103-S Long-
cable Cable length: (JAE) (JAE) distance
30 m to 50 m cable
(Refer to section
11.1.3.)
5) 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
11 - 4
No. Product name Model Description Application

6) Connector set MR-CCN1 Connector: 10120-3000PE
Shell kit: 10320-52F0-008
(3M or equivalent)
7) Junction terminal PS7DW-20V14B-F
block (Yoshida Electric Industry)
(recommended)
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.
8) STO cable MR-D05UDL3M-B Connector set: 2069250-1 Connection
(TE Connectivity) cable for
the CN8
connector
9) Short-circuit Supplied
connector with servo
amplifier
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
MR-D05UDL3M-B
CN8
(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 - 5
11.1.3 SSCNET III cable
POINT
Do not look directly at the light generated from CN1A/CN1B connector of servo
amplifier or the end of SSCNET III cable. The light can be a discomfort when it
enters the eye.
Refer to appendix 10 for long distance cable over 50 m and ultra-long bending
life 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 Bending
Cable model Application/remark
0.15 m 0.3 m 0.5 m 1m 3m 5 m 10 m 20 m 30 m 40 m 50 m life
Using standard cord
MR-J3BUS_M 015 03 05 1 3 Standard
inside cabinet
Using standard cable
MR-J3BUS_M-A 5 10 20 Standard
outside cabinet
Long
(Note) Using long distance
30 40 50 bending
MR-J3BUS_M-B cable
life
Note. For cable of 30 m or shorter, contact your local sales office.
(2) Specifications
Description
SSCNET III cable model MR-J3BUS_M MR-J3BUS_M-A MR-J3BUS_M-B
SSCNET III cable length 0.15 m 0.3 m to 3 m 5 m to 20 m 30 m to 50 m
Optical Enforced covering cable: Enforced covering cable:
Minimum bend
cable 25 mm 50 mm 50 mm
radius
(cord) Cord: 25 mm Cord: 30 mm
420 N 980 N
Tension strength 70 N 140 N
(Enforced covering cable) (Enforced covering cable)
Temperature
range for use -40 °C to 85 °C -20 °C to 70 °C
(Note)
Ambience Indoors (no direct sunlight), no solvent or oil
2.2 ± 0.07
2.2 ± 0.2
4.4 ± 0.1 4.4 ± 0.4

2.2 ± 0.07
Appearance [mm]
2.2 ± 0.07 4.4 ± 0.1 6.0 ± 0.2 7.6 ± 0.5
Note. This temperature range for use is the value for optical cable (cord) only. Temperature condition for the connector is the same as
that for servo amplifier.
11 - 6
(3) Dimensions
(a) MR-J3BUS015M
[Unit: mm]
Protective tube
Approx. Approx. Approx. Approx.
6.7 15 13.4 37.65
Approx.
20.9
150 +50
- 0
+0
Approx. 2.3 8
Approx. 1.7
(b) MR-J3BUS03M to MR-J3BUS3M

Refer to the table shown in (1) of this section for cable length (L).
[Unit: mm]
Protective tube
(Note)
Approx. 100 Approx. 100

L
Note. Dimension of connector part is the same as that of MR-J3BUS015M.
(c) MR-J3BUS5M-A to MR-J3BUS20M-A/MR-J3BUS30M-B to MR-J3BUS50M-B

Refer to the table shown in (1) of this section for cable length (L).
Variable dimensions [mm]
SSCNET III cable
A B
MR-J3BUS5M-A to MR-J3BUS20M-A 100 30
MR-J3BUS30M-B to MR-J3BUS50M-B 150 50
[Unit: mm]
Protective tube
(Note)
Approx. A Approx. B Approx. B Approx. A

L
Note. Dimension of connector part is the same as that of MR-J3BUS015M.
11 - 7
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)
amplifier MR-RB032 MR-RB12 MR-RB30 MR-RB3N MR-RB31 MR-RB32
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-J4-10B
30
(-RJ)
MR-J4-20B
10 30 100
(-RJ)
MR-J4-40B
10 30 100
(-RJ)
MR-J4-60B
10 30 100
(-RJ)
MR-J4-70B
20 30 100 300
(-RJ)
MR-J4-100B
20 30 100 300
(-RJ)
MR-J4-200B
100 300 500
(-RJ)
MR-J4-350B
100 300 500
(-RJ)
MR-J4-500B
130 300 500
(-RJ)
MR-J4-700B
170 300 500
(-RJ)
(Note 2) Regenerative power [W]

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

2. Values in parentheses assume the installation of a cooling fan.
11 - 8
(2) 400 V class

(Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1)
Servo amplifier Built-in MR-
MR- MR- MR- MR- MR- MR- MR-
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-J4-60B4(-RJ) 15 100 300
MR-J4-100B4(-RJ) 15 100 300
MR-J4-200B4(-RJ) 100 300 500
MR-J4-350B4(-RJ) 100 300 500
MR-J4-500B4(-RJ) 130 300 500
MR-J4-700B4(-RJ) 170 300 500
(Note 2) Regenerative power [W]

External
Servo amplifier regenerative MR-RB5K-4 MR-RB6K-4
resistor [10 Ω] [10 Ω]
(accessory)
MR-J4-11KB4(-RJ) 500 (800) 500 (800)
MR-J4-15KB4(-RJ) 850 (1300) 850 (1300)
MR-J4-22KB4(-RJ) 850 (1300) 850 (1300)
Note 1. Always install a cooling fan.

2. Values in parentheses assume the installation of a cooling fan.
(3) 100 V class

Servo amplifier Built-in
MR-RB032 MR-RB12
regenerative
[40 Ω] [40 Ω]
resistor
MR-J4-10B1(-RJ) 30
MR-J4-20B1(-RJ) 10 30 100
MR-J4-40B1(-RJ) 10 30 100
11 - 9
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] 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 • tpsa2
9.55 • 104 tpsa2 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 • tpsd2
9.55 • 104 tpsd2 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
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative
energies.
11 - 10
(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-J4-10B(-RJ) 55 9 MR-J4-60B4(-RJ) 85 12
MR-J4-20B(-RJ) 75 9 MR-J4-100B4(-RJ) 85 12
MR-J4-40B(-RJ) 85 11 MR-J4-200B4(-RJ) 85 25
MR-J4-60B(-RJ) 85 11 MR-J4-350B4(-RJ) 85 43
MR-J4-70B(-RJ) 85 18 MR-J4-500B4(-RJ) 90 45
MR-J4-100B(-RJ) 85 18 MR-J4-700B4(-RJ) 90 70
MR-J4-200B(-RJ) 85 36 MR-J4-11KB4(-RJ) 90 120
MR-J4-350B(-RJ) 85 40 MR-J4-15KB4(-RJ) 90 170
MR-J4-500B(-RJ) 90 45 MR-J4-22KB4(-RJ) 90 250
MR-J4-700B(-RJ) 90 70 MR-J4-10B1(-RJ) 55 4
MR-J4-11KB(-RJ) 90 120 MR-J4-20B1(-RJ) 75 4
MR-J4-15KB(-RJ) 90 170 MR-J4-40B1(-RJ) 85 10
MR-J4-22KB(-RJ) 90 250
Inverse efficiency (η): 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 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] = η • 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 - 11
(2) Linear servo motor

(a) Thrust and energy calculation
Liner servo motor Feed speed
secondary-side (magnet) 2)
V V
M1 Load 1) 3)
Ft Positive
M2 direction
4) 8)
Time
Liner servo motor Negative
primary-side (coil) direction
5) 7)
Liner 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) of 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 - 12
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 - 13
(1) MR-J4-500B(-RJ) or less/MR-J4-350B4(-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 - 14
(2) MR-J4-500B4(-RJ)/MR-J4-700B(-RJ)/MR-J4-700B4(-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 - 15
(3) MR-J4-11KB(-RJ) to MR-J4-22KB(-RJ)/MR-J4-11KB4(-RJ) to MR-J4-22KB4(-RJ) (when using the

supplied regenerative resistor)
Note the followings for supplied regenerative resistors of 11 kW to 22 kW servo

amplifiers because they do not have protect covers.
Touching the resistor will cause a burn because the surface of the parts is a
CAUTION resistive element and very high temperature.
Even if the power turned off, touching the resistor will cause an electric shock
because the capacitor of the servo amplifier is charged for a while.
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 your design basis, 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
Normal Cooling resistance [Ω] resistors
MR-J4-11KB(-RJ) GRZG400-0.8Ω 500 800 3.2 4

MR-J4-15KB(-RJ) GRZG400-0.6Ω 3
850 1300 5
MR-J4-22KB(-RJ) GRZG400-0.5Ω 2.5
MR-J4-11KB4(-RJ) GRZG400-2.5Ω 500 800 10 4
MR-J4-15KB4(-RJ)
GRZG400-2Ω 850 1300 10 5
MR-J4-22KB4(-RJ)
11 - 16
(4) MR-J4-11KB-PX to MR-J4-22KB-PX/MR-J4-11KB-RZ to MR-J4-22KB-RZ/MR-J4-11KB4-PX to MR-J4-

22KB4-PX/MR-J4-11KB4-RZ to MR-J4-22KB4-RZ (when using the regenerative option)
The MR-J4-11KB-PX to MR-J4-22KB-PX, MR-J4-11KB-RZ to MR-J4-22KB-RZ, MR-J4-11KB4-PX to
MR-J4-22KB4-PX, and MR-J4-11KB4-RZ to MR-J4-22KB4-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-J4-11KB-PX
MR-RB5R 3.2 500 800
MR-J4-11KB-RZ
MR-J4-15KB-PX
MR-RB9F 3 850 1300
MR-J4-15KB-RZ
MR-J4-22KB-PX
MR-RB9T 2.5 850 1300
MR-J4-22KB-RZ
MR-J4-11KB4-PX
MR-RB5K-4 10 500 800
MR-J4-11KB4-RZ
MR-J4-15KB4-PX
MR-J4-15KB4-RZ
MR-RB6K-4 10 850 1300
MR-J4-22KB4-PX
MR-J4-22KB4-RZ
11 - 17
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)
TE
Mounting screw G4 G3 C P
4-M3
11.2.5 Dimensions
(1) MR-RB12
[Unit: mm]
TE1 terminal block
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 - 18
(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
150
142
G4
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 Mass
162.5
dimensions
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 - 19
(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]
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 - 20
(6) MR-RB1H-4
[Unit: mm]
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
10 5.5 39
40
Approx. 330 9.5 GRZG400-2.0Ω

385 40
411 Approx. φ47
11 - 21
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-J4-500B(-RJ)
class (Note 1)
2 (parallel) 1.98 4 MR-J4-500B(-RJ)
MR-J4-700B(-RJ)
MR-J4-11KB(-RJ)
MR-J4-15KB(-RJ)
FR-BU2-30K FR-BR-30K 1 1.99 4 MR-J4-500B(-RJ)
MR-J4-700B(-RJ)
MR-J4-11KB(-RJ)
MR-J4-15KB(-RJ)
FR-BU2-55K FR-BR-55K 1 3.91 2 MR-J4-11KB(-RJ)
MR-J4-15KB(-RJ)
MR-J4-22KB(-RJ)
MT-BR5-55K 1 5.5 2 MR-J4-22KB(-RJ)
11 - 22
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-J4-500B4(-RJ)
class MR-J4-700B4(-RJ)
MR-J4-11KB4(-RJ)
(Note 2)
FR-BU2-H55K FR-BR-H55K 1 3.91 8 MR-J4-11KB4(-RJ)
MR-J4-15KB4(-RJ)
MR-J4-22KB4(-RJ)
FR-BU2-H75K MT-BR5-H75K 1 7.5 6.5 MR-J4-22KB4(-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/ Remarks
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 - 23
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
Emergency stop switch
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. For the servo amplifier of 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.
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+ to 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 - 24
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 - 25
(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 - 26
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)

2. For the servo amplifier of 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.
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 (3) (b) of this
section.
amplifier.
11 - 27
(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 - 28
(b) 400 V class

ALM OFF RA2
RA1 ON
MC
MC
Step-down
transformer
Servo amplifier
(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 - 29
(3) Precautions for wiring

The cables between the servo amplifier and the brake unit, and between the resistor unit and the brake
unit should be as short as possible. Always twist the cable longer than 5 m (twist five times or more per
one meter). Even when the cable is twisted, the cable should be less than 10 m. Using cables longer
than 5 m without twisting or twisted cables longer than 10 m may result in the brake unit 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,
screw N/-, P/+,
[N•m] HIV wire
size PR, 2 AWG
N/- P/+ PR [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 - 30
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-J4-500B(-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-J4-700B(-RJ) FR-BU2-15K 2 8-4NS (JST) (Note 2) b
FR-BU2-30K 1 FVD5.5-S4 (JST) a
MR-J4-11KB(-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-J4-15KB(-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-J4-22KB(-RJ) FR-BU2-55K 1 FVD14-8 (JST) d
11 - 31
Number of (Note 1)
Servo amplifier Brake unit connected Crimp terminal (Manufacturer) Applicable
units tool
400 V MR-J4-500B4(-RJ) FR-BU2-H30K 1 FVD5.5-S4 (JST) a
class MR-J4-700B4(-RJ) FR-BU2-H30K 1 FVD5.5-S4 (JST) a
MR-J4-11KB4(-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) of 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 - 32
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 - 33
(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
D±5
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 - 34
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-J4-500B(-RJ)
FR-RC-15K 15
MR-J4-700B(-RJ) 200
MR-J4-11KB(-RJ)
FR-RC-30K 30 100
MR-J4-15KB(-RJ)
FR-RC-55K 55 MR-J4-22KB(-RJ)
50
MR-J4-500B4(-RJ)
FR-RC-H15K 15 30
MR-J4-700B4(-RJ)
MR-J4-11KB4(-RJ) 20
FR-RC-H30K 30
MR-J4-15KB4(-RJ) 0 50 75 100 150
FR-RC-H55K 55 MR-J4-22KB4(-RJ) Nominal regenerative power [%]
11 - 35
(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 - 36
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.
2. For the servo amplifier of 7 kW, always disconnect the lead wire of built-in regenerative resistor, which is connected to the 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.
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 circuitpower 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
Forced stop 1 EM1 DOCOM
(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 - 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-H will not operate.
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.
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 - 38
(4) Mounting hole machining dimensions

When the power regeneration converter is installed to an enclosed type cabinet, mount the heat
generating area of the converter outside the box to provide heat generation measures. At this time, the
mounting hole having the following dimensions is machined in the box.
[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, and 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 - 39
11.5.1 Model designation
The following describes what each block of a model name indicates. Not all combinations of the symbols are
available.
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 - 40
(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 - 41
POINT
In this configuration, only the STO function is supported. The forced stop
deceleration function is not available.
(a) 200 V class

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
RESET Servo system 24 V DC (Note 8)
RES
RDYB controller DOCOM
SD (Note 2)
RDYA ALM RA2
(Note 3)
(Note 1) RSO
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.
3. For the FR-CV, the RSO signal turns off when it is put in a ready-to-operate status where the reset signal is input. Configure
a sequence that will make the servo inoperative when the RSO signal is on.
4. Configure a sequence that will make a stop with the emergency stop input of the servo system controller if an alarm occurs in
the FR-CV. When the servo system 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 - 42
(b) 400 V class

L11 U U
L21 V V
(Note 7) 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 5)
N/L- N-
24 V DC (Note 8)
R/L11
Step-down S/L21
transformer P24
T/MC1
SD
RESET Servo system 24 V DC (Note 8)
RES controller DOCOM
RDYB
SD (Note 2)
RDYA ALM RA2
(Note 3)
RSO
(Note 1)
SE
RA1 RA2 EM1 OFF
ON
(Note 1)
A (Note 1, 6)
MC RA1
(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-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. For the FR-CV-H, the RSO signal turns off when it is put in a ready-to-operate status where the reset signal is input. Configure
a sequence that will make the servo inoperative when the RSO signal is on.
4. Configure a sequence that will make a stop with the emergency stop input of the servo system controller if an alarm occurs in
the FR-CV-H. When the servo system 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-H, always disconnect wiring between P3 and P4 terminals.
6. Set [Pr. PA04] to "0 0 _ _" to enable EM1 (Forced stop 1).
11 - 43
(4) Selection example of wires used for wiring
POINT
Selection conditions of wire size is 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 2)
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)
(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 - 44
(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.
2 mm2
2 mm2 Servo amplifier (2 kW)
P Fourth unit:
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 22 mm 8 mm2 Servo amplifier (11kW)
R2/L1 P/L+ P4 First unit: 22 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 (11kW)
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 - 45
(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
Ambient humidity 90 %RH or less (non-condensing)

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
Magnetic contactor S-N20 S-N35 S-N50 S-N65 S-N80 S-N95 S-N125
11 - 46
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
Ambient humidity 90 %RH or less (non-condensing)

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
Magnetic contactor S-N25 S-N35 S-N50 S-N65
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 - 47
11.6 Junction terminal block PS7DW-20V14B-F (recommended)
(1) Usage
Always use the junction terminal block (PS7W-20V14B-F(YOSHIDA ELECTRIC INDUSTRY)) 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
LG 1 1 1 1 1 LG
DI1 2 2 2 2 2 DI1
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
DICOM 10 10 10 10 10 DICOM
LG 11 11 11 11 11 LG
DI2 12 12 12 12 12 DI2
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
DI3 19 19 19 19 19 DI3
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 - 48
(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-_B_-RJ servo amplifier is supported with software version 1.19V or
later.
MR Configurator2 (SW1DNC-MRC2-E) 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 2), and linear diagnosis (Note 3)
JOG operation (Note 4), positioning operation, motor-less operation (Note 1), DO forced output,
Test operation
and program operation
Adjustment One-touch tuning, tuning, and machine analyzer
Servo assistant, parameter setting range update, machine unit conversion setting, and help
Others
display
Note 1. This is available only in the standard control mode. This will be available in the fully closed loop control mode,
linear servo motor control mode, and DD motor control mode in the future.
2. This is available only in the fully closed loop control mode.
3. This is available only in the linear servo motor control mode.
4. This is available in the standard control mode, fully closed loop control mode, and DD motor control mode.
11 - 49
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 Enterprise Operating System
® ®
Microsoft Windows 8 Pro Operating System
® ®
Microsoft Windows 8 Operating System
® ®
Microsoft Windows 7 Enterprise Operating System
® ®
Microsoft Windows 7 Ultimate Operating System
® ®
Microsoft Windows 7 Professional Operating System
® ®
Microsoft Windows 7 Home Premium Operating System
® ®
Microsoft Windows 7 Starter Operating System
OS ® ®
Microsoft Windows Vista Enterprise Operating System
® ®
Microsoft Windows Vista Ultimate Operating System
® ®
Microsoft Windows Vista Business Operating System
(Note 1, 2, 3, 4, 5) ® ®
Microsoft Windows Vista Home Premium Operating System
Personal computer ® ®
Microsoft Windows Vista Home Basic Operating System
® ®
Microsoft Windows XP Professional Operating System, Service Pack2 or later
® ®
Microsoft Windows XP Home Edition Operating System, Service Pack2 or later
® ®
Microsoft Windows 2000 Professional Operating System, Service Pack4 or later
® ®
CPU Desktop personal computer: Intel Celeron processor 2.8GHz or more
® ®
(recommended) Laptop personal computer: Intel Pentium M processor 1.7GHz or more
Memory
512 MB or more (for 32-bit OS) and 1 GB or more (for 64-bit OS)
(recommended)
Hard Disk 1GB 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 is used, the following functions cannot be used.
Hyper-V
Modern UI style
11 - 50
(2) Connection with servo amplifier

Personal computer
Servo amplifier
USB cable
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 - 51
11.8 Battery
POINT
Refer to appendix 2 and 3 for battery transportation and the new EU Battery
Directive.
The MR-BAT6V1BJ battery for junction battery cable is only for the HG series
servo motors. It cannot be used with direct drive motors.
Do not use the MR-BAT6V1BJ battery for junction battery cable in the fully
closed loop system and scale measurement function.
This battery is used to construct an absolute position detection system. Refer to chapter 12 for details.
11.8.1 MR-BAT6V1SET battery
(1) Parts identification
Connector for servo amplifier
Case
(2) Year and month of manufacture of battery

The year and month of manufacture of MR-BAT6V1 battery have been described to the rating plate put
on a MR-BAT6V1 battery built-in MR-BAT6V1SET battery.
Rating plate 2CR17335A WK17
11-04
6V 1650mAh
The year and month of manufacture
11.8.2 MR-BAT6V1BJ battery for junction battery cable
(1) Parts identification

Orange: Connector for servo amplifier
Case
Black: Connector for branch cable
(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 _ _ _ _ _ _".
11 - 52
(3) DIMENSIONS
[Unit: mm]
34.8 69.3
38.5
Rating plate
Mass: 66 [g]
11.9 Selection example of wires
POINT
Refer to section 11.1.3 for SSCNET III cable.
To comply with the IEC/EN/UL/CSA standard, use the wires shown in appendix
4 for wiring. To comply with other standards, use a wire that is complied with
each standard.
Selection conditions of wire size is as follows.
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 - 53
(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-J4-10B(-RJ)
MR-J4-20B(-RJ)
MR-J4-40B(-RJ) AWG 18 to 14
1.25 to 2
MR-J4-60B(-RJ) 2 (AWG 14) (Note 4)
(AWG 16 to 14) 2 (AWG 14)
MR-J4-70B(-RJ)
(Note 4)
MR-J4-100B(-RJ)
MR-J4-200B(-RJ)
AWG 16 to 10
MR-J4-350B(-RJ) 3.5 (AWG 12)
2 (AWG 14): c
MR-J4-500B(-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-J4-700B(-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-J4-11KB(-RJ) (Note 5) 5.5
14 (AWG 6): f 3.5 (AWG 12): g
(Note 2) (AWG 10): g
1.25 (AWG 16): c 8 (AWG 8): k
MR-J4-15KB(-RJ) 2 (AWG 14): c 22 (AWG 4): h
22 (AWG 4): h 5.5 (AWG 10): g
(Note 2) (Note 5) 8 (AWG 8): k
MR-J4-22KB(-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 amplifier 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 - 54
(b) 400 V class

2
Wires [mm ] (Note 1)
1) L1/L2/L3/ 2) L11/L21 3) P+/C
(Note 3)
MR-J4-60B4(-RJ)/
1.25 to 2
MR-J4-100B4(-RJ)
2 (AWG 14) (AWG 16 to 14) 2 (AWG14) AWG 16 to 14
MR-J4-200B4(-RJ)
(Note 4)
MR-J4-350B4(-RJ)
MR-J4-500B4(-RJ)
2 (AWG 14): b 1.25 (AWG 16): a 3.5 (AWG 12): a
(Note 2)
2 (AWG 14): c 2 (AWG14): b
MR-J4-700B4(-RJ)
3.5 (AWG 12): a (Note 4) 5.5 (AWG 10): a
(Note 2)
MR-J4-11KB4(-RJ)
5.5 (AWG 10): d 2 (AWG14): f
(Note 2)
8 (AWG 8): g
MR-J4-15KB4(-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-J4-22KB4(-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
2
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 (AWG6)
FR-RC-H55K
(c) 100 V class

2
Wires [mm ]
1) L1/L2/ 2) L11/L21 3) P+/C
(Note 1)
MR-J4-10B1(-RJ) 1.25 to 2
AWG 18 to 14
MR-J4-20B1(-RJ) 2 (AWG 14) (AWG 16 to 14) 2 (AWG 14)
(Note 2)
MR-J4-40B1(-RJ) (Note 2)
Note 1. The wire size shows applicable size of the servo amplifier connector and terminal block. For wires
2
11 - 55
(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 - 56
11.10 Molded-case circuit breakers, fuses, magnetic contactors (recommended)
(1) For main circuit power supply

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 AC contactor
Class Current [A]
improving reactor is improving reactor is [V] [V] (Note 2)
not used used
MR-J4-10B(-RJ) 30 A frame 5 A 30 A frame 5 A
10
MR-J4-40B(-RJ) 30 A frame 10 A 30 A frame 5 A 15 S-N10
MR-J4-60B(-RJ) 30 A frame 15 A 30 A frame 10 A S-T10
MR-J4-70B(-RJ) 30 A frame 15 A 30 A frame 10 A 20
S-N20
MR-J4-200B(-RJ) 30 A frame 20 A 30 A frame 20 A 40 (Note 3)
240 T 300
S-T21
S-N20
S-T21
MR-J4-500B(-RJ) 50 A frame 50 A 50 A frame 50 A 125 S-N35
S-N50
MR-J4-11KB(-RJ) 100 A frame 100 A 100 A frame 100 A 200
MR-J4-15KB(-RJ) 125 A frame 125 A 125 A frame 125 A 250 S-N65
MR-J4-22KB(-RJ) 225 A frame 175 A 225 A frame 175 A 350 S-N95
MR-J4-60B4(-RJ) 30 A frame 5 A 30 A frame 5 A 10
S-N10
S-T10
MR-J4-350B4(-RJ) 30 A frame 20 A 30 A frame 15 A 35 S-N20
(Note 3)
480 T 600 S-T21
S-N20
S-T21
MR-J4-11KB4(-RJ) 50 A frame 50 A 50 A frame 50 A 100 S-N25
S-N10
MR-J4-20B1(-RJ) 30 A frame 10 A 30 A frame 10 A 240 T 15 300
S-T10
Note 1. When having the servo amplifier comply with the IEC/EN/UL/CSA standard, refer to appendix 4.
contacts) of 80 ms or less.
3. S-N18 can be used when auxiliary contact is not required.
11 - 57
(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-J4-10B(-RJ)
MR-J4-20B(-RJ)
MR-J4-40B(-RJ)
MR-J4-60B(-RJ)
MR-J4-70B(-RJ)
MR-J4-100B(-RJ)
MR-J4-200B(-RJ) 30 A frame 5 A 240 1 300 1 250
MR-J4-350B(-RJ)
MR-J4-500B(-RJ)
MR-J4-700B(-RJ)
MR-J4-11KB(-RJ)
MR-J4-15KB(-RJ)
MR-J4-22KB(-RJ)
MR-J4-60B4(-RJ)
MR-J4-100B4(-RJ)
MR-J4-200B4(-RJ)
MR-J4-350B4(-RJ)
MR-J4-500B4(-RJ) 30 A frame 5 A 480 1 600 1 600
MR-J4-700B4(-RJ)
MR-J4-11KB4(-RJ)
MR-J4-15KB4(-RJ)
MR-J4-22KB4(-RJ)
MR-J4-10B1(-RJ)
MR-J4-20B1(-RJ) 30 A frame 5 A 240 1 300 1 250
MR-J4-40B1(-RJ)
Note. When having the servo amplifier comply with the IEC/EN/UL/CSA standard, refer to appendix 4.
11 - 58
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
hole (face and back side).) (Note 1)
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 - 59
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-J4-10B(-RJ)
FR-HEL-0.4K 70 60 71 61 21 M4 M4 0.4
MR-J4-20B(-RJ)
MR-J4-40B(-RJ) FR-HEL-0.75K 85 74 81 61 21 M4 M4 0.5
Fig. 11.1
MR-J4-60B(-RJ) 2 (AWG 14)
FR-HEL-1.5K 85 74 81 70 30 M4 M4 0.8
MR-J4-70B(-RJ)
MR-J4-100B(-RJ) FR-HEL-2.2K 85 74 81 70 30 M4 M4 0.9
MR-J4-200B(-RJ) FR-HEL-3.7K 77 55 92 82 66 57 37 M4 M4 1.5
MR-J4-350B(-RJ) FR-HEL-7.5K 86 60 113 98 81 72 43 M4 M5 2.5 3.5 (AWG 12)
MR-J4-500B(-RJ) FR-HEL-11K 105 64 133 112 92 79 47 M6 M6 3.3 5.5 (AWG 10)
MR-J4-700B(-RJ) FR-HEL-15K Fig. 11.2 105 64 133 115 97 84 48.5 M6 M6 4.1 8 (AWG 8)
MR-J4-11KB(-RJ) FR-HEL-15K 105 64 133 115 97 84 48.5 M6 M6 4.1 14 (AWG 6)
115
MR-J4-15KB(-RJ) FR-HEL-22K 105 64 93 175 117 104 M6 M10 5.6 22 (AWG 4)
(Note 1)
135
MR-J4-22KB(-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 is 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 - 60
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-J4-60B4(-RJ) FR-HEL-H1.5K 66 50 100 80 74 54 37 M4 M3.5 1.0 2 (AWG 14)
Fig. 11.4
MR-J4-100B4(-RJ) FR-HEL-H2.2K 76 50 110 80 74 54 37 M4 M3.5 1.3 2 (AWG 14)
MR-J4-200B4(-RJ) FR-HEL-H3.7K 86 55 120 95 89 69 45 M4 M4 2.3 2 (AWG 14)
MR-J4-350B4(-RJ) FR-HEL-H7.5K Fig. 11.5 96 60 128 105 100 80 50 M5 M4 3.5 2 (AWG 14)
MR-J4-500B4(-RJ) FR-HEL-H11K 105 75 137 110 105 85 53 M5 M5 4.5 3.5 (AWG 12)
MR-J4-700B4(-RJ) 5.5 (AWG 10)
FR-HEL-H15K 105 75 152 125 115 95 62 M5 M6 5.0
MR-J4-11KB4(-RJ) 8 (AWG 8)
Fig. 11.6
MR-J4-15KB4(-RJ) FR-HEL-H22K 133 90 178 120 95 75 53 M5 M6 6.0 8 (AWG 8)
MR-J4-22KB4(-RJ) FR-HEL-H30K 133 90 178 120 100 80 56 M5 M6 6.5 14 (AWG 6)
Note. Selection conditions of wire size is 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 - 61

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
(Varnish is removed from front right mounting 3-phase
hole (face and back side).) (Note 1) 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
Servo amplifier
W1 D2 1-phase 100 V class
W or less (Note 2) D1 FR-HAL
MCCB MC R X
L1
1-phase S Y
Fig. 11.7 100 V AC to Unassigned
120 V AC T Z
L2
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
(Varnish is removed from front right mounting
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 - 62
Power factor Dimensions [mm] Mass

Terminal
Servo amplifier improving AC Dimensions
W W1 H D (Note) D1 D2 d size [kg]
reactor
MR-J4-10B(-RJ)
MR-J4-20B(-RJ) FR-HAL-0.4K 104 84 99 72 51 40 M5 M4 0.6
MR-J4-10B1(-RJ)
MR-J4-40B(-RJ)
FR-HAL-0.75K 104 84 99 74 56 44 M5 M4 0.8
MR-J4-20B1(-RJ)
MR-J4-60B(-RJ) Fig. 11.7
MR-J4-70B(-RJ) FR-HAL-1.5K 104 84 99 77 61 50 M5 M4 1.1
MR-J4-40B1(-RJ)
115
MR-J4-100B(-RJ) FR-HAL-2.2K 40 115 77 71 57 M6 M4 1.5
(Note)
115
MR-J4-200B(-RJ) FR-HAL-3.7K 40 115 83 81 67 M6 M4 2.2
(Note)
MR-J4-350B(-RJ) FR-HAL-7.5K 130 50 135 100 98 86 M6 M5 4.2
MR-J4-500B(-RJ) FR-HAL-11K 160 75 164 111 109 92 M6 M6 5.2
MR-J4-700B(-RJ) FR-HAL-15K 160 75 167 126 124 107 M6 M6 7.0
Fig. 11.8
MR-J4-11KB(-RJ) FR-HAL-15K 160 75 167 126 124 107 M6 M6 7.0
185
MR-J4-15KB(-RJ) FR-HAL-22K 75 150 158 100 87 M6 M8 9.0
(Note)
185
MR-J4-22KB(-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 - 63
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.
Power factor Dimensions [mm]

Termina Mass
Servo amplifier improving AC Dimensions D
W W1 H D1 D2 d l size [kg]
reactor (Note)
MR-J4-60B4(-RJ) FR-HAL-H1.5K 135 120 115 59 59.6 45 M4 M3.5 1.5
MR-J4-100B4(-RJ) FR-HAL-H2.2K Fig. 11.10 135 120 115 59 59.6 45 M4 M3.5 1.5
MR-J4-200B4(-RJ) FR-HAL-H3.7K 135 120 115 69 70.6 57 M4 M3.5 2.5
MR-J4-350B4(-RJ) FR-HAL-H7.5K 160 145 142 91 91 75 M4 M4 5.0
MR-J4-500B4(-RJ) FR-HAL-H11K 160 145 146 91 91 75 M4 M5 6.0
Fig. 11.11
MR-J4-700B4(-RJ)
FR-HAL-H15K 220 200 195 105 90 70 M5 M5 9.0
MR-J4-11KB4(-RJ)
MR-J4-15KB4(-RJ) FR-HAL-H22K 220 200 215 170 90 70 M5 M8 9.5
Fig. 11.12
MR-J4-22KB4(-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 - 64
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 malfunction 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 3.11.)
(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 - 65
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.
When the cables of peripheral equipment are connected to the servo amplifier to make a closed loop
8) circuit, leakage current may flow to malfunction the peripheral equipment. If so, malfunction may be
prevented by disconnecting the grounding cable of the peripheral device.
11 - 66
(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. This 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,
Band (clear) AWG 18 Twisted wire
φ(18.5 + 2) ± 1
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 - 67
(c) Cable clamp fitting AERSBAN-_SET

Generally, the grounding of the shielded wire may only be connected to the connector's SD terminal.
However, the effect can be increased by directly connecting the cable to an 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: 2pcs. A 70
AERSBAN-ESET 70 56 Clamp B: 1pc. B 45
11 - 68
(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
Use the line noise filters for lines of the main power supply (L1, FR-BSF01 (for wire size 3.5 mm (AWG 12) or less)
L2, and L3) and of the servo motor power (U, V, and W). Pass
Approx. 110
each of the wires through the line noise filter an equal number of
times in the same direction. For the main power supply, the effect 95 ± 0.5 2-φ5
Approx. 22.5
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. or the effect of the filter will drop. Approx. 65
Wind the wires by passing through the filter to satisfy the required
φ33
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
of passes as shown in Example 2.
Approx. 65
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
supply
L2 2
FR-BLF (for wire size 5.5 mm (AWG 10) or more)
Line noise L3
filter φ7
31.5
(Number of passes: 4)
7
Example 2
MCCB MC 130
Power Servo amplifier 85
supply
L1
Line noise L2
filter
80
35
L3
Two filters are used

160
2.3
(Total number of passes: 4)

180
11 - 69
(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/100 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-J4-350B(-RJ) or less/MR-J4-350B4(-RJ) or less/MR-J4-
40B1(-RJ) or less
Terminal 29
block Servo amplifier
MCCB MC φ5
L1
42
hole
Power
supply L2
4
L3
58 29 7
44
Radio noise
filter
MR-J4-500B(-RJ) or less/MR-J4-500B4(-RJ) or less

Servo amplifier
MCCB MC
L1
Power L2
supply
L3
Radio noise
filter
11 - 70
(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]
200 V 10000/1
TND20V-431K 275 350 195 710 1300 430 (387 to 473)
class/ times
1.0 100
100 V 7000/2
class 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 - 71
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 cables as short as possible, and make the
grounding cable longer than 30 cm.
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/100 V class (Note) 400 V class

Note. "Ig1" of 100 V class servo amplifiers will be 1/2 of 200 V class servo amplifiers.
Fig. 11.13 Example of leakage current per km (lg1, lg2) for CV cable run in metal conduit
11 - 72
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
7 0.7
9 to 11 1.0
15 1.3
22 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-J4-10B(-RJ) to MR-J4-350B(-RJ)
MR-J4-60B4(-RJ) to MR-J4-350B4(-RJ) 15
MR-J4-10B1(-RJ) to MR-J4-40B1(-RJ)
MR-J4-500B(-RJ)
30
MR-J4-500B4(-RJ)
MR-J4-700B(-RJ)
50
MR-J4-700B4(-RJ)
MR-J4-11KB(-RJ) to MR-J4-22KB(-RJ)
100
MR-J4-11KB4(-RJ) to MR-J4-22KB4(-RJ)
11 - 73
(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-J4-40B 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 - 74
11.16 EMC filter (recommended)
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. When using an EMC filter, always use one for each servo amplifier.
(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-J4-10B(-RJ) to (Note)
10 3.5
MR-J4-100B(-RJ) HF3010A-UN
5
MR-J4-200B(-RJ) (Note)
30 5.5
MR-J4-500B(-RJ) (Note) 250
40 6
MR-J4-11KB(-RJ) 6.5
(Note)
MR-J4-15KB(-RJ) 100 12
HF3100A-UN
MR-J4-22KB(-RJ)
MR-J4-60B4(-RJ)
TF3005C-TX 5
MR-J4-100B4(-RJ)
6
MR-J4-200B4(-RJ) to
TF3020C-TX 20
MR-J4-700B4(-RJ) 500 5.5
MR-J4-11KB4(-RJ) TF3030C-TX 30 7.5
MR-J4-15KB4(-RJ) TF3040C-TX 40
12.5
MR-J4-22KB4(-RJ) TF3060C-TX 60
MR-J4-10B1(-RJ) to (Note)
10 250 5 3.5
MR-J4-40B1(-RJ) HF3010A-UN
Note. A surge protector is separately required to use any of these EMC filters.

(a) 200 V class/100 V class
EMC filter Servo amplifier
MCCB MC
1 4 L1
(Note 1)
Power supply 2 5 L2
3 6 L3
E L11
L21
(Note 2)
1 2 3 Surge protector
(RSPD-250-U4)
(OKAYA Electric Industries Co., Ltd.)

2. The example is when a surge protector is connected.
11 - 75
(b) 400 V class

EMC filter Servo amplifier
MCCB MC
1 4 L1
Power
2 5 L2
supply
3 6 L3
E L11
L21
(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
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
11 - 76
HF3100A-UN
[Unit: mm]
2-6.5 × 8 2-φ 6.5

M8
M8
145 ± 1
165 ± 3
380 ± 1 M6
400 ± 5
160 ± 3
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 - 77
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
(b) Surge protector
RSPD-250-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 - 78
11.17 External dynamic brake
Use an external dynamic brake for a servo amplifier of MR-J4-11KB(-RJ) to MR-

J4-22KB(-RJ) and MR-J4-11KB4(-RJ) to MR-J4-22KB4(-RJ). Failure to do so will
cause an accident because the servo motor dose not stop immediately but coasts
CAUTION 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.
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], and [AL. E7 Controller forced stop warning], and 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-J4-11KB(-RJ) DBU-11K
MR-J4-15KB(-RJ) DBU-15K
MR-J4-22KB(-RJ) DBU-22K-R1
MR-J4-11KB4(-RJ) DBU-11K-4
MR-J4-15KB4(-RJ)
DBU-22K-4
MR-J4-22KB4(-RJ)
11 - 79

(a) 200 V class
Operation ready Servo amplifier
ALM
RA1 OFF ON Servo motor
MC
U
U
EMG stop switch MC
SK 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 DB
(Note 7) (Note 2) 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 - 80
(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)
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.
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 - 81
(3) Timing chart
Coasting Coasting
Servo motor speed Dynamic brake Dynamic brake
Alarm Present
Absent
ON
Base circuit
OFF
DB (Dynamic ON
brake interlock)
OFF
Invalid
Dynamic brake
Valid
Short
EMG stop switch
Open
a. Timing chart at alarm occurrence b. Timing chart at EMG stop switch validity
Coasting
Dynamic brake
Servo motor speed Electro magnetic
brake interlock
(Note 1) 7 ms
ON
Base circuit
OFF
10 ms
MBR ON
(Electromagnetic
OFF (Valid) (Note 2)
brake interlock) Electro magnetic
15 ms to 60 ms
brake operation
ON delay time
ALM (Malfunction)
OFF
ON
Main circuit
Control circuit Power
OFF
DB (Dynamic ON
brake interlock)
OFF
Invalid
Dynamic brake
Valid
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 - 82
(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
U V W
a b 13 14
Screw: M4
Screw: M3.5 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 - 83
(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 - 84
11.18 Heat sink outside mounting attachment (MR-J4ACN15K/MR-J3ACN)
Use the heat sink outside mounting 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 heat sink outside mounting
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 heat sink outside mounting attachment should be within
the range of the servo amplifier operating environment.
The heat sink outside mounting attachments are used for MR-J4-11KB(-RJ) to MR-J4-22KB(-RJ) and MR-
J4-11KB4(-RJ) to MR-J4-22KB4(-RJ).
The following shows the combinations.
Heat sink outside mounting
Servo amplifier
attachment
MR-J4-11KB(-RJ)
MR-J4ACN15K
MR-J4-15KB(-RJ)
MR-J4-22KB(-RJ) MR-J3ACN
MR-J4-11KB4(-RJ)
MR-J4ACN15K
MR-J4-15KB4(-RJ)
MR-J4-22KB4(-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 heat sink outside mounting attachment
Attachment
Screw
(2 places)
11 - 85
(c) Mounting method
Attachment
Servo amplifier
Fit using the

assembling
screws.
Attachment
a. Assembling the heat sink outside mounting attachment
Punched
hole
Cabinet
Servo amplifier
b. Mounting it to inside cabinet
11 - 86
(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 - 87
(b) How to assemble the attachment for heat sink outside mounting 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 heat sink outside mounting

b. Mounting it to inside cabinet
attachment
11 - 88
(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 - 89
MEMO
11 - 90
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.
Refer to appendix 2 and 3 for battery transportation and the new EU Battery
CAUTION Directive.
If [AL. 25], [AL. 92], or [AL. 9F] occur 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
For configuring the system absolute position detection system, there are two
batteries of MR-BAT6V1SET battery and MR-BAT6V1BJ battery for junction
battery cable. Compared with the MR-BAT6V1SET battery, The MR-BAT6V1BJ
battery for junction battery cable has the following advantages.
You can disconnected 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 battery was used...
The encoder cable was disconnected.
The battery was replaced when the control circuit power supply was off.
When the MR-BAT6V1BJ battery for junction battery cable is used...
A connector or cable was disconnected between the servo motor and battery.
The battery was replaced with procedures other than those of (3) in section
12.2.2.
The MR-BAT6V1BJ battery for junction battery cable is only for the HG series
servo motors. It cannot be used with direct drive motors.
Do not use the MR-BAT6V1BJ battery for junction battery cable in the fully
closed loop system and scale measurement function.
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 servo system 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. For the battery connection,
refer to (2) (b) of section 12.2.1 for the MR-BAT6V1SET battery. For the battery connection, refer to (2) (b) of
section 12.2.2 for the MR-BAT6V1BJ battery for junction battery cable.
Servo system controller Servo amplifier
CN1A CN2
CN4
Battery Servo motor
12.1.3 Parameter setting
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)
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 - 2
12.2 Battery
12.2.1 Using MR-BAT6V1SET battery

Position control
Position data
Speed control
Current position
Home position data LS CYC

Step-down Detecting the Detecting the
LS0 number of position at
CYC0 circuit revolutions one revolution
(6 V 3.4 V)
MR-BAT6V1SET
Battery
Servo motor
Cumulative revolution counter High speed
serial
(1 pulse/rev) communication
One-revolution counter
(2) Specifications
(a) Specification list
Item Description
System Electronic battery backup type
Battery Model MR-BAT6V1SET
Battery pack 2CR17335A (primary lithium battery)
Nominal voltage [V] 6
Nominal capacity [mAh] 1650
Storage temperature [°C] 0 to 55
Operating temperature [°C] 0 to 55
Amount of lithium metal [g] 1.2
Mercury content Less than 1 ppm
Inapplicable to Class 9
Dangerous goods class
(Battery pack containing 2 g or less lithium)
Operating humidity and storage
humidity
Mass [g] 34
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
Approximately 29,000 hours (power-on time ratio: 25%, ambient
(Note 2) temperature: 20 °C) (Note 4)
Battery backup time Approximately 5,000 hours (equipment power supply: off, ambient
temperature: 20 °C)
Direct drive motor
Approximately 15,000 hours (power-on time ratio: 25%, ambient
temperature: 20 °C) (Note 4)
(Note 3) Battery life 5 years from date of manufacture
12 - 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 MR-BAT6V1SET battery. 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. Quality of the batteries degrades by the storage condition. The battery life is 5 years from the production date regardless of the
connection status.
4. The power-on time ratio 25% is equivalent to 8 hours power on for a weekday and off for a weekend.
(b) Battery mounting

Connect as follows.
Servo amplifier
Encoder cable
CN2
CN4
MR-BAT6V1SET
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.
12 - 4
(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.
Install a battery, and insert the

plug into the CN4 connector.
Install a battery, and insert the

plug into the CN4 connector.
MR-J4-350B(-RJ) or less, MR-J4-200B4(-RJ) or MR-J4-500B(-RJ) or more,

less, MR-J4-40B1(-RJ) or less MR-J4-350B4(-RJ) or more
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.
While pressing the lock release lever, slide

the battery case toward you.
12 - 5
(b) Replacement procedure of the battery in the MR-BAT6V1SET

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

locking part to close the cover.
Projection
12 - 6
12.2.2 Using MR-BAT6V1BJ battery for junction battery cable

Position control
Position data
Speed control
Current position
Home position data LS CYC

Step-down Detecting the Detecting the
LS0 number of position at
CYC0 circuit revolutions one revolution
(6 V 3.4 V)
Primary lithium battery
Step-down circuit
MR-BAT6V1BJ
Servo motor Battery
Cumulative revolution counter High speed
serial
(1 pulse/rev) communication
One-revolution counter
(2) Specifications
(a) Specification list
Item Description
System Electronic battery backup type
Battery Model MR-BAT6V1BJ
Battery pack 2CR17335A (primary lithium battery)
Nominal voltage [V] 6
Nominal capacity [mAh] 1650
Storage temperature [°C] 0 to 55
Operating temperature [°C] 0 to 55
Amount of lithium metal [g] 1.2
Mercury content Less than 1 ppm
Inapplicable to Class 9
Dangerous goods class
(Battery pack containing 2 g or less lithium)
Operating humidity and storage
humidity
Mass [g] 66
Maximum revolution range Home position ± 32767 rev.
(Note 1)
6000
Maximum speed at power Rotary servo motor
failure [r/min]
Approximately 20,000 hours (equipment power supply: off, ambient
(Note 2) temperature: 20 °C)
Rotary servo motor
Battery backup time Approximately 29,000 hours (power-on time ratio: 25%, ambient
temperature: 20 °C) (Note 4)
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 MR-BAT6V1BJ battery for junction battery cable. 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.
connection status.
12 - 7
(b) Battery mounting
POINT
Even if the connector for branch cable connection (black) is not connected to the
MR-BT6VCBL03M junction battery cable, an alarm will not occur. Check that
they are connected securely.
When you transport a servo amplifier 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.
Connect the product 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
(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.
Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical parts,
CAUTION directly by hand.
The battery built in MR-BAT6V1BJ cannot be replaced. Therefore, please do not
disassemble the MR-BAT6V1BJ battery for junction battery cable. Otherwise, it
may cause a malfunction.
POINT
To avoid deleting data, replace the MR-BAT6V1BJ battery according to
procedures written in this section.
Before replacing batteries, check that the new battery is within battery life.
12 - 8
The MR-BAT6V1BJ battery for junction battery cable 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) (a) of section 12.2.1.
(b) Preparation for replacing MR-BAT6V1BJ battery for junction battery cable
Prepare a new MR-BAT6V1BJ battery for junction battery cable as follows.
Model Number and use Remarks
MR-BAT6V1BJ 1 for replacement Battery within two years from the production date.
(c) Procedures of replacing MR-BAT6V1BJ battery for junction battery cable

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) Disconnect the connector for branch cable connection (black) of the old MR-BAT6V1BJ battery
for junction battery cable.
Servo amplifier
MR-BT6VCBL03M
Orange CN2
CN4 Orange
Old MR-BAT6V1BJ Black New MR-BAT6V1BJ
2) Connect the connector for branch cable connection (black) of the new MR-BAT6V1BJ battery for
junction battery cable.
Servo amplifier
MR-BT6VCBL03M
Orange CN2
CN4
Orange
12 - 9
3) Disconnect the connector for servo amplifier connection (orange) of the old MR-BAT6V1BJ
battery for junction battery cable.
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 battery and mount new MR-BAT6V1BJ battery.
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) Connect the connector for servo amplifier connection (orange) of the new MR-BAT6V1BJ battery
for junction battery cable.
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
12 - 10
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 d
IEC 61508 SIL 2
IEC/EN 61800-5-2 SIL 2
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, and 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 module 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 d, IEC 61508 SIL 2,
Safety performance
EN 62061 SIL CL2, EN 61800-5-2 SIL 2
Mean time to dangerous failure
100 years or more (Note)
(MTTFd)
Diagnostic converge (DC) medium (90% to 99%) (Note)
Average probability of dangerous -10
1.68 × 10
failures per hour (PFH) [1/h]
Number of on/off times of STO 1,000,000 times
LVD: EN 61800-5-1
CE marking EMC: EN 61800-3
MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
Note. This is the value required by safety standards.
(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 to 13.3.4.
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
S2 S1 S4 S3
MR-J3-D05 RESA RESB
(Note) (Note)
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 +24 V M
7B 0V
Servo motor
0V
13 - 7
(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 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
KM1
S2
Fuse KM1
K3
+24 V 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
K3
TOFB1
TOFCOM
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
13.3.4 External I/O signal connection example using a motion controller
POINT
For MC-Y0B and PC-Y0B, design a sequence program to output MC-Y0B and
PC-Y0B after the servo motor stops.
This connection diagram is an example of STO circuit configured with a servo amplifier and motion
controller. Use the switch that complies with the requirement of ISO/EN ISO 13849-1 category 3 PL d as an
emergency stop switch. This connection example complies with the requirement of ISO/EN ISO 13849-1
category 3 PL d. The following shows an example of I/O (X and Y) signal assignment of the motion controller
safety signal module. For details, refer to the motion controller user’s manual.
24 V
Motion controller S1
CPU safety signal module EMG
(iQ platform compatible) (Q173DSXY)
MC I/O
Door signal (MC) B20
KM1
Q17_DSCPU MC-X00 Servo amplifier
A1 EM2
Shut-off 0V CN8 Control circuit

signal (MC) B09
MC-Y0B STO1
B1
Shut-off verification 24 V DC
signal (M) B19 TOFCOM
MC-X01
TOFB1
Shut-off verification PLC I/O
signal (PLC) B19
Programmable PC-X01 TOFB2
controller CPU
(iQ platform
compatible) Shut-off
signal (PLC) B1
24 V DC STOCOM
B09
PC-Y0B STO2
Door signal (PLC) B20
PC-X00 CN3
A1
KM1 EM2
0V
0V
M
S1: STO shut-off switch (STO switch)
KM1: Magnetic contactor
EMG: Emergency stop switch
Servo motor
13 - 10
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 - 11
(b) When outputting two STO states by using one TOFB

TOFCOM
(Note)
24 V DC ± 10%
TOFB2 300 mA
13 - 12
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 - 13
MEMO
13 - 14
14. USING A LINEAR SERVO MOTOR
When using the linear servo motor, read "Linear Servo Motor Instruction Manual"
WARNING and "Linear Encoder Instruction Manual".
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 Remarks
Linear servo motor Rotary servo motor
External I/O signal FLS (Upper stroke limit), Required (for Not required Automatically turns on in the
RLS (Lower stroke limit) magnetic pole parameter setting.
detection)
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-E) (Data display and setting)
(Software version Test Positioning Supported Supported
1.19V or later) 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-_B_
The following configuration diagram shows an example for using a linear servo motor with MR-J4-10B.
RS T
(Note 2)
Power
supply
(MCCB)
MR Configurator2
CN5
(Note 3)
Magnetic
contactor
(MC)
(Note 1) CN3 Junction
terminal
block
Line noise CN8 Safety relay or

filter MR-J3-D05 safety
D
or previous servo
amplifier CN1B
U
L1
V CN1B Next servo amplifier
L2
W CN1A or cap
L3
(Note 6)
Power factor P3 CN2 SCALE
improving DC
THM
reactor (Note 4)
(FR-HEL) P4
Thermistor
P+
Regenerative
option Linear servo motor
C
L11
L21
Encoder
cable
Linear encoder
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).
5. Always connect between P+ and D terminals. When using the regenerative option, refer to section 11.2.
6. Connect the thermistor to THM of branch cable and connect the encoder cable to SCALE correctly. Incorrect setting will trigger
[AL. 16].
14 - 2
(2) When using serial linear encoder with MR-J4-_B_-RJ

The following configuration diagram shows an example for using a linear servo motor with MR-J4-10B-
RJ.
RS T
(Note 2)
Power
supply
(MCCB)
MR Configurator2
CN5
(Note 3)
Magnetic
contactor
(MC)
terminal
block

D
or previous servo
amplifier CN1B
U
L1
L2
W CN1A or cap
L3
(Note 6)
Power factor P3 CN2 SCALE
improving DC
THM
reactor (Note 4)
(FR-HEL) P4
Thermistor
P+
Regenerative
C
L11
L21
Encoder
cable
Serial linear encoder
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
(3) When using A/B/Z-phase differential output linear encoder with MR-J4-_B_-RJ
The following configuration diagram shows an example for using a linear servo motor with MR-J4-10B-
RJ.
(Note 2) R S T
Power
supply
(MCCB)
MR Configurator2
CN5
(Note 3)
Magnetic
contactor
(MC)
terminal
block

D
or previous servo
amplifier CN1B
U
L1 V
L2
W CN1A or cap
L3
Power factor P3 CN2 Thermistor

improving DC
reactor
(FR-HEL) P4
CN2L (Note 5)
P+
Regenerative
C
L11
L21
Encoder
cable
A/B/Z-phase
differential output
linear encoder
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 - 4
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, and W) to the linear servo motor
power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene.
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 - 5
Connecting a linear servo motor for different axis to the U, V, W, or CN2 may
cause a malfunction.
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
SSCNET III cable connection Section 3.9
Grounding Section 3.11
Switch setting and display of the servo
Section 4.3
amplifier
14 - 6
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 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) of 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
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 - 7
(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 and 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 - 8
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

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].
POINT
To enable the parameter value, cycle the power after setting.
(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
POINT
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.
14 - 9
14.3.2 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 - 10
(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 FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and
then cycle the servo amplifier power.
2) Turn "On (up)" the test operation select switch (SW2-1) 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" (guide value).
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 - 11
(b) Magnetic pole detection by the minute position detection method
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 - 12
(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
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 (SW2-1) as
shown below. Turning on the power enables the test operation mode.
ON
1 2 3 4
14 - 13
(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 operates unexpectedly.
POINT
Establish the machine configuration using FLS (Upper stroke limit) and RLS
(Lower stroke limit). Otherwise, the machine may be damaged due to a collision.
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 a servo 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.
A servo 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 - 14
(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 not 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 FLS (Upper
stroke limit) and RLS (Lower stroke limit) are on.
2) Linear servo motor movement (when FLS (Upper stroke limit) and RLS (Lower stroke limit) are
on)
Servo-on position
(Magnetic pole detection start position)
RLS FLS
(Note 1) (Note 1)
(Note 2)
Magnetic pole detection completion position
Note 1. When FLS (Upper stroke limit) or RLS (Lower stroke limit) turns off during the magnetic pole detection, the operation of the
magnetic pole detection is carried on to the opposite direction. When both FLS and RLS 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 - 15
3) Linear servo motor movement (when FLS (Upper stroke limit) or RLS (Lower stroke limit) is off)
When FLS or RLS 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
RLS FLS
(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 of this section.
(b) For the absolute position linear encoder
POINT
When you use an absolute position linear encoder with the following timings, the
magnetic pole detection will be required.
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 its position is adjusted
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.
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) 1), 2) of this section.)
14 - 16
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

(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 - 17
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 - 18
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 proximity dog type home position return, the nearest reference home position after
proximity dog off is the home position.
Set one linear encoder home position in the full stroke, and set it in the position that can always be
passed through after a home position return start. LZ (Encoder Z-phase pulse) cannot be used.
Home position return direction
Home position return speed
Linear servo Creep speed

motor
0 mm/s
ON
Proximity dog OFF
signal
Reference home
position (Note)
1048576 pulses
1048576 pulses × n
Linear servo motor

position
Linear encoder home position Home position
Note. Changeable with [Pr. PL01].
14 - 19
(b) When the linear encoder home position does not exist in the home position return direction
If the home position return is performed from the position where the linear encoder does not exist in
the home position return direction, a home position return error occurs on the controller. The error
contents differ according to the controller type. Move the linear servo motor 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.

motor
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
POINT
To execute a home position return securely, start a home position return after
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.
14 - 20
(2) Absolute position linear encoder

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].

motor
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].
POINT
The data set type home position return can also be carried out.
14 - 21
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.
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 servo system controller.
(1) Test operation mode type

(a) Positioning operation
Positioning operation can be performed without using the servo system 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 servo system 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 the "Positive Direction Movement" button.
Negative direction travel Click the "Reverse Direction Movement" button.
14 - 22
(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 servo system 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 servo system 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 the "Operation start" button.

1) Turn off the power.
2) Turn "ON (up)" SW2-1.
ON
1 2 3 4
Turning "ON (up)" SW2-1 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
The linear servo can be used with any of the following controllers.
Servo system controller Model
Motion controller Q17_DSCPU
Simple motion module QD77MS_
14 - 23
(1) Operation method

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.
Also, some parameter settings and the home position return type differ according to the controller type.
(2) Servo system controller setting

(a) Setting precautions
The following parameters will be enabled by cycling the servo amplifier power after the controller
writes the parameters to the servo amplifier.
Set content
Setting item Motion controller Simple motion module
Q17_DSCPU QD77MS_
Command resolution Linear encoder resolution unit
Servo amplifier setting MR-J4-B Linear
Motor setting Automatic setting
(Note) Initial
No. Name
Symbol value
PA01 **STY Operation mode 1000h 1040h
PC01 ERZ Error excessive alarm level 0
Linear servo motor/DD motor function
PL01 **LIT1 0301h
selection 1
PL02 **LIM Linear encoder resolution - Numerator 1000
Linear encoder resolution -
PL03 **LID 1000
Denominator
Parameter Linear servo motor/DD motor function
PL04 *LIT2 0003h
selection 2
PL05 LB1 Position deviation error detection level 0
PL06 LB2 Speed deviation error detection level 0 Set the items as required.
Torque/thrust deviation error detection
PL07 LB3 100
level
PL08 *LIT3 0010h
selection 3
PL09 LPWM Magnetic pole detection voltage level 30
Magnetic pole detection - Minute
PL17 LTSTS position detection method - Function 0000h
selection
PL18 IDLV position detection method - 0
Identification signal amplitude
Positioning Unit setting mm
control Number of pulses (AP)
parameter Refer to (2) (b) of this section.
Travel distance (AL)
Note. The parameter whose symbol is preceded by * is enabled with the following conditions.
* : After setting the parameter, power off and on the servo amplifier or reset the controller.
**: After setting the parameter, cycle the power of the servo amplifier.
14 - 24
(b) Settings of the number of pulses (AP) and travel distance (AL)
User Controller Servo amplifier
Command AP +
[mm] AL - Linear servo
motor
Position feedback AL
[mm] AP
Linear encoder
Speed feedback Differ-
entiation
[mm/s]
Calculate the number of pulses (AP) and travel distance (AL) of the linear encoder in the following
conditions.
When the linear encoder resolution is 0.05 µm
Number of pulses (AP) [pulse] 1 20

= =
0.05 1
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
14 - 25
(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.
(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) of 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
14 - 26
(2) Auto tuning function

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.
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.
(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 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
than the rated speed, the power supply capacity will be smaller than the value in the table, but the servo
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 Servo amplifier capacity [kVA] (Note 2) heat dissipation
2
(Note 1) At rated output With servo-off [m ]
LM-H3P2A-07P-BSS0 0.9 35 15 0.7
MR-J4-40B(-RJ)
LM-H3P3A-12P-CSS0 0.9 35 15 0.7
LM-H3P3B-24P-CSS0 1.3 50 15 1.0
MR-J4-70B(-RJ)
LM-H3P3C-36P-CSS0 1.9 75 15 1.5
LM-H3P3D-48P-CSS0 MR-J4-200B(-RJ) 3.5 90 20 1.8
LM-H3P7A-24P-ASS0 MR-J4-70B(-RJ) 1.3 50 15 1.0
LM-H3P7B-48P-ASS0 3.5 90 20 1.8
MR-J4-200B(-RJ)
LM-H3P7C-72P-ASS0 3.8 100 20 1.1
LM-H3P7D-96P-ASS0 MR-J4-350B(-RJ) 5.5 130 20 2.7
LM-U2PAB-05M-0SS0 MR-J4-20B(-RJ) 0.5 25 15 0.5
LM-U2PAD-10M-0SS0 0.9 35 15 0.7
MR-J4-40B(-RJ)
LM-U2PAF-15M-0SS0 0.9 35 15 0.7
LM-U2PBB-07M-1SS0 MR-J4-20B(-RJ) 0.5 25 15 0.5
LM-U2PBD-15M-1SS0 MR-J4-60B(-RJ) 1.0 40 15 0.8
LM-U2PBF-22M-1SS0 MR-J4-70B(-RJ) 1.3 50 15 1.0
LM-U2P2B-40M-2SS0 MR-J4-200B(-RJ) 3.5 90 20 1.8
LM-U2P2C-60M-2SS0 MR-J4-350B(-RJ) 5.5 130 20 2.7
LM-U2P2D-80M-2SS0 MR-J4-500B(-RJ) 7.5 195 25 3.9
LM-FP2B-06M-1SS0 MR-J4-200B(-RJ) 3.5 90 20 1.8
LM-FP2D-12M-1SS0 MR-J4-500B(-RJ) 7.5 195 25 3.9
LM-FP2F-18M-1SS0 MR-J4-700B(-RJ) 10 300 25 6.0
LM-FP4B-12M-1SS0 MR-J4-500B(-RJ) 7.5 195 25 3.9
LM-FP4D-24M-1SS0 MR-J4-700B(-RJ) 10 300 25 6.0
LM-FP4F-36M-1SS0 MR-J4-11KB(-RJ) 14 460 45 9.2
LM-FP4H-48M-1SS0 MR-J4-15KB(-RJ) 18 580 45 11.6
LM-FP5H-60M-1SS0 MR-J4-22KB4(-RJ) 22 640 45 12.8
LM-K2P1A-01M-2SS1 MR-J4-40B(-RJ) 0.9 35 15 0.7
LM-K2P1C-03M-2SS1 MR-J4-200B(-RJ) 3.5 90 20 1.8
LM-K2P2A-02M-1SS1 MR-J4-70B(-RJ) 1.3 50 15 1.0
LM-K2P2C-07M-1SS1 MR-J4-350B(-RJ) 5.5 130 20 2.7
LM-K2P2E-12M-1SS1 MR-J4-500B(-RJ) 7.5 195 25 3.9
LM-K2P3C-14M-1SS1 MR-J4-350B(-RJ) 5.5 130 20 2.7
LM-K2P3E-24M-1SS1 MR-J4-500B(-RJ) 7.5 195 25 3.9
Note 1. Note that the power supply capacity will vary according to 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
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.)
Linear servo motor Coefficient A Coefficient B Linear servo motor Coefficient A Coefficient B
-2 -4
LM-H3P2A-07P-BSS0 7.15E-03 2.94E-03 LM-U2PAB-05M-0SS0 5.72 × 10 1.72 × 10
-2 -5
LM-H3P3A-12P-CSS0 2.81E-03 1.47E-03 LM-U2PAD-10M-0SS0 2.82 × 10 8.60 × 10
-2 -5
LM-H3P3B-24P-CSS0 7.69E-03 2.27E-04 LM-U2PAF-15M-0SS0 1.87 × 10 5.93 × 10
-2 -4
LM-H3P3C-36P-CSS0 7.22E-03 1.13E-04 LM-U2PBB-07M-1SS0 3.13 × 10 1.04 × 10
-2 -5
LM-H3P3D-48P-CSS0 1.02E-03 2.54E-04 LM-U2PBD-15M-1SS0 1.56 × 10 5.18 × 10
-2 -5
LM-H3P7A-24P-ASS0 7.69E-03 2.14E-04 LM-U2PBF-22M-1SS0 4.58 × 10 1.33 × 10
-3 -5
LM-H3P7B-48P-ASS0 9.14E-04 2.59E-04 LM-U2P2B-40M-2SS0 1.47 × 10 1.27 × 10
-3 -6
LM-H3P7C-72P-ASS0 7.19E-04 1.47E-04 LM-U2P2C-60M-2SS0 1.07 × 10 7.66 × 10
-4 -6
LM-H3P7D-96P-ASS0 6.18E-04 9.59E-05 LM-U2P2D-80M-2SS0 9.14 × 10 5.38 × 10
Linear servo motor Coefficient A Coefficient B Linear servo motor Coefficient A Coefficient B
-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
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.
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.
Permissible load to motor mass ratio
Linear servo motor
[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 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 × (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".
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 Remarks
Direct drive motor Rotary servo motor
External I/O signal FLS (Upper stroke limit), Required Not required Automatically turns on in the
RLS (Lower stroke limit) (for magnetic pole parameter setting.
detection)
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 _".
(1) MR-J4-_B
RS T
(Note 2)
Power supply
(Note 7)
Molded-case
(MCCB) computer
MR Configurator2
CN5
(Note 3)
Magnetic
contactor
(MC)
Junction
(Note 1) CN3 terminal
block
Line noise CN8 To safety relay or

D
or previous servo
amplifier CN1B
U
L1
L2
W CN1A or cap
L3
Power factor P3 CN2

improving DC
reactor
(FR-HEL) P4
P+ CN4 (Note 5)
Regenerative Absolute position
option storage unit
C MR-BTAS01
L11 (Note 4)
Battery unit Direct drive motor
L21
15 - 2
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-_B_. MR-J4-_B_-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, and W) to the power input of the
direct drive motor (U, V, and 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 servo motor for different axis to the U, V, W, or CN2 may cause a
malfunction.
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
SSCNET III cable connection Section 3.9
Grounding Section 3.11
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 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 FLS (Upper stroke
limit) and RLS (Lower stroke limit), set [Pr. PL08 Linear servo motor/DD motor
function selection 3] to "_ 1 _ _" to disable FLS and RLS.
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
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" (guide value).
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 Turn the servo amplifier power final setting value.
[AL. 50 Overload 1], [AL. 51 Overload 2], 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
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
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 (SW2-1) and
the disabling control axis switch (SW2-2, SW2-3, and SW2-4) as shown below. Turning on the power
enables the test operation mode.
ON
1 2 3 4
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 operates unexpectedly.
POINT
Establish the machine configuration using FLS (Upper stroke limit) and RLS
(Lower stroke limit). Otherwise, the machine may be damaged due to a collision.
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 a servo 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 not 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 FLS (Upper
stroke limit) and RLS (Lower stroke limit) are on.
15 - 10
2) Direct drive motor movement (when FLS and RLS are on)
Center of direct drive motor rotation part
(Note) RLS FLS (Note)
Servo-on position (Magnetic pole detection start position)
10 degrees or less
Note. When the stroke limit (FLS or RLS) turns off during the magnetic pole detection, the
magnetic pole detection is carried on to the opposite direction. When FLS and RLS
are off, [AL. 27 Initial magnetic pole detection error] occurs.
3) Direct drive motor movement (when FLS or RLS is off)

When FLS or RLS is off at servo-on, the magnetic pole detection is carried out as follows.
Center of direct drive motor rotation part
FLS
RLS Servo-on position
After the machine moves to the position where the stroke limit
Magnetic pole detection (FLS or RLS) is set, the magnetic pole detection starts.
start position
10 degrees or less
(b) Absolute position detection system
POINT
When the absolute position detection system is used, the magnetic pole
detection is required when the power is turned on with the following timing.
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)
15 - 11
2) Execute the magnetic pole detection. (Refer to (2) (a) 1), 2) of 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

(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.
15 - 12
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 unit (MR-
BAT6V1SET) and the absolute position storage unit MR-BTAS01 are required.
(1) Operation method

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.
Also, some parameter settings and the home position return differ according to the controller type.

The following parameters will be enabled by cycling the servo amplifier power after the controller writes
the parameters to the servo amplifier.
Setting
Setting item Motion controller Simple motion module
Q17_DSCPU QD77MS_
Amplifier setting MR-J4-B DD
(Note) Initial
No. Name
Symbol value
PA01 **STY Operation mode 1000h 1060h
PC01 *ERZ Error excessive alarm level 0
PL01 **LIT1 0301h
selection 1
PL04 *LIT2 0003h
selection 2
Parameter PL05 LB1 Position deviation error detection level 0
PL06 LB2 Speed deviation error detection level 0
Torque/thrust deviation error detection
PL07 LB3 100 Set the items as required.
level
PL08 *LIT3 0010h
selection 3
PL09 LPWM Magnetic pole detection voltage level 30
PL17 LTSTS position detection method - Function 0000h
selection
PL18 IDLV position detection method - 0
Identification signal amplitude
Note. The parameter whose symbol is preceded by * is enabled with the following conditions.
* : After setting the parameter, power off and on the servo amplifier or reset the controller.
**: After setting the parameter, power off and on the servo amplifier.
15 - 14
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 - 15
(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) of 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 - 16
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, it is recommended that the
unbalanced torque of the machine be kept at 70% or less 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 - 17
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 - 18
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 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
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 heat
Servo motor 2
capacity [kVA] At rated output With servo-off dissipation [m ]
TM-RFM002C20 0.25 25 15 0.5
TM-RFM004C20 0.38 35 15 0.7
TM-RFM006C20 0.53 40 15 0.8
TM-RFM006E20 0.46 40 15 0.8
TM-RFM012E20 0.81 50 15 1.0
TM-RFM018E20 1.3 50 15 1.0
TM-RFM012G20 0.71 50 15 1.0
TM-RFM048G20 2.7 90 20 1.8
TM-RFM072G20 3.8 110 20 2.2
TM-RFM040J10 1.2 50 15 1.0
TM-RFM120J10 3.4 90 20 1.8
TM-RFM240J10 6.6 160 25 3.2
15 - 19
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) of 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 - 20
(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
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
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 - 21
MEMO
15 - 22
16. FULLY CLOSED LOOP SYSTEM
POINT
The fully closed loop system is available for the servo amplifiers of which
software version is A3 or above.
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 control mode.
When fully closed loop control system is configured with MR-J4-_B_ servo
amplifier, the following restrictions apply. However, these restrictions will not be
applied for MR-J4-_B_-RJ servo amplifiers.
A/B/Z-phase differential output type encoder cannot be used.
The load-side encoder and servo motor encoder is 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 KG-KR and HG-MR series for driving and load-side
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 appendix 9.
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.
Dual feedback control Control is performed according to the servo motor-side data during operation, and
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])
Semi closed/fully closed switching command
"_ _ 0 _" (Refer to the controller user's manual.)
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
([Pr. PE08])
"_ _ _ 0" "0" Semi closed
loop control
(Refer to section 16.3.1(2)(b))

"1 to 4499" Dual feedback
control
"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-_B_ servo amplifier
Servo amplifier
SSCNET III/H controller
SSCNET III/H
(Note)
Position command Two-wire type serial interface compatible linear encoder
control signal
To the next servo amplifier
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-_B_-RJ servo amplifier

Servo amplifier
(Note)
SSCNET III/H 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
SSCNET III/H Servo motor encoder signal Drive part

Position command
control signal To the next
servo
CN2 amplifier
(Note)
(Note) Servo motor
Two-wire type rotary encoder HG-KR,

Load-side encoder signal 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
SSCNET III/H Drive part

Position command
control signal
To the next servo
amplifier
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-_B_ 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-_B_-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-_B_-RJ
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) of this section.)
Selection of load-side encoder communication system (Refer to (3) of this section.)
Setting of load-side encoder polarity (Refer to (4) of this section.)
Setting of load-side encoder electronic gear (Refer to (5) of this section.)
Confirmation of load-side encoder position data (Refer to (6) of this section.)
Positioning operation check using MR Configurator2
Gain adjustment
Adjustment of dual feedback switching filter.

(for dual feedback control) (Refer to (5) of 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
Fully closed unit control (fully closed loop (Note)
loop system control)
(fully closed "_ _ _ 1" Off Semi closed loop control ×
loop control
On Dual feedback
mode)
control (fully closed loop ×
control)
Note. Applicable when the load-side encoder is set as the absolute position encoder.
(a) Operation mode selection

Select a 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 using the control command of controller
(switching between semi closed/fully closed)
Selection using the control
command of controller Control method
OFF Semi closed loop control

ON Fully closed loop control
When the operation mode selection in [Pr. PA01] is set to "_ _ 1 _"
(fully closed loop system), this setting is enabled.
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. PC04].
[Pr. PC04]
1 0 0
Load-side encoder cable communication method selection
0: Two-wire type
1: Four-wire type
Incorrect setting will trigger [AL. 70] and [AL. 71]. Setting "1" while
using a servo amplifier other than MR-J4-_B_-RJ will trigger [AL. 37].
(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
Load-side encoder pulse count polarity selection
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 motor encoder pulses per servo motor revolution
=
[Pr. PE05] × [Pr. PE35] Number of load side 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 scale With the home position (reference mark, or Z-phase) of the load-side encoder in a normal
home position (reference mark, Z- condition (mounting, connection, etc.), the value of load-side encoder information 1 is
phase) 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
0 Semi closed loop
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 scale 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 proximity dog type home position return, the nearest position after proximity dog
off is the home position.
Set one linear encoder home position in the full stroke, and set it in the position that can always
be passed through after a home position return start.

speed
0 r/min
Proximity dog ON
signal OFF
Reference home
position
Machine position
2) When the linear encoder home position does not exist in the home position return direction
If the home position return is performed from the position where the linear encoder home position
(reference mark) does not exist, a home position return error occurs on the controller side. The
error contents differ according to the controller type. When starting a home position return at the
position where the linear encoder home position (reference mark) does not exist in the home
position return direction, move the axis up to the stroke end on the side opposite to the home
position return direction by JOG operation, etc. of the controller once, then make a home position
return.

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 - 17
POINT
To execute a home position return securely, start a home position return after
moving the axis to the opposite stroke end by jog operation, etc. of the
controller.
A home position return cannot be made if the incremental linear encoder does
not have a linear encoder home position (reference mark). Always provide a
linear encoder home position (reference mark). (one place in the fully stroke)
(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

Machine position
Servo amplifier Home position
power-on position
(b) About data setting type (Common to all load-side encoders)

In the data setting type home position return method, pass through a scale home position (reference
mark) and the Z-phase signal of the rotary encoder, and then make a home position return.
When the machine has no distance of one servo motor encoder revolution until the Z-phase of the
rotary encoder is passed through, a home position return can be made by changing the home
position setting condition selection in [Pr. PC17] if the home position is not yet passed through.
16 - 18
The fully closed loop control compatible servo amplifier can be used with any of the following controllers.
Category Model Remarks
Motion controller Q17nDSCPU Speed control (II) instructions (VVF and VVR) cannot
Simple motion module QD77MS_ be used.
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 an 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.
(1) Operation from controller

Positioning operation from the controller is basically performed like the semi closed loop control.

When using fully closed loop system, make the following setting.
[Pr. PA01], [Pr. PC17], [Pr. PE01], [Pr. PE03] to [Pr. PE05], [Pr. PE34] and [Pr. PE35] are written to the
servo amplifier and then are enabled using any of the methods indicated by ○ in Parameter enabled
conditions. [Pr. PE06] to [Pr. PE08] are enabled at setting regardless of the valid conditions.
Parameter enabled
Settings
conditions
Setting item Power Motion Simple motion
Controller
supply controller module
reset
Off→on Q17nDSCPU QD77MS_
Command Load-side encoder resolution
resolution unit
Servo MR-J4-B fully closed loop servo amplifier setting MR-J4-B(-RJ) fully closed loop
parameter control
Home position setting condition selection ([Pr. PC17]) Set the items as required.
Fully closed loop selection ([Pr. PA01] and [Pr. PE01])
Fully closed loop selection 2 ([Pr. PE03])
Fully closed loop control error detection speed deviation Enabled at setting
error detection level regardless of the
([Pr. PE06]) enabled conditions
Fully closed loop control error detection position
deviation error detection level
([Pr. PE07])
Fully closed loop electronic gear numerator ([Pr. PE04]
and [Pr. PE34])
Fully closed loop electronic gear denominator ([Pr. PE05]
and [Pr. PE35])
Fully closed loop dual feedback filter ([Pr. PE08]) Enabled at setting
regardless of the
enabled conditions
Positioning Unit setting mm/inch/degree/pulse
control Number of pulses per revolution (AP) For the setting methods, refer to (2) (a), (b) in this section.
parameter Travel distance per revolution (AL)
16 - 19
(a) When using a linear encoder (unit setting: mm)

Load-side encoder resolution unit
User Control Servo amplifier
Command AP +
[mm] AL - Servo motor Linear encoder
[mm] AP
Electronic
gear
Speed feedback
[r/min] Differentiation
Load-side encoder Servo motor speed
resolution unit
Calculate the number of pulses (AP) and travel distance (AL) of the linear encoder per ball screw
revolution in the following conditions.
Ball screw lead: 20 mm

Linear encoder resolution: 0.05 µm
Number of linear encoder pulses (AP) per ball screw revolution

= Ball screw lead/linear encoder resolution= 20 mm/0.05 µm = 400000 pulses
Number of pulses per revolution [pulse] (AP) 400000 pulses 400000

= =
Travel distance per revolution [µm] (AL) 20 mm 20000
(b) When using a rotary encoder (unit setting: degree)

Load-side encoder resolution unit
User Control Servo amplifier
Command AP +
[degree] AL -
[degree] AP
Electronic Servo motor

gear
Speed feedback Rotary encoder

[r/min] Differentiation (HG-KR or HG-MR servo motor)
Load-side encoder Servo motor speed 4194304 pulses/rev
resolution unit
Calculate the number of pulses (AP) and travel distance (AL) of the rotary encoder per servo motor
revolution in the following conditions.
Resolution of rotary encoder = Load-side resolution: 4194304 pulses/rev
Number of pulses per revolution [pulse] (AP) 4194304 pulses 524288

= =
Travel distance per revolution [degree] (AL) 360 degrees 45
16 - 20
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 - 21
(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 Remarks
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) (b).
forced output
Motor-less operation
16 - 22
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 an rotary encoder is used, an absolute position detection system can be configured by
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 scale (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 - 23
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 - 24
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" button to display the "Fully closed loop control - Basic"
window.
1)
2)
3)
4)
5)
1) Fully closed loop selection ([Pr. PE01])

"Always valid" or "Switching with the control command of controller" 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 judgement

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 - 25
MEMO
16 - 26
17. APPLICATION OF FUNCTIONS
This chapter explains application of using servo amplifier functions.
17.1 J3 compatibility mode
POINT
The J3 compatibility mode is compatible only with HG series servo motors.
The fully closed loop control in the J3 compatibility mode is available for the
servo amplifiers with software version A3 or later.
Specifications of the J3 compatibility mode of the servo amplifier with software
version A4 or earlier differ from those with software version A5 or later.
The J3 compatibility mode is not compatible with the master-slave operation
function.
17.1.1 Outline of J3 compatibility mode
MR-J4W_-_B servo amplifiers and MR-J4-_B_(-RJ) servo amplifiers have two operation modes. "J4 mode"
is for using all functions with full performance and "J3 compatibility mode" is compatible with MR-J3-B series
for using the amplifiers as the conventional series.
When you connect an amplifier with SSCNET III/H communication for the first controller communication by
factory setting, the operation mode will be fixed to "J4 mode". For SSCNET communication, it will be fixed to
"J3 compatibility mode". When you set the mode back to the factory setting, use the application "MR-J4(W)-
B mode selection".
The application "MR-J4(W)-B mode selection" is packed with MR Configurator2 of software version 1.12N or
later.
For the operating conditions of the application "MR-J4(W)-B mode selection", use MR Configurator2. (Refer
to section 11.4.)
17 - 1
17.1.2 Operation modes supported by J3 compatibility mode
The J3 compatibility mode supports the following operation modes.

Operation mode in J3 compatibility mode Model of MR-J3-_B Model of MR-J3-_BS Model of MR-J3W-_B
MR-J3-B standard control mode (rotary servo motor) MR-J3-_B MR-J3-_BS MR-J3W-_B
MR-J3-B fully closed loop control mode MR-J3-_B-RJ006 MR-J3-_BS
MR-J3-B linear control mode MR-J3-_B-RJ004 MR-J3W-_B
MR-J3-B DD motor control mode MR-J3-_B-RJ080W MR-J3W-_B
Each operation mode has the same ordering as conventional MR-J3-B series servo amplifiers and is
compatible with their settings.
In addition, the control response characteristic in the J3 compatibility mode will be the same as that of MR-J3
series.
17.1.3 J3 compatibility mode supported function list
The following shows functions which compatible with J4 mode and J3 compatibility mode. The letters such
as "A0" described after and mean servo amplifier software versions which compatible with each
function. Each function is used with servo amplifiers with these software versions or later.
Corresponding
( : J4 new, : Equivalent to J3, : Not available)
Function Name MR-J4 series
MR-J3/MR-J3W series
J3 compatibility (Note 8)
J4 mode
mode
Speed frequency response 2.5 kHz 2.1 kHz 2.1 kHz
Basic specification
Encoder resolution 22 bit (Note 1) 18 bit (Note 1) 18 bit
SSCNET III/H
Communication baud rate 150 Mbps 50 Mbps 50 Mbps
communication or
SSCNET III
Maximum distance between stations 100 m 50 m 50 m
communication
Absolute position detection system A0 A0
A3 A3
MR-J3-_B-RJ006
Fully closed loop control (Note 9) (Two-wire type only) (Two-wire type only)
MR-J3-_S
(Note 13) (Note 13)
A0 A0
(Two-wire type/ (Two-wire type/ MR-J3-_B-RJ004
Linear servo motor driving
four-wire type only) four-wire type only) MR-J3W-_B
Basic function
(Note 13) (Note 13)
MR-J3-_B-RJ080W
Direct drive motor driving A0 A0
MR-J3W-_B
Motor-less operation A0 (Note 2) A0 (Note 2)
Rotation direction selection/travel
A0 A0
direction selection
A/B-phase pulse output A0 (Note 3) A0 (Note 3)
Encoder output pulses
Z-phase pulse output A0 (Note 4) A0 (Note 4) (Note 4)
Analog monitor output A0 (Note 5) A0 (Note 5)
MR-J3-_B-RJ004
Input/output
Motor thermistor A0 A0 MR-J3-_B-RJ080W
MR-J3W-_B
Position control mode A0 A0
Speed control mode A0 A0
Control mode Torque control mode A0 A0
Continuous operation to torque
A0 A0
control mode
17 - 2
Corresponding
MR-J3/MR-J3W series
J4 mode
mode
Auto tuning mode 1 A0 A0
Auto tuning mode 2 A0 A0
2 gain adjustment mode 1
Auto tuning A0 A0
(interpolation mode)
2 gain adjustment mode 2 A0
Manual mode A0 A0
Machine resonance suppression filter
A0 A0
1
A0 A0
2
A0
3
A0
Filter function 4
A0
5
Shaft resonance suppression filter A0
Low-pass filter A0 A0
Robust disturbance compensation
A0
(Note 10)
Robust filter A0
Standard mode/3 inertia mode A0
Vibration suppression Vibration suppression control 1 A0 A0
control Vibration suppression control 2 A0
Command notch filter A0 A0
Gain switching A0 A0
Slight vibration suppression control A0 A0
Overshoot amount compensation A0 A0
PI-PID switching control A0 A0
Applied control
Feed forward A0 A0
Torque limit A0 A0
Master-slave operation function A8 (Note 5)
Scale measurement function A8 (Note 3)
One-touch tuning A0
Adaptive tuning A0 A0
Adjustment function
Vibration suppression control 1 tuning A0 A0
Vibration suppression control 2 tuning A0
Fully closed loop electronic gear A3 A3
Dual feedback control A3 A3
Semi closed/fully closed switching MR-J3-_BS
Fully closed loop control A3 A3
loop control MR-J3-_B-RJ006
Fully closed loop control error
A3 A3
detection function
Linear servo control error detection
A0 A0
function MR-J3-_B-RJ004
Linear control
Servo motor series/types setting MR-J3W-_B
A0 A0
function
MR-J3-_B-RJ004
Direct current exciting method
A0 A0 MR-J3-_B-RJ080W
magnetic pole detection
MR-J3W-_B
Current detection method magnetic MR-J3-_B-RJ004
(Note 6) A0
Magnetic pole detection pole detection MR-J3W-_B
Minute position detection method
A0 A0 MR-J3-_B-RJ004
magnetic pole detection
MR-J3-_B-RJ080W
Initial magnetic pole detection error
A0 A0 MR-J3W-_B
detection function
17 - 3
Corresponding
MR-J3/MR-J3W series
J4 mode
mode
Semi closed loop control two-wire
A0 A0
type/four-wire type selection
MR-J3-_S
Serial interface compatible linear MR-J3-_B-RJ006
A0 A0
Encoder encoder MR-J3-_B-RJ004
MR-J3W-_B
Pulse train interface (A/B/Z-phase MR-J3-_S
differential output type) compatible A5 (Note 14) A5 (Note 14) MR-J3-_B-RJ006
linear encoder MR-J3-_B-RJ004
STO function A0 A0 MR-J3-_S
Forced stop deceleration function at
A0 A0 (Note 12) MR-J3-_S
Functional safety alarm occurrence
Vertical axis freefall prevention
A0 A0 MR-J3-_S
function
SEMI-F47 function A0
Vibration tough drive A0
Tough drive function
Instantaneous power failure tough
A0
drive
3-digit alarm display A0 A0 MR-J3W-_B
16 alarm histories supported A0 (Note 7) (Note 7)
Diagnosis function
Drive recorder function A0
Machine diagnosis function A0
SSCNET III A0
Controller SSCNET III/H A0
Home position return function A0 A0
J4 mode/J3 compatibility mode
A0 A0
Others automatic identification (Note 11)
Power monitoring function A0
Note 1. The value is at the HG series servo motor driving.

2. The motor-less operation for the linear servo mo tor and direct drive motor driving will be available in the future.
3. It is not available with the MR-J4W3-_B servo amplifiers.
4. It is not available with the MR-J3W-_B, MR-J4W2-_B, and MR-J4W3-_B servo amplifiers.
5. It is not available with the MR-J4W2-_B and MR-J4W3-_B servo amplifiers.
6. The minute position detection method is available instead.
7. Alarm history will be saved up to five times.
8. The functions of the product with modified parts (GA) in the MR-J3-_B servo amplifiers are all covered by the J3 compatibility
mode of the MR-J4-_B_ servo amplifiers.
9. MR-J4W3-_B servo amplifiers do not support the fully closed loop control system.
10. For MR-J4 series, the robust filter and vibration tough drive are available instead.
11. The operation mode will be adjusted automatically at the first controller communication. You can change the operation mode
with the application "MR-J4(W)-B mode selection".
12. When MR-J4 is used as a replacement of MR-J3-_S, "Servo forced stop selection" in [Pr. PA04] will be "Disabled (_ 1 _ _)" in
the initial setting. Change the setting as required.
13. This is for MR-J4-_B_ servo amplifier. MR-J4-_B_-RJ servo amplifier is compatible with two-wire type, four-wire type, and
A/B/Zphase differential output type.
14. It is available with only MR-J4-_B_-RJ servo amplifiers. It is not available with MR-J4-_B_ servo amplifiers.
17 - 4
17.1.4 How to switch J4 mode/J3 compatibility mode
There are two ways to switch the J4 mode/J3 compatibility mode with the MR-J4W_-_B servo amplifier and
MR-J4-_B_(-RJ) servo amplifier.
(1) Mode selection by the automatic identification of the servo amplifier

J4 mode/J3 compatibility mode is identified automatically depending on the connected controller.
When the controller make a connection request with SSCNET III/H communication, the mode will be "J4
mode". For SSCNET communication, it will be "J3 compatibility mode".
For the J3 compatibility mode, standard control, linear servo motor control, or direct drive motor control
will be identified automatically with a motor (encoder) connected to the servo amplifier. For the J4 mode,
the operation mode will be the setting of [Pr. PA01].
Standard control
(rotary servo motor)
Fully closed
J4 mode [Pr. PA01] setting loop control
Linear servo motor

Factory setting control
J4 mode/J3 compatibility Controller Direct drive motor

mode automatic
identification connection check control
Standard control
(rotary servo motor)
J3 compatibility Connected encoder Fully closed

check (automatic
mode identification) loop control
Linear servo motor

control
Direct drive motor

control
17 - 5
(2) Mode selection using the application software "MR-J4(W)-B mode selection"
You can set the factory setting, J4 mode/J3 compatibility mode, and operation mode with the dedicated
application.
J4 mode/J3
compatibilitymode
automatic Factory setting
identification
Standard control Fixed to the J4 mode (Standard control (rotary servo

J4 mode (rotary servo motor) motor))
Fully closed loop

control Fixed to the J4 mode (Fully closed loop control)
Linear servo motor

control Fixed to the J4 mode (Linear servo motor control)
Direct drive motor

control Fixed to the J4 mode (Direct drive motor control)
J3 compatibility Standard control Fixed to the J3 compatibility mode (Standard control

mode (rotary servo motor) (rotary servo motor)) [Equivalent to MR-J3-B]
Application
" MR-J4(W)-B mode
Fully closed loop Fixed to the J3 compatibility mode (Fully closed loop
selection tool " control control) [Equivalent to MR-J3-B-RJ006]
Linear servo motor Fixed to the J3 compatibility mode (Linear servo motor
control control) [Equivalent to MR-J3-B-RJ004]
Direct drive motor Fixed to the J3 compatibility mode (Direct drive motor
control control) [Equivalent to MR-J3-B-RJ080W]
17.1.5 How to use the J3 compatibility mode
(1) Setting of the controller

To use in the J3 compatibility mode, select MR-J3 series in the system setting window.
Operation mode in J3 compatibility mode System setting
MR-J3-B standard control mode (rotary servo motor) Select MR-J3-_B.
MR-J3-B fully closed loop control mode Select MR-J3-_B fully closed.
MR-J3-B linear control mode Select MR-J3-_B linear.
MR-J3-B DD motor control mode Select MR-J3-_B DDM.
(2) Setting of MR Configurator

To use in the J3 compatibility mode, make the system setting as follows.
Cautions for using MR Configurator

The gain search cannot be used. You can use the advanced gain search.
The C-axis of MR-J4W3-_B cannot be set with MR Configurator. Use MR Configurator2 for it.
17 - 6
(3) Setting of MR Configurator2

To use in the J3 compatibility mode, make the system setting as follows.
Cautions for using MR Configurator2

Use MR Configurator2 with software version 1.12N or later. Older version than 1.12N cannot be used.
Information about existing models (MR-J3) cannot be updated with the parameter setting range update
function. Register a new model to use.
The alarm will be displayed by 3 digits.
The robust disturbance compensation cannot be used.
17.1.6 Cautions for switching J4 mode/J3 compatibility mode
The J3 compatibility mode of the operation mode is automatically identified by factory setting depending on a
connected encoder. If a proper encoder is not connected at the first connection, the system will not start
normally due to a mismatch with a set mode with the controller. (For the J4 mode, you can set the operation
mode with [Pr. PA01].) For example, if the controller is connected without connecting a linear encoder at
linear servo motor driving, the servo amplifier will be the standard control mode (rotary servo motor). The
system will not start because the controller is connected with the linear servo motor driving amplifier.
When the operation mode mismatches, the servo amplifier will display [AL. 3E.1 Operation mode error]. Set
the mode back to the factory setting or set correctly (J4 mode/J3 compatibility mode and operation mode)
using the application "MR-J4(W)-B mode selection".
17.1.7 Cautions for the J3 compatibility mode
The J3 compatibility mode are partly changed and has restrictions compared with MR-J3 series.
(1) The alarm display was changed from 2 digits (_ _) to 3 digits (_ _. _). The alarm detail number (._) is
displayed in addition to the alarm No (_ _). The alarm No. (_ _) is not changed.
(2) When the power of the servo amplifier is cut or fiber-optic cable is disconnected, the same type
communication can be cut regardless of connection order. When you power on/off the servo amplifier
during operation, use the connect/disconnect function of the controller. Refer to the following manuals
for detail.
Motion controller Q series Programming Manual (COMMON) (Q173D(S)CPU/Q172D(S)CPU) (IB-
0300134) "4.11.1 Connect/disconnect function of SSCNET communication"
MELSEC-Q QD77MS Simple Motion Module User's Manual (IB-0300185) "14.12 Connect/disconnect
function of SSCNET communication"
MELSEC-L LD77MH Simple Motion Module User's Manual (IB-0300172) "14.13 Connect/disconnect
function of SSCNET communication"
(3) The J3 compatibility mode has a functional compatibility. However, the operation timing may differ.
Check the operation timing on customer side to use.
(4) The J3 compatibility mode is not compatible with high-response control set by [Pr. PA01 Operation
mode].
17 - 7
(5) For MR-J3 series, a linear encoder was connected to the CN2L connector. For J4 (J3 compatibility
mode), it is connected to the CN2 connector. Therefore, set the two-wire/four-wire type of the linear
encoder in the J3 compatibility mode with [Pr. PC26], not with [Pr. PC04].
(6) When you use a linear servo motor, select linear servo motor with [Pr. PA17] and [Pr. PA18].
17.1.8 Change of specifications of "J3 compatibility mode" switching process
(1) Detailed explanation of "J3 compatibility mode" switching
(a) Operation when using a servo amplifier before change of specifications

For the controllers in which "Not required" is described to controller reset in table 17.1, the mode will
be switched to "J3 compatibility mode" for all axes at the first connection. However, it takes about 10
s per axis for completing the connection.
For the controllers in which "Reset required" is described in table 17.1, the operation at the first
connection is shown in table 17.2. The LED displays will be "Ab." for all axes at the first connection
to the controller as shown in table 17.2. After that, resetting controller will change the 1-axis to "b01".
The 2-axis and later will not change from "Ab.". After that, one axis will be connected per two times
of controller reset.
Table 17.1 Controller reset required/not required list (before change of

specifications)
Controller reset required/not required
Controller Model Single-axis
Multi-axis connection
connection
Q17_DSCPU Not required Not required
Q17_DCPU Not required Not required
Motion controller
Q17_HCPU Not required Not required
Q170MCPU Not required Not required
QD77MS_ Not required Not required
QD75MH_ Not required Not required
Simple motion module
QD74MH_ Reset required Reset required
Positioning module
LD77MH_ Not required Not required
FX3U-20SSC-H Not required Reset required
Table 17.2 Controller connection operation before change of specifications

Before change of specifications (software version A4 or earlier)
Controller "Ab." is displayed and stops
First connection of controller A b . A b . A b .

Axis Axis Axis
No. 1 No. 2 No. 3
Controller "b01" is displayed on axis No. 1, "Ab." is

displayed on axis No. 2 and later.
After controller reset b 0 1 A b . A b . One axis is connected

per reset.
Axis Axis Axis
No. 1 No. 2 No. 3
17 - 8
(b) Operation when using a servo amplifier after change of specifications

For the controllers in which "Not required" is described to controller reset in table 17.3, the mode will
be switched to "J3 compatibility mode" for all axes at the first connection. It takes about 10 s for
completing the connection not depending on the number of axes.
For the controllers in which "Reset required" is described in table 17.3, the operation at the first
connection is shown in table 17.4. The servo amplifier's mode will be "J3 compatibility mode" and the
LED displays will be "rST" for all axes at the first connection to the controller as shown in table 17.4.
At the status, resetting controller once will change the display to "b##" (## means axis No.) for all
axes and all axes will be ready to connect.
(One controller reset enables to all-axis connection.)
Table 17.3 Controller reset required/not required list (after change of

specifications)
Controller reset required/not required
Controller Model Single-axis
Multi-axis connection
connection
Q17_DSCPU Not required Not required
Q17_DCPU Not required Not required
Motion controller
Q17_HCPU Not required Not required
Q170MCPU Not required Not required
QD77MS_ Not required Not required
QD75MH_ Not required Not required
Simple motion module
QD74MH_ Reset required Reset required
Positioning module
LD77MH_ Not required Not required
FX3U-20SSC-H Reset required Reset required
Table 17.4 Controller connection operation after change of specifications

After change of specifications (software version A4 or above)
Controller "rST" is displayed only for the first connection.
First connection of controller r S T r S T r S T

Axis Axis Axis
No. 1 No. 2 No. 3
Controller All axes are connected by one reset.
After controller reset b 0 1 b 0 2 b 0 3

Axis Axis Axis
No. 1 No. 2 No. 3
(c) Using servo amplifiers before and after change of specifications simultaneously
When using servo amplifiers before change of specifications and after change of specifications
simultaneously, controller reset is necessary for number of connecting axes of servo amplifiers.
17 - 9
(2) Changing the mode to "J3 compatibility mode" by using the application "MR-J4(W)-B mode selection".
You can switch the servo amplifier's mode to "J3 compatibility mode" beforehand with the built-in
application software "MR-J4(W)-B mode selection" of MR Configurator2. Use it for a solution when it is
difficult to reset many times with your "Reset required" controller such as "QD74MH_".
The application "MR-J4(W)-B mode selection" has no expiration date.
Select "Change Mode".
Select "J3 Compatibility Mode".
Select "Operation Mode" for each axis.
17 - 10
17.2 Master-slave operation function
Configure the circuit so that all the master and slave axes for the same machine
are stopped by the controller forced stop at the moment of a stop of a master or
slave axis due to such as a servo alarm. When they are not stopped
simultaneously by the controller forced stop, the servo motor may operate
WARNING unexpectedly and the machine can be damaged.
All the master and slave axes for the same machine should turn on/off EM1
(Forced stop 1) simultaneously. When EM1 (Forced stop 1) is not turned on/off
simultaneously, the servo motor may operate unexpectedly and the machine can
be damaged.
POINT
The master-slave operation function works only when the deceleration to a stop
function is disabled. When the deceleration to a stop function is enabled, [AL.
37] will occur.
The master-slave operation function cannot be used with the continuous
operation to torque control.
For the controllers which compatible with the master-slave operation function,
contact your local sales office.
When the function is used in vertical axis system, set the same value to the
parameters regarding the dynamic brake and electromagnetic brake to prevent a
drop of axes.
The servo-on command of the master axis and slave axis should be turned
on/off simultaneously. If the servo-on command is turned on only for a slave
axis, torque will not be generated. Therefore, an extreme load will be applied to
the electromagnetic brake of the master axis for using in vertical axis system.
The master-slave operation function is available for servo amplifier with software
version A8 or later. All servo amplifiers used in the same system connected to a
controller should be software version A8 or later.
17 - 11
(1) Summary
The master-slave operation function transmits a master axis torque to slave axes using driver
communication and the torque as a command drives slave axes by torque control.
Transmission of torque data from the master axis to slave axes is via SSCNET III/H. Additional wiring is
not required.
(2) System configuration
POINT
The control modes compatible with the master-slave operation function are as
follows.
Master-slave operation function compatibility table

Deceleration to a
Control mode Master axis (Note) Slave axis (Note)
stop function
Enabled
Standard control mode
Disabled
Enabled
Fully closed loop control mode
Disabled
Enabled
Linear servo motor control mode
Disabled
Enabled
DD motor control mode
Disabled
Note. When a setting for the master-slave operation is set to an axis which is not compatible with the
master-slave operation function, [AL. 37] will occur.
The master axis and slave axis are recommended to use for a linked condition
on a mechanical constitution. When they are not linked, they can reach a speed
limit level. Doing so may cause [AL. 31 Overspeed].
The slave axes use the control command from the master axis. Therefore, the
controller mainly controls parameter settings, servo-on command, acquisition of
monitor information from a servo amplifier, etc. The commands regarding
absolute positioning such as setting absolute position detection and requiring
home position setting from the controller to slave axes must not be made.
Configure the circuit so that all the master and slave axes are stopped at the
moment of a stop of a master or slave axis due to such as a servo alarm.
When the STO signal of a servo amplifier is used, the master axis and slave axis
should be turned off simultaneously.
17 - 12
Eight master axes can be set at most per one system of SSCNET III/H. The maximum number of slave
axes to each master axis is not limited. However, the total number of the master and slave axes should
be the maximum number of the servo amplifiers at most. In addition, when an SSCNET III/H
communication brake occurs due to malfunction of a servo amplifier, the malfunctioning axis and later
axis cannot be communicated. Therefore, the first amplifier from the controller via SSCNET III/H cable
should be master axis.
Master axis Slave axis 1 Slave axis 2 Slave axis 3

Controller MR-J4-_B_(-RJ) MR-J4-_B_(-RJ) MR-J4-_B_(-RJ) MR-J4-_B_(-RJ)
[Driver communication] [Driver communication] [Driver communication]

Torque command Torque command Torque command
Speed limit command Speed limit command Speed limit command
Position
command
CN2 CN2 CN2 CN2
These are for the

same machine.
(3) Parameter setting for the master-slave operation function

To use the master-slave operation function, the following parameter settings are necessary. For details of
the parameters, refer to section 5.2.1 and 5.2.4.
Setting value
No. Name Initial value Setting
Master axis Slave axis
Forced stop deceleration Used to disable the deceleration to
PA04 2000 0___ 0___
function selection a stop function.
Rotation direction
Used to set a torque generation
PA14 selection/travel direction 0 Refer to section 5.2.1.
direction.
selection
PD15 (Note) Driver communication setting 0000 0001 0010 Master and slave setting
Driver communication setting - Communication data from master to
PD16 (Note) Master - Transmit data 0000 0038 0000 slave
selection 1 Torque command
Driver communication setting - Speed limit value
PD17 (Note) Master - Transmit data 0000 003A 0000
selection 2
Master axis No. selection 1 for Master axis Master axis No. of transmitting data
PD20 (Note) 0 0
slave No.
Master-slave operation - Ratio of torque command of slave
PD30 Torque command coefficient on 0 0 axis, ratio of speed limit value, and
slave setting of speed limit minimum value
Refer to
Master-slave operation - Speed
PD31 0 0 section 5.2.4.
limit coefficient on slave
Master-slave operation - Speed
PD32 0 0
limit adjusted value on slave
Note. Always set this with servo parameters of the controller. Incorrect setting will prevent a normal SSCNET III/H communication.
17 - 13
(4) Rotation direction setting

Rotation directions can be different among a controller command, master axis, and slave axes. To align
the directions, set [Pr. PA14] referring (4) of this section. Not doing so can cause such as an overload
due to a reverse direction torque against machine system rotation direction.
Controller
[Pr. PA14]
+ + +
Master axis POL Position control Speed control Current control
- - -
0 or 1 (Note)
S
[Pr. PA14]
+
Slave axis 1 POL Current control
-
0 or 1 (Note)
[Pr. PA14]
+
-
0 or 1 (Note)
[Pr. PA14]
+
-
0 or 1 (Note)
Note. Setting "1" will reverse the polarity.
Fig. 17.1 Rotation direction setting of master and slave axes with torque command method for an
example of one master axis and three slave axes
Table 17.1 Rotation direction setting parameter
No. Symbol Name and function
PA14 *POL Rotation direction selection

1. For master axis
Select a servo motor rotation direction of master axis to SSCNET controller command.
0: Servo motor CCW rotation in positioning address increase direction
1: Servo motor CW rotation in positioning address increase direction
2. For slave axis

Select servo motor rotation direction to a command from master axis.
0: Torque command polarity from master axis
1: Reverse of torque command polarity from master axis
17 - 14
17.3 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 the servo amplifiers of software
version A8 or later.
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-_B_ servo amplifiers,
the following restrictions apply. However, these restrictions will not be applied for
MR-J4-_B_-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 appendix 9.
The scale measurement function compatible servo amplifier can be used with
any of the following controllers.
Motion controller Q17nDSCPU
Simple motion module QD77MS_
For settings of controllers compatible with the scale measurement function, refer
to user's manuals for each controller.
17.3.1 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
- - Servo motor
S
(Servo motor) +
Servo motor feedback pulses
Droop pulses - (Servo motor resolution unit)
Scale measurement encoder
(Servo motor)
Cumulative
feedback pulses Encoder pulse setting
([Pr.PA15], [Pr.PA16]
and [Pr. PC03])
Load-side feedback pulses
Cumulative (Scale resolution unit)
load-side
feedback pulses Control
Monitor
17 - 15
(2) System configuration

(a) For a linear encoder
1) MR-J4-_B_ servo amplifier
Servo amplifier
SSCNET III/H
Position command Two-wire type serial interface compatible linear encoder
Control signal
CN2
Linear encoder head
Servo motor Table
2) MR-J4-_B_-RJ servo amplifier

Servo amplifier
SSCNET III/H
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 - 16
(b) For a rotary encoder

Servo amplifier

Position command
Control signal To the next
servo
CN2 amplifier
(Note)
(Note) Servo motor
Load-side encoder signal Two-wire type rotary encoder

HG-KR, HG-MR servo motor (4194304 pulses/rev)

Servo amplifier

Position command
Control signal To the next
servo
CN2 amplifier
CN2L
Servo motor

A/B/Z-phase differential output, two-wire/four-wire type rotary encoder
HG-KR, HG-MR servo motor (4194304 pulses/rev), or
synchronous encoder Q171ENC-W8 (4194304 pulses/rev)
17 - 17
17.3.2 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.
An absolute type linear encoder is necessary to configure an absolute position detection system under scale
measurement function 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
(1) Linear encoder

Refer to "Linear Encoder Instruction Manual" for usable linear encoders.
(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-_B_
MR-J4-_B_-RJ
Use a two-wire type encoder cable for MR-J4-_B_ 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
appendix 9.
(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 - 18

You can connect the linear encoder without using a branch cable shown in 1) for MR-J4-_B_-RJ
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-_B-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 - 19
(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 - 20
17.3.3 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.

For MR-J4-_B_-RJ servo amplifiers, set the following "Load-side encoder communication method
selection" of [Pr. PC26] as necessary.
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
Incorrect setting will trigger [AL. 70] and [AL. 71].
Setting "1" while using an MR-J4-_B_ servo amplifier will trigger [AL. 37].
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 judgement
function" of [Pr. PC27] as necessary.
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.
17 - 21

1) Select a 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
Load-side encoder pulse count polarity selection
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 judgement function

This function can trigger an alarm by detecting non-signal for Z phase.
The Z-phase connection judgement function is enabled by default. To disable the Z-phase
connection judgement 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 - 22
APPENDIX
App. 1 Peripheral equipment manufacturer (for reference)
Names given in the table are as of March 2014.

Manufacturer Reference
NEC TOKIN NEC TOKIN Corporation
Kitagawa Industries Kitagawa Industries Co., Ltd.
JST J.S.T. Mfg. Co., Ltd.
Junkosha Purchase from Toa Electric Industrial Co. Ltd.,
Nagoya Branch
3M 3M
SEIWA ELECTRIC Seiwa Electric Mfg. Co. Ltd.
Soshin Electric Soshin Electric Co., Ltd.
TE Connectivity TE Connectivity
TDK TDK Corporation
Molex Molex
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)
Model Option model
ER6 MR-J3BAT
MR-BAT
ER17330
A6BAT
(b) Battery unit (assembled)

Model Option model
ER17330 MR-J2M-BT
MR-BAT6V1
CR17335A MR-BAT6V1SET
MR-BAT6V1BJ
(2) Purpose
Safer transportation of lithium metal batteries.
(3) Change in regulations

The following points are changed for lithium metal batteries transportation by sea or air due to
Recommendations of the United Nations Rev. 15 and ICAO-TI 2009-2010 edition. For lithium metal
batteries, cells are classified as UN3090, and batteries contained in or packed with equipment are
classified as UN3091.
App. - 1
APPENDIX
(a) A package containing 24 cells or 12 batteries or less that are not contained in equipment are no
longer exempt from the following: attachment of a handling label, submission of the Shipper's
Declaration for Dangerous Goods, and a 1.2 m drop test.
(b) A battery handling label (size: 120 mm × 110 mm) is required. Emergency telephone number must
be filled out in the additional handling information of the Shipper's Declaration for Dangerous Goods.
(c) New handling label design containing battery illustration must be used. (only air transportation)
Figure. Example of Mitsubishi Label with Battery Illustration
(4) Action taken by Mitsubishi

The following caution will be 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) and the Shipper's Declaration for
Dangerous Goods are required to the package of a Mitsubishi cell or battery. In addition, attaching them
to the outer package containing several packages of Mitsubishi cells or batteries are also required.
Please attach the documentations in the specified design to the packages and the outer packages.
App. - 2
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 centre.
Please, help us to conserve the environment we live in!
App. 4 Compliance with global standards
App. 4.1 Terms related to safety (IEC 61800-5-2 Stop function)
STO function (Refer to IEC/EN 61800-5-2: 2007 4.2.2.2 STO.)

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.
App. 4.2 About safety
This section explains safety of users and machine operators. Please read the section carefully before
mounting the equipment.
App. - 3
APPENDIX
App. 4.2.1 Professional engineer
Only professional engineers should mount MR-J4 servo amplifiers.

Here, professional engineers should meet the all conditions below.
(1) Persons who took a proper engineering training or qualified persons who are engaged in electrical
equipment
Please note if you can take proper engineering training at your local Mitsubishi Electric office. Contact
your local sales office for schedules and locations.
(2) Persons who can access to operating manuals for the protective devices (e.g. light curtain) connected to
the safety control system. A person who have read and familiarized himself/herself with the manuals.
App. 4.2.2 Applications of the devices
MR-J4 servo amplifiers comply with the following safety standards.

ISO/EN ISO 13849-1 Category 3 PL d, IEC/EN 62061 SIL CL 2, IEC/EN 61800-5-2 SIL 2 (STO), IEC/EN
61800-5-1, IEC/EN 61800-3, IEC/EN 60204-1
In addition, MR-J4 servo amplifiers can be used with the MR-J3-D05 safety logic unit or safety PLC.
App. 4.2.3 Correct use
Always use the MR-J4 servo amplifiers within specifications (voltage, temperature, etc. Refer to each
instruction manual for details.). 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 for capacitor discharging. Do not touch the unit and terminals
WARNING immediately after power off.
(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) Local wiring and crimping tool

Use only copper wires for wiring. The following table shows the wire sizes [AWG] and the crimp
terminal symbols rated at 75 °C/60 °C.
1) 200 V class/100 V class

75 °C/60 °C wire [AWG] (Note 2)
Servo amplifier L1/L2/L3 U/V/W/
L11/L21 P+/C
(Note 3)
MR-J4-10_(1)/MR-J4-20_(1)/MR-J4-40_(1)/
14/14 14/14
MR-J4-60_/MR-J4-70_/MR-J4-100_/MR-J4-200_ 14/14 14/14
MR-J4-350_ 12/12 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 14: c/14: c 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/-: -
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 the following table 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.
App. - 4
APPENDIX
Table: Recommended crimp terminals

(Note 2) Body Head Dice
b (Note 1) 8-4NS YHT-8S
c FVD2-4 YNT-1614
DH-122
d FVD14-6 YF-1 YNE-38
DH-112
e FVD5.5-6 YNT-1210S
DH-123
f FVD22-6 YF-1 YNE-38 JST
DH-113
DH-124
g FVD38-6 YF-1 YNE-38
DH-114
TD-125
h R60-8 YF-1 YET-60-1
TD-113
i FVD5.5-8 YNT-1210S
TD-226
j CB70-S8 YF-1 YET-150-1
TD-213
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
2) 400 V class
Wire [AWG] (Note 2)
Servo amplifier L1/L2/L3 U/V/W/
L11/L21 P+/C
(Note 3)
MR-J4-60_4/MR-J4-100_4
MR-J4-200_4 14/14 14/14 14/14 14/14
MR-J4-350_4
MR-J4-500_4 (Note 1) 14: b/14: b 12: a/10: a
14: b/14: b
MR-J4-700_4 (Note 1) 12: a/12: a 10: a/10: a
MR-J4-11K_4 (Note 1) 10: d/10: d 14: b/14: b 14: e/14: e 8: f/8: f
MR-J4-15K_4 (Note 1) 8: f/8: f 12: d/12: d 6: c/4: c
MR-J4-22K_4 (Note 1) 6: g/4: g 12: h/12: h 6: i/4: i
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 the following table 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.
Table: Recommended crimp terminals

(Note) Body Head Dice
b FVD2-4 YNT-1614
c FVD14-6 YF-1 YNE-38 DH-122/DH-112
d FVD5.5-6 YNT-1210S
e FVD2-6 YNT-1614 JST
f FVD8-6 YF-1 YNE-38 DH-121/DH-111
g FVD14-8 YF-1 YNE-38 DH-122/DH-112
h FVD5.5-8 YNT-1210S
i FVD22-8 YF-1 YNE-38 DH-123/DH-113
Note. Some crimp terminals may not be mounted depending on the size. Make sure to use the
App. - 5
APPENDIX
(b) Selection example of MCCB and fuse

When a servo amplifier is protected by T class fuses or circuit breaker having an interrupting rating
not less than 300 A effective value and 240 V maximum, use T class fuses or molded-case circuit
breaker (UL489 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, refer to section 11.10.
1) 200 V class
Servo amplifier Molded-case circuit breaker (240 V AC) Fuse (300 V)
MR-J4-10_/MR-J4-20_/MR-J4-40_/MR-J4-60_/MR-J4-70_/
NF50-SVFU-5A (50 A frame 5 A) 10 A
MR-J4W2-22B
MR-J4-60_ (Note)/MR-J4-70_ (Note)/MR-J4-100_/
MR-J4W2-22B (Note)/MR-J4W2-44B/MR-J4W2-77B/ NF50-SVFU-10A (50 A frame 10 A) 15 A
MR-J4W3-222B/MR-J4W3-444B
MR-J4-200_/MR-J4W2-44B (Note)/MR-J4W2-1010B NF50-SVFU-15A (50 A frame 15 A) 30 A
MR-J4-350_/MR-J4W2-77B (Note)/MR-J4W3-444B (Note) NF50-SVFU-20A (50 A frame 20 A) 40 A
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. For 1-phase 200 V AC power input
2) 400 V class
MR-J4-60_4 NF100-HRU-5A (100 A frame 5 A) 10 A
MR-J4-11K_4 NF100-HRU-30A (100 A frame 30 A) 60 A
3) 100 V class
MR-J4-10_1/MR-J4-20_1/MR-J4-40_1 NV50-SVFU-15A (50 A frame 15 A) 20 A
(c) Power supply

This servo amplifier can be supplied from star-connected supply with grounded neutral point of
overvoltage category III set forth in IEC/EN 60664-1. However, when you use the neutral point for
single phase supply, a reinforced insulating transformer is required in the power input section. For
the interface power supply, use an external 24 V DC power supply with reinforced insulation on I/O
terminals.
App. - 6
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.
If using an earth-leakage current breaker, always ground the protective earth (PE) terminal of the
servo amplifier to prevent an electric shock. Only an RCD (earth-leakage current breaker) of type B
can be used for the power supply side of the product.
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
(2004/108/EC), and Low-voltage directive (2006/95/EC).
(a) EMC requirement

MR-J4 servo amplifiers comply with category C3 in accordance with IEC/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), connect them to a shielded grounding. Use a EMC filter and surge protector on the primary side.
The following shows recommended products.
EMC filter: Soshin Electric HF3000A-UN series
Surge protector: Okaya Electric Industries RSPD-250-U4 series
- 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.
(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, 2004/108/EC and
2006/95/EC). For the copy of Declaration of Conformity, contact your local sales office.
(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 a metal cabinet. For environment, the units should be used in open type (UL 50) and overvoltage
category III or lower. The servo amplifier needs to be installed at or below of pollution degree 2. For
connection, use only 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.
(c) Overload protection characteristics

The MR-J4 servo amplifiers have servo motor overload protective function. (It is set on the basis (full
load current) of 120% rated current of the servo amplifier.)
App. - 7
APPENDIX
(d) Over-temperature protection for motor

Motor Over temperature sensing is not provided by the drive.
(e) Capacitor discharge

It takes 15 minutes for capacitor discharging. Do not touch the unit and terminals immediately after
power off.
(f) 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). However, some applications are being
processed. For the situation of compliance, contact your local sales office. Please note the following to
use the product.
이 기기는 업무용 (A급) 전자파적합기기로서 판 매자 또는 사용자는 이 점을 주의하시기 바라며,
가정외의 지역에서 사용하는 것을 목적으 로 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_.)
App. 4.2.4 General cautions for safety protection and protective measures
Observe the following items to ensure proper use of the MELSERVO 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.
(3) 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.
(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 functional safety from other signal wirings. (ISO 13849-1 Table F.1 No.1)
App. - 8
APPENDIX
(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 battery options (MR-BAT6V1SET and MR-BAT6V1) 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. 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.
Note the followings for supplied regenerative resistors of 11 kW to 22 kW servo
CAUTION amplifiers because they do not have protect covers.
Touching the resistor will cause a burn because the surface of the parts is a
resistive element and very high temperature.
Even if the power turned off, touching the resistor will cause an electric shock
because the capacitor of the servo amplifier is charged for a while.
Cabinet Top Cabinet
40 mm
or more 80 mm or longer
for wiring
Servo amplifier
10 mm 10 mm Servo amplifier
or more or more
(Note 2)
40mm
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. For MR-J4-500_, the clearance on the left side will be 25 mm or more.
App. - 9
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
CAUTION must be 20 ms of tolerance against instantaneous power failures as specified in
IEC/EN 60204-1.
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

(a) 200 V class
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) CN1
(3-phase MCCB Controller
400 V AC) or fuse CN2 Encoder cable
PE
Transformer
(star-connected) U/V/W/PE
Cabinet side
Machine side
Servo motor
Encoder
Note. When the wire sizes of L1 and L11 are the same, MCCB or fuse is not required.
(b) 400 V class

(3-phase
400 V AC)
Servo amplifier
MCCB MC L1 L2 L3 P+
or fuse C
D
N-
L11
L21 CN8
STO
(Note) CN1
MCCB Controller
or fuse CN2 Encoder cable
PE
U/V/W/PE
Cabinet side
Machine side
Servo motor
Encoder
App. - 10
APPENDIX
(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
(Note 2) or fuse
400 V AC) CN2 Encoder cable
PE
Transformer
(star-connected) U/V/W/PE
Cabinet side
Machine side
Servo motor
Encoder
Note 1. When the wire sizes of L1 and L11 are the same, MCCB or fuse is not required.
2. Step down this to 100 V for the 100 V class servo amplifiers and connect the
main circuit power supply lines to L1 and L2.
(3) 3-phase input for MR-J4 multi-axis servo amplifier

Servo
amplifier Servo
(3-phase MCCB MC CN2C motor
230 V AC) or fuse CNP1
(L1 L2 L3)
CNP2 CNP3C
L11
L21 CN8
Power STO
supply (Note) CN1
400 V AC) or fuse CN2A CN2B Encoder cable
PE
Transformer
(star-connected) CNP3A CNP3B
Cabinet side
Machine side
Servo motor
Servo motor
(4) 1-phase input for MR-J4 multi-axis servo amplifier

Servo
amplifier Servo
(1-phase MCCB MC CN2C motor
230 V AC) or fuse CNP1
(L1 L2 L3)
CNP2 CNP3C
L11
L21 CN8
Power STO
supply (Note) CN1
400 V AC) or fuse CN2A CN2B Encoder cable
PE
Transformer
(star-connected) CNP3A CNP3B
Cabinet side
Machine side
Servo motor
Servo motor
App. - 11
APPENDIX
The control circuit 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 IEC60034-1 and Mitsubishi Electric encoder (OBA, OSA)
App. 4.5 Signal
App. 4.5.1 Signal
The following shows MR-J4-10B signals as a typical example.

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 Input 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. - 12
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.
Do not perform insulation resistance test on the servo amplifier. Otherwise, it may
Do not disassemble and/or repair the equipment on customer side.
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.
(a) 200 V class/100 V class
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_/
1.2
MR-J4-70_/MR-J4-100_/
MR-J4-200_/MR-J4-350_
MR-J4-500_ 1.2 0.8 1.2
MR-J4-700_ 1.2 0.8 1.2
MR-J4-11K_/MR-J4-15K_ 3.0 1.2 3.0
MR-J4-22K_ 6.0 1.2 6.0
MR-J4W_-_B 1.2
(b) 400 V class

Tightening torque [N•m]
Servo amplifier
L1 L2 L3 N- P3 P4 P+ C L11 L21 U V W PE
MR-J4-60_4/MR-J4-100_4/
1.2
MR-J4-200_4/MR-J4-350_4
MR-J4-500_4 1.2 0.8 1.2
MR-J4-700_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
(2) Check 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.
App. - 13
APPENDIX
App. 4.6.2 Parts having service lives
Service lives of the following parts are listed below. However, the service life vary depending or operating
methods and environment. If any fault is found in the parts, they must be replaced immediately regardless of
their service lives. For parts replacement, please contact your local sales office.
Part name Life guideline
Smoothing capacitor (Note 4) 10 years
Number of power-on, forced stop and controller forced
Relay 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, ambient temperature: 20 °C)
Rotary servo motor
Approximately 29,000 hours (power-on time ratio: 25%,
(Note 1)
ambient temperature: 20 °C) (Note 5)
MR-J4 1-axis servo
amplifier Approximately 5,000 hours (equipment power supply:
off, ambient temperature: 20 °C)
Direct drive motor
Approximately 15,000 hours (power-on time ratio: 25%,
ambient temperature: 20 °C) (Note 5)
Approximately 40,000 hours/2 axes, 30,000 hours/
3 axes, or 10,000 hours/8 axes
(equipment power supply: off, ambient temperature:
Battery 20 °C)
Rotary servo motor
backup time Approximately 55,000 hours/2 axes,
38,000 hours/3 axes, or 15,000 hours/8 axes
(power-on time ratio: 25%, ambient temperature: 20 °C)
(Note 2)
(Note 5)
MR-J4 multi-axis servo
amplifier Approximately 10,000 hours/2 axes, 7,000 hours/
(equipment power supply: off, ambient temperature:
20 °C)
Direct drive motor
Approximately 15,000 hours/2 axes, 13,000 hours/
(power-on time ratio: 25%, ambient temperature: 20 °C)
(Note 5)
Note 1. The data-holding time by the battery using MR-BAT6V1SET. Replace the batteries within three years since the operation start
whether the power supply of the servo amplifier is on/off. If the battery is used out of specification, [AL. 25 Absolute position
erased] may occur. For other batteries, refer to each servo amplifier instruction manual.
2. The data-holding time by the battery using five MR-BAT6V1s. Replace the batteries within three years since the operation start
whether the power supply of the servo amplifier is on/off. If the battery is used out of specification, [AL. 25 Absolute position
erased] may occur. For other batteries, refer to each servo amplifier instruction manual.
connection status.
4. The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the capacitor greatly depends
on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of continuous
operation in normal air-conditioned environment (40 °C surrounding air temperature or less).
App. - 14
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 Install the servo amplifier and servo motor in a load-bearing place in accordance
with the Instruction Manual.
Do not get on or put heavy load on the equipment.
For detailed information on the option battery’s transportation and handing, refer
to app. 2 and app. 3.
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,
5% to 90 %RH
humidity transportation, 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 (1 g) to IEC/EN 61800-5-1 (Test
Vibration Fc of IEC 60068-2-6)
2
resistance Operation 5.9 m/s (0.6 g)
Transportation (Note) Class 2M3 (IEC/EN 60721-3-2)
Storage Class 1M2 (IEC/EN 60721-3-2)
Pollution degree 2
Except terminal block IP20 (IEC/EN 60529) and fan finger guard
IP rating
Open type (UL 50)
Operation, storage 1000 m or less above sea level
Altitude
Transportation 10000 m or less above sea level
Note. In regular transport packaging
App. - 15
APPENDIX
App. 4.8 Technical data
App. 4.8.1 MR-J4 servo amplifier

MR-J4-10_/MR-J4-20_/ MR-J4-100_/MR-J4-200_/
MR-J4-40_/MR-J4-60_/ MR-J4-350_/MR-J4-500_/ MR-J4-10_1/
Item MR-J4-70_/MR-J4W2-22B/ MR-J4-700_/MR-J4W2-1010B/ MR-J4-20_1/
MR-J4W2-44B/MR-J4W2-77B/ MR-J4-11K_/MR-J4-15K_/ MR-J4-40_1
MR-J4W3-222B/MR-J4W3-444B MR-J4-22K_
3-phase or 1-phase 200 V AC to 1-phase 100 V AC to
3-phase 200 V AC to 240 V AC,
Main circuit (line voltage) 240 V AC, 120 V AC
50 Hz/60 Hz
50 Hz/60 Hz 50 Hz/60 Hz
Power 1-phase 100 V AC to
Control circuit (line
supply 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz 120 V AC
voltage)
50 Hz/60 Hz
24 V DC, (required current capacity: MR-J4-_A, 500 mA; MR-J4-_B,
Interface (SELV)
300 mA; MR-J4W2-_B, 350 mA; MR-J4W3-_B, 450 mA)
Functional safety (STO)
EN ISO 13849-1 category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL 2, and EN 61800-5-2 SIL 2
IEC/EN 61800-5-2
Mean time to dangerous failure MTTFd ≥ 100 [years]
Effectiveness of fault monitoring of
DC = 90 [%]
a system or subsystem
PFH = 1.68 × 10 [1/h]
failures per hour
Mission time TM = 20 [years]
Pollution degree 2 (IEC/EN 60664-1)
Overvoltage category 1-phase 100 V AC/200 V AC: II (IEC/EN 60664-1), 3-phase 200 V AC: III (IEC/EN 60664-1)
Protection class I (IEC/EN 61800-5-1)
Short-circuit current rating (SCCR) 100 kA
(2) 400 V class

MR-J4-60_4/MR-J4-100_4/MR-J4-200_4/MR-J4-350_4/MR-J4-500_4/MR-J4-700_4/
Item
MR-J4-11K_4/MR-J4-15K_4/MR-J4-22K_4
Main circuit (line voltage) 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz
Power Control circuit (line
supply 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz
voltage)
Interface (SELV) 24 V DC, (required current capacity: MR-J4-_A4, 500 mA; MR-J4-_B4, 300 mA)
Safety function (STO)
IEC/EN 61800-5-2
Mean time to dangerous failure MTTFd ≥100 [years]
Effectiveness of fault monitoring of
DC = 90 [%]
a system or subsystem
PFH = 1.68 × 10 [1/h]
failures per hour
Mission time TM = 20 [years]
Pollution degree 2 (IEC/EN 60664-1)
Overvoltage category III (IEC/EN 60664-1)
Protection class I (IEC/EN 61800-5-1)
Short-circuit current rating (SCCR) 100 kA
App. - 16
APPENDIX
App. 4.8.2 Servo amplifier dimensions

Variable dimension table [mm]
Servo amplifier Mass [kg]
W H D
MR-J4-10_(1)/MR-J4-20_(1) 40 168 135 0.8
H Front Side MR-J4-40_(1)/MR-J4-60_ 40 168 170 1.0
MR-J4-70_/MR-J4-100_ 60 168 185 1.4
MR-J4-200_ 90 168 195 2.1
MR-J4-350_ 90 168 195 2.3
W D
MR-J4-500_ 105 250 200 4.0
MR-J4-700_ 172 300 200 6.2
MR-J4-11K_/MR-J4-15K_ 220 400 260 13.4
MR-J4-22K_ 260 400 260 18.2
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
MR-J4-60_4/MR-J4-100_4 60 168 195 1.7
MR-J4-200_4 90 168 195 2.1
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-J4-11K_4/MR-J4-15K_4 220 400 260 13.4
MR-J4-22K_4 260 400 260 18.2
App. 4.8.3 Mounting hole

Screw
a1 Variable dimensions [mm]
Servo amplifier size
c a a1 b c d d1 e
d1 MR-J4-10_(1)/MR-J4-20_(1)/
e 6 6 156 ± 0.5 6 M5
MR-J4-40_(1)/MR-J4-60_
b MR-J4-70_/MR-J4-100_ 12 12 156 ± 0.5 6 42 ± 0.3 M5
MR-J4-200_/MR-J4-350_ 6 45 156 ± 0.5 6 78 ± 0.3 M5
c MR-J4-500_ 6 6 235 ± 0.5 7.5 93 ± 0.3 93 ± 0.3 M5
a d MR-J4-700_ 6 6 285 ± 0.5 7.5 160 ± 0.5 160 ± 0.5 M5
MR-J4-11K_/MR-J4-15K_ 12 12 380 ± 0.5 10 196 ± 0.5 196 ± 0.5 M5
MR-J4-22K_ 12 12 376 ± 0.5 12 236 ± 0.5 236 ± 0.5 M10
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
MR-J4-60_4/MR-J4-100_4 12 12 156 ± 0.5 6 42 ± 0.3 M5
MR-J4-200_4 6 45 156 ± 0.5 6 78 ± 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-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
App. - 17
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 (protection 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. - 18
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. - 19
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. - 20
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.
(9) If the upper and lower power module 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.
App. 5.5 Block diagram and timing chart
(1) Function block diagram

A-axis circuit
+24 V 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. - 21
APPENDIX
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. 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
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 516 years
performance
(MTTFd)
Diagnosis
93.1%
converge (DC avg)
Average
probability of -9
4.75 × 10 [1/h]
dangerous failures
per hour (PFH)
LVD: EN 61800-5-1
Compliance to
CE marking EMC: EN 61800-3
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 90 %RH or less (non-condensing), storage: 90 %RH or less (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. - 22
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_B_(-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. - 23
APPENDIX

24 V DC
S2 S1 S4 S3
MR-J3-D05 RESA RESB
(Note) (Note)
SW1 SW2 STOA STOB
EM2 EM2
(A-axis) (B-axis)
CN9
1A SDI1A+
1B SDI1A- MC
MR-J4_B_(-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_B_(-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. Set the delay time of STO output with SW1 and SW2. These switches are located where dented from the front panel.
App. - 24
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. - 25
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. - 26
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. - 27
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: UL1007)
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, feazed 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]
Mass : Approx. 20 g
App. - 28
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 feazed.
It is easy to insert the wire if the wire is inserted diagonally while twisting
the tool.
e) Remove the tool.
App. - 29
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. - 30
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. - 31
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
Column A Column B
Monitor LED for start/reset
SRES Off: The start/reset is off. (The switch contact is opened.)
On: The start/reset is on. (The switch contact is closed.)
Monitor LED for shut-off 1
SDI1 Off: The shut-off 1 is off. (The switch contact is closed.)
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.)
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 for STO output after STO shut off switch is pressed. Set same setting for SW1 and SW2,
and set the rotary switch setting according to the delay time in the table below.
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. - 32
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. - 33
APPENDIX
App. 5.12 Dimensions
[Unit: mm]
22.5
19.5 Approx. 22.5
Approx. 5
Approx. 80 86
5 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. - 34
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_B_(-RJ)
2) CN8
1)
CN9 MR-J4_B_(-RJ)
CN10
MR-J3-D05 2) CN8
attachment
connector
App. - 35
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)
COMPLIANCE WITH THE MACHINERY DIRECTIVES
The MR-J3-D05 complies with the safety components laid down in the directive 2006/42/EC (Machinery).
App. - 36
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. - 37
APPENDIX
App. - 38
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
replacement to the servo amplifier after the replacement. If the information before
CAUTION and after replacement are not the same, 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-B" 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 the "Magnetic pole information" button ( 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-B" 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 the "Magnetic pole information" button ( 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. - 39
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-_B_ 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. - 40
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. - 41
APPENDIX
App. 9 SSCNET III cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System &
Service
POINT
For the details of the SSCNET III cables, contact your local sales office.
Do not look directly at the light generated from CN1A/CN1B connector of servo
amplifier or the end of SSCNET III cable. The light can be a discomfort when it
enters the eye.
The cable is available per 1 m up to 100 m. The number of the length (1 to 100) will be in the underscore in
the cable model.
Cable length
Cable model Bending life Application/remark
1 m to 100 m
Ultra-long Using long distance
SC-J3BUS_M-C 1 to 100
bending life cable
App. 10 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. - 42
APPENDIX
(2) Setting
POINT
words.
(servo motor) speed → (linear servo motor) speed
CCW direction → Positive direction
CW direction → Negaative 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
Linear servo motor 8 [V] 8 [V]
speed
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
Linear servo motor CW direction CCW direction
8 [V]
speed
Maximum speed 0 Maximum speed

Maximum torque 0 Maximum torque
04 Current command CCW direction 05 Speed command CCW direction

8 [V] 8 [V]
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. - 43
APPENDIX
Setting Setting
Output item Description Output item Description
value value
0A Feedback position CCW direction 0B Feedback position CCW direction
10 [V] 10 [V]
(Note 1, 2, 3) (Note 1, 2, 3)
(±10 V/1 Mpulse) (±10 V/10 Mpulse)
1 [Mpulse] 10 [Mpulse]
0 1 [Mpulse] 0 10 [Mpulse]
-10 [V] -10 [V]

0C Feedback position CCW direction 0D Bus voltage (Note 7)

10 [V]
(Note 1, 2, 3)
(±10 V/100 Mpulse) 8 [V]
100 [Mpulse]
0 100 [Mpulse]
0 400 [V]
-10 [V]
CW direction
0E Speed command 2 CCW direction 10 Load-side droop pulses CCW direction

8 [V] 10 [V]
(Note 3) (Note 3, 4, 5, 6)
(±10 V/100 pulses)
Maximum speed 100 [pulse]
0 Maximum speed 0 100 [pulse]
-8 [V] -10 [V]

11 Load-side droop pulses CCW direction 12 Load-side droop pulses CCW direction
10 [V] 10 [V]
(Note 3, 4, 5, 6) (Note 3, 4, 5, 6)
(±10 V/1000 pulses) (±10 V/10000 pulses)
1000 [pulse] 10000 [pulse]
0 1000 [pulse] 0 10000 [pulse]
-10 [V] -10 [V]

13 Load-side droop pulses CCW direction 14 Load-side droop pulses CCW direction
10 [V] 10 [V]
(Note 3, 4, 5, 6) (Note 3, 4, 5, 6)
(±10 V/100000 pulses) (±10 V/1 Mpulses)
100000 [pulse] 1 [Mpulse]
0 100000 [pulse] 0 1 [Mpulse]
-10 [V] -10 [V]

15 Motor-side/load-side CCW direction 16 Servo motor-side/load- CCW direction

10 [V] 8 [V]
position deviation side speed deviation
(Note 3, 4, 5, 6) (Note 4)
(±10 V/100000 pulses) 100000 [pulse] Maximum speed
0 100000 [pulse] 0 Maximum speed
-10 [V] -8 [V]

17 Encoder inside 10 [V]

temperature (±10
V/±128 °C)
-128 [°C]
0 128 [°C]
-10 [V]
App. - 44
APPENDIX
Note 1. Encoder pulse unit.

2. Available in position control mode
3. This cannot be used in the torque control mode.
4. This can be used with MR Configurator2 with software version 1.19V or later.
5. This cannot be used in the speed control 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.
7. For 400 V class servo amplifier, the bus voltage becomes +8 V/800 V.
(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
control control control PWM M Servo motor
received from a - - -
servo system
controller Encoder inside
temperature
Current feedback
Encoder
Differen-
tiation
Position feedback data Position feedback

returned to a servo
system controller
+
Feedback position - Servo motor
Torque
standard position(Note) speed
Feedback
position
Note. The feedback position is output based on the position data passed between servo system controller and servo amplifier. [Pr.
PC13] and [Pr. PC14] can set up the standard position of feedback position that is output to analog monitor in order to adjust the
output range of feedback position. The setting range is between -9999 pulses and 9999 pulses.
Standard position of feedback position = [Pr. PC14] setting value × 10000 + [Pr. PC13] setting value
Parameter Description Setting range

Sets the lower-order four digits of the standard position of
PC13 -9999 to 9999 [pulse]
feedback position
Sets the higher-order four digits of the standard position of
PC14 -9999 to 9999 [10000 pulses]
feedback position
App. - 45
APPENDIX
(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
- - -
Encoder inside
temperature
Current feedback Encoder
Differ- Servo motor

entiation speed Torque
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. - 46
APPENDIX
App. 11 Special specification
App. 11.1 Amplifiers without dynamic brake
App. 11.1.1 Summary
This section explains servo amplifiers without a dynamic brake. The things not explained in this section will
be the same as MR-J4-_B_(-RJ).
App. 11.1.2 Model
available.
Special specifications
Series
ED MR-J4_-B_ without a dynamic brake
RU MR-J4-_B_-RJ without a dynamic brake
Power supply
Symbol Power supply
None 3-phase 200 V AC to 240 V AC
Rated output
Symbol Rated output [kW]
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-_B_-ED
[Pr. PF06] ___2
MR-J4-_B_-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. - 47
APPENDIX
App. 11.2 Without regenerative resistor
App. 11.2.1 Summary
This section explains servo amplifiers without a regenerative resistor. The things not explained in this section
will be the same as MR-J4-_B_(-RJ).
App. 11.2.2 Model
available.
Special specifications
Series
PX MR-J4-_B_ without regenerative resistor
RZ MR-J4-_B_-RJ without regenerative resistor
Power supply
Symbol Power supply
None 3-phase 200 V AC to 240 V AC
Rated output
Symbol Rated output [kW]
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. - 48
REVISION
*The manual number is given on the bottom left of the back cover.
Print Data *Manual Number Revision
Mar. 2012 SH(NA)030106-A First edition
Jun. 2012 SH(NA)030106-B 4. Additional instructions The sentences are added.
(2) Wiring
4. Additional instructions The sentences are added.
(3) Test run and adjustment
COMPLIANCE WITH CE The reference is changed.
MARKING
COMPLIANCE WITH The reference is changed.
UL/CSA STANDARD
COMPLIANCE WITH KC Added.
MARK
Section 1.2 The diagram is changed.
Section 1.3 The table and Note are changed.
Section 1.5 The sentences of the fully closed loop system and drive recorder are
changed.
Section 1.7.1 The diagram is changed.
Chapter 2 CAUTION is changed.
Section 2.5 POINT is changed to CAUTION.
Section 2.6 The explanation of relay lifetime is changed.
Chapter 3 The sentences are added to CAUTION.
Section 3.1 The sentences are added to CAUTION.
Note 12 is added.
Section 3.1.1 (1) Note 11 is added.
Section 3.2.1 Note 17 is added.
Section 3.3.1 The sentences of N- are changed.
Section 3.3.3 (2) (a) The ferrule is added.
Section 3.5.2 (2) The sentences of INP (In-position) are added.
CLDS (During fully closed loop control) is added.
Section 3.6.2 (1) The sentences are added.
Section 3.8.2 (1) The sentences are changed.
Section 3.10.2 (1) (a) The sentences are changed.
Section 4.1.2 (1) (b) 4) Added.
Section 4.3.3 (1) The diagram is changed.
Section 4.5.2 (1) (b) Note is added. [AL. 20 Encoder normal communication error 1 (ABZ
input)] in the table is deleted.
Section 5.1 POINT is changed and Note is deleted.
Section 5.1.1 PA25 is changed from "For manufacturer setting".
Section 5.1.6 PF06 and PF12 are changed from "For manufacturer setting".
Section 5.2.1 The sentences are added to PA01 and PA25 is added.
Section 5.2.3 The sentences of PC01 are changed and sentences are added to
PC03.
Section 5.2.4 The table of PD07 is changed.
Section 5.2.5 The sentences are added to PE08.
Section 5.2.6 PF06 and PF12 are added.
Chapter 6 The sentences in POINT are changed.
Chapter 7 The sentences in POINT are changed.
Jun. 2012 SH(NA)030106-B Section 7.3.1 The sentences are added to POINT.
Section 8.1 The column of the fully closed loop control is added. [AL. 1E.2], [AL.
1F.2], [AL. 42.8], [AL. 42.9], [AL. 42.A], [AL. 70], [AL. 71], [AL. 72],
and [AL. E8.2] are added.
Section 10.3 POINT is added.
Section 10.3.2 The table is changed.
Section 11.3 The sentences are changed.
Section 11.5 (3) The diagram is changed.
Section 11.5 (4) The connection destination of the servo amplifier is changed.
Section 11.7 (1) Note is changed.
Chapter 12 The sentences are added to POINT.
Section 13.1.5 The value in table is changed.
Section 13.3.2 (2) Added.
Section 13.3.3 The part of diagram is changed.
Section 13.3.4 The part of diagram is changed.
Section 13.4.1 (2) (a) Note is changed.
Section 14.1.2 CAUTION is changed.
Section 14.2 CAUTION is added.
Section 14.3.1 (1) The diagram is added.
Section 14.3.1 (2) "Set the linear servo motor series and linear servo motor type" is
added.
Section 14.3.2 (3) (a) POINT and sentences are changed.
Section 14.3.2 (3) (b) POINT is changed.
Section 14.4.4 The table is changed and the sentences are added. CAUTION is
changed.
Section 15.1.2 CAUTION is changed.
Section 15.2 CAUTION is added.
Section 15.3.2 (3) (a) POINT and sentences are changed.
Section 15.3.2 (3) (b) POINT is changed.
Section 15.4.3 (2) The table is changed.
Chapter 16 "Available in the future" is deleted.
The sentences in POINT are changed.
Section 16.1.1 The sentences of Note 2 are changed.
Section 16.1.2 (1) The part of diagram is changed.
Section 16.3.1 (5) The part of table is changed.
Section 16.3.4 (3) The part of table is changed.
Appendix. 4 The sentences are changed.
Appendix. 7.7.3 (1) POINT and diagram are changed.
Appendix. 7.7.3 (2) The diagram is changed.
Appendix. 7.7.3 (3) Deleted.
Appendix. 7.7.3 (4) Deleted.
Appendix. 7.8.1 (1) The pin number is changed and Note is deleted.
Appendix. 7.8.1 (2) CAUTION is deleted.
Appendix. 7.8.2 The sentences are changed.
Appendix. 7.12 The diagram is added.
Appendix. 7.14 POINT is changed.
Appendix. 8 TUV certificate of MR-J4 series is added.
Jun. 2012 SH(NA)030106-B Appendix. 10.1 The diagram is changed.
Appendix. 13 Added.
Sep. 2012 SH(NA)030106-C Section 3.2.1 The diagram is changed.
Section 3.10.2 (1) (b) The diagram is changed.
Section 13.3.1 The sentences are changed.
Feb. 2013 SH(NA)030106-D HG-JR, HG-UR, HG-RR servo motor, 11 kW to 22 kW servo amplifier, and MR-J4-_A-RJ servo
amplifier are added.
Safety Instructions 4 (1) Two items are added to CAUTION.
Safety Instructions 4 (2) The diagram in CAUTION is changed.
COMPLIANCE WITH CE The reference is changed.
MARKING
COMPLIANCE WITH The reference is changed.
UL/CSA STANDARD
COMPLIANCE WITH KC The reference is changed.
MARK
Section 1.1 The sentences and table of combination are added.
Section 1.2 (1) CN2L, Note 5, and Note 6 are added.
Section 1.2 (2) CN2L, Note 3, and Note 4 are added.
Section 1.2 (3) Newly added.
Section 1.3 The item is added to Safety performance. Note 9 and 11 kW to 22
kW are added. The content of Note 3 is changed.
Section 1.4 POINT and function are added. The table of combination is
changed.
Section 1.5 Function item is added.
Section 1.6 (2) The content is added.
Section 1.7.1 (1) (18) to (20), and Note are added. The diagram is changed.
Section 1.7.1 (1) to (4) The diagram is changed.
Section 1.7.1 (5), (6) Newly added.
Section 1.7.2 The sentences are added.
Section 1.8 (1) to (4) CN2L and Note 4 are added.
Section 1.8 (5), (4) Newly added.
Chapter 2 Two items are added to CAUTION.
Section 2.1 (1) (a), (b) Note 1 and 2 are added.
Section 2.4 (1) to (6) Note 5 is added.
Chapter 3 The diagram in CAUTION is changed.
Section 3.1 (1) to (4) The connection diagram is changed. Note 12 is added.
Section 3.2.1 The connection diagram is changed. Note 10 is changed.
Section 3.2.2 The connection diagram is changed.
Section 3.3.1 The content of the table is changed.
Section 3.3.2 POINT is added.
Section 3.4 Note 1, 2, and CN2L are added. The connector explanation is
deleted.
Section 3.5.2 (2) The content is changed.
Section 3.6.3 The content is changed.
Section 3.8 CN2L, Note 4, and Note 5 are added.
Section 3.8.1 The connection diagram is changed. Note 5 is added.
Section 3.10.1 (1) The connection diagram is changed.
Section 3.10.2 (1) (b) Timing chart is changed.
Feb. 2013 SH(NA)030106-D Section 4.1.2 (1) (b) 5) Newly added.
Section 4.1.2 (1) (c) 1) The sentences are changed.
Section 4.1.2 (1) (c) 2) The sentences are changed.
Section 4.1.2 (1) (c) 4) Newly added.
Section 4.1.2 (5) Newly added.
Section 4.2 (5) The content of the table is changed.
Chapter 5 CAUTION is added.
Section 5.1.1 The name of [Pr. PA20] is changed. [Pr. PA22] and [Pr. PA26] are
released. The content of [Pr. PC20] is changed.
Section 5.1.4 The content of [Pr. PD12] is changed.
Section 5.1.6 The name of [Pr. PF25] is changed.
Section 5.2.1 The contents of [Pr. PA02] and [Pr. PA17] are changed. The name
of [Pr. PA20] is changed. [Pr. PA22] and [Pr. PA26] are released.
Section 5.2.3 The content of [Pr. PC20] is changed. The sentences are added to
[Pr. PC04] and [Pr. PC05]. [Pr. PC26] is added. The contents are
added to [Pr. PC03] and [Pr. PC27]. Note 2 is added to [Pr. PC09].
Section 5.2.4 The contents are added to [Pr. PD01], [Pr. PD02], [Pr. PD07], [Pr.
PD12], and [Pr. PD30].
Section 5.2.5 [Pr. PE06] and [Pr. PE07] are changed.
Section 5.2.6 The name of [Pr. PF25] is changed.
Section 5.2.7 Note is added to [Pr. PL04].
Section 6.2.2 The display of MR Configurator2 is changed.
Section 6.2.2 (2) POINT is added.
Section 7.3.2 Newly added.
Section 7.4 Newly added.
Chapter 8 POINT is added.
Section 8.1 The name of [AL. F0.1] is changed. [AL. 17.8] and Note 6 are added.
Section 9.1 (1) to (7) The dimensions are changed.
Section 9.1 (8), (9) Newly added.
Section 10.1 The table of combination is added. The graph is changed and
added. Note 3 is added.
Section 10.2 (1) The content of the table is changed. Note 3 is added.
Section 10.3.1 (1) The appended sentence is added.
Section 10.3.1 (2) The content is added.
Section 10.3.2 Note 2 and content are added to the table.
Section 10.5 The sentences are added. The content of the table is added.
Section 11.1.1 The diagram is changed and added.
Section 11.2.1 The content of the table is added. Note 2 is added.
Section 11.2.2 (1) (b) The content and Note 2 are added.
Section 11.2.3 [Pr. PA02] is changed.
Section 11.3 POINT is added. The sentences are changed.
Section 11.3.1 The content of the table, Note 1, and Note 2 are added.
Section 11.3.3 (1) (a) The connection diagram is changed. Note 12 is added.
Section 11.3.3 (1) (b) The connection diagram and Note 12 are changed. Note 14 is
added.
Section 11.3.3 (2) The connection diagram is added.
Section 11.3.3 (3), (4) The content of the table is changed.
Section 11.3.4 (1) The dimensions are added.
Feb. 2013 SH(NA)030106-D Section 11.3.4 (2) FR-BR-55K is added.
Section 11.4 (1) FR-RC-55K is added.
Section 11.4 (2) The connection diagram is changed. Note 9 is added.
Section 11.4 (3), (4) FR-RC-55K is added.
Section 11.5 (3) The connection diagram is changed. Note 8 is added.
Section 11.5 (4) The content is changed.
Section 11.5 (6) Note 2 is changed.
Section 11.7 (1) Note 2 to Note 4 are added.
Section 11.7 (2) (a) Note 1 is changed.
Section 11.9 (1) The content and Note 5 are added.
Section 11.9 (2) The crimp terminal is added.
Section 11.10 (1) The contents for 11 kW to 22 kW are added.
Section 11.10 (2) The contents of molded-case circuit breaker and magnetic contactor
are changed. Note 3 is added.
Section 11.11 Power factor improving DC reactors for 11 kW to 22 kW are added.
Section 11.12 Power factor improving AC reactor is added for 11 kW to 22 kW.
Section 11.14 (2) (c) The dimensions are changed.
Section 11.15 11 kW to 22 kW are added. The content of the table is changed.
Section 11.16 The EMC filters for 11 kW to 22 kW are added.
Chapter 13 The names of overseas standards are unified.
Section 13.3.1 The connection diagram is changed.
Section 14.1.1 The software version of MR Configurator2 is changed.
Section 14.1.2 (2) The connections of MR-J4-_B-RJ servo amplifiers are added.
Section 14.2 The diagram in CAUTION is changed.
Section 14.3.2 (1) The sentences of Note are changed.
Section 14.3.2 (5) (b) 3) The sentences are changed.
Section 14.3.5 (2) (a) The [Pr. PA01] setting value is changed.
Section 15.2 The diagram of CAUTION is changed. The content of table is added.
Section 15.3.2 (3) (b) The content of POINT is changed.
Section 15.3.3 The [Pr. PA01] setting value is changed.
Section 15.3.4 (1) (a) The sentences are partially changed.
Chapter 16 The content of POINT is changed.
Section 16.1.1 Note 2 is changed.
Section 16.1.2 (1) The content of the diagram is changed.
Section 16.1.3 (1) The composition is changed due to addition of MR-J4_B-RJ servo
amplifier.
amplifier.
Section 16.2.1 The sentences are added. The table is deleted. The content is
changed.
Section 16.2.1 (1), (2) The connections of MR-J4-_B-RJ servo amplifiers are added.
amplifier.
Feb. 2013 SH(NA)030106-D Section 16.2.3 (2) The composition is changed due to addition of MR-J4_B-RJ servo
amplifier.
Section 16.3.1 (1) The startup procedure is changed.
Section 16.3.1 (6) The content of the table is added.
Section 16.3.1 (7) The [Pr. PE08] setting value is changed.
Section 16.3.9 m) The diagram of MR Configurator2 is changed. 3) and 5) are added.
App. 4 Compliance with global standards is changed. App. 4 to 6 are
combined.
App. 5 The content is changed. Carried from App. 7.
App. 6 Carried from App. 8.
App. 10 Carried from App. 12. POINT is added.
App. 10 (2) Note 3 is deleted.
App. 11 Carried from App. 13. POINT is added.
App. 11.1 The sentences are changed.
App. 11.3 Note 13 and 14 are added.
App. 11.7 (5) Newly added.
App. 11.8 Newly added.
Aug. 2013 SH(NA)030106-E The master-slave operation function, scale measurement function, and J3 compatibility mode are
added.
Safety Instructions 4 (1) A sentence is changed. An item is deleted.
Safety Instructions 4 (2) An item is added.
Section 1.1 Table 1.1 is changed.
Section 1.3 The scale measurement function is added. Note 10 is added.
Section 1.5 The master-slave operation function, scale measurement function,
and J3 compatibility mode are added.
Section 1.6 (1) The content is changed.
Section 1.7.1 (1) The table is changed. Note 2 is added and (9), (10), and (18) are
changed.
Chapter 2 A sentence is changed. An item is deleted.
Section 3.1 (1) to (5) Note 1 is changed.
Section 3.4 Note 2 is changed.
Section 5.1.3 [Pr. PC26] and [Pr. PC27] are changed. Note is added.
Section 5.1.4 [Pr. PD11], [Pr. PD15] to [Pr. PD17], [Pr. PD20], [Pr. PD30] to [Pr.
PD32] are released.
Note is added.
Section 5.2.1 [Pr. PA14] is partly added. [Pr. PA22] is changed.
Section 5.2.3 The table in [Pr. PC27] is changed.
Section 5.2.4 [Pr. PD11], [Pr. PD15] to [Pr. PD17], [Pr. PD30] to [Pr. PD32] are
released.
Section 5.2.6 [Pr. PF23] is partly added.
Section 7.1.5 (4) POINT is deleted. Table is added.
Section 8.1 [AL. 25.2], [AL. 3E.3], [AL. 3D] and [AL. 82] are added. [AL. 28], [AL.
2A], [AL. 3E], [AL. 70] to [AL. 72] are changed. Note 7 is added.
Section 8.2 The display content is added.
Section 9.1 (6) to (9) A dimension is changed.
Section 11.2.4 (3) CAUTION is added.
Aug. 2013 SH(NA)030106-E Section 11.3.3 (1) (a) Note 3 is changed.
Section 11.3.3 (1) (b) Note 3 is changed.
Section 11.3.3 (2) (a) Note 3 is changed.
Section 11.4 (2) Note 4 is changed. Model of Power factor improving reactor is
deleted. Note 4 is changed. Note 10 is added.
Section 11.5 (5) (a) The sentences are changed.
Section 11.7 (2) (a) The content is added.
Section 11.10 (1) Table and Note 3 are changed.
Section 11.17 (2) Note 7 is added.
Section 15.3.2 POINT is added.
Section 16.1.3 (2) (a) Note is added.
Chapter 17 Newly added.
App. 4.2.1 (1) The title is changed.
App. 4.2.3 (4) The sentences are added.
App. 4.3 CAUTION is added.
Oct. 2013 SH(NA)030106-F 400 V class is added.
Safety Instructions 4 (1) One item is added.
About the manuals The content of the table is added.
Section 1.2 (1) The diagram is changed.
Section 1.5 The content of the table is added.
Section 1.6 (2) A combination is added.
Section 1.7.1 (1) (a) The content of the table is added. The diagram is changed.
Section 1.7.1 (2) (a) The content of the table is added.
Section 3.3.1 The content of the 400 V class is added.
Section 3.3.2 (2) The content of Note 1 is changed. Note 2 is added.
Section 3.3.3 (1) (c) Newly added.
Section 3.3.3 (2) (a) The content of the table is added.
Section 4.5.2 (1) (b) The content of the table is changed.
Section 5.1.4 The names of [Pr. PD16], [Pr. PD17], and [Pr. PD20] are changed.
Section 5.1.5 [Pr. PE10] The content is changed.
Section 5.1.6 [Pr. PF25] The name is changed.
Section 5.2.1 A sentence is added to [Pr. PA01].
[Pr. PA02] and [Pr. PA20] are changed.
[Pr. PA17] The content is added.
[Pr. PA26] The name is changed.
Section 5.2.3 [Pr. PC09] The content is changed.
Section 5.2.4 The names of [Pr. PD16], [Pr. PD17], and [Pr. PD20] are changed.
Section 5.2.5 [Pr. PE10] The content is changed.
Section 5.2.6 [Pr. PF25] The name is changed.
Oct. 2013 SH(NA)030106-F Section 7.1.3 POINT is added.
Section 7.3 The sentences are added.
Section 7.3.1 (2) The content of the table is changed.
Section 7.3.2 (1) Note is added.
Section 7.3.2 (2) (a), (b) The sentences are changed and note is added.
Section 7.4 (2) The title and content of the table are changed.
Section 8.1 The POINT is added. The content of the table is changed. Note 4 of
alarm table is changed. Note 7 is deleted.
Note 2 of warning table is changed.
Section 9.1 (1) (a) to (e) The diagram is changed.
Section 10.1 The content of the table is changed.
Section 10.2 (1) The content of the table is added.
Section 10.3.1 (2) (b) Newly added.
Section 11.1.1 The content of the table is added.
Section 11.2.2 (1) (b) The content of the table is added.
Section 11.2.3 The content is added.
Section 11.2.4 The content of POINT is changed.
Section 11.2.4 (1) to (4) The content is added.
Section 11.2.5 (1), (3), (5) The content is added.
Section 11.3.1 The content of the table is added. Note is added.
Section 11.3.3 (1) (a) 2) Newly added.
Section 11.3.3 (1) (b) POINT is added.
Section 11.3.4 (1) to (3) The content is added.
Section 11.4 (2) (b) Newly added.
Section 11.4 (3), (4) The content of the table is added.
Section 11.5.2 (4) (a) Newly added.
Section 11.9 The content of POINT is changed.
Section 11.9 (1) (b) The content is added. The content of Note 4 is changed.
Section 11.9 (2) (b) The content is added.
Section 11.10 (1), (2) The content of the table is added. The content of Note 1 is changed.
Section 11.14 (2) (e) The content is added.
Section 11.14 (2) (f) The content is added.
Section 11.15 (1) The graph is added. The content of table 5 is added.
Oct. 2013 SH(NA)030106-F Section 11.16 The sentences are added.
Section 11.16 (3) (a) The content is added.
Chapter 12 Note is added. POINT is added. The content is changed. The
configuration is changed.
Section 14.1.2 (1) to (3) The sentences are added.
Section 14.4.1 The sentences are added.
Section 17.1.3 The sentences are changed. The content of the table is changed.
Note 15 is added.
Section 17.2 (3) The content of the table is changed.
Section 17.3.1 (1) The content of the table is changed.
Section 17.3.2 (3) (b) 2) The diagram is changed.
App. 4.2.3 (1) The sentences are added.
App. 4.2.3 (1) (a) The content of the table is changed.
App. 4.2.3 (1) (a) 2) Newly added.
App. 4.2.3 (1) (b) 2) Newly added.
App. 4.2.3 (4) The sentences are changed.
App. 4.3 Note 2 is added.
App. 4.4 (b) Newly added.
App. 4.6.1 (1) (b) Newly added.
App. 4.6.2 The content of the table is added. The contents of Note 1 and Note 2
are changed. Note 5 is added.
App. 4.8.1 (2) Newly added.
App. 4.8.2 The content of the table is added.
App. 4.8.3 The content of the table is added.
App. 10 (2) Note 7 is added.
Mar. 2014 SH(NA)030106-G 100 V class MR-J4 series servo amplifiers are added.
Section 1.3 (1) Note 11 is added.
Section 1.5 The content is added. Note is added.
Section 1.6 (2) The content is added.
Chapter 2 POINT is changed.
Section 3.3.1 The content is added.
Section 3.3.3 The content of POINT is changed.
Section 3.3.3 (1) (d) Newly added.
Section 3.3.3 (2) (a) The content is added.
Section 3.11 The content of the note is changed.
Section 4.1.2 (1) (a) 2) Newly added.
Section 4.1.2 (1) (b) 5) Deleted.
Section 5.2.2 The sentences of [Pr. PB24] are added.
Section 5.2.3 The content of [Pr. PC09] is added.
Section 7.1.1 (1) Caution for the table is changed.
Section 7.2.3 (1) The title is changed.
Section 7.3.1 (2) Caution for the table is changed.
Mar. 2014 SH(NA)030106-G Section 7.4 POINT is changed. Sentences are added.
Section 7.4 (1) Terms are changed.
Chapter 8 The content of POINT is changed.
Section 10.3.2 Sentences are added. (1) and (2) are combined. Note 1 and 2 are
deleted.
Section 10.5 POINT is added. (2) and (3) are added.
Section 11.1.1 Use of 1) in the table is changed.
Section 11.2.2 (1) (b) The content of the table is added.
Section 11.2.5 (2), (3) Table is added.
Section 11.4 (2) (b) Note 4 is changed.
Section 11.7.2 (1) Note 1 is deleted.
Section 11.9 (1) (c) Newly added.
Section 11.12 (1) The title is changed. The diagram is added. The content of the table
is changed.
Section 11.14 (2) (e) The content is added.
Section 11.14 (2) (f) The content is added.
Section 11.15 (1) Note is added. The content is added to table 11.6.
Section 11.16 (2) (a) The title and content of the Note 1 are changed.
App. 1 The content of the table is added.
App. 4.2.3 (1) (a) The sentences are changed.
App. 4.2.3 (1) (a) 1) The title is changed. The content of the table is changed.
App. 4.2.3 (1) (a) 2) The content of the table is changed.
App. 4.2.3 (1) (b) The sentences are changed.
App. 4.2.3 (1) (b) 3) Newly added.
App. 4.4 (2) Note 2 is added.
App. 4.6.1 (1) (a) The title is changed. The content of the table is changed.
App. 4.8.1 (1) The title is changed. The content of the table is changed.
App. 4.8.2 The content of the table is changed.
App. 11 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.
© 2012 MITSUBISHI ELECTRIC CORPORATION
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 : +52-55-9171-7600
Mariano Escobedo #69, Col.Zona Industrial, Tlalnepantla Edo, C.P.54030, Fax : +52-55-9171-7649
México
Brazil MITSUBISHI ELECTRIC DO BRASIL COMÉRCIO E SERVIÇOS LTDA. Tel : +55-11-4689-3000

Rua Jussara, 1750- Bloco B Anexo, Jardim Santa Cecilia, CEP 06465-070, Fax : +55-11-4689-3016
Barueri - SP, Brasil
Germany MITSUBISHI ELECTRIC EUROPE B.V. German Branch Tel : +49-2102-486-0

Gothaer Strasse 8, D-40880 Ratingen, Germany Fax : +49-2102-486-1120
UK MITSUBISHI ELECTRIC EUROPE B.V. UK Branch Tel : +44-1707-28-8780

Travellers Lane, 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 Fax : +39-039-6053-312
Brianza(Milano) Italy
Spain MITSUBISHI ELECTRIC EUROPE, B.V. Spanish Branch Tel : +34-935-65-3131
Carretera de Rubí, 76-80-Apdo. 420, 08173 Sant Cugat del Vallés (Barcelona), Fax : +34-935-89-1579
Spain
France MITSUBISHI ELECTRIC EUROPE B.V. French Branch Tel : +33-1-55-68-55-68

25, Boulevard des Bouvets, F-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 Praha5, Czech Republic Fax : +420-251-551-471
Poland MITSUBISHI ELECTRIC EUROPE B.V. Polish Branch Tel : +48-12-630-47-00

ul. Krakowska 50, 32-083 Balice, Poland Fax : +48-12-630-47-01
Russia MITSUBISHI ELECTRIC EUROPE B.V. Russian Branch St. Petersburg office Tel : +7-812-633-3497
Piskarevsky pr. 2, bld 2, lit "Sch", BC "Benua", office 720; RU-195027 Fax : +7-812-633-3499
St. Petersburg, Russia
Turkey MITSUBISHI ELECTRIC TURKEY A.Ş Ümraniye Branch Tel : +90-216-526-3990

Şerifali Mahallesi Nutuk Sokak No:5 TR-34775 Ümraniye, İstanbul, Türkey Fax : +90-216-526-3995
South Africa ADROIT TECHNOLOGIES Tel : +27-11-658-8100
20 Waterford Office Park, 189 Witkoppen Road, ZA-Fourways, South Africa Fax : +27-11-658-8101
China MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD. Tel : +86-21-2322-3030
No.1386 Hongqiao Road, Mitsubishi Electric Automation Center, Changning Fax : +86-21-2322-3000
District, Shanghai, China
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
R.O.C.
Korea MITSUBISHI ELECTRIC AUTOMATION KOREA CO., LTD. Tel : +82-2-3660-9510

1480-6, Gayang-Dong, Gangseo-Gu, Seoul, 157-200, 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, Fax : +66-2682-6020
Kwaeng 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, Fax : +62-21-3192-3942
Indonesia
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, Fax : +84-8-3910-5947
Ho Chi Minh City, Vietnam
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 Fax : +91-20-2710-2100
State, India
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
MELSERVO is a trademark or registered trademark 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.
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 responsibility for compensation against loss of opportunity, secondary loss, etc.
Whether under or after the term of warranty, we assume no responsibility for any damages arisen from causes for which we are not
responsible, any losses of opportunity and/or profit incurred by you due to a failure of the Product, any damages, secondary
damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company,
any damages to products other than the Product, and also compensation for any replacement work, readjustment, start-up test run
of local machines and the Product and any other operations conducted by you.
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)030106-G
General-Purpose AC Servo
MR-J4-_B_(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL

SSCNET /H Interface AC Servo
MODEL
MR-J4-_B(-RJ)
MR-J4-_B4(-RJ)
MR-J4-_B1(-RJ)
SERVO AMPLIFIER
INSTRUCTION MANUAL
MODEL MR-J4-B INSTRUCTIONMANUAL

MODEL
CODE 1CW805
G
G
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
This Instruction Manual uses recycled paper.

SH (NA) 030106-G (1403) MEE Printed in Japan Specifications are subject to change without notice.

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General-Purpose AC Servo

MR-J4-_B_(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL

MODEL MR-J4-B INSTRUCTIONMANUAL

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

(6) Maintenance, inspection and parts replacement

(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

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

3. SIGNALS AND WIRING 3- 1 to 3-42

3.1 Input power supply 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 6-18

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

7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7-30

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

8.1 Alarm and warning list ...................................................................................................................... 8- 1

9. OUTLINE DRAWINGS 9- 1 to 9-22

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

10. CHARACTERISTICS 10- 1 to 10-14

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

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

12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12-10

12.1 Summary....................................................................................................................................... 12- 1

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 15-22

15.1 Functions and configuration ......................................................................................................... 15- 1

16. FULLY CLOSED LOOP SYSTEM 16- 1 to 16-26

16.1 Functions and configuration ......................................................................................................... 16- 1

17. APPLICATION OF FUNCTIONS 17- 1 to 17-22

17.1 J3 compatibility mode ................................................................................................................... 17- 1

APPENDIX App.- 1 to App.-48

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

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