General-Purpose AC Servo

J2-Super Series
General-Purpose Interface
MR-J2S- A
Servo Amplifier
Instruction Manual

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 Safety Instructions
(Always read these instructions before using the equipment.)

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

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 installation guide, always keep it accessible to the operator.

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 1. To prevent electric shock, note the following:

WARNING
Before wiring or inspection, switch power off and wait for more than 10 minutes. Then, confirm the voltage
is safe with voltage tester. Otherwise, you may get an electric shock.
Connect the servo amplifier and servo motor to ground.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you
may get an electric shock.
Operate the switches with dry hand to prevent an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric shock.

2. To prevent fire, note the following:

CAUTION
Do not install the servo amplifier, servo motor and regenerative brake resistor on or near combustibles.
Otherwise a fire may cause.
When the servo amplifier has become faulty, switch off the main servo amplifier power side. Continuous
flow of a large current may cause a fire.
When a regenerative brake resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.

3. To prevent injury, note the follow

CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a
burst, damage, etc. may occur.
Connect the terminals correctly to prevent a burst, damage, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
During power-on or for some time after power-off, do not touch or close a parts (cable etc.) to the servo
amplifier heat sink, regenerative brake resistor, servo motor, etc. Their temperatures may be high and you
may get burnt or a parts may damaged.

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

(1) Transportation and installation

CAUTION
Transport the products correctly according to their weights.
Stacking in excess of the specified number of products is not allowed.
Do not carry the motor by the cables, shaft or encoder.
Do not hold the front cover to transport the controller. The controller may drop.
Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual.
Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
The controller and servo motor must be installed in the specified direction.
Leave specified clearances between the servo amplifier and control enclosure walls or other equipment.
Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts
missing.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier.
Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.
Use the servo amplifier and servo motor under the following environmental conditions:
Conditions
Environment
Servo amplifier Servo motor
Ambient [ ] 0 to 55 (non-freezing) 0 to 40 (non-freezing)
temperature [ ] 32 to 131 (non-freezing) 32 to 104 (non-freezing)
Ambient humidity 90%RH or less (non-condensing) 80%RH or less (non-condensing)
Storage [ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing)
temperature [ ] 4 to 149 (non-freezing) 5 to 158 (non-freezing)
Storage humidity 90%RH or less (non-condensing)
Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m (3280 ft) above sea level
HC-KFS Series
HC-MFS Series X Y : 49
HC-UFS13 to 73
HC-SFS81
HC-SFS52 to 152
HC-SFS53 to 153 X Y : 24.5
HC-RFS Series
[m/s2] 5.9 or less
HC-UFS 72 152
HC-SFS121 201
HC-SFS202 352 X : 24.5
HC-SFS203 353 Y : 49
HC-UFS202
X : 24.5
HC-SFS301
Y : 29.4
Vibration
HC-KFS Series
HC-MFS Series X Y : 161
HC-UFS 13 to 73
HC-SFS81
HC-SFS52 to 152
HC-SFS53 to 153 X Y : 80
HC-RFS Series
[ft/s2] 19.4 or less
HC-UFS 72 152
HC-SFS121 201
HC-SFS202 352 X : 80
HC-SFS203 353 Y : 161
HC-UFS202
X : 80
HC-SFS301
Y : 96

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 CAUTION
Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during
operation.
The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage.
For safety of personnel, always cover rotating and moving parts.
Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder
may become faulty.
Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.
When the equipment has been stored for an extended period of time, consult Mitsubishi.

(2) Wiring

CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate.
Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo
motor and servo amplifier.
Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly.
Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
The surge absorbing diode installed on the DC output signal relay must be wired in the specified direction.
Otherwise, the emergency stop and other protective circuits may not operate.

Servo Servo
Amplifier Amplifier

COM COM
(24VDC) (24VDC)

Control Control
output output
RA RA
signal signal

(3) Test run adjustment

CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.
The parameter settings must not be changed excessively. Operation will be insatiable.

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 (4) Usage

CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
off immediately.
Any person who is involved in disassembly and repair should be fully competent to do the work.
Before resetting an alarm, make sure that the run signal is off to prevent an accident. A sudden restart is
made if an alarm is reset with the run signal on.
Do not modify the equipment.
Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by
electronic equipment used near the servo amplifier.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used
for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ballscrew and the servo motor
are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,
install a stopper on the machine side.

(5) Corrective actions

CAUTION
When it is assumed that a hazardous condition may take place at the occur due to a power failure or a
product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the
purpose of prevention.
Configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals
but also by an external emergency stop signal.

Contacts must be open when

servo-on signal is off, when an Circuit must be
alarm (trouble) is present and when opened during
an electromagnetic brake signal. emergency stop signal.

Servo motor
RA EMG

24VDC

Electromagnetic brake

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
When power is restored after an instantaneous power failure, keep away from the machine because the
machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).

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 (6) Maintenance, inspection and parts replacement

CAUTION
With age, the electrolytic capacitor will deteriorate. To prevent a secondary accident due to a fault, it is
recommended to replace the electrolytic capacitor every 10 years when used in general environment.
Please consult our sales representative.

(7) Disposal

CAUTION
Dispose of the product as general industrial waste.

(8) General instruction

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

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 COMPLIANCE WITH EC DIRECTIVES
1. WHAT ARE EC DIRECTIVES?
The EC directives were issued to standardize the regulations of the EU countries and ensure smooth
distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in
January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January,
1997) of the EC directives require that products to be sold should meet their fundamental safety
requirements and carry the CE marks (CE marking). CE marking applies to machines and equipment
into which servo amplifiers have been installed.

(1) EMC directive

The EMC directive applies not to the servo units alone but to servo-incorporated machines and
equipment. This requires the EMC filters to be used with the servo-incorporated machines and
equipment to comply with the EMC directive. For specific EMC directive conforming methods, refer to
the EMC Installation Guidelines (IB(NA)67310).
This servo is certified by TUV, third-party assessment organization, to comply with the EMC directive
in the conforming methods of the EMC Installation Guidelines.

(2) Low voltage directive

The low voltage directive applies also to servo units alone. Hence, they are designed to comply with
the low voltage directive.
This servo is certified by TUV, third-party assessment organization, to comply with the low voltage
directive.

(3) Machine directive

Not being machines, the servo amplifiers need not comply with this directive.

2. PRECAUTIONS FOR COMPLIANCE

(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which comply with the standard model.

Servo amplifier series :MR-J2S-10A(1) to MR-J2S-350A(1)

Servo motor series :HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS

(2) Configuration
Control box

Reinforced
insulating type

Reinforced 24VDC
insulating power
No-fuse Magnetic supply
transformer breaker Servo
contactor
motor
Servo
NFB MC amplifier SM

(3) Environment
Operate the servo amplifier at or above the contamination level 2 set forth in IEC664. For this
purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust,
dirt, etc. (IP54).

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 (4) Power supply
(a) Operate the servo amplifier to meet the requirements of the overvoltage category II set forth in
IEC664. For this purpose, a reinforced insulating transformer conforming to the IEC or EN
Standard should be used in the power input section.

(b) When supplying interface power from external, use a 24VDC power supply which has been
insulation-reinforced in I/O.

(5) Grounding
(a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked ) of the
servo amplifier to the protective earth (PE) of the control box.

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

PE terminals PE terminals

(c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals
of the servo amplifier must be connected to the corresponding earth terminals.

(6) Wiring
(a) The cables to be connected to the terminal block of the servo amplifier must have crimping
terminals provided with insulating tubes to prevent contact with adjacent terminals.

Crimping terminal

Insulating tube

Cable

(b) When the servo motor has a power supply lead, use a fixed terminal block to connect it with the
servo amplifier. Do not connect cables directly.

Terminal block

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 (7) Auxiliary equipment and options
(a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant
products of the models described in Section 13.2.2.

(b) The sizes of the cables described in Section 13.2.1 meet the following requirements. To meet the
other requirements, follow Table 5 and Appendix C in EN60204-1.
Ambient temperature: 40 (104) [ ( )]
Sheath: PVC (polyvinyl chloride)
Installed on wall surface or open table tray

(c) Use the EMC filter for noise reduction. The radio noise filter (FR-BIF) is not required.

(8) Performing EMC tests

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

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 CONFORMANCE WITH UL/C-UL STANDARD
(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which comply with the standard model.

Servo amplifier series :MR-J2S-10A(1) to MR-J2S-350A(1)

Servo motor series :HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS

(2) Installation
Install a fan of 100CFM air flow 10.16 cm (4 in) above the servo amplifier or provide cooling of at least
equivalent capability.

(3) Short circuit rating

This servo amplifier conforms to the circuit whose peak current is limited to 5000A or less. Having
been subjected to the short-circuit tests of the UL in the alternating-current circuit, the servo
amplifier conforms to the above circuit.

(4) Capacitor discharge time

The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for
10 minutes after power-off.
Discharge time
Servo amplifier
[min]
MR-J2S-10A(1) 20A(1) 1
MR-J2S-40A(1) 60A 2
MR-J2S-70A to 350A 3

(5) Options and auxiliary equipment

Use UL/C-UL standard-compliant products.

<<About the manuals>>

This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use
the General-Purpose AC servo MR-J2S-A for the first time. Always purchase them and use the MR-
J2S-A safely.

Relevant manuals

Manual name Manual No.

MELSERVO-J2-Super Series To Use the AC Servo Safely IB(NA)0300010
MELSERVO Servo Motor Instruction Manual SH(NA)3181 (Ver-D or later)
EMC Installation Guidelines IB(NA)67310

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 CONTENTS

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

1.1 Introduction.............................................................................................................................................. 1- 1
1.2 Function block diagram .......................................................................................................................... 1- 2
1.3 Servo amplifier standard specifications ................................................................................................ 1- 3
1.4 Function list ............................................................................................................................................. 1- 4
1.5 Model code definition .............................................................................................................................. 1- 5
1.6 Combination with servo motor............................................................................................................... 1- 6
1.7 Parts identification.................................................................................................................................. 1- 7
1.8 Servo system with auxiliary equipment............................................................................................... 1-10

2. INSTALLATION 2- 1 to 2- 4

2.1 Environmental conditions....................................................................................................................... 2- 1

2.2 Installation direction and clearances .................................................................................................... 2- 2
2.3 Keep out foreign materials ..................................................................................................................... 2- 3
2.4 Cable stress .............................................................................................................................................. 2- 4

3. SIGNALS AND WIRING 3- 1 to 3- 58

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

3.1.1 Position control mode ....................................................................................................................... 3- 2
3.1.2 Speed control mode........................................................................................................................... 3- 6
3.1.3 Torque control mode ......................................................................................................................... 3- 8
3.2 Internal connection diagram of servo amplifier .................................................................................. 3-10
3.3 I/O signals................................................................................................................................................ 3-11
3.3.1 Connectors and signal arrangements............................................................................................ 3-11
3.3.2 Signal explanations ......................................................................................................................... 3-14
3.4 Detailed description of the signals........................................................................................................ 3-23
3.4.1 Position control mode ...................................................................................................................... 3-23
3.4.2 Speed control mode.......................................................................................................................... 3-28
3.4.3 Torque control mode ........................................................................................................................ 3-30
3.4.4 Position/speed control change mode .............................................................................................. 3-33
3.4.5 Speed/torque control change mode................................................................................................. 3-35
3.4.6 Torque/position control change mode ............................................................................................ 3-37
3.5 Alarm occurrence timing chart ............................................................................................................. 3-38
3.6 Interfaces................................................................................................................................................. 3-39
3.6.1 Common line .................................................................................................................................... 3-39
3.6.2 Detailed description of the interfaces ............................................................................................ 3-40
3.7 Input power supply circuit..................................................................................................................... 3-45
3.7.1 Connection example......................................................................................................................... 3-45
3.7.2 Terminals.......................................................................................................................................... 3-46
3.7.3 Power-on sequence........................................................................................................................... 3-47
3.8 Connection of servo amplifier and servo motor ................................................................................... 3-48
3.8.1 Connection instructions .................................................................................................................. 3-48
3.8.2 Connection diagram......................................................................................................................... 3-48
3.8.3 I/O terminals .................................................................................................................................... 3-50

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 3.9 Servo motor with electromagnetic brake ............................................................................................. 3-52
3.10 Grounding ............................................................................................................................................. 3-55
3.11 Servo amplifier terminal block (TE2) wiring method ....................................................................... 3-56
3.12 Instructions for the 3M connector....................................................................................................... 3-57

4. OPERATION 4- 1 to 4- 6

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

4.2 Startup...................................................................................................................................................... 4- 2
4.2.1 Selection of control mode.................................................................................................................. 4- 2
4.2.2 Position control mode ....................................................................................................................... 4- 2
4.2.3 Speed control mode........................................................................................................................... 4- 4
4.2.4 Torque control mode ......................................................................................................................... 4- 5
4.3 Multidrop communication ...................................................................................................................... 4- 6

5. PARAMETERS 5- 1 to 5- 32

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

5.1.1 Parameter write inhibit ................................................................................................................... 5- 1
5.1.2 Lists.................................................................................................................................................... 5- 2
5.2 Detailed description ............................................................................................................................... 5-25
5.2.1 Electronic gear ................................................................................................................................. 5-25
5.2.2 Analog output................................................................................................................................... 5-29
5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern.............................. 5-30
5.2.4 Alarm history clear.......................................................................................................................... 5-30
5.2.5 Position smoothing .......................................................................................................................... 5-31

6. DISPLAY AND OPERATION 6- 1 to 6-16

6.1 Display flowchart..................................................................................................................................... 6- 1

6.2 Status display .......................................................................................................................................... 6- 2
6.2.1 Display examples .............................................................................................................................. 6- 2
6.2.2 Status display list ............................................................................................................................. 6- 3
6.2.3 Changing the status display screen................................................................................................ 6- 4
6.3 Diagnostic mode....................................................................................................................................... 6- 5
6.4 Alarm mode .............................................................................................................................................. 6- 7
6.5 Parameter mode ...................................................................................................................................... 6- 8
6.6 External I/O signal display..................................................................................................................... 6- 9
6.7 Output signal forced output (DO forced output) ................................................................................. 6-12
6.8 Test operation mode ............................................................................................................................... 6-13
6.8.1 Mode change..................................................................................................................................... 6-13
6.8.2 Jog operation .................................................................................................................................... 6-14
6.8.3 Positioning operation....................................................................................................................... 6-15
6.8.4 Motor-less operation ........................................................................................................................ 6-16

7. GENERAL GAIN ADJUSTMENT 7- 1 to 7-12

7.1 Different adjustment methods ............................................................................................................... 7- 1

7.1.1 Adjustment on a single servo amplifier.......................................................................................... 7- 1

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 7.1.2 Adjustment using servo configuration software............................................................................ 7- 2
7.2 Auto tuning .............................................................................................................................................. 7- 3
7.2.1 Auto tuning mode ............................................................................................................................. 7- 3
7.2.2 Auto tuning mode operation ............................................................................................................ 7- 4
7.2.3 Adjustment procedure by auto tuning............................................................................................ 7- 5
7.2.4 Response level setting in auto tuning mode................................................................................... 7- 6
7.3 Manual mode 1 (simple manual adjustment)....................................................................................... 7- 7
7.3.1 Operation of manual mode 1 ........................................................................................................... 7- 7
7.3.2 Adjustment by manual mode 1 ....................................................................................................... 7- 7
7.4 Interpolation mode ................................................................................................................................. 7-10
7.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super .......................... 7-11
7.5.1 Response level setting ..................................................................................................................... 7-11
7.5.2 Auto tuning selection....................................................................................................................... 7-11

8. SPECIAL ADJUSTMENT FUNCTIONS 8- 1 to 8-10

8.1 Machine resonance suppression filter and adaptive vibration suppression control......................... 8- 1
8.1.1 Function block diagram.................................................................................................................... 8- 1
8.1.2 Machine resonance suppression filter ............................................................................................ 8- 1
8.1.3 Adaptive vibration suppression control.......................................................................................... 8- 3
8.2 Low-pass filter ......................................................................................................................................... 8- 4
8.3 Gain changing function........................................................................................................................... 8- 5
8.3.1 Applications....................................................................................................................................... 8- 5
8.3.2 Function block diagram.................................................................................................................... 8- 5
8.3.3 Parameters ........................................................................................................................................ 8- 6
8.3.4 Gain changing operation.................................................................................................................. 8- 8

9. INSPECTION 9- 1 to 9- 2

10. TROUBLESHOOTING 10- 1 to 10-12

10.1 Trouble at start-up .............................................................................................................................. 10- 1

10.1.1 Position control mode ................................................................................................................... 10- 1
10.1.2 Speed control mode....................................................................................................................... 10- 4
10.1.3 Torque control mode ..................................................................................................................... 10- 5
10.2 When alarm or warning has occurred ............................................................................................... 10- 6
10.2.1 Alarms and warning list .............................................................................................................. 10- 6
10.2.2 Remedies for alarms..................................................................................................................... 10- 7
10.2.3 Remedies for warnings................................................................................................................ 10-12

11. OUTLINE DIMENSION DRAWINGS 11- 1 to 11- 6

11.1 Servo amplifiers................................................................................................................................... 11- 1

11.2 Connectors............................................................................................................................................ 11- 4

12. CHARACTERISTICS 12- 1 to 12- 6

12.1 Overload protection characteristics ................................................................................................... 12- 1

12.2 Power supply equipment capacity and generated loss .................................................................... 12- 2

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 12.3 Dynamic brake characteristics........................................................................................................... 12- 4
12.4 Encoder cable flexing life .................................................................................................................... 12- 6

13. OPTIONS AND AUXILIARY EQUIPMENT 13- 1 to 13-30

13.1 Options.................................................................................................................................................. 13- 1

13.1.1 Regenerative brake options ......................................................................................................... 13- 1
13.1.2 Cables and connectors.................................................................................................................. 13- 5
13.1.3 Junction terminal block (MR-TB20) .......................................................................................... 13-13
13.1.4 Maintenance junction card (MR-J2CN3TM) ............................................................................ 13-15
13.1.5 Battery (MR-BAT, A6BAT)......................................................................................................... 13-16
13.1.6 Servo configurations software .................................................................................................... 13-17
13.2 Auxiliary equipment .......................................................................................................................... 13-19
13.2.1 Recommended wires .................................................................................................................... 13-19
13.2.2 No-fuse breakers, fuses, magnetic contactors........................................................................... 13-21
13.2.3 Power factor improving reactors ................................................................................................ 13-21
13.2.4 Relays............................................................................................................................................ 13-22
13.2.5 Surge absorbers ........................................................................................................................... 13-22
13.2.6 Noise reduction techniques......................................................................................................... 13-22
13.2.7 Leakage current breaker............................................................................................................. 13-28
13.2.8 EMC filter..................................................................................................................................... 13-30

14. COMMUNICATION FUNCTIONS 14- 1 to 14- 28

14.1 Configuration ....................................................................................................................................... 14- 1

14.1.1 RS-422 configuration.................................................................................................................... 14- 1
14.1.2 RS-232C configuration ................................................................................................................. 14- 2
14.2 Communication specifications............................................................................................................ 14- 3
14.2.1 Communication overview............................................................................................................. 14- 3
14.2.2 Parameter setting ......................................................................................................................... 14- 4
14.3 Protocol ................................................................................................................................................. 14- 5
14.4 Character codes ................................................................................................................................... 14- 7
14.5 Error codes ........................................................................................................................................... 14- 8
14.6 Checksum ............................................................................................................................................. 14- 8
14.7 Time-out operation .............................................................................................................................. 14- 9
14.8 Retry operation .................................................................................................................................... 14- 9
14.9 Initialization........................................................................................................................................ 14-10
14.10 Communication procedure example ............................................................................................... 14-10
14.11 Command and data No. list............................................................................................................. 14-11
14.11.1 Read commands ......................................................................................................................... 14-11
14.11.2 Write commands ........................................................................................................................ 14-12
14.12 Detailed explanations of commands............................................................................................... 14-14
14.12.1 Data processing.......................................................................................................................... 14-14
14.12.2 Status display ............................................................................................................................ 14-16
14.12.3 Parameter................................................................................................................................... 14-17
14.12.4 External I/O pin statuses (DIO diagnosis).............................................................................. 14-19
14.12.5 Disable/enable of external I/O signals (DIO) .......................................................................... 14-20
14.12.6 External input signal ON/OFF (test operation) ..................................................................... 14-21
14.12.7 Test operation mode .................................................................................................................. 14-22

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 14.12.8 Output signal pin ON/OFF (DO forced output)...................................................................... 14-24
14.12.9 Alarm history ............................................................................................................................. 14-25
14.12.10 Current alarm .......................................................................................................................... 14-26
14.12.11 Other commands...................................................................................................................... 14-27

15. ABSOLUTE POSITION DETECTION SYSTEM 15- 1 to 15- 66

15.1 Outline .................................................................................................................................................. 15- 1

15.1.1 Features......................................................................................................................................... 15- 1
15.1.2 Restrictions.................................................................................................................................... 15- 1
15.2 Specifications ....................................................................................................................................... 15- 2
15.3 Battery installation procedure ........................................................................................................... 15- 3
15.4 Standard connection diagram ............................................................................................................ 15- 4
15.5 Signal explanation............................................................................................................................... 15- 5
15.6 Startup procedure................................................................................................................................ 15- 6
15.7 Absolute position data transfer protocol ........................................................................................... 15- 7
15.7.1 Data transfer procedure............................................................................................................... 15- 7
15.7.2 Transfer method ........................................................................................................................... 15- 8
15.7.3 Home position setting.................................................................................................................. 15-17
15.7.4 Use of servo motor with electromagnetic brake ....................................................................... 15-19
15.7.5 How to process the absolute position data at detection of stroke end.................................... 15-20
15.8 Examples of use .................................................................................................................................. 15-21
15.8.1 MELSEC-A1S (A1SD71)............................................................................................................. 15-21
15.8.2 MELSEC FX(2N)-32MT (FX(2N)-1PG)........................................................................................ 15-35
15.8.3 MELSEC A1SD75(AD75) ........................................................................................................... 15-48
15.9 Confirmation of absolute position detection data............................................................................ 15-63
15.10 Absolute position data transfer errors ........................................................................................... 15-64
15.10.1 Corrective actions ...................................................................................................................... 15-64
15.10.2 Error resetting conditions......................................................................................................... 15-66

Appendix App- 1 to App- 4

App 1. Signal arrangement recording sheets......................................................................................... App- 1

App 2. Analog monitor block diagram .................................................................................................... App- 2
App 3. Status display block diagram ...................................................................................................... App- 3

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 Optional Servo Motor Instruction Manual CONTENTS
The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced
here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included
in the Servo Amplifier Instruction Manual.

1. INTRODUCTION

2. INSTALLATION

3. CONNECTORS USED FOR SERVO MOTOR WIRING

4. INSPECTION

5. SPECIFICATIONS

6. CHARACTERISTICS

7. OUTLINE DIMENSION DRAWINGS

8. CALCULATION METHODS FOR DESIGNING

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 1. FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATION

1.1 Introduction

The Mitsubishi MELSERVO-J2-Super series general-purpose AC servo is based on the MELSERVO-J2

series and has further higher performance and higher functions.
It has position control, speed control and torque control modes. Further, it can perform operation with the
control modes changed, e.g. position/speed control, speed/torque control and torque/position control.
Hence, it is applicable to a wide range of fields, not only precision positioning and smooth speed control of
machine tools and general industrial machines but also line control and tension control.
As this new series has the RS-232C or RS-422 serial communication function, a servo configuration
software-installed personal computer or the like can be used to perform parameter setting, test operation,
status display monitoring, gain adjustment, etc.
With real-time auto tuning, you can automatically adjust the servo gains according to the machine.
The MELSERVO-J2-Super series servo motor is equipped with an absolute position encoder which has
the resolution of 131072 pulses/rev to ensure more accurate control as compared to the MELSERVO-J2
series. Simply adding a battery to the servo amplifier makes up an absolute position detection system.
This makes home position return unnecessary at power-on or alarm occurrence by setting a home position
once.

(1) Position control mode

An up to 500kpps high-speed pulse train is used to control the speed and direction of a motor and
execute precision positioning of 131072 pulses/rev resolution.
The position smoothing function provides a choice of two different modes appropriate for a machine, so
a smoother start/stop can be made in response to a sudden position command.
A torque limit is imposed on the servo amplifier by the clamp circuit to protect the power transistor in
the main circuit from overcurrent due to sudden acceleration/deceleration or overload. This torque
limit value can be changed to any value with an external analog input or the parameter.

(2) Speed control mode

An external analog speed command (0 to 10VDC) or parameter-driven internal speed command
(max. 7 speeds) is used to control the speed and direction of a servo motor smoothly.
There are also the acceleration/deceleration time constant setting in response to speed command, the
servo lock function at a stop time, and automatic offset adjustment function in response to external
analog speed command.

(3) Torque control mode

An external analog torque command (0 to 8VDC) or parameter-driven internal torque command is
used to control the torque output by the servo motor.
To protect misoperation under no load, the speed limit function (external or internal setting) is also
available for application to tension control, etc.

1- 1

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 1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

The function block diagram of this servo is shown below.
Regenerative brake option

Servo amplifier P C D Servo motor

(Note2) (Note1)
Power NFB MC DS RA
L1 U U
supply
Regenerative
3-phase L2 brake Current V V
SM
200 to transistor detector
L3 CHARGE W W
230VAC,
1-phase lamp
230VACor
1-phase Fan Dynamic
100to120VAC brake
(MR-J2S-200A or more)
E1 Electro-
L11 Control
E2 magnetic
L21 power
brake
supply

Regenerative
brake Base amplifier Voltage Overcurrent Current

CN2
detection protection detection
Encoder

Virtual
Pulse encoder
input Model position Model speed
control control
Virtual
motor

Model Model Model torque

position speed

Actual position Actual speed Current

control control control
CON1

MR-BAT

Optional battery
(for absolute position)
RS-232C
A/D RS-422 D/A

I/F
CN1A CN1B CN3

Analog monitor
(2 channels)

D I/O control Controller

Analog Servo on RS-422/RS-232C
(2 channels) Start
Failure, etc.
To other servo
amplifier
Note:1. The built-in regenerative brake resistor is not provided for the MR-J2S-10A(1).
2. For 1-phase 230VAC, connect the power supply to L1,L2 and leave L3 open.
L3 is not provided for a 1-phase 100 to120VAC power supply.

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 1. FUNCTIONS AND CONFIGURATION

1.3 Servo amplifier standard specifications

Servo Amplifier MR-J2S-

10A 20A 40A 60A 70A 100A 200A 350A 10A1 20A1 40A1
Item
3-phase 200 to 230VAC, 50/60Hz or 3-phase 200 to 1-phase 100 to
Voltage/frequency
Power supply

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

3-phase 200 to 230VAC:170 to 253VAC 3-phase 170 to 1-phase
Permissible voltage fluctuation
1-phase 230VAC: 207 to 253VAC 253VAC 85 to 127VAC
Permissible frequency fluctuation Within 5%
Power supply capacity Refer to Section12.2
System Sine-wave PWM control, current control system
Dynamic brake Built-in
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic
thermal relay), servo motor overheat protection, encoder error protection, regenerative
Protective functions
brake error protection, undervoltage, instantaneous power failure protection, overspeed
protection, excessive error protection
Speed frequency response 550Hz or more
Max. input pulse frequency 500kpps (for differential receiver), 200kpps (for open collector)
Position control mode

Command pulse multiplying factor Electronic gear A:1 to 65535 131072 B:1 to 65535, 1/50 A/B 500

In-position range setting 0 to 10000 pulse (command pulse unit)

Error excessive 10 revolutions

Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque)

Speed control range Analog speed command 1: 2000, internal speed command 1: 5000
Speed control mode

Analog speed command input 0 to 10VDC / Rated speed

0.01% or less (load fluctuation 0 to 100%)
Speed fluctuation ratio 0% or less (power fluctuation 10%)
0.2% max.(ambient temperature 25 10 ) for external speed setting only
Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque)
Torque Analog torque command input 0 to 8VDC / Maximum torque (input impedance 10 to 12k )
control
mode Speed limit Set by parameter setting or external analog input (0 to 10VDC/Rated speed)
Force-cooling,
Structure Self-cooled, open (IP00) Self-cooled, open(IP00)
open (IP00)
0 to 55 [ ] (non-freezing)
Ambient temperature
32 to 131 [ ] (non-freezing)
Ambient humidity 90%RH or less (non-condensing)
20 to 65 [ ] (non-freezing)
Environment

Storage temperature
4 to 149 [ ] (non-freezing)
Storage humidity 90%RH or less (non-condensing)
Indoors (no direct sunlight)
Ambient
Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m (3280ft) above sea level
5.9 [m/s2] or less
Vibration
19.4 [ft/s2] or less
[kg] 0.7 0.7 1.1 1.1 1.7 1.7 2.0 2.0 0.7 0.7 1.1
Weight
[lb] 1.5 1.5 2.4 2.4 3.75 3.75 4.4 4.4 1.5 1.5 2.4

1- 3

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 1. FUNCTIONS AND CONFIGURATION

1.4 Function list

The following table lists the functions of this servo. For details of the functions, refer to the corresponding
chapters and sections.
(Note)
Function Description Refer to
Control mode
Section 3.1.1
Position control mode This servo is used as position control servo. P Section 3.4.1
Section 4.2.2
Section 3.1.2
Speed control mode This servo is used as speed control servo. S Section 3.4.2
Section 4.2.3
Section 3.1.3
Torque control mode This servo is used as torque control servo. T Section 3.4.3
Section 4.2.4
Position/speed control change Using external input signal, control can be switched
P/S Section 3.4.4
mode between position control and speed control.
Speed/torque control change Using external input signal, control can be switched
S/T Section 3.4.5
mode between speed control and torque control.
Torque/position control Using external input signal, control can be switched
T/P Section 3.4.6
change mode between torque control and position control.
High-resolution encoder of 131072 pulses/rev is used as a
High-resolution encoder P, S, T
servo motor encoder.
Absolute position detection Merely setting a home position once makes home position
P Chapter 15
system return unnecessary at every power-on.
You can switch between gains during rotation and gains
Gain changing function during stop or use an external signal to change gains P, S Section 8.3
during operation.
Servo amplifier detects mechanical resonance and sets filter
Adaptive vibration
characteristics automatically to suppress mechanical P, S, T Section 8.1
suppression control
vibration.
Suppresses high-frequency resonance which occurs as servo
Low-pass filter P, S, T Section 8.2
system response is increased.
Analyzes the frequency characteristic of the mechanical
Machine analyzer function system by simply connecting a servo configuration software- P
installed personal computer and servo amplifier.
Can simulate machine motions on a personal computer
Machine simulation P
screen on the basis of the machine analyzer results.
Personal computer changes gains automatically and
Gain search function P
searches for overshoot-free gains in a short time.
Slight vibration suppression Suppresses vibration of 1 pulse produced at a servo motor
P Section 7.5
control stop.
Electronic gear Input pulses can be multiplied by 1/50 to 50. P Parameters No. 3, 4
Automatically adjusts the gain to optimum value if load
Auto tuning applied to the servo motor shaft varies. Higher in P, S Chapter 7
performance than MR-J2-A servo amplifier.
Position smoothing Speed can be increased smoothly in response to input pulse. P Parameter No. 7
S-pattern acceleration/
Speed can be increased and decreased smoothly. S, T Parameter No. 13
deceleration time constant
Used when the built-in regenerative brake resistor of the
Regenerative brake option servo amplifier does not have sufficient regenerative P, S, T Section 13.1.1
capability for the regenerative power generated.

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 1. FUNCTIONS AND CONFIGURATION

(Note)
Function Description Refer to
Control mode
Alarm history clear Alarm history is cleared. P, S, T Parameter No. 16
If the input power supply voltage had reduced to cause an
Restart after instantaneous
alarm but has returned to normal, the servo motor can be S Parameter No. 20
power failure
restarted by merely switching on the start signal.
Command pulse train form can be selected from among four
Command pulse selection P Parameter No. 21
different types.
Forward rotation start, reverse rotation start, servo-on and Parameters
Input signal selection P, S, T
other input signals can be assigned to any pins. No. 43 to 48
Section 3.4.1 (5)
Torque limit Servo motor-generated torque can be limited to any value. P, S
Parameter No. 28
Section 3.4.3 (3)
Speed limit Servo motor speed can be limited to any value. T Parameter No. 8
to 10,72 to 75
Servo status is shown on the 5-digit, 7-segment LED
Status display P, S, T Section 6.2
display
ON/OFF statuses of external I/O signals are shown on the
External I/O display P, S, T Section 6.6
display.
Output signal can be forced on/off independently of the
Output signal forced output servo status. P, S, T Section 6.7
Use this function for output signal wiring check, etc.
Voltage is automatically offset to stop the servo motor if it
Automatic VC offset does not come to a stop at the analog speed command (VC) S, T Section 6.3
or analog speed limit (VLA) of 0V.
Servo motor can be run from the operation section of the
Test operation mode P, S, T Section 6.8
servo amplifier without the start signal entered.
Analog monitor output Servo status is output in terms of voltage in real time. P, S, T Parameter No. 17
Using a personal computer, parameter setting, test
Servo configuration software P, S, T Section 13.1.6
operation, status display, etc. can be performed.
If an alarm has occurred, the corresponding alarm number
Alarm code output P, S, T Section 10.2.1
is output in 3-bit code.
Note:P: Position control mode, S: Speed control mode, T: Torque control mode
P/S: Position/speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode

1.5 Model code definition

(1) Rating plate

MITSUBISHI AC SERVO
AC SERVO Model
MODEL MR-J2S-60A
Capacity
POWER : 600W
POWER
INPUT : 3.2A 3PH 1PH200-230V 50Hz Applicable power supply
3PH 1PH200-230V 60Hz
5.5A 1PH 230V 50/60Hz
OUTPUT : 170V 0-360Hz 3.6A Rated output current
SERIAL : TC3XXAAAAG52
PASSED Serial number
MITSUBISHI ELECTRIC CORPORATION
MADE IN JAPAN

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 1. FUNCTIONS AND CONFIGURATION

(2) Model
MR–J2S– A MR–J2S–100A or less MR–J2S–200A 350A

Series
Power Supply

Symbol Power supply

3-phase 200 to230V

None
(Note2) 1-phase 230V
(Note1)
1-phase 100V to 120V Rating plate
1 Rating plate

Note:1. Not supplied to the servo amplifier of MR-J2S-60A or more.

2. Not supplied to the servo amplifier of MR-J2S-100A or more.

General-purpose interface

Rated output
Rated Rated
Symbol Symbol
output [W] output [W]
10 100 70 700
20 200 100 1000
40 400 200 2000
60 600 350 3500

1.6 Combination with servo motor

The following table lists combinations of servo amplifiers and servo motors. The same combinations apply
to the models with electromagnetic brakes and the models with reduction gears.
Servo motors
Servo amplifier HC-SFS HC-UFS
HC-KFS HC-MFS HC-RFS
1000r/min 2000r/min 3000r/min 2000r/min 3000r/min
MR-J2S-10A(1) 053 13 053 13 13
MR-J2S-20A(1) 23 23 23
MR-J2S-40A(1) 43 43 43
MR-J2S-60A 52 53
MR-J2S-70A 73 72 73
MR-J2S-100A 81 102 103
MR-J2S-200A 121 201 152 202 153 203 103 153 152
MR-J2S-350A 301 352 353 203 202

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 1. FUNCTIONS AND CONFIGURATION

1.7 Parts identification

(1) MR-J2S-100A or less

Name/Application Refer to

Battery holder
Section15.3
Contains the battery for absolute position data backup.

Battery connector (CON1)

Used to connect the battery for absolute position data Section15.3
backup.
Display
The 5-digit, seven-segment LED shows the servo Chapter6
status and alarm number.
Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.

MODE UP DOWN SET

Used to set data. Chapter6

Used to change the

display or data in each
mode.

Used to change the

mode.

I/O signal connector (CN1A)

Section3.3
Used to connect digital I/O signals.

I/O signal connector (CN1B)

Section3.3
Used to connect digital I/O signals.

Communication connector (CN3)

Chapter14
Used to connect a command device (RS-422/RS-232C)
Section13.1.2
and output analog monitor data.

Name plate Section1.5

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

Encoder connector (CN2) Section3.3

Connector for connection of the servo motor encoder. Section13.1.2

Main circuit terminal block (TE1)

Used to connect the input power supply and servo Section3.7
motor.

Control circuit terminal block (TE2)

Section3.7
Used to connect the control circuit power supply and
Section13.1.1
regenerative brake option.

Protective earth (PE) terminal ( )

Section3.10
Ground terminal.

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 1. FUNCTIONS AND CONFIGURATION

(2) MR-J2S-200A or more

POINT
The servo amplifier is shown without the front cover. For removal of the
front cover, refer to next page.

Name/Application Refer to

Battery holder
Section15.3
Contains the battery for absolute position data backup.

Battery connector (CON1)

Used to connect the battery for absolute position data Section15.3
backup.
Display
The 5-digit, seven-segment LED shows the servo Chapter6
status and alarm number.
Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.

MODE UP DOWN SET

Used to set data. Chapter6

Used to change the

display or data in each
mode.

Used to change the

mode.

I/O signal connector (CN1A)

Section3.3
Used to connect digital I/O signals.

I/O signal connector (CN1B)

Section3.3
Used to connect digital I/O signals.

Communication connector (CN3)

Chapter14
Used to connect a command device (RS-422/RS232C)
Section13.1.2
and output analog monitor data.

Name plate Section1.5

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

Encoder connector (CN2) Section3.3

Connector for connection of the servo motor encoder. Section13.1.2

Main circuit terminal block (TE1)

Used to connect the input power supply and servo Section3.7
motor.

Control circuit terminal block (TE2)

Section3.7
Used to connect the control circuit power supply and
Section13.1.1
Cooling fan regenerative brake option.

Installation notch Protective earth (PE) terminal ( )

Section3.10
(4 places) Ground terminal.

1- 8

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 1. FUNCTIONS AND CONFIGURATION

Removal of the front cover Reinstallation of the front cover

1)

Front cover hook

2) (2 places)

2)

Front cover

1)

Front cover socket

(2 places)

1) Hold down the removing knob. 1) Insert the front cover hooks into the front cover sockets of
the servo amplifier.

2) Pull the front cover toward you. 2) Press the front cover against the servo amplifier until the
removing knob clicks.

1- 9

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 1. FUNCTIONS AND CONFIGURATION

1.8 Servo system with auxiliary equipment

To prevent an electric shock, always connect the protective earth (PE) terminal
WARNING (terminal marked ) of the servo amplifier to the protective earth (PE) of the control
box.
(1) MR-J2S-100A or less
(a) For 3-phase 200V to 230VAC or 1-phase 230VAC
(Note2)
3-phase 200V Options and auxiliary equipment Options and auxiliary equipment
Refer to Refer to
to 230VAC power
supply or No-fuse breaker Section 13.2.2 Regenerative brake option Section 13.1.1
1-phase 230VAC
power supply Magnetic contactor Section 13.2.2 Cables Section 13.2.1
Servo configuration software Section 13.1.6

No-fuse breaker
(NFB) or fuse
Servo amplifier

Command device
To CN1A

Junction terminal block

Magnetic
contactor
(MC) To CN1B

To CN3
CHARGE
Personal Servo configuration
computer software
To CN2 MRZJW3-SETUP121E

L1
L2 U V W
L3

Protective earth(PE) terminal

(Note1)
Encoder cable

(Note1)
Power supply lead
Control circuit terminal block D

L21

L11

P
Regenerative brake
Servo motor
option
C
Note: 1. The HC-SFS, HC-RFS series have cannon connectors.
2. A 1-phase 230V power supply may be used with the servo amplifier of MR-J2S-70A or less. Connect the power supply to
L1 and L2 terminals and leave L3 open.
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 1. FUNCTIONS AND CONFIGURATION

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

1-phase 100V
to 120VAC Options and auxiliary equipment Refer to Options and auxiliary equipment Refer to
power supply
No-fuse breaker Section 13.2.2 Regenerative brake option Section 13.1.1
Magnetic contactor Section 13.2.2 Cables Section 13.2.1

Servo configuration software Section 13.1.6

No-fuse breaker
(NFB) or fuse
Servo amplifier

Command device
To CN1A

Junction terminal block

Magnetic
contactor
(MC) To CN1B

To CN3
CHARGE
Personal Servo configuration
computer software
To CN2 MRZJW3-SETUP121E

L1
L2 U V W

Protective earth(PE) terminal

(Note)
Encoder cable

(Note)
Power supply lead
Control circuit terminal block D

L21

L11

P
Regenerative brake
Servo motor
option
C
Note: The HC-SFS, HC-RFS series have cannon connectors.

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 1. FUNCTIONS AND CONFIGURATION

(2) MR-J2S-200A or more

Options and auxiliary equipment Refer to Options and auxiliary equipment Refer to
3-phase 200V
to 230VAC No-fuse breaker Section 13.2.2 Regenerative brake option Section 13.1.1
power supply
Magnetic contactor Section 13.2.2 Cables Section 13.2.1
Servo configuration software Section 13.1.6
No-fuse
breaker
(NFB) or
fuse Servo amplifier

Command device

To CN1A
Junction terminal
Magnetic block
contactor
(MC)
To CN1B

Servo
To CN2 To CN3 configuration
Personal software
L11 computer MRZJW3-
SETUP121E
L21

L1
U V W P C
L2
L3 Regenerative brake option

1 - 12

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 2. INSTALLATION

2. INSTALLATION

Stacking in excess of the limited number of products is not allowed.

Install the equipment to incombustibles. Installing them directly or close to
combustibles will led to a fire.
Install the equipment in a load-bearing place in accordance with this Instruction
Manual.
Do not get on or put heavy load on the equipment to prevent injury.
Use the equipment within the specified environmental condition range.
Provide an adequate protection to prevent screws, metallic detritus and other
CAUTION conductive matter or oil and other combustible matter from entering the servo
amplifier.
Do not block the intake/exhaust ports of the servo amplifier. Otherwise, a fault may
occur.
Do not subject the servo amplifier to drop impact or shock loads as they are
precision equipment.
Do not install or operate a faulty servo amplifier.
When the product has been stored for an extended period of time, consult
Mitsubishi.

2.1 Environmental conditions

Environment Conditions
0 to 55 [ ] (non-freezing)
Ambient temperature
32 to 131 [ ] (non-freezing)
Ambient humidity 90%RH or less (non-condensing)
20 to 65 [ ] (non-freezing)
Storage temperature
4 to 149 [ ] (non-freezing)
Storage humidity 90%RH or less (non-condensing)
Indoors (no direct sunlight)
Ambient
Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m (3280 ft) above sea level
5.9 [m/s2] or less
Vibration
19.4 [ft/s2] or less

2- 1

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 2. INSTALLATION

2.2 Installation direction and clearances

The equipment must be installed in the specified direction. Otherwise, a fault may
occur.
CAUTION
Leave specified clearances between the servo amplifier and control box inside
walls or other equipment.

(1) Installation of one servo amplifier

Control box Control box

40mm
(1.6 in.)
or more
Servo amplifier Wiring clearance
70mm
Top
(2.8 in.)

10mm 10mm
(0.4 in.) (0.4 in.)
or more or more

Bottom

40mm
(1.6 in.)
or more

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 2. INSTALLATION

(2) Installation of two or more servo amplifiers

Leave a large clearance between the top of the servo amplifier and the internal surface of the control
box, and install a fan to prevent the internal temperature of the control box from exceeding the
environmental conditions.
Control box

100mm
(4.0 in.)
or more 10mm
(0.4 in.)
Servo or more
amplifier

30mm 30mm
(1.2 in.) (1.2 in.)
or more or more

40mm
(1.6 in.)
or more

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

2.3 Keep out foreign materials

(1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the
servo amplifier.
(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control
box or a fan installed on the ceiling.
(3) When installing the control box in a place where there are toxic gas, dirt and dust, provide positive
pressure in the control box by forcing in clean air to prevent such materials from entering the control
box.

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 2. INSTALLATION

2.4 Cable stress

(1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight
stress are not applied to the cable connection.
(2) In any application where the servo motor moves, the cables should be free from excessive stress. For
use in any application where the servo motor moves run the cables so that their flexing portions fall
within the optional encoder cable range. Fix the encoder cable and power cable of the servo motor.
(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 will move, the flexing radius should be made as
large as possible. Refer to section 12.4 for the flexing life.

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 3. SIGNALS AND WIRING

3. SIGNALS AND WIRING

Any person who is involved in wiring should be fully competent to do the work.
Before starting wiring, make sure that the voltage is safe in the tester more than 10
minutes after power-off. Otherwise, you may get an electric shock.
Ground the servo amplifier and the servo motor securely.
WARNING
Do not attempt to wire the servo amplifier and servo motor until they have been
installed. Otherwise, you may get an electric shock.
The cables should not be damaged, stressed excessively, loaded heavily, or
pinched. Otherwise, you may get an electric shock.

Wire the equipment correctly and securely. Otherwise, the servo motor may
misoperate, resulting in injury.
Connect cables to correct terminals to prevent a burst, fault, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
The surge absorbing diode installed to the DC relay designed for control output
should be fitted in the specified direction. Otherwise, the signal is not output due to
a fault, disabling the emergency stop and other protective circuits.
Servo
Servo amplifier
Amplifier
COM
COM (DC24V)
(24VDC)
CAUTION Control Control output
output RA
RA signal
signal

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

which may be given to electronic equipment used near the servo amplifier.
Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF
option) with the power line of the servo motor.
When using the regenerative brake resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative brake
resistor, causing a fire.
Do not modify the equipment.

POINT
CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of
the connectors will lead to a failure. Connect them correctly.

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 3. SIGNALS AND WIRING

3.1 Standard connection example

POINT
For the connection of the power supply system, refer to Section 3.7.1.

3.1.1 Position control mode

(1) FX-10GM
Positioning module
FX-10GM Servo amplifier
(Note 4, 9) (Note 4)
CN1A CN1B
SVRDY 1 RD 19 3 VDD
COM2 2 COM 9 (Note 12)
COM2 12 INP 18 (Note 7)
13 COM
SVEND 11 (Note 2, 5)
Trouble
COM4 14 P15R 4
18 ALM RA1
PG0 13 OP 14 Zero speed
LG 1
19 ZSP RA2
24 7,17 OPC 11 Limiting torque
VC 8,18 COM 9 6 TLC RA3
FPO 5
FP 6 PP 3
COM5 9,19 SG 10
RP 16 NP 2
RP0 15
CLR 3 CR 8
COM3 4 SG 20 (Note 13)
SD Plate
(Note 10) 2m(6.5ft) max. (Note 4, 9)
CN1A
START 1
6 LA Encoder A-phase pulse
STO 2
ZRN 3 16 LAR (differential line driver)
FWD 4 7 LB Encoder B-phase pulse
RVS 5
17 LBR (differential line driver)
DOG 6
LSF 7 5 LZ Encoder Z-phase pulse
LSR 8 15 LZR (differential line driver)
COM1 9,19 Plate SD

10m(32ft) max.
(Note 4, 9)(Note 4, 9)
CN1B CN3
(Note 3, 6) Emergency stop EMG 15 4 MO1 A (Note 8)
Servo-on 10k
SON 5 3 LG Monitor output
Reset RES 14 14 MO2 A Max. 1mA
10k Reading in both
Proportion control PC 8 13 LG
directions
Torque limit selection TL 9 Plate SD

(Note 6) Forward rotation stroke end LSP 16 2m (6.5ft) max.

Reverse rotation stroke end LSN 17
SG 10
Upper limit setting
P15R 11
Analog torque limit
10V/max. torque TLA 12
(Note 4, 9)
LG 1 CN2 Encoder cable
SD Plate Servo
(Note 11) Personal 2m(6.5ft) max. motor
Servo configuration computer 50m (164ft) max.
software (Note 4, 9)
(Note 8) CN3 (Note 1)
Communication cable

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 3. SIGNALS AND WIRING

Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal
marked ) of the servo amplifier to the protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will
be faulty and will not output signals, disabling the emergency stop and other protective
circuits.
3. The emergency stop switch (normally closed contact) must be installed.
4. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will
lead to a fault.
5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA,
supply interface power from external. (Refer to Section 3.6.2)
6. When starting operation, always connect the emergency stop signal (EMG) and forward/
reverse rotation stroke end signal (LSN/LSP) with SG. (Normally closed contacts)
7. Trouble (ALM) is connected with COM in normal alarm-free condition. When this signal is
switched off (at occurrence of an alarm), the output of the controller should be stopped by the
sequence program.
8. When connecting the personal computer together with monitor outputs 1, 2, use the
maintenance junction card (MR-J2CN3TM).
9. The pins with the same signal name are connected in the servo amplifier.
10. This length applies to the command pulse train input in the opencollector system. It is 10m
(32ft) or less in the differential line driver system.
11. Use MRZJW3-SETUP 121E.
12. When using the internal power supply (VDD), always connect VDD-COM. Do not connect them
when supplying external power. Refer to Section 3.6.2.
13. Connect to CN1A-10 when using the junction terminal block (MR-TB20).

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 3. SIGNALS AND WIRING

(2) AD75P (A1SD75P )

Positioning module
AD75P
(A1SD75P ) Servo amplifier
(Note 10) 10m(32ft) max.
(Note 4,9) (Note 4)
CN1A CN1B
Ready 7 RD 19
3 VDD
COM 26 COM 9 (Note 12)
INPS 8 INP 18
13 COM (Note 7)
(Note 2,5)
Trouble
PGO(24V) 6
18 ALM RA1
PGO(5V) 24 LZ 5
Zero speed
PGO COM 25 LZR 15
19 ZSP RA2
CLEAR 5 CR 8
Limiting torque
CLEAR COM 23 SG 10
6 TLC RA3
PULSE F 21 PG 13
PULSE F 3 PP 3
PULSE R 22 NG 12
PULSE R 4 NP 2
LG 1
SD Plate

PULSE F 1
PULSE COM 19
PULSE R 2 (Note 13)
PULSE COM 20
DOG 11
FLS 12
RLS 13
STOP 14
CHG 15
START 16 (Note 4,9)
COM 35
CN1A
COM 36 (Note 4,9) 6 LA Encoder A-phase pulse
DC24V
CN1B 16 LAR (differential line driver)
(Note 3, 6) Emergency stop EMG 15 7 LB Encoder B-phase pulse
Servo-on SON 5 17 LBR (differential line driver)
Reset RES 14 1 LG Control common
Proportion control PC 8 14 OP Encoder Z-phase pulse
Torque limit selection TL 9 4 P15R (open collector)
(Note 6) Forward rotation stroke end LSP 16 Plate SD
Reverse rotation stroke end LSN 17
SG 10
Upper limit setting (Note 4,9)
P15R 11 CN3
Analog torque limit
10V/max. torque TLA 12 4 MO1 A (Note 8)
LG 1 10k
3 LG Monitor output
SD Plate 14 MO2 A Max. 1mA
2m(6.5ft) max. 10k
13 LG Reading in both
directions
Plate SD
(Note 11) Personal
(Note 4,9) 2m(6.5ft) max.
Servo configuration computer (Note 8)
CN3 (Note 4,9)
software Communication cable
CN2 Encoder cable
Servo
motor
50m (164ft) max.
(Note 1)

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 3. SIGNALS AND WIRING

Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal
marked ) of the servo amplifier to the protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will
be faulty and will not output signals, disabling the emergency stop and other protective
circuits.
3. The emergency stop switch (normally closed contact) must be installed.
4. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will
lead to a fault.
5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA,
supply interface power from external.(Refer to Section 3.6.2)
6. When starting operation, always connect the emergency stop signal (EMG) and forward/
reverse rotation stroke end signal (LSN/LSP) with SG. (Normally closed contacts)
7. Trouble (ALM) is connected with COM in normal alarm-free condition. When this signal is
switched off (at occurrence of an alarm), the output of the controller should be stopped by the
sequence program.
8. When connecting the personal computer together with monitor outputs 1, 2, use the
maintenance junction card (MR-J2CN3TM).
9. The pins with the same signal name are connected in the servo amplifier.
10. This length applies to the command pulse train input in the differential line driver system.
It is 2m (6.5ft) or less in the opencollector system.
11. Use MRZJW3-SETUP 121E.
12. When using the internal power supply (VDD), always connect VDD-COM. Do not connect
them when supplying external power. Refer to Section 3.6.2.
13. Connect LG and pulse output COM to increase noise immunity.

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 3. SIGNALS AND WIRING

3.1.2 Speed control mode

Servo amplifier
(Note 4)
CN1B

3 VDD
(Note 12)
(Note 4,9) (Note 7)
CN1A 13 COM
(Note 2,5)
Trouble
Speed selection 1 SP1 8 18 ALM RA1
SG 10 Zero speed
19 ZSP RA2
Limiting torque
10m(32ft) max. 6 TLC RA3

(Note 4,9) (Note 4,9)

CN1B CN1A
(Note 3, 6) Emergency stop EMG 15 9 COM
Servo-on SON 5
RES 14 18 SA RA5 Speed reached
Reset
Speed selection 2 SP2 7 19 RD RA4 Ready
Forward rotation start ST1 8
5 LZ Encoder Z-phase pulse
Reverse rotation start ST2 9
15 LZR (differential line driver)
(Note 6) Forward rotation stroke end LSP 16
6 LA Encoder A-phase pulse
Reverse rotation stroke end LSN 17
16 LAR (differential line driver)
SG 10
Upper limit setting 7 LB Encoder B-phase pulse
P15R 11
Analog speed command 17 LBR (differential line driver)
VC 2
(Note 13) 10V/rated speed 1 LG Control common
LG 1
Upper limit setting 14 OP Encoder Z-phase pulse
TLA 12 4 P15R (open collector)
(Note 10) Analog torque limit
10V/max. torque Plate SD
SD Plate (Note 4,9)
CN3
4 MO1 A (Note 8)
2m(6.5ft) max. 10k Monitor output
3 LG
Max. 1mA
14 MO2 A
10k Reading in
(Note 11) Personal 13 LG
(Note 4,9) both directions
Servo configuration computer (Note 8) CN3
Plate SD
software Communication cable 2m(6.5ft) max.
(Note 4,9)
CN2
Encoder cable
Servo
motor
50m (164ft) max.

(Note 1)

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 3. SIGNALS AND WIRING

Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal
marked ) of the servo amplifier to the protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will
be faulty and will not output signals, disabling the emergency stop and other protective
circuits.
3. The emergency stop switch (normally closed contact) must be installed.
4. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will
lead to a fault.
5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA,
supply interface power from external.(Refer to Section 3.6.2)
6. When starting operation, always connect the emergency stop signal (EMG) and forward/
reverse rotation stroke end signal (LSN/LSP) with SG. (Normally closed contacts)
7. Trouble (ALM) is connected with COM in normal alarm-free condition.
8. When connecting the personal computer together with monitor outputs 1, 2, use the
maintenance junction card (MR-J2CN3TM).
9. The pins with the same signal name are connected in the servo amplifier.
10. By setting parameters No.43 to 48 to make TL available, TLA can be used.
11. Use MRZJW3-SETUP 121E.
12. When using the internal power supply (VDD), always connect VDD-COM. Do not connect
them when supplying external power. Refer to Section 3.6.2.
13. Use an external power supply when inputting a negative voltage.

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 3. SIGNALS AND WIRING

3.1.3 Torque control mode

Servo amplifier
(Note 4)
CN1B

3 VDD (Note 10)

(Note 4,8) (Note 6)

13 COM
CN1A (Note 2,5)
Trouble
Speed selection 1 SP1 8 18 ALM RA1
SG 10 Zero speed
19 ZSP RA2
Limiting torque
10m(32ft) max. 6 VLC RA3

(Note 4,8) (Note 4,8)

CN1B CN1A
(Note 3) Emergency stop EMG 15 9 COM
Servo-on SON 5
RES 14 19 RD RA4 Ready
Reset
Speed selection 2 SP2 7 5 LZ Encoder Z-phase pulse
Forward rotation start RS1 9 15 LZR (differential line driver)
Reverse rotation start RS2 8 6 LA Encoder A-phase pulse
SG 10 16 LAR (differential line driver)
Upper limit setting
P15R 11 7 LB Encoder B-phase pulse
Analog torque command
TC 12 17 LBR (differential line driver)
(Note 11) 8V/max. torque
LG 1 1 LG Control common
Upper limit setting
14 OP Encoder Z-phase pulse
Analog speed limit VLA 2 (open collector)
4 P15R
0 to 10V/rated speed
SD Plate Plate SD

(Note 4,8)
2m(6.5ft) max. CN3
4 MO1 A (Note 7)
10k
3 LG Monitor output
14 MO2 A Max. 1mA
Personal 10k Reading in both
(Note 9) 13 LG
(Note 4,8) directions
Servo configuration computer (Note 7) Plate SD
CN3
software Communication cable 2m(6.5ft) max.
(Note 4,8)
CN2
Encoder cable
Servo
Motor
50m (164ft) max.

(Note 1)

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 3. SIGNALS AND WIRING

Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the (terminal
marked ) servo amplifier to the protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be
faulty and will not output signals, disabling the emergency stop and other protective circuits.
3. The emergency stop switch(normally closed contact) must be installed.
4. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead
to a fault.
5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA,
supply interface power from external. (Refer to Section 3.6.2)
6. Trouble (ALM) is connected with COM in normal alarm-free condition.
7. When connecting the personal computer together with monitor outputs 1, 2, use the maintenance
junction card (MR-J2CN3TM).
8. The pins with the same signal name are connected in the servo amplifier.
9. Use MRZJW3-SETUP 121E.
10. When using the internal power supply (VDD), always connect VDD-COM. Do not connect them
when supplying external power. Refer to Section 3.6.2.
11. Use an external power supply when inputting a negative voltage.

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 3. SIGNALS AND WIRING

3.2 Internal connection diagram of servo amplifier

The following is the internal connection diagram where the signal assignment has been made in the
initial status in each control mode.
Servo amplifier

CN1B
DC24V
VDD 3

COM 13
(Note) (Note)
P S T CN1A CN1A P S T

COM COM COM 9 18 INP SA

Approx. 4.7k
CR SP1 SP1 8 19 RD RD RD

SG SG SG 10,20 (Note)

(Note) CN1B P S T

P S T CN1B 6 TLC TLC VLC

Approx. 4.7k
SON SON SON 5 18 ALM ALM ALM
Approx. 4.7k
SP2 SP2 7 19 ZSP ZSP ZSP
Approx. 4.7k
PC ST1 RS2 8 4 DO1 DO1 DO1
Approx. 4.7k
TL ST2 RS1 9
Approx. 4.7k
RES RES RES 14
Approx. 4.7k
EMG EMG EMG 15
Approx. 4.7k
LSP LSP 16
Approx. 4.7k
LSN LSN 17

SG SG SG 10,20
(Note) CN1A
P S T CN1A 6 LA

OPC 11 16 LAR

PG 13 7 LB
Approx. 100k Approx. 1.2k
PP 3 17 LBR

NG 12 5 LZ
Approx. 100k Approx. 1.2k
NP 2 15 LZR

SD SD SD Case 14 OP
1 LG

(Note) CN3

4 MO1
P S T CN1B

14 MO2
VC VLA 2

2 TXD
TLA TLA TC 12
DC 15V 12 RXD
P15R P15R P15R 11
9 SDP

LG LG LG 1 19 SDN

5 RDP
SD SD SD Case
15 RDN

PE
CN1A

P15R 4

Note. P: Position control mode, S: Speed control mode, T: Torque control mode

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 3. SIGNALS AND WIRING

3.3 I/O signals

3.3.1 Connectors and signal arrangements

POINT
The connector pin-outs shown above are viewed from the cable connector
wiring section side.
Refer to the next page for CN1A and CN1B signal assignment.

(1) Signal arrangement

CN1A CN1B

1 11 1 11
2 12 2 12

3 13 3 13
4 14 4 14

5 15 5 15
6 16 6 16
MITSUBISHI
7 17 MELSERVO-J2 7 17
8 18 8 18

9 19 9 19
10 20 10 20

CN2 CN3

1 11 1 11
2 12 2 12
LG LG LG LG
LG LG RXD TXD
3 13 3 13
4 14 4 14
LG LG
MO1 MO2
5 15 5 15
6 16 6 16
RDP RDN
MD MDR
7 17 7 17
The connector frames are
8 18 connected with the PE (earth) 8 18
MR MRR
P5 terminal inside the servo amplifier.
9 19 9 19
10 20 10 20
BAT P5 SDP SDN
P5 TRE P5

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 3. SIGNALS AND WIRING

(2) CN1A and CN1B signal assignment

The signal assignment of connector changes with the control mode as indicated below;
For the pins which are given parameter No.s in the related parameter column, their signals can be
changed using those parameters.
(Note2)
(Note1) I/O Signals in control modes Related
Connector Pin No. I/O
P P/S S S/T T T/P parameter
1 LG LG LG LG LG LG
2 I NP NP/ /NP
3 I PP PP/ /PP
4 P15R P15R/P15R P15R P15R P15R P15R
5 O LZ LZ LZ LZ LZ LZ
6 O LA LA LA LA LA LA
7 O LB LB LB LB LB LB
8 I CR CR/SP1 SP1 SP1/SP1 SP1 SP1/CR No.43 to 48
9 COM COM COM COM COM COM
10 SG SG SG SG SG SG
CN1A
11 OPC OPC/ /OPC
12 I NG NG/ /NG
13 I PG PG/ /PG
14 O OP OP OP OP OP OP
15 O LZR LZR LZR LZR LZR LZR
16 O LAR LAR LAR LAR LAR LAR
17 O LBR LBR LBR LBR LBR LBR
18 O INP INP/SA SA SA/ /INP No.49
19 O RD RD RD RD RD RD No.49
20 SG SG SG SG SG SG
1 LG LG LG LG LG LG
2 I /VC VC VC/VLA VLA VLA/
3 VDD VDD VDD VDD VDD VDD
(Note 4)4 O DO1 DO1 DO1 DO1 DO1 DO1
5 I SON SON SON SON SON SON No.43 to 48
6 O TLC TLC TLC TLC/VLC VLC VLC/TLC No.49
7 I LOP SP2 LOP SP2 LOP No.43 to 48
8 I PC PC/ST1 ST1 ST1/RS2 RS2 RS2/PC No.43 to 48
9 I TL TL/ST2 ST2 ST2/RS1 RS1 RS1/TL No.43 to 48
10 SG SG SG SG SG SG
CN1B 11 P15R P15R P15R P15R P15R P15R
(Note3) (Note3)
12 I TLA (Note3) TLA TC TC/TLA
TLA/TLA TLA/TC
13 COM COM COM COM COM COM
14 I RES RES RES RES RES RES No.43 to 48
15 I EMG EMG EMG EMG EMG EMG
16 I LSP LSP LSP LSP/ /LSP
17 I LSN LSN LSN LSN/ /LSN
18 O ALM ALM ALM ALM ALM ALM No.49
19 O ZSP ZSP ZSP ZSP ZSP ZSP No.1, 49
20 SG SG SG SG SG SG

For note, refer to the next page.

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 3. SIGNALS AND WIRING

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

2. P : Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed
control change mode, S/T: Speed/torque control change mode, T/P: Torque/position control
change mode
3. By setting parameters No. 43 to 48 to make TL available, TLA can be used.
4. The signal of CN1A-18 is always output.

(3) Symbols and signal names

Symbol Signal name Symbol Signal name
SON Servo-on VLC Limiting speed
LSP Forward rotation stroke end RD Ready
LSN Reverse rotation stroke end ZSP Zero speed
CR Clear INP In position
SP1 Speed selection 1 SA Speed reached
SP2 Speed selection 2 ALM Trouble
PC Proportion control WNG Warning
ST1 Forward rotation start BWNG Battery warning
ST2 Reverse rotation start OP Encoder Z-phase pulse (open collector)
TL Torque limit selection MBR Electromagnetic brake interlock
RES Reset LZ Encoder Z-phase pulse
EMG Forced stop LZR (differential line driver)
LOP Control change LA Encoder A-phase pulse
VC Analog speed command LAR (differential line driver)
VLA Analog speed limit LB Encoder B-phase pulse
TLA Analog torque limit LBR (differential line driver)
TC Analog torque command VDD I/F internal power supply
RS1 Forward rotation selection COM Digital I/F power supply input
RS2 Reverse rotation selection OPC Open collector power input
PP SG Digital I/F common
NP P15R 15VDC power supply
Forward/reverse rotation pulse train
PG LG Control common
NG SD Shield
TLC Limiting torque

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 3. SIGNALS AND WIRING

3.3.2 Signal explanations

For the I/O interfaces (symbols in I/O column in the table), refer to Section 3.6.2.
In the control mode field of the table
P : Position control mode, S: Speed control mode, T: Torque control mode
: Denotes that the signal may be used in the initial setting status.
: Denotes that the signal may be used by setting the corresponding parameter among parameters 43 to
49.
The pin No.s in the connector pin No. column are those in the initial status.

(1) Input signals

Connec- Control
I/O mode
Signal Symbol tor pin Functions/Applications
division
No. P S T

Servo-on SON CN1B Connect SON-SG to switch on the base circuit and make the servo DI-1
5 amplifier ready to operate (servo-on).
Disconnect SON-SG to shut off the base circuit and coast the
servo motor (servo off) .
Set " 1" in parameter No. 41 to switch this signal on
(keep terminals connected) automatically in the servo
amplifier.
Reset RES CN1B Disconnect RES-SG for more than 50ms to reset the alarm. DI-1
14 Some alarms cannot be deactivated by the reset signal. Refer to
Section 10.2.
Shorting RES-SG in an alarm-free status shuts off the base
circuit. The base circuit is not shut off when " 1 " is set in
parameter No. 51.
Forward rotation LSP CN1B To start operation, short LSP-SG and/or LSN-SG. Open them to DI-1
stroke end 16 bring the motor to a sudden stop and make it servo-locked.
Set " 1" in parameter No. 22 to make a slow stop.
(Refer to Section 5.2.3.)
(Note) Input signals Operation
CCW CW
LSP LSN
direction direction
1 1
0 1
Reverse rotation LSN CN1B 1 0
stroke end 17 0 0
Note. 0: LSP/LSN-SG off (open)
1: SP/LSN-SG on (short)
Set parameter No. 41 as indicated below to switch on the signals
(keep terminals connected) automatically in the servo amplifier:
Parameter No.41 Automatic ON
1 LSP
1 LSN

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 3. SIGNALS AND WIRING

Connec- Control
I/O mode
Signal Symbol tor pin Functions/Applications
division
No. P S T

Torque limit TL CN1B Torque limit selection disconnecting TL-SG makes internal torque DI-1
selection 9 limit 1 (parameter No. 28) valid and connecting them makes
analog torque limit (TLA) valid.
For details, refer to (5), Section 3.4.1.
Internal TL1 When using this signal, make it usable by making the setting of DI-1
torque limit parameter No. 43 to 48.
selection For details, refer to (5), Section 3.4.1.
Forward rotation ST1 CN1B Used to start the servo motor in any of the following directions: DI-1
start 8 (Note) Input signals
Servo motor starting direction
ST2 ST1
0 0 Stop (servo lock)
Reverse rotation ST2 CN1B 0 1 CCW
start 9 1 0 CW
1 1 Stop (servo lock)
Note. 0: ST1/ST2-SG off (open)
1: ST1/ST2-SG on (short)
If both ST1 and ST2 are switched on or off during operation, the
servo motor will be decelerated to a stop according to the
parameter No. 12 setting and servo-locked.
Forward rotation RS1 CN1B Used to select any of the following servo motor torque generation DI-1
selection 9 directions:
(Note) Input signals
Torque generation direction
RS2 RS1
0 0 Torque is not generated.
Reverse rotation RS2 CN1B Forward rotation in driving mode /
0 1
selection 8 reverse rotation in regenerative mode
Reverse rotation in driving mode /
1 0
forward rotation in regenerative mode
1 1 Torque is not generated.
Note. 0: RS1/RS2-SG off (open)
1: RS1/RS2-SG on (short)

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 3. SIGNALS AND WIRING

Connec- Control
I/O
Signal Symbol tor pin Functions/Applications mode
division
No. P S T
Speed selection 1 SP1 CN1A <Speed control mode> DI-1
8 Used to select the command speed for operation.
When using SP3, make it usable by making the setting of
parameter No. 43 to 48.
Speed selection 2 SP2 CN1B Setting of (Note) Input DI-1
7 parameter signals Speed command
No. 43 to 48 SP3 SP2 SP1
Speed selection 3 SP3 0 0 Analog speed command (VC) DI-1
When speed Internal speed command 1
0 1
selection (parameter No. 8)
(SP3) is not Internal speed command 2
used 1 0
(parameter No. 9)
(initial status) Internal speed command 3
1 1
(parameter No. 10)
0 0 0 Analog speed command (VC)
Internal speed command 1
0 0 1
(parameter No. 8)
Internal speed command 2
0 1 0
(parameter No. 9)
Internal speed command 3
When speed 0 1 1
(parameter No.10)
selection
(SP3) is made Internal speed command 4
1 0 0
valid (parameter No. 72)
Internal speed command 5
1 0 1
(parameter No. 73)
Internal speed command 6
1 1 0
(parameter No. 74)
Internal speed command 7
1 1 1
(parameter No. 75)
Note 0: SP1/SP2/SP3-SG off (open)
1: SP1/SP2/SP3-SG on (short)
<Torque control mode>
Used to select the limit speed for operation.
When using SP3, make it usable by making the setting of
parameter No. 43 to 48.
Setting of (Note) Input
parameter signals Speed limit
No. 43 to 48 SP3 SP2 SP1
0 0 Analog speed limit (VLA)
When speed
Internal speed command 1
selection 0 1
(parameter No. 8)
(SP3) is not
used Internal speed command 2
1 0
(initial status) (parameter No. 9)
Internal speed command 3
1 1
(parameter No. 10)
0 0 0 Analog speed limit (VLA)
Internal speed command 1
0 0 1
(parameter No. 8)
Internal speed command 2
0 1 0
(parameter No. 9)
Internal speed command 3
When speed 0 1 1
(parameter No.10)
selection
(SP3) is made Internal speed command 4
1 0 0
valid (parameter No. 72)
Internal speed command 5
1 0 1
(parameter No. 73)
Internal speed command 6
1 1 0
(parameter No. 74)
Internal speed command 7
1 1 1
(parameter No. 75)
Note. 0: SP1/SP2/SP3-SG off (open)
1: SP1/SP2/SP3-SG on (short)

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 3. SIGNALS AND WIRING

Connec- Control
I/O
Signal Symbol tor pin Functions/Applications mode
division
No. P S T
Proportion PC CN1B Connect PC-SG to switch the speed amplifier from the DI-1
control 8 proportional integral type to the proportional type.
If the servo motor at a stop is rotated even one pulse due to any
external factor, it generates torque to compensate for a position
shift. When the servo motor shaft is to be locked mechanically
after positioning completion (stop), switching on the proportion
control signal (PC) upon positioning completion will suppress the
unnecessary torque generated to compensate for a position shift.
When the shaft is to be locked for a long time, switch on the
proportion control signal and torque control signal (TL) at the
same time to make the torque less than the rated by the analog
torque limit.
Emergency stop EMG CN1B Disconnect EMG-SG to bring the servo motor to emergency stop DI-1
15 state, in which the servo is switched off and the dynamic brake is
operated.
Connect EMG-SG in the emergency stop state to reset that state.
Clear CR CN1A Connect CR-SG to clear the position control counter droop pulses DI-1
8 on its leading edge. The pulse width should be 10ms or more.
When the parameter No.42 setting is " 1 ", the pulses are
always cleared while CR-SG are connected.
Electronic gear CM1 When using CM1 and CM2, make them usable by the setting of DI-1
selection 1 parameters No. 43 to 48.
The combination of CM1-SG and CM2-SG gives you a choice of
four different electronic gear numerators set in the parameters.
CM1 and CM2 cannot be used in the absolute position detection
system.
Electronic gear CM2 (Note) Input signals DI-1
Electronic gear denominator
selection 2 CM2 CM1
0 0 Parameter No. 3 (CMX)
0 1 Parameter No. 69 (CM2)
1 0 Parameter No. 70 (CM3)
1 1 Parameter No. 71 (CM4)
Note. 0: CM1/CM2-SG off (open)
1: CM1/CM2-SG on (short)
Gain changing CDP When using this signal, make it usable by the setting of DI-1
parameter No. 43 to 48.
Connect CDP-SG to change the load inertia moment ratio into the
parameter No. 61 setting and the gain values into the values
multiplied by the parameter No. 62 to 64 settings.

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 3. SIGNALS AND WIRING

Connec- Control
I/O
Signal Symbol tor pin Functions/Applications mode
division
No. P S T
Control change LOP CN1B <Position/speed control change mode> DI-1 Refer to
7 Used to select the control mode in the position/speed control Functions/
change mode. Appli-
cations.
(Note) LOP Control mode
0 Position
1 Speed
Note.0: LOP-SG off (open)
1: LOP-SG on (short)
<Speed/torque control change mode>
Used to select the control mode in the speed/torque control change
mode.

(Note) LOP Control mode

0 Speed
1 Torque
Note.0: LOP-SG off (open)
1: LOP-SG on (short)
<Torque/position control mode>
Used to select the control mode in the torque/position control
change mode.

(Note) LOP Control mode

0 Torque
1 Position
Note.0: LOP-SG off (open)
1: LOP-SG on (short)
Analog torque TLA CN1B To use this signal in the speed control mode, set any of Analog
limit 12 parameters No. 43 to 48 to make TL available. input
When the analog torque limit (TLA) is valid, torque is limited in
the full servo motor output torque range. Apply 0 to 10VDC
across TLA-LG. Connect the positive terminal of the power supply
to TLA. Maximum torque is generated at 10V. (Refer to (5) in
Section 3.4.1.) Resolution:10bit
Analog torque TC Used to control torque in the full servo motor output torque Analog
command range. input
Apply 0 to 8VDC across TC-LG. Maximum torque is generated
at 8V. (Refer to (1) in Section 3.4.3.)
The torque generated at 8V input can be changed using
parameter No. 26.
Analog speed VC CN1B Apply 0 to 10VDC across VC-LG. Speed set in parameter No. 25 Analog
command 2 is provided at 10V. (Refer to (1) in Section 3.4.2.) input
Resolution:14bit or equivalent
Analog speed VLA Apply 0 to 10VDC across VLA-LG. Speed set in parameter No. Analog
limit 25 is provided at 10V (Refer to (3) in Section 3.4.3.). input
Forward rotation PP CN1A Used to enter a command pulse train. DI-2
pulse train 3 In the open collector system (max. input frequency 200kpps):
Reverse rotation NP CN1A Forward rotation pulse train across PP-SG
pulse train 2 Reverse rotation pulse train across NP-SG
PG CN1A In the differential receiver system (max. input frequency
13 500kpps):
NG CN1A Forward rotation pulse train across PG-PP
12 Reverse rotation pulse train across NG-NP
The command pulse train form can be changed using
parameter No. 21.

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 3. SIGNALS AND WIRING

(2) Output signals

Connec- Control
I/O mode
Signal Symbol tor pin Functions/Applications
division
No. P S T

Trouble ALM CN1B ALM-SG are disconnected when power is switched off or the DO-1
18 protective circuit is activated to shut off the base circuit. Without
alarm, ALM-SG are connected within 1 after power on.
Ready RD CN1A RD-SG are connected when the servo is switched on and the servo DO-1
19 amplifier is ready to operate.
In position INP CN1A INP-SG are connected when the number of droop pulses is in the DO-1
18 preset in-position range. The in-position range can be changed
using parameter No. 5.
When the in-position range is increased, INP-SG may be kept
connected during low-speed rotation.
Speed reached SA SA-SG are connected when the servo motor speed has nearly DO-1
reached the preset speed. When the preset speed is 50r/min or
less, SA-SG are kept connected.
Limiting speed VLC CN1B VLC-SG are connected when speed reaches the value set to any of DO-1
6 the internal speed limits 1 to 7 (parameters No. 8 to 10, 72 to 75)
or the analog speed limit (VLA) in the torque control mode. They
are disconnected when the servo-on signal (SON) switches off.
Limiting torque TLC TLC-SG are connected when the torque generated reaches the DO-1
value set to the internal torque limit 1 (parameter No. 28) or
analog torque limit (TLA). They are disconnected when the servo-
on signal (SON) switches off.
Zero speed ZSP CN1B ZSP-SG are connected when the servo motor speed is zero speed DO-1
19 (50r/min) or less. Zero speed can be changed using parameter No.
24.
Electromagnetic MBR CN1B Set " 1 " in parameter No. 1 to use this parameter. Note that DO-1
brake interlock 19 ZSP will be unusable.
In the servo-off or alarm status, MBR-SG are disconnected.
When an alarm occurs, they are disconnected independently of
the base circuit status.
Warning WNG To use this signal, assign the connector pin for output using DO-1
parameter No.49. The old signal before assignment will be
unusable.
When warning has occurred, WNG-SG are connected.
When there is no warning, WNG-SG are disconnected within 1
second after power-on.
Battery warning BWNG To use this signal, assign the connector pin for output using DO-1
parameter No.49. The old signal before assignment will be
unusable.
BWNG-SG are connected when battery cable breakage warning
(AL.92) or battery warning (AL.9F) has occurred.
When there is no battery warning, BWNG-SG are disconnected
within 1 second after power-on.

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 3. SIGNALS AND WIRING

Connec- Control
I/O mode
Signal Symbol tor pin Functions/Applications
division
No. P S T

Alarm code CN1A To use this signal, set " 1 " in parameter No.49. DO-1
19 This signal is output when an alarm occurs. When there is no
CN1A alarm, respective ordinary signals (RD, INP, SA, ZSP) are output.
18 Alarm codes and alarm names are listed below:
CN1B (Note) Alarm code
Alarm
19 CN1B CN1A CN1A Name
display
19 Pin 18 Pin 19 Pin
88888 Watchdog
AL.12 Memory error 1
AL.13 Clock error
AL.15 Memory error 2
AL.17 Board error 2
0 0 0
AL.19 Memory error 3
AL.37 Parameter error
Serial communication
AL.8A
timeout
AL.8E Serial communication error
AL.30 Regenerative error
0 0 1
AL.33 Overvoltage
0 1 0 AL.10 Undervoltage
AL.45 Main circuit device
AL.46 Servo motor overheat
0 1 1
AL.50 Overload 1
AL.51 Overload 2
AL.24 Motor output ground fault
1 0 0
AL.32 Overcurrent
AL.31 Overspeed
Command pulse frequency
1 0 1 AL.35
alarm
AL.52 Error excessive
AL.16 Encoder error 1
AL.1A Monitor combination error
1 1 0
AL.20 Encoder error 2
AL.25 Absolute position erase
Note.0: Pin-SG off (open)
1: Pin-SG on (short)

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 3. SIGNALS AND WIRING

Connec- Control
I/O
Signal Symbol tor pin Functions/Applications mode
division
No. P S T
Encoder Z-phase OP CN1A Outputs the zero-point signal of the encoder. One pulse is output DO-2
pulse 14 per servo motor revolution. OP and LG are connected when the
(Open collector) zero-point position is reached. (Negative logic)
The minimum pulse width is about 400 s. For home position
return using this pulse, set the creep speed to 100r/min. or less.
Encoder A-phase LA CN1A Outputs pulses per servo motor revolution set in parameter No. DO-2
pulse 6 27 in the differential line driver system. In CCW rotation of the
(Differential line LAR CN1A servo motor, the encoder B-phase pulse lags the encoder A-phase
driver) 16 pulse by a phase angle of /2.
Encoder B-phase LB CN1A The relationships between rotation direction and phase difference
pulse 7 of the A- and B-phase pulses can be changed using parameter No.
(Differential line LBR CN1A 54.
driver) 17
Encoder Z-phase LZ CN1A The same signal as OP is output in the differential line driver DO-2
pulse 5 system.
(Differential line LZR CN1A
driver) 15
Analog monitor 1 MO1 CN3 Used to output the data set in parameter No.17 to across MO1-LG Analog
4 in terms of voltage. Resolution 10 bits output
Analog monitor 2 MO2 CN3 Used to output the data set in parameter No.17 to across MO2-LG Analog
14 in terms of voltage. Resolution 10 bits output

(3) Communication
POINT
Refer to Chapter 14 for the communication function.

Connec- Control
I/O
Signal Symbol tor pin Functions/Applications mode
division
No. P S T
RS-422 I/F SDP CN3 RS-485 and RS-232C functions cannot be used together.
9 Choose either one in parameter No. 16.
SDN CN3 Short “15” and “10” at the last axis.
19
RDP CN3
5
RDN CN3
15
RS-422 TRE CN3 Termination resistor connection terminal of RS-422 interface.
termination 10 When the servo amplifier is the termination axis, connect this
terminal to RDN (CN3-15).
RS-232C I/F RXD CN3 RS-485 and RS-232C functions cannot be used together.
2 Choose either one in parameter No. 16.
TXD CN3
12

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 3. SIGNALS AND WIRING

(4) Power supply

Connec- Control
I/O mode
Signal Symbol tor pin Functions/Applications
division
No. P S T

I/F internal VDD CN1B Used to output 24V 10% to across VDD-COM.
power supply 3 When using this power supply for digital interface, connect it with
COM.
Permissible current : 80mA
Digital I/F power COM CN1A Used to input 24VDC for input interface.
supply input 9 Connect the positive terminal of the 24VDC external power
CN1B supply.
13 24VDC 10%
Open collector OPC CN1A When inputting a pulse train in the open collector system, supply
power input 11 this terminal with the positive ( ) power of 24VDC.
Digital I/F SG CN1A Common terminal for input signals such as SON and EMG. Pins
common 10 are connected internally.
20 Separated from LG.
CN1B
10
20
15VDC power P15R CN1A Outputs 15VDC to across P15R-LG. Available as power for TC,
supply 4 TLA, VC, VLA.
CN1B Permissible current: 30mA
11
Control common LG CN1A Common terminal for TLA, TC, VC, VLA, FPA, FPB, OP ,MO1,
1 MO2 and P15R.
CN1B Pins are connected internally.
1
CN3
1
3
5
11
13
15
Shield SD Plate Connect the external conductor of the shield cable.

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 3. SIGNALS AND WIRING

3.4 Detailed description of the signals

3.4.1 Position control mode

(1) Pulse train input

(a) Input pulse waveform selection
Encoder pulses may be input in any of three different forms, for which positive or negative logic
can be chosen. Set the command pulse train form in parameter No. 21.
Arrow or in the table indicates the timing of importing a pulse train.
A- and B-phase pulse trains are imported after they have been multiplied by 4.

Forward rotation Reverse rotation Parameter No. 21

Pulse train form
command command (Command pulse train)
Forward rotation PP
pulse train
0010
Reverse rotation
NP
pulse train
Negative logic

PP

Pulse train sign 0011

L H
NP

PP
A-phase pulse train
0012
B-phase pulse train
NP

Forward rotation
PP
pulse train
0000
Reverse rotation
pulse train NP
Positive logic

PP
Pulse train sign 0001
NP L
H

PP
A-phase pulse train
0002
B-phase pulse train
NP

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 3. SIGNALS AND WIRING

(b) Connections and waveforms

1) Open collector system
Connect as shown below:
Servo amplifier

VDD

OPC
Approx.
PP 1.2k
Approx.
NP 1.2k

SG

SD

The explanation assumes that the input waveform has been set to the negative logic and forward
and reverse rotation pulse trains (parameter No.21 has been set to 0010). The waveforms in the
table in (a), (1) of this section are voltage waveforms of PP and NP based on SG. Their
relationships with transistor ON/OFF are as follows:
Forward rotation
pulse train (OFF) (ON) (OFF) (ON) (OFF)
(transistor)

Reverse rotation
pulse train (OFF) (ON) (OFF) (ON) (OFF) (ON)
(transistor)
Forward rotation command Reverse rotation command

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 3. SIGNALS AND WIRING

2) Differential line driver system

Connect as shown below:
Servo amplifier
PP

PG

NP

NG

SD

The explanation assumes that the input waveform has been set to the negative logic and forward
and reverse rotation pulse trains (parameter No.21 has been set to 0010).
For the differential line driver, the waveforms in the table in (a), (1) of this section are as follows.
The waveforms of PP, PG, NP and NG are based on that of the ground of the differential line
driver.

Forward rotation
pulse train

PP

PG

Reverse rotation
pulse train

NP

NG

Forward rotation command Reverse rotation command

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 3. SIGNALS AND WIRING

(2) In-position (INP)

PF-SG are connected when the number of droop pulses in the deviation counter falls within the preset
in-position range (parameter No. 5). INP-SG may remain connected when low-speed operation is
performed with a large value set as the in-position range.
ON
Servo-on (SON)
OFF

Yes
Alarm
No

In-position range
Droop pulses

ON
In position (INP)
OFF

(3) Ready (RD)

ON
Servo-on (SON)
OFF

Yes
Alarm
No
80ms or less 10ms or less 10ms or less
ON
Ready (RD)
OFF

(4) Electronic gear switching

The combination of CM1-SG and CM2-SG gives you a choice of four different electronic gear
numerators set in the parameters.
As soon as CM1/CM2 is turned ON or OFF, the denominator of the electronic gear changes. Therefore,
if any shock occurs at this change, use position smoothing (parameter No. 7) to relieve shock.
(Note) External input signal
Electronic gear denomination
CM2 CM1
0 0 Parameter No. 3 (CMX)
0 1 Parameter No. 69 (CM2)
1 0 Parameter No. 70 (CM3)
1 1 Parameter No. 71 (CM4)
Note.0: CM1/CM2-SG off(open)
1: CM1/CM2-SG on(short)

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 3. SIGNALS AND WIRING

(5) Torque limit

(a) Torque limit and generated torque
By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum
value during operation. A relationship between the limit value and servo motor-generated torque is
shown below.
Max. torque

Generated torque
0
0 100
Torque limit value [%]

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

100 Servo amplifier

TL

5% SG
P15R
2k
2k TLA
0
0 0.05 10 LG
Japan resistor
TLA application voltage [V] RRS10 or equivalent SD
TLA application voltage vs.
torque limit value

(b) Torque limit value selection

Choose the torque limit made valid by the internal torque limit value 1 (parameter No. 28) using
the external torque limit selection (TL) or the torque limit made valid by the analog torque limit
(TLA) as indicated below.
When internal torque limit selection (TL1) is made usable by parameter No. 43 to 48, internal
torque limit 2 (parameter No. 76) can be selected. However, if the parameter No. 28 value is less
than the limit value selected by TL/TL1, the parameter No. 28 value is made valid.
(Note) External input signals
Torque limit value made valid
TL1 TL
0 0 Internal torque limit value 1 (parameter No. 28)
TLA Parameter No. 28: Parameter No. 28
0 1
TLA Parameter No. 28: TLA
Parameter No. 76 Parameter No. 28: Parameter No. 28
1 0
Parameter No. 76 Parameter No. 28: Parameter No. 76
TLA Parameter No. 76: Parameter No. 76
1 1
TLA Parameter No. 76: TLA
Note.0: TL/TL1-SG off (open)
1: TL/TL1-SG on (short)

(c) Limiting torque (TLC)

TLC-SG are connected when the torque generated by the servo motor reaches the torque set to
internal torque limit value 1 or analog torque limit.

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 3. SIGNALS AND WIRING

3.4.2 Speed control mode

(1) Speed setting

(a) Speed command and speed
The servo motor is run at the speeds set in the parameters or at the speed set in the applied
voltage of the analog speed command (VC). A relationship between the analog speed command
(VC) applied voltage and the servo motor speed is shown below:
The maximum speed is achieved at 10V. The speed at 10V can be changed using parameter No.
25.

Rated speed [r/min]

Forward rotation (CCW)

Speed [r/min] CCW direction

10
0 10
CW direction VC applied voltage [V]

Rated speed
Reverse rotation (CW)
The following table indicates the rotation direction according to forward rotation start (ST1) and
reverse rotation start (ST2) combination:
(Note) External input signals Rotation direction
Analog speed command (VC) Internal speed
ST2 ST1
Polarity 0V Polarity commands
Stop Stop Stop Stop
0 0
(Servo lock) (Servo lock) (Servo lock) (Servo lock)
0 1 CCW Stop CW CCW
1 0 CW (No servo lock) CCW CW
Stop Stop Stop Stop
1 1
(Servo lock) (Servo lock) (Servo lock) (Servo lock)
Note.0: ST1/ST2-SG off (open)
1: ST1/ST2-SG on (short)

Generally, make connection as shown below:

Servo amplifier

SP1
SP2
SG
P15R
2k
2k VC
LG
Japan resistor
SD
RRS10 or equivalent

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 3. SIGNALS AND WIRING

(b) Speed selection 1 (SP1), speed selection 2 (SP2) and speed command value
Choose any of the speed settings made by the internal speed commands 1 to 3 using speed selection
1 (SP1) and speed selection 2 (SP2) or the speed setting made by the analog speed command (VC).
(Note) External input signals
Speed command value
SP2 SP1
0 0 Analog speed command (VC)
0 1 Internal speed command 1 (parameter No. 8)
1 0 Internal speed command 2 (parameter No. 9)
1 1 Internal speed command 3 (parameter No. 10)
Note.0: SP1/SP2-SG off (open)
1: SP1/SP2-SG on (short)

By making speed selection 3 (SP3) usable by setting of parameter No. 43 to 48, you can choose
the speed command values of analog speed command (VC) and internal speed commands 1 to 7.
(Note) External input signals
Speed command value
SP3 SP2 SP1
0 0 0 Analog speed command (VC)
0 0 1 Internal speed command 1 (parameter No. 8)
0 1 0 Internal speed command 2 (parameter No. 9)
0 1 1 Internal speed command 3 (parameter No. 10)
1 0 0 Internal speed command 4 (parameter No. 72)
1 0 1 Internal speed command 5 (parameter No. 73)
1 1 0 Internal speed command 6 (parameter No. 74)
1 1 1 Internal speed command 7 (parameter No. 75)
Note.0 : SP1/SP2/SP3-SG off (open)
1 : SP1/SP2/SP3-SG on (short)

The speed may be changed during rotation. In this case, the values set in parameters No. 11 and
12 are used for acceleration/deceleration.
When the speed has been specified under any internal speed command, it does not vary due to the
ambient temperature.

(2) Speed reached (SA)

SA-SG are connected when the servo motor speed nearly reaches the speed set to the internal speed
command or analog speed command.
Internal speed
Internal speed command 2
Set speed selection command 1

ON
Start (ST1,ST2)
OFF

Servo motor speed

ON
Speed reached (SA)
OFF

(3) Torque limit

As in Section 3.4.1 (5).

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 3. SIGNALS AND WIRING

3.4.3 Torque control mode

(1) Torque control

(a) Torque command and generated torque
A relationship between the applied voltage of the analog torque command (TC) and the torque
generated by the servo motor is shown below.
The maximum torque is generated at 8V. Note that the torque generated at 8V input can be
changed with parameter No. 26.

CCW direction
Max. torque Forward rotation (CCW)

Generated torque
8 0.05
0.05 8
TC applied voltage [V]
Max. torque (Note)
CW direction
Reverse rotation (CW)
Generated torque limit values will vary about 5% relative to the voltage depending on products.
Also the generated torque may vary if the voltage is low ( 0.05 to 0.05V) and the actual speed
is close to the limit value. In such a case, increase the speed limit value.
The following table indicates the torque generation directions determined by the forward rotation
selection (RS1) and reverse rotation selection (RS2) when the analog torque command (TC) is used.
(Note) External input signals Rotation direction
Torque control command (TC)
RS2 RS1
Polarity 0V Polarity
0 0 Torque is not generated. Torque is not generated.
CCW (reverse rotation in CW (forward rotation in
driving mode/forward driving mode/reverse
0 1
rotation in regenerative rotation in regenerative
mode) Torque is not mode)
CW (forward rotation in generated. CCW (reverse rotation in
driving mode/reverse driving mode/forward
1 0
rotation in regenerative rotation in regenerative
mode) mode)
1 1 Torque is not generated. Torque is not generated.
Note. 0: RS1/RS2-SG off (open)
1: RS1/RS2-SG on (short)

Generally, make connection as shown below:

Servo amplifier

RS1
RS2
SG
TC
8 to 8V LG
SD

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 3. SIGNALS AND WIRING

(b) Analog torque command offset

Using parameter No. 30, the offset voltage of 999 to 999mV can be added to the TC applied
voltage as shown below.
Max. torque

Generated torque
Parameter No.30 offset range
999 to 999mV

0 8( 8)
TC applied voltage [V]

(2) Torque limit

By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum value
during operation. A relationship between limit value and servo motor-generated torque is as in (5) in
section 3.4.1. Note that the analog torque limit (TLA) is unavailable.

(3) Speed limit

(a) Speed limit value and speed
The speed is limited to the values set in parameters No. 8 to 10, 72 to 75 (internal speed limits 1 to
7) or the value set in the applied voltage of the analog speed limit (VLA).
A relationship between the analog speed limit (VLA) applied voltage and the servo motor speed is
shown below.
When the motor speed reaches the speed limit value, torque control may become unstable. Make
the set value more than 100r/m greater than the desired speed limit value.

Rated speed
Forward rotation (CCW)
Speed [r/min] CCW direction
10
0 10
CW direction VLA applied voltage [V]
Rated speed
Reverse rotation (CW)

The following table indicates the limit direction according to forward rotation selection (RS1) and
reverse rotation selection (RS2) combination:
(Note) External input signals Speed limit direction
Analog speed limit (VLA) Internal speed
RS1 RS2
Polarity Polarity commands
1 0 CCW CW CCW
0 1 CW CCW CW
Note.0: RS1/RS2-SG off (open)
1: RS1/RS2-SG on (short)

Generally, make connection as shown below:

Servo amplifier

SP1
SP2
SG
P15R
2k
2k VC
LG
Japan resistor
SD
RRS10 or equivalent

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 3. SIGNALS AND WIRING

(b) Speed selection 1(SP1)/speed selection 2(SP2)/speed selection 3(SP3) and speed limit values
Choose any of the speed settings made by the internal speed limits 1 to 7 using speed selection
1(SP1), speed selection 2(SP2) and speed selection 3(SP3) or the speed setting made by the speed
limit command (VLA), as indicated below.
Setting of parameter (Note) Input signals
Speed limit value
No. 43 to 48 SP3 SP2 SP1
0 0 Analog speed command (VLA)
When speed selection
0 1 Internal speed command 1 (parameter No. 8)
(SP3) is not used
1 0 Internal speed command 2 (parameter No. 9)
(initial status)
1 1 Internal speed command 3 (parameter No. 10)
0 0 0 Analog speed command (VLA)
0 0 1 Internal speed command 1 (parameter No. 8)
0 1 0 Internal speed command 2 (parameter No. 9)
When speed selection 0 1 1 Internal speed command 3 (parameter No. 10)
(SP3) is made valid 1 0 0 Internal speed command 4 (parameter No. 72)
1 0 1 Internal speed command 5 (parameter No. 73)
1 1 0 Internal speed command 6 (parameter No. 74)
1 1 1 Internal speed command 7 (parameter No. 75)
Note.0: SP1/SP2/SP3-SG off (open)
1: SP1/SP2/SP3-SG on (short)

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

(c) Limiting speed (VLC)

VLC-SG are connected when the servo motor speed reaches the limit speed set to any of the
internal speed limits 1 to 3 or analog speed limit.

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 3. SIGNALS AND WIRING

3.4.4 Position/speed control change mode

Set "0001" in parameter No. 0 to switch to the position/speed control change mode. This function is not
available in the absolute position detection system.
(1) Control change (LOP)
Use control change (LOP) to switch between the position control mode and the speed control mode
from an external contact. Relationships between LOP-SG status and control modes are indicated
below:
(Note) LOP Servo control mode
0 Position control mode
1 Speed control mode
Note.0: LOP-SG off (open)
1: LOP-SG on (short)

The control mode may be changed in the zero-speed status. To ensure safety, change control after the
servo motor has stopped. When position control mode is changed to speed control mode, droop pulses are
reset.
If the signal has been switched on-off at the speed higher than the zero speed and the speed is then
reduced to the zero speed or less, the control mode cannot be changed. A change timing chart is shown
below:
Position Speed Position
control mode control mode control mode

Zero speed
Servo motor speed level

ON
Zero speed (ZSP)
OFF
ON
Control change (LOP) (Note) (Note)
OFF

Note: When ZSP is not on, control cannot be changed if LOP is switched on-off.
If ZSP switches on after that, control cannot not be changed.

(2) Torque limit in position control mode

As in Section 3.4.1 (5).

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 3. SIGNALS AND WIRING

(3) Speed setting in speed control mode

(a) Speed command and speed
The servo motor is run at the speed set in parameter No. 8 (internal speed command 1) or at the
speed set in the applied voltage of the analog speed command (VC). A relationship between analog
speed command (VC) applied voltage and servo motor speed and the rotation directions determined
by the forward rotation start signal (ST1) and reverse rotation start signal (ST2) are as in (a), (1) in
section 3.4.2.
Generally, make connection as shown below:
Servo amplifier

SP1
SG
P15R
2k
2k VC
LG
Japan resistor
SD
RRS10 or equivalent

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

Use speed selection 1 (SP1) to select between the speed set by the internal speed command 1 and
the speed set by the analog speed command (VC) as indicated in the following table:
(Note) External input signals
Speed command value
SP1
0 Analog speed command (VC)
1 Internal speed command 1 (parameter No. 8)
Note.0: SP1-SG off (open)
1: SP1-SG on (short)

The speed may also be changed during rotation. In this case, it is increased or decreased according
to the value set in parameter No. 11 or 12.
When the internal speed command 1 is used to command the speed, the speed does not vary with
the ambient temperature.

(c) Speed reached (SA)

As in Section 3.4.2 (2).

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 3. SIGNALS AND WIRING

3.4.5 Speed/torque control change mode

Set "0003" in parameter No. 0 to switch to the speed/torque control change mode.
(1) Control change (LOP)
Use control change (LOP) to switch between the speed control mode and the torque control mode from
an external contact. Relationships between LOP-SG status and control modes are indicated below:
(Note) LOP Servo control mode
0 Speed control mode
1 Torque control mode
Note.0: LOP-SG off (open)
1: LOP-SG on (short)

The control mode may be changed at any time. A change timing chart is shown below:
Speed Torque Speed
control mode control mode control mode
ON
Control change (LOP)
OFF

Servo motor speed

(Note)
Load torque
10V
Analog torque
command (TC) Forward rotation in driving mode
0
Note: When the start signal (ST1 ST2) is switched off as soon as the mode is changed to speed control,
the servo motor comes to a stop according to the deceleration time constant.

(2) Speed setting in speed control mode

As in Section 3.4.2 (1).

(3) Torque limit in speed control mode

As in Section 3.4.1 (5).

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(4) Speed limit in torque control mode

(a) Speed limit value and speed
The speed is limited to the limit value set in parameter No. 8 (internal speed limit 1) or the value
set in the applied voltage of the analog speed limit (VLA). A relationship between the analog speed
limit (VLA) applied voltage and the servo motor speed is as in (a), (3) in section 3.4.3.
Generally, make connection as shown below:
Servo amplifier

SP1
SG
P15R
2k
2k VLA
LG
Japan resistor
SD
RRS10 or equivalent

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

Use speed selection 1 (SP1) to select between the speed set by the internal speed command 1 and
the speed set by the analog speed limit (VLA) as indicated in the following table:
(Note) External input signals
Speed command value
SP1
0 Analog speed limit (VLA)
1 Internal speed limit 1 (parameter No. 8)
Note.0: SP1-SG off (open)
1: SP1-SG on (short)

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

(c) Limiting speed (VLC)

As in (c), (3) in section 3.4.3.

(5) Torque control in torque control mode

As in Section 3.4.3 (1).

(6) Torque limit in torque control mode

As in Section 3.4.3 (2).

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 3. SIGNALS AND WIRING

3.4.6 Torque/position control change mode

Set "0005" in parameter No. 0 to switch to the torque/position control change mode.
(1) Control change (LOP)
Use control change (LOP) to switch between the torque control mode and the position control mode
from an external contact. Relationships between LOP-SG status and control modes are indicated
below:
(Note) LOP Servo control mode
0 Torque control mode
1 Position control mode
Note.0: LOP-SG off (open)
1: LOP-SG on (short)

The control mode may be changed in the zero-speed status.

To ensure safety, change control after the servo motor has stopped. When position control mode is
changed to torque control mode, droop pulses are reset.
If the signal has been switched on-off at the speed higher than the zero speed and the speed is then
reduced to the zero speed or less, the control mode cannot be changed. A change timing chart is shown
below:
Speed Torque Speed
control mode control mode control mode

Zero speed
level
Servo motor speed

10V
Analog torque
command (TLA)
0V
ON
Zero speed (ZSP)
OFF
ON
Control change (LOP)
OFF

(2) Speed limit in torque control mode

As in Section 3.4.3 (3).

(3) Torque control in torque control mode

As in Section 3.4.3 (1).

(4) Torque limit in torque control mode

As in Section 3.4.3 (2).

(5) Torque limit in position control mode

As in Section 3.4.1 (5).

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 3. SIGNALS AND WIRING

3.5 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.

When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a
stop. Switch off the main circuit power supply in the external sequence. To reset the alarm, switch the
control circuit power supply off, then on.
However, the alarm cannot be reset unless its cause of occurrence is removed.
Control power ON Power off
supply Power on
OFF
Base circuit ON
OFF
Dynamic brake Valid
Brake operation Brake operation
Invalid
Servo-on ON
(SON) OFF
Ready ON
(RD) OFF
Trouble ON
(ALM) OFF
1s
Reset ON
(RES) OFF 50ms or more 60ms or more
Alarm occurs.
Remove cause of trouble.

Precautions for alarm occurrence

1) Overcurrent, overload 1 or overload 2
If operation is repeated by switching control circuit power off, then on to reset the overcurrent
(AL.32), overload 1 (AL.50) or overload 2 (AL.51) alarm after its occurrence, without removing
its cause, the servo amplifier and servo motor may become faulty due to temperature rise.
Securely remove the cause of the alarm and also allow about 30 minutes for cooling before
resuming operation.
2) Regenerative alarm
If operation is repeated by switching control circuit power off, then on to reset the regenerative
(AL.30) alarm after its occurrence, the external regenerative brake resistor will generate heat,
resulting in an accident.
3) Instantaneous power failure
Undervoltage (AL.10) occurs if power is restored after a 60ms or longer power failure of the
control power supply or after a drop of the bus voltage to or below 200VDC. If the power failure
persists further, the control power switches off. When the power failure is reset in this state, the
alarm is reset and the servo motor will start suddenly if the servo-on signal (SON) is on. To
prevent hazard, make up a sequence which will switch off the servo-on signal (SON) if an alarm
occurs.
4) In position control mode (incremental)
When an alarm occurs, the home position is lost. When resuming operation after deactivating
the alarm, make a home position return.

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 3. SIGNALS AND WIRING

3.6 Interfaces

3.6.1 Common line

The following diagram shows the power supply and its common line.
CN1A
DC24V CN1B
CN1A
CN1B VDD RA
COM ALM .etc
DO-1
SON, etc.
DI-1 SG
(Note) OPC
PG NG

PP NP

SG SG

Isolated
15VDC 10% OP
30mA LG
P15R
LA etc.
LAR Differential line
etc. driver output
Analog input TLA LG 35mA max.
( 10V/max. current) VC etc.
SD
MO1 CN3 Monitor analog output
LG MO2

LG
SD
RDP
RDN
SDP RS-422
SDN
LG
SD
TXD

RXD RS-232C

Servo motor encoder

CN2
MR
Servo motor MRR
LG
SM
SD

Ground
Note: For the open collection pulse train input. Make the following
connection for the different line driver pulse train input.

OPC

PG NG

PP NP
SG

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3.6.2 Detailed description of the interfaces

This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in
Sections 3.3.2.
Refer to this section and connect the interfaces with the external equipment.
(1) Digital input interface DI-1
Give a signal with a relay or open collector transistor.
Source input is also possible. Refer to (7) in this section.
For use of internal power supply For use of external power supply
Servo amplifier

Do not connect
24VDC
VDD VDD-COM. Servo amplifier
R: Approx. 4.7
COM 24VDC
VDD
24VDC
200mA or more COM R: Approx. 4.7
(Note)
For a transistor SON, etc.
Approx. 5mA
SON, etc.
Switch

TR SG
Switch
V CES 1.0V
I CEO 100 A SG

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

(2) Digital output interface DO-1

A lamp, relay or photocoupler can be driven. Provide a diode (D) for an inductive load, or an inrush
current suppressing resister (R) for a lamp load. (Permissible current: 40mA or less, inrush current:
100mA or less)
(a) Inductive load
For use of internal power supply For use of external power supply
Servo amplifier
24VDC VDD Servo amplifier Do not connect
VDD-COM.
24VDC VDD
COM

COM
Load
ALM, etc. 24VDC
Load
10%
ALM, etc.
SG If the diode is not
connected as shown,
the servo amplifier SG
will be damaged.
If the diode is not
connected as shown,
the servo amplifier
will be damaged.

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 3. SIGNALS AND WIRING

(b) Lamp load

For use of internal power supply For use of external power supply
Servo amplifier
24VDC Servo amplifier Do not connect
VDD
24VDC VDD VDD-COM.

COM
R COM
R
24VDC
ALM, etc. 10%
ALM, etc.
SG
SG

(3) Pulse train input interface DI-2

Provide a pulse train signal in the open collector or differential line driver system.
(a) Open collector system
1) Interface
For use of internal power supply For use of external power supply
Servo amplifier
24VDC
VDD Do not connect
Servo amplifier
Max. input pulse VDD-COM.
OPC 24VDC
frequency 200kpps VDD
Max. input pulse
About 1.2k OPC
frequency 200kpps

PP, NP About 1.2k

24VDC

SG PP, NP

SD
SG

SD

2) Conditions of the input pulse

tc tHL
tLH tHL 0.2 s
PP 0.9 tc 2 s
0.1 tF 3 s

tc tLH
tF

NP

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 3. SIGNALS AND WIRING

(b) Differential line driver system

1) Interface
Servo amplifier

Max. input pulse

frequency 500kpps

Am26LS31 or equivalent PP(NP)

About 100
PG(NG)

SD

2) Conditions of the input pulse

tc tHL
tLH tHL 0.1 s
PP PG 0.9 tc 1 s
0.1 tF 3 s

tc tLH
tF

NP NG

(4) Encoder pulse output DO-2

(a) Open collector system
Interface
Max. output current : 35mA
Servo amplifier Servo amplifier 5 to 24VDC

OP OP
Photocoupler
LG LG

SD SD

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 3. SIGNALS AND WIRING

(b) Differential line driver system

1) Interface
Max. output current: 35mA
Servo amplifier Servo amplifier
LA LA
Am26LS32 or equivalent 100 High-speed photocoupler
(LB, LZ) (LB, LZ)

150
LAR LAR
(LBR, LZR) (LBR, LZR)
LG
SD SD

2) Output pulse
Servo motor CCW rotation
LA

LAR T
LB

LBR
/2
LZ signal varies 3/8T on its leading edge.
LZ
LZR
400 s or more
OP
(5) Analog input
Input impedance 10 to 12k
Servo amplifier

15VDC

P15R
Upper limit setting 2k VC‚ etc
2k
LG Approx.
10k
SD

(6) Analog output

Output 10V Max.1mA
Servo amplifier

MO1 10k
(MO2)
Reading in one or
both directions A
LG 1mA meter

SD

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(7) Source input interface

When using the input interface of source type, all Dl-1 input signals are of source type.
Source output cannot be provided.
For use of internal power supply For use of external power supply

Servo amplifier Servo amplifier

SG
SG
R: Approx. 4.7
(Note) COM R: Approx. 4.7
COM
For a transistor SON,
Approx. 5mA etc.

Switch
Switch SON,etc.
24VDC
VDD
TR
24VDC
VCES 1.0V 200mA or more
ICEO 100 A

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

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3.7 Input power supply circuit

When the servo amplifier has become faulty, switch power off on the servo
amplifier power side. Continuous flow of a large current may cause a fire.
CAUTION Use the trouble signal to switch power off. Otherwise, a regenerative brake
transistor fault or the like may overheat the regenerative brake resistor, causing a
fire.

3.7.1 Connection example

Wire the power supply and main circuit as shown below so that the servo-on signal turns off as soon as
alarm occurrence is detected and power is shut off.
A no-fuse breaker (NFB) must be used with the input cables of the power supply.
For 1-phase 100VAC or 1-phase 230VAC power supply

NFB MC Servo amplifier

1-phase
L1
100 to 120
VAC L2
or 1-phase
230VAC L3 (Note)
L11

L21

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

Emergency
RA stop OFF ON
MC
MC
SK

NFB MC
Servo amplifier
L1
3-phase
200 to 230VAC L2
L3
L11
L21

Emergency stop EMG

Servo-on SON
SG
VDD
COM
ALM RA Trouble

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3.7.2 Terminals

The positions and signal arrangements of the terminal blocks change with the capacity of the servo
amplifier. Refer to Section 11.2.1.
Symbol Signal Description
Supply L1, L2 and L3 with the following power:
For 1-phase 230VAC, connect the power supply to L1/L2 and leave L3 open.
Servo amplifier MR-J2S-10A to MR-J2S-100A MR-J2S-10A1
Power supply 70A to 350A to 40A1
3-phase 200 to 230VAC,
L1 L2 L3
L1, L2, L3 Main circuit power supply 50/60Hz
1-phase 230VAC,
L1 L2
50/60Hz
1-phase 100 to 120VAC,
L1 L2
50/60Hz

U, V, W Servo motor output Connect to the servo motor power supply terminals (U, V, W).

Servo amplifier
MR-J2S-10A to 350A MR-J2S-10A1 to 40A1
Power supply
1-phase 200 to 230VAC,
L11, L21 Control circuit power supply L11 L21
50/60Hz
1-phase 100 to 120VAC,
L11 L21
50/60Hz

P and D are factory-connected.

P, C, D Regenerative brake option When using the regenerative brake option, always remove wiring from across P-D
and connect the regenerative brake option across P-C.
N Do not connect.

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

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3.7.3 Power-on sequence

(1) Power-on procedure

1) Always wire the power supply as shown in above Section 3.7.1 using the magnetic contactor with
the main circuit power supply (three-phase 200V: L1, L2, L3, single-phase 230V: L1, L2). Configure
up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power
supply or before switching on the main circuit power supply. If the main circuit power supply is not
on, the display shows the corresponding warning. However, by switching on the main circuit power
supply, the warning disappears and the servo amplifier will operate properly.
3) The servo amplifier can accept the servo-on signal (SON) about 1 second after the main circuit
power supply is switched on. Therefore, when SON is switched on simultaneously with the main
circuit power supply, the base circuit will switch on in about 1 second, and the ready signal (RD)
will switch on in further about 20ms, making the servo amplifier ready to operate. (Refer to
paragraph (2) in this section.)
4) When the reset signal (RES) is switched on, the base circuit is shut off and the servo motor shaft
coasts.

(2) Timing chart

SON accepted
(1s)

power supply ON
OFF

ON
Base circuit OFF 10ms 10ms 60ms

Servo-on ON
(SON) OFF 60ms

Reset ON
(RES) OFF
20ms 10ms 20ms 10ms 20ms 10ms

Ready ON
(RD) OFF

(3) Emergency stop

Make up a circuit which shuts off main circuit power as soon as EMG-SG are opened at an emergency
stop. To ensure safety, always install an external emergency stop switch across EMG-SG. By
disconnecting EMG-SG, the dynamic brake is operated to bring the servo motor to a sudden stop. At
this time, the display shows the servo emergency stop warning (AL.E6).
During ordinary operation, do not use the external emergency stop signal to alternate stop and run.
Also, if the start signal is on or a pulse train is input during an emergency stop, the servo motor will
rotate as soon as the warning is reset. During an emergency stop, always shut off the run command.
Servo amplifier

VDD
COM
EMG
Emergency stop
SG

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3.8 Connection of servo amplifier and servo motor

3.8.1 Connection instructions

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

WARNING
shock.

Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier
and servo motor. Otherwise, the servo motor will operate improperly.
CAUTION
Do not connect AC power supply directly to the servo motor. Otherwise, a fault
may occur.

The connection method differs according to the series and capacity of the servo motor and whether or not
the servo motor has the electromagnetic brake. Perform wiring in accordance with this section.

(1) For grounding, connect the earth cable of the servo motor to the protective earth (PE) terminal of the
servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective
earth of the control box.
Control box

Servo Servo motor

amplifier

PE terminal

(2) Supply exclusive 24VDC power to the brake lead of the servo motor with electromagnetic brake.

3.8.2 Connection diagram

The following table lists wiring methods according to the servo motor types. Use the connection diagram
which conforms to the servo motor used. For cables required for wiring, refer to Section 13.2.1. For
encoder cable connection, refer to Section 13.1.2.
For the servo motor connector, refer to Chapter 3 of the Servo Motor Instruction Manual.

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Servo motor Connection diagram

Servo amplifier Servo motor
U (Red)
U
V (White)
V
W (Black) Motor
W
(Green)

(Note 1)

24VDC B1 (Note2)
HC-KFS053 (B) to 43 (B)
HC-MFS053 (B) to 73 (B) B2 Electro-
magnetic
HC-UFS13 (B) to 73 (B) EMG
brake
To be shut off when servo
on signal switches off or by
alarm signal
CN2

Encoder
Encoder cable
Note:1. To prevent an electric shock, always connect the protective earth (PE) terminal of the
servo amplifier to the protective earth (PE) of the control box.
2. This circuit applies to the servo motor with electromagnetic brake.
Servo amplifier Servo motor

U U
V V
Motor
W W

(Note 1)

24VDC (Note2)
HC-SFS121 (B) to 301 (B)
B1
HC-SFS202 (B) 352 (B) Electro-
B2
HC-SFS203 (B) 353 (B) EMG magnetic
brake
HC-UFS202 (B) To be shut off when servo
on signal switches off or by
alarm signal
CN2

Encoder
Encoder cable

Note:1. To prevent an electric shock, always connect the protective earth (PE) terminal of the
servo amplifier to the protective earth (PE) of the control box.
2. This circuit applies to the servo motor with electromagnetic brake.
Servo amplifier Servo motor

U U
V V
Motor
W W

(Note 1)
HC-SFS81 (B) 24VDC (Note2)
HC-SFS52 (B) to 152 (B) B1
HC-SFS53 (B) to 153 (B) Electro-
B2 magnetic
HC-RFS103 (B) to 203 (B) EMG
brake
To be shut off when servo
HC-UFS72 (B) 152 (B) on signal switches off or by
alarm signal
CN2
Encoder
Encoder cable
Note:1. To prevent an electric shock, always connect the protective earth (PE) terminal of the
servo amplifier to the protective earth (PE) of the control box.
2. This circuit applies to the servo motor with electromagnetic brake.

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3.8.3 I/O terminals

(1) HC-KFS HC-MFS HC-UFS3000r/min series

Power supply lead Encoder connector signal arrangement

4-AWG19 0.3m
1 2 3
Power supply connector (Molex make)
MR MRR BAT
Without electromagnetic brake
Encoder cable 0.3m 4 5 6
5557-04R-210 (receptacle)
With connector 1-172169-9 MD MDR CNT
5556PBTL (Female terminal)
(AMP make) 7 8 9
With electromagnetic brake
P5 LG SHD
5557-06R-210 (receptacle)
5556PBTL (Female terminal)
Power supply Power supply
connector connector
Pin Signal Lead wire color Pin Signal Lead wire color
5557-04R-210 5557-06R-210
1 U Red 1 U Red
1 3 2 V White 1 4 2 V White
2 4 3 W Black 2 5 3 W Black
4 Earth Green/yellow 3 6 4 Earth Green/yellow
5 B1
6 B2

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(2) HC-SFS HC-RFS HC-UFS2000 r/min series

Motor plate Servo motor side connectors

(Opposite side) Servo motor Electromagnetic
For power supply For encoder
brake connector
HC-SFS81(B) The connector
CE05-2A22-
HC-SFS52(B) to 152(B) for power is
23PD-B
HC-SFS53(B) to 153(B) MS3102A20- shared.
DOWN
UP HC-SFS121(B) to 301(B) 29P
CE05-2A24- MS3102A10SL-
HC-SFS202(B) 352(B)
10PD-B 4P
HC-SFS203(B) 353(B)
The connector
CE05-2A22- MS3102A20-
HC-RFS103(B) to 203 (B) for power is
23PD-B 29P
shared.
The connector
CE05-2A22-
HC-UFS72(B) 152(B) for power is
Encoder connector 23PD-B MS3102A20-
shared.
29P
CE05-2A24- MS3102A10SL-
Brake connector Power supply connector HC-UFS202(B)
10PD-B 4P

Power supply connector signal arrangement

CE05-2A22-23PD-B CE05-2A24-10PD-B

Key Key
Pin Signal Pin Signal
A U A U
F A B V F A B V
G
C W C W
B E
D (Earth) B D (Earth)
H G
C E E
E D C
F F
D
G (Note) B1 G
H (Note) B2
Note:24VDC,without
polarity

Encoder connector signal arrangement

Electromagnetic brake connector signal arrangement
MS3102A20-29P
MS3102A10SL-4P
Key
Pin Signal Pin Signal Key
Pin Signal
M A MD K
A B A (Note)B1
L C B MDR L
N C MR M CNT B (Note)B2
K T P D
D MRR N SD Note:24VDC without
J S R E E P A B polarity
H G F F BAT R LG
G LG S P5
H T
J

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3.9 Servo motor with electromagnetic brake

Configure the electromagnetic brake operation circuit so that it is activated not only
by the servo amplifier signals but also by an external emergency stop signal.
Contacts must be open when
servo-on signal is off or when an Circuit must be
alarm (trouble) is present and when opened during
an electromagnetic brake signal. emergency stop signal.

Servo motor
CAUTION RA EMG

24VDC

Electromagnetic brake

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

POINT
Refer to the Servo Motor Instruction Manual for specifications such as the
power supply capacity and operation delay time of the electromagnetic
brake.

Note the following when the servo motor equipped with electromagnetic brake is used for applications
requiring a brake to hold the motor shaft (vertical lift applications):
1) Set " 1 " in parameter No.1 to make the electromagnetic brake interlock signal (MBR) valid.
Note that this will make the zero speed signal (ZSP) unavailable.
2) Do not share the 24VDC interface power supply between the interface and electromagnetic
brake. Always use the power supply designed exclusively for the electromagnetic brake.
3) The brake will operate when the power (24VDC) switches off.
4) While the reset signal is on, the base circuit is shut off. When using the servo motor with a
vertical shaft, use the electromagnetic brake interlock signal (MBR).
5) Switch off the servo-on signal after the servo motor has stopped.

(1) Connection diagram

Servo amplifier Servo motor
Emergency
RA stop B1
VDD

COM Z

MBR RA
24VDC B2

(2) Setting
1) Set " 1 " in parameter No.1 to make the electromagnetic brake interlock signal (MBR) valid.
2) Using parameter No.33 (electromagnetic brake sequence output), set a time delay from
electromagnetic brake operation to base circuit shut-off as in the timing chart shown in (3) in this
section.

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 3. SIGNALS AND WIRING

(3) Timing charts

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

Servo motor speed 0 r/min

(60ms) Tb
ON
Base circuit
OFF
(80ms)
Invalid(ON) Electromagnetic brake
Electromagnetic
operation delay time
brake (MBR) Valid(OFF)

ON
Servo-on(SON)
OFF

(b) Emergency stop signal (EMG) ON/OFF

Dynamic brake
Dynamic brake
Electromagnetic brake
Servo motor speed Electromagnetic brake
Electromagnetic brake release
(10ms) (180ms)
ON
Base circuit
OFF
(180ms)
Electromagnetic Invalid (ON) Electromagnetic brake
brake interlock (MBR) operation delay time
Valid (OFF)
Invalid (ON)
Emergency stop (EMG)
Valid (OFF)

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 3. SIGNALS AND WIRING

(c) Alarm occurrence

Dynamic brake
Dynamic brake
Electromagnetic brake
Servo motor speed
Electromagnetic brake
(10ms)

ON
Base circuit
OFF

Electromagnetic Invalid(ON) Electromagnetic brake

brake interlock (MBR) operation delay time
Valid(OFF)

No(ON)
Trouble (ALM)
Yes(OFF)

(d) Both main and control circuit power supplies off

Dynamic brake
Dynamic brake
(10ms) Electromagnetic brake
Servo motor speed (Note) Electromagnetic brake
15 to 100ms

ON
Base circuit
OFF

Invalid(ON) (10ms or less)

Electromagnetic
brake interlock(MBR) Valid(OFF)
Electromagnetic brake
No(ON) operation delay time
Trouble (ALM) (Note 2)
Yes(OFF)

Main circuit ON
power
Control circuit OFF

Note: Changes with the operating status.

(e) Only main circuit power supply off (control circuit power supply remains on)
Dynamic brake
Dynamic brake
(10ms) Electromagnetic brake
Servo motor speed (Note 1) Electromagnetic brake
15ms or more

ON
Base circuit
OFF
10ms or less
Electromagnetic Invalid(ON)
brake interlock Valid(OFF)
(MBR) Electromagnetic brake
No(ON) operation delay time
Trouble (ALM) (Note 2)
Yes(OFF)

ON
Main circuit power
supply OFF

Note: 1. Changes with the operating status.

2. When the main circuit power supply is off in a motor stop status,
the main circuit off warning (A.E9) occurs and the ALM signal does not turn off.

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 3. SIGNALS AND WIRING

3.10 Grounding

Ground the servo amplifier and servo motor securely.

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

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

Servo motor
NFB MC Servo amplifier
CN2
(Note)
L1
3-phase
Encoder
Line filter

200 to 230VAC,
1-phase L2
230VAC or
1-phase L3
100 to 120VAC L11
U U
L21
V V SM
W W
CN1A CN1B
Programmable
controller

Must be grounded by cable.

Outer
Protective earth(PE) box

Note: For 1-phase 230VAC, connect the power supply to L1 L2 and leave L3 open.
There is no L3 for 1-phase 100 to 120VAC power supply.

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 3. SIGNALS AND WIRING

3.11 Servo amplifier terminal block (TE2) wiring method

(1) Termination of the cables

Solid wire: After the sheath has been stripped, the cable can be used as it is. (Cable size: 0.2 to
2.5mm2)

Approx. 10mm

Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to
avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder
the core as it may cause a contact fault. (Cable size: 0.2 to 2.5mm2)Alternatively, a bar
terminal may be used to put the wires together.(Phoenix contact make)

Bar terminal for 1 cable Bar terminal for 2 cable

(Bar terminal ferrule with insulation sleeve) (Twin ferrule with insulation sleeve)

Cable size Bar terminal type Crimping

[mm2] AWG For 1 cable For 2 cables tool
Al0.25-6YE
0.25 24
Al0.25-8YE
Al0.5-6WH
0.5 20
Al0.5-8WH
Al0.75-6GY Al-TWIN2 0.75-8GY
0.75 18
Al0.75-8GY Al-TWIN2 0.75-10GY
CRIMPFOX-UD6
Al1-6RD Al-TWIN2 1-8RD
1 18
Al1-8RD Al-TWIN2 1-10RD
Al1.5-6BK Al-TWIN2 1.5-8BK
1.5 16
Al1.5-8BK Al-TWIN2 1.5-12BK
Al2.5-8BU Al-TWIN2 2.5-10BU
2.5 14
Al2.5-8BU-1000 Al-TWIN2 2.5-13BU

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 3. SIGNALS AND WIRING

(2) Connection
Insert the core of the cable into the opening and tighten the screw with a flat-blade screwdriver so that
the cable does not come off. (Tightening torque: 0.5 to 0.6N m) Before inserting the cable into the
opening, make sure that the screw of the terminal is fully loose.
When using a cable of 1.5mm2 or less, two cables may be inserted into one opening.

Flat-blade screwdriver
Tip thickness 0.4 to 0.6mm
Overall width 2.5 to 3.5mm

To loosen. To tighten.

Cable

Opening

Control circuit terminal block

3.12 Instructions for the 3M connector

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

External conductor Sheath Core Sheath

External conductor
Strip the sheath. Pull back the external conductor to cover the sheath

Screw

Cable

Screw

Ground plate

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 3. SIGNALS AND WIRING

MEMO

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 4. OPERATION

4. OPERATION

4.1 When switching power on for the first time

Before starting operation, check the following:

(1) Wiring
(a) A correct power supply is connected to the power input terminals (L1, L2, L3, L11, L21) of the servo
amplifier.
(b) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the
power input terminals (U, V, W) of the servo motor.
(c) The servo motor power supply terminals (U, V, W) of the servo amplifier are not shorted to the
power input terminals (L1, L2, L3).
(d) The servo amplifier and servo motor are grounded securely.
(e) When the regenerative brake option is used, the lead has been removed across D-P of the control
circuit terminal block. Also, twisted cables are used for its wiring.
(f) When stroke end limit switches are used, the signals across LSP-SG and LSN-SG are on during
operation.
(g) 24VDC or higher voltages are not applied to the pins of connectors CN1A and CN1B.
(h) SD and SG of connectors CN1A and CN1B are not shorted.
(i) The wiring cables are free from excessive force.

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

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

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 4. OPERATION

4.2 Startup

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

Before starting operation, check the parameters. Some machines may perform
unexpected operation.
CAUTION During power-on for some after power-off, do not touch or close a parts (cable etc.)
to the servo amplifier heat sink, regenerative brake resistor, the servo motor, etc.
Their temperatures may be high and you may get burnt or a parts may damaged.

Connect the servo motor with a machine after confirming that the servo motor operates properly alone.

4.2.1 Selection of control mode

Use parameter No. 0 to choose the control mode used. After setting, this parameter is made valid by
switching power off, then on.

4.2.2 Position control mode

(1) Power on
(a) Switch off the servo-on (SON) signal.
(b) When main circuit power/control circuit power is switched on, the display shows "C (Cumulative
feedback pulses)", and in two second later, shows data.

(2) Test operation 1

Using jog operation in the test operation mode, make sure that the servo motor operates. (Refer to
Section 6.8.2.)

(3) Parameter setting

Set the parameters according to the structure and specifications of the machine. Refer to Chapter 5 for
the parameter definitions and to Sections 6.5 for the setting method.
Parameter No. Name Setting Description
3 0
Control mode, regenerative brake
0 Position control mode
option selection
MR-RB12 regenerative brake option is used.
0 02
Input filter 3.555ms (initial value)
1 Function selection 1
Electromagnetic brake interlock signal is not used.
Used in incremental positioning system.
1 5
2 Auto tuning Middle response (initial value) is selected.
Auto tuning mode 1 is selected.
3 Electronic gear numerator (CMX) 2 Electronic gear numerator
4 Electronic gear denominator (CDV) 1 Electronic gear denominator

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

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 4. OPERATION

(4) Servo-on
Switch the servo-on in the following procedure:
(a) Switch on main circuit/control power.
(b) Switch on the servo-on signal (SON).
When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is
locked.

(5) Command pulse input

Entry of a pulse train from the positioning device rotates the servo motor. At first, run it at low speed
and check the rotation direction, etc. If it does not run in the intended direction, check the input
signal.
On the status display, check the speed, command pulse frequency, load factor, etc. of the servo motor.
When machine operation check is over, check automatic operation with the program of the positioning
device.
This servo amplifier has a real-time auto tuning function under model adaptive control. Performing
operation automatically adjusts gains. The optimum tuning results are provided by setting the
response level appropriate for the machine in parameter No. 2. (Refer to chapter 7)

(6) Home position return

Make home position return as required.

(7) Stop
In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo
motor:
Refer to Section 3.9, (2) for the servo motor equipped with electromagnetic brake. Note that the stop
pattern of stroke end (LSP/LSN) OFF is as described below.
(a) Servo-on (SON) OFF
The base circuit is shut off and the servo motor coasts.
(b) Alarm occurrence
When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the
servo motor to a sudden stop.
(c) Emergency stop (EMG) OFF
The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden
stop. Alarm AL.E6 occurs.
(d) Stroke end (LSP/LSN) OFF
The servo motor is brought to a sudden stop and servo-locked. The motor may be run in the
opposite direction.

POINT
A sudden stop indicates that a stop is made with the droop pulses erased.

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 4. OPERATION

4.2.3 Speed control mode

(1) Power on
(a) Switch off the servo-on (SON) signal.

(b) When main circuit power/control circuit power is switched on, the display shows "r (servo motor
speed)", and in two second later, shows data.

(2) Test operation

Using jog operation in the test operation mode, make sure that the servo motor operates. (Refer to
Section 6.8.2.)

(3) Parameter setting

Set the parameters according to the structure and specifications of the machine. Refer to Chapter 5 for
the parameter definitions and to Sections 6.5 for the setting method.
Parameter No. Name Setting Description
0 2
Control mode, regenerative brake
0 Speed control mode
option selection
Regenerative brake option is not used.
12
1 Function selection 1 Input filter 3.555ms (initial value)
Electromagnetic brake interlock signal is used.
1 5
2 Auto tuning Middle response (initial value) is selected.
Auto tuning mode 1 is selected.
8 Internal speed command 1 1000 Set 1000r/min.
9 Internal speed command 2 1500 Set 1500r/min.
10 Internal speed command 3 2000 Set 2000r/min.
11 Acceleration time constant 1000 Set 1000ms.
12 Deceleration time constant 500 Set 500ms.
S-pattern acceleration/deceleration
13 0 Not used
time constant

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

(4) Servo-on
Switch the servo-on in the following procedure:
(a) Switch on main circuit/control power.

(b) Switch on the servo-on signal (SON) (short SON-SG).

When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is
locked.

(5) Start
Using speed selection 1 (SP1) and speed selection 2 (SP2), choose the servo motor speed. Turn on
forward rotation start (ST1) to run the motor in the forward rotation (CCW) direction or reverse
rotation start (ST2) to run it in the reverse rotation (CW) direction. At first, set a low speed and check
the rotation direction, etc. If it does not run in the intended direction, check the input signal.
On the status display, check the speed, load factor, etc. of the servo motor.
When machine operation check is over, check automatic operation with the host controller or the like.
This servo amplifier has a real-time auto tuning function under model adaptive control. Performing
operation automatically adjusts gains. The optimum tuning results are provided by setting the
response level appropriate for the machine in parameter No. 2. (Refer to chapter 7)

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 4. OPERATION

(6) Stop
In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo
motor:
Refer to Section 3.9, (2) for the servo motor equipped with electromagnetic brake. Note that
simultaneous ON or simultaneous OFF of stroke end (LSP, LSN) OFF and forward rotation start
(ST1) or reverse rotation start (ST2) signal has the same stop pattern as described below.
(a) Servo-on (SON) OFF
The base circuit is shut off and the servo motor coasts.
(b) Alarm occurrence
When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the
servo motor to a sudden stop.
(c) Emergency stop (EMG) OFF
The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden
stop. Alarm AL.E6 occurs.
(d) Stroke end (LSP/LSN) OFF
The servo motor is brought to a sudden stop and servo-locked. The motor may be run in the
opposite direction.
(e) Simultaneous ON or simultaneous OFF of forward rotation start (ST1) and reverse rotation start
(ST2) signals
The servo motor is decelerated to a stop.

POINT
A sudden stop indicates that a stop is made at the deceleration time
constant of zero.

4.2.4 Torque control mode

(1) Power on
(a) Switch off the servo-on (SON) signal.
(b) When main circuit power/control circuit power is switched on, the display shows "U (torque
command voltage)", and in two second later, shows data.
(2) Test operation
Using jog operation in the test operation mode, make sure that the servo motor operates. (Refer to
Section 6.8.2.)

(3) Parameter setting

Set the parameters according to the structure and specifications of the machine. Refer to Chapter 5 for
the parameter definitions and to Sections 6.5 for the setting method.
Parameter No. Name Setting Description
0 4
Control mode, regenerative brake
0 Torque control mode
option selection
Regenerative brake option is not used.
02
1 Function selection 1 Input filter 3.555ms (initial value)
Electromagnetic brake interlock signal is not used.
8 Internal speed limit 1 1000 Set 1000r/min.
9 Internal speed limit 2 1500 Set 1500r/min.
10 Internal speed limit 3 2000 Set 2000r/min.
11 Acceleration time constant 1000 Set 1000ms.
12 Deceleration time constant 500 Set 500ms.
S-pattern acceleration/deceleration time
13 0 Not used
constant
14 Torque command time constant 2000 Set 2000ms
28 Internal torque limit 1 50 Controlled to 50% output
After setting the above parameters, switch power off once. Then switch power on again to make the set
parameter values valid.

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 4. OPERATION

(4) Servo-on
Switch the servo-on in the following procedure:
(a) Switch on main circuit/control power.
(b) Switch on the servo-on signal (SON) (short SON-SG).
When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is
locked.

(5) Start
Using speed selection 1 (SP1) and speed selection 2 (SP2), choose the servo motor speed. Turn on
forward rotation select (DI4) to run the motor in the forward rotation (CCW) direction or reverse
rotation select (DI3) to run it in the reverse rotation (CW) direction, generating torque. At first, set a
low speed and check the rotation direction, etc. If it does not run in the intended direction, check the
input signal.
On the status display, check the speed, load factor, etc. of the servo motor.
When machine operation check is over, check automatic operation with the host controller or the like.

(6) Stop
In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo
motor:
Refer to Section 3.9, (2) for the servo motor equipped with electromagnetic brake.
(a) Servo-on (SON) OFF
The base circuit is shut off and the servo motor coasts.
(b) Alarm occurrence
When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the
servo motor to a sudden stop.
(c) Emergency stop (EMG) OFF
The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden
stop. Alarm AL.E6 occurs.
(d) Simultaneous ON or simultaneous OFF of forward rotation selection (RS1) and reverse rotation
selection (RS2) signals
The servo motor coasts.

POINT
A sudden stop indicates that a stop is made at the deceleration time
constant of zero.

4.3 Multidrop communication

You can use the RS-422 communication function (parameter No.16) to operate two or more servo
amplifiers on the same bus. In this case, set station numbers to the servo amplifiers to recognize the servo
amplifier to which the current data is being sent. Use parameter No. 15 to set the station numbers.
Always set one station number to one servo amplifier. Normal communication cannot be made if the same
station number is set to two or more servo amplifiers.
For details, refer to Chapter 14.

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 5. PARAMETERS

5. PARAMETERS

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

5.1 Parameter list

5.1.1 Parameter write inhibit

POINT
After setting the parameter No. 19 value, switch power off, then on to
make that setting valid.

In the MR-J2S-A servo amplifier, its parameters are classified into the basic parameters (No. 0 to 19),
expansion parameters 1 (No. 20 to 49) and expansion parameters 2 (No.50 to 84) according to their
safety aspects and frequencies of use. In the factory setting condition, the customer can change the
basic parameter values but cannot change the expansion parameter values. When fine adjustment, e.g.
gain adjustment, is required, change the parameter No. 19 setting to make the expansion parameters
write-enabled.
The following table indicates the parameters which are enabled for reference and write by the setting of
parameter No. 19. Operation can be performed for the parameters marked .
Basic parameters Expansion parameters 1 Expansion parameters 2
Parameter No. 19 setting Operation
No. 0 to No. 19 No. 20 to No. 49 No. 50 to No. 84
0000 Reference
(initial value) Write
Reference No. 19 only
000A
Write No. 19 only
Reference
000B
Write
Reference
000C
Write
Reference
000E
Write
Reference
100B
Write No. 19 only
Reference
100C
Write No. 19 only
Reference
100E
Write No. 19 only

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 5. PARAMETERS

5.1.2 Lists

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

For details of the parameters, refer to the corresponding items.

The symbols in the control mode column of the table indicate the following
modes:
P : Position control mode
S : Speed control mode
T : Torque control mode

(1) Item list

Control Initial Customer
No. Symbol Name Unit
mode value setting
0 *STY Control mode ,regenerative brake option selection P S T 0000
1 *OP1 Function selection 1 P S T 0002
2 ATU Auto tuning P S 0105
3 CMX Electronic gear numerator P 1
4 CDV Electronic gear denominator P 1
5 INP In-position range P 100 pulse
6 PG1 Position loop gain 1 P 35 rad/s
Position command acceleration/deceleration time constant
7 PST P 3 ms
(Smoothing)
Internal speed command 1 S 100 r/min
Basic parameters

8 SC1
Internal speed limit 1 T 100 r/min
Internal speed command 2 S 500 r/min
9 SC2
Internal speed limit 2 T 500 r/min
Internal speed command 3 S 1000 r/min
10 SC3
Internal speed limit 3 T 1000 r/min
11 STA Acceleration time constant S T 0 ms
12 STB Deceleration time constant S T 0 ms
13 STC S-pattern acceleration/deceleration time constant S T 0 ms
14 TQC Torque command time constant T 0 ms
15 *SNO Station number setting P S T 0 station
16 *BPS Communication baudrate selection, alarm history clear P S T 0000
17 MOD Analog monitor output P S T 0100
18 *DMD Status display selection P S T 0000
19 *BLK Parameter block P S T 0000

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 5. PARAMETERS

Control Initial Customer

No. Symbol Name Unit
mode value setting
20 *OP2 Function selection 2 P S T 0000
21 *OP3 Function selection 3 (Command pulse selection) P 0000
22 *OP4 Function selection 4 P S T 0000
23 FFC Feed forward gain P 0 %
24 ZSP Zero speed P S T 50 r/min
Analog speed command maximum speed S (Note1)0 (r/min)
25 VCM
Analog speed limit maximum speed T (Note1)0 (r/min)
26 TLC Analog torque command maximum output T 100 %
27 *ENR Encoder output pulses P S T 4000 pulse
28 TL1 Internal torque limit 1 P S T 100 %
Analog speed command offset S (Note2) mV
29 VCO
Analog speed limit offset T (Note2) mV
Analog torque command offset T 0 mV
30 TLO
Analog torque limit offset S 0 mV
Expansion parameters 1

31 MO1 Analog monitor ch1 offset P S T 0 mV

32 MO2 Analog monitor ch2 offset P S T 0 mV
33 MBR Electromagnetic brake sequence output P S T 100 ms
0.1
34 GD2 Ratio of load inertia moment to servo motor inertia moment P S 70
times
35 PG2 Position loop gain 2 P 35 rad/s
36 VG1 Speed loop gain 1 P S 177 rad/s
37 VG2 Speed loop gain 2 P S 817 rad/s
38 VIC Speed integral compensation P S 48 ms
39 VDC Speed differential compensation P S 980
40 For manufacturer setting 0
41 *DIA Input signal automatic ON selection P S T 0000
42 *DI1 Input signal selection 1 P S T 0003
43 *DI2 Input signal selection 2 (CN1B-pin 5) P S T 0111
44 *DI3 Input signal selection 3 (CN1B-pin 14) P S T 0222
45 *DI4 Input signal selection 4 (CN1A-pin 8) P S T 0665
46 *DI5 Input signal selection 5 (CN1B-pin 7) P S T 0770
47 *DI6 Input signal selection 6 (CN1B-pin 8) P S T 0883
48 *DI7 Input signal selection 7 (CN1B-pin 9) P S T 0994
49 *DO1 Output signal selection 1 P S T 0000

For notes, refer to next page.

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 5. PARAMETERS

Control Initial Customer

No. Symbol Name Unit
mode value setting
50 For manufacturer setting 0000
51 *OP6 Function selection 6 P S T 0000
52 For manufacturer setting 0000
53 *OP8 Function selection 8 P S T 0000
54 *OP9 Function selection 9 P S T 0000
55 *OPA Function selection A P 0000
56 SIC Serial communication time-out selection P S T 0 s
57 For manufacturer setting 10
58 NH1 Machine resonance suppression filter 1 P S T 0000
59 NH2 Machine resonance suppression filter 2 P S T 0000
60 LPF Low-pass filter, adaptive vibration suppression control P S T 0000
0.1
61 GD2B Ratio of load inertia moment to Servo motor inertia moment 2 P S 70
times
62 PG2B Position control gain 2 changing ratio P 100 %
63 VG2B Speed control gain 2 changing ratio P S 100 %
64 VICB Speed integral compensation changing ratio P S 100 %
65 *CDP Gain changing selection P S 0000
Expansion parameters 2

66 CDS Gain changing condition P S 10 (Note3)

67 CDT Gain changing time constant P S 1 ms
68 For manufacturer setting 0
69 CMX2 Command pulse multiplying factor numerator 2 P 1
70 CMX3 Command pulse multiplying factor numerator 3 P 1
71 CMX4 Command pulse multiplying factor numerator 4 P 1
Internal speed command 4 S
72 SC4 200 r/min
Internal speed limit 4 T
Internal speed command 5 S
73 SC5 300 r/min
Internal speed limit 5 T
Internal speed command 6 S
74 SC6 500 r/min
Internal speed limit 6 T
Internal speed command 7 S
75 SC7 800 r/min
Internal speed limit 7 T
76 TL2 Internal torque limit 2 P S T 100 %
77 For manufacturer setting 100
78 10000
79 10
80 10
81 100
82 100
83 100
84 0
Note 1. The setting of "0" provides the rated servo motor speed.
2. Depends on the servo amplifier.
3. Depends on the parameter No. 65 setting.

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 5. PARAMETERS

(2) Details list

Initial Setting Control
Class No. Symbol Name and function Unit
value range mode
0 *STY Control mode, regenerative brake option selection 0000 0000h P S T
Used to select the control mode and regenerative brake option. to
0605h
0 0
Select the control mode.
0:Position
1:Position and speed
2:Speed
3:Speed and torque
4:Torque
5:Torque and position

Selection of regenerative brake option

0:Not used
1:Spare(do not set)
2:MR-RB032
3:MR-RB12
4:MR-RB32
5:MR-RB30
6:MR-RB50
Basic parameters

POINT
Wrong setting may cause the regenerative brake option to burn.
If the regenerative brake option selected is not for use with the
servo amplifier, parameter error (AL.37) occurs.

1 *OP1 Function selection 1 0002 0000h P S T

Used to select the input signal filter, pin CN1B-19 function and to
absolute position detection system. 1013h

0
Input signal filter
If external input signal causes chattering
due to noise, etc., input filter is used to
suppress it.
0:None
1:1.777[ms]
2:3.555[ms]
3:5.333[ms]
CN1B-pin 19's function selection
0:Zero Speed detection signal
1:Electromagnetic brake interlock signal
Selection of absolute position detection system
(Refer to Chapter 15)
0:Incremental system
1:Absolute position detection system

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 5. PARAMETERS

Initial Setting Control

Class No. Symbol Name and function Unit
value range mode
2 ATU Auto tuning 0105 0001h P S
Used to set the response level, etc. for execution of auto tuning. to
Refer to Chapter 7. 040Fh

0 0
Auto tuning response level setting
Set Response Machine resonance
value level frequency guideline
1 Low 15Hz
2 response 20Hz
3 25Hz
4 30Hz
5 35Hz
6 45Hz
7 55Hz
Middle
8 70Hz
response
9 85Hz
A 105Hz
B 130Hz
C 160Hz
D 200Hz
E High 240Hz
F response 300Hz
Basic parameters

If the machine hunts or generates

large gear sound, decrease the
set value.
To improve performance, e.g.
shorten the settling time, increase
the set value.
Auto tuning selection(For more information, refer to Section 7.1.1.)
Set value Gain adjustment Description
0 Interpolation mode Fixes position control gain
(parameter No. 6).
1 Auto tuning mode 1 Ordinary auto tuning.
2 Auto tuning mode 2 Fixes the load inertia moment
ratio set in parameter No. 34.
Response level setting can be
changed.
3 Manual mode 1 Simple manual adjustment.
4 Manual mode 2 Manual adjustment of all gains.

3 CMX Electronic gear numerator 1 0 P

Used to set the electronic gear numerator value. 1
For the setting, refer to Section 5.2.1. to
Setting "0" automatically sets the resolution of the servo motor 65535
connected.
For the HC-MFS series, 131072 pulses are set for example.
4 CDV Electronic gear denominator 1 1 P
Used to set the electronic gear denominator value. to
For the setting, refer to Section 5.2.1. 65535

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 5. PARAMETERS

Initial Setting Control

Class No. Symbol Name and function Unit
value range mode
5 INP In-position range 100 pulse 0 P
Used to set the in-position (INP) signal output range in the command to
pulse increments prior to electronic gear calculation. 10000
6 PG1 Position loop gain 1 35 red/s 4 P
Used to set the gain of position loop 1. to
Increase the gain to improve trackability in response to the position 2000
command.
The result of auto tuning is automatically provided when auto tuning
is selected.
7 PST Position command acceleration/deceleration time constant 3 ms 0 P
(position smoothing) to
Used to set the time constant of a low pass filter in response to the 20000
position command.
You can use parameter No. 55 to choose the primary delay or linear
acceleration/deceleration control system. When you choose linear
acceleration/deceleration, the setting range is 0 to 10ms. Setting of
longer than 10ms is recognized as 10ms.
POINT
When you have chosen linear acceleration/deceleration, do not
select control selection (parameter No. 0) and restart after
instantaneous power failure (parameter No. 20). Doing so will
cause the servo motor to make a sudden stop at the time of
position control switching or restart.
Basic parameters

Example: When a command is given from a synchronizing detector,

synchronous operation can be started smoothly if started during line
operation.

Synchronizing
detector

Start
Servo motor
Servo amplifier

Without time
constant setting
With time
Servo motor constant setting
speed
ON t
OFF
Start
8 SC1 Internal speed command 1 100 r/min 0 to S
Used to set speed 1 of internal speed commands. instan-
taneous
Internal speed limit 1 permi- T
Used to set speed 1 of internal speed limits. ssible
speed

5- 7

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 5. PARAMETERS

Initial Setting Control

Class No. Symbol Name and function Unit
value range mode
9 SC2 Internal speed command 2 500 r/min 0 to S
Used to set speed 2 of internal speed commands. instan-
taneous
Internal speed limit 2 permi- T
Used to set speed 2 of internal speed limits. ssible
speed
10 SC3 Internal speed command 3 1000 r/min 0 to S
Used to set speed 3 of internal speed commands. instan-
taneous
Internal speed limit 3 permi- T
Used to set speed 3 of internal speed limits. ssible
speed
11 STA Acceleration time constant 0 ms 0 S T
Used to set the acceleration time required to reach the rated speed to
from 0r/min in response to the analog speed command and internal 20000
speed commands 1 to 7.
If the preset command speed is
lower than the rated speed,
Speed
acceleration/deceleration time
Rated will be shorter.
speed

Zero Time
speed Parameter Parameter
No.11 setting No.12 setting
Example: For the servo motor of 3000r/min rated speed, set 3000 (3s)
to increase speed from 0r/min to 1000r/min in 1 second.
12 STB Deceleration time constant 0
Basic parameters

Used to set the deceleration time required to reach 0r/min from the
rated speed in response to the analog speed command and internal
speed commands 1 to 7.
13 STC S-pattern acceleration/deceleration time constant 0 ms 0 S T
Used to smooth start/stop of the servo motor. to
Set the time of the arc part for S-pattern acceleration/deceleration. 1000

Command speed
Servo motor
Speed

0r/min
Time
STA STC STC STB STC
STC

STA: Acceleration time constant (parameter No.11)

STB: Deceleration time constant (parameter No.12)
STC: S-pattern acceleration/deceleration time con-
stant (parameter No.13)
Long setting of STA (acceleration time constant) or STB (deceleration time
constant) may produce an error in the time of the arc part for the setting of the
S-pattern acceleration/deceleration time constant.
The upper limit value of the actual arc part time is limited by
2000000 2000000
for acceleration or by for deceleration.
STA STB
(Example) At the setting of STA 20000, STB 5000 and STC 200,
the actual arc part times are as follows:
Limited to 100[ms] since
During acceleration: 100[ms] 2000000
100[ms] 200[ms].
20000
200[ms] as set since
During deceleration: 200[ms] 2000000
400[ms] 200[ms].
5000

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 5. PARAMETERS

Initial Setting Control

Class No. Symbol Name and function Unit
value range mode
14 TQC Torque command time constant 0 ms 0 T
Used to set the constant of a low pass filter in response to the torque to
command. 20000
Torque Torque command

After
filtered

TQC TQC Time

TQC: Torque command time constant
15 *SNO Station number setting 0 sta- 0 P S T
Used to specify the station number for serial communication. tion to
Always set one station to one axis of servo amplifier. If one station 31
number is set to two or more stations, normal communication cannot
Basic parameters

be made.
16 *BPS Communication baudrate selection, alarm history clear 0000 0000h P S T
Used to select the RS-422/RS-232C communication baudrate, select to
various communication conditions, and clear the alarm history. 1113h

RS-422/RS-232C baudrate selection

0: 9600 [bps]
1: 19200[bps]
2: 38400[bps]
3: 57600[bps]
Alarm history clear
0: Invalid
1: Valid
When alarm history clear is made valid,
the alarm history is cleared at next power-on.
After the alarm history is cleared, the setting
is automatically made invalid (reset to 0).
RS-422/RS-232C communication standard selection
0: RS-232C used
1: RS-485 used
Communication response delay time
0: Invalid
1: Valid, reply sent after delay time of 800 s or more

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 5. PARAMETERS

Initial Setting Control

Class No. Symbol Name and function Unit
value range mode
17 MOD Analog monitor output 0100 0000h P S T
Used to set the signal provided to the analog monitor output. to
0 0 0B0Bh

Analog monitor output selection

Setting
ch2 ch1
0 Servo motor speed ( 8V/max. speed)
Basic parameters

1 Generated torque ( 8V/max. torque)

2 Motor speed ( 8V/max. speed)
3 Generated torque ( 8V/max. torque)
4 Current command ( 8V/max. current command)
5 Command pulse frequency ( 8/500kpulse/s)
6 Droop pulses ( 10V/128 pulses)
7 Droop pulses ( 10V/2048 pulses)
8 Droop pulses ( 10V/8192 pulses)
9 Droop pulses ( 10V/32768 pulses)
A Droop pulses ( 10V/131072 pulses)
B Bus voltage ( 8V/400V)

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 5. PARAMETERS

Initial Setting Control

Class No. Symbol Name and function Unit
value range mode
18 *DMD Status display selection 0000 0000h P S T
Used to select the status display shown at power-on. to
001Fh
0 0
Selection of status display at
power-on
0: Cumulative feedback pulses
1: Servo motor speed
2: Droop pulses
3: Cumulative command pulses
4: Command pulse frequency
5: Analog speed command voltage
(Note 1)
6: Analog torque command voltage
(Note 2)
7: Regenerative load ratio
8: Effective load ratio
9: Peak load ratio
A: Instantaneous torque
B: Within one-revolution position low
Basic parameters

C: Within one-revolution position high

D: ABS counter
E: Load inertia moment ratio
F: Bus voltage
Note: 1. In speed control mode. Analog
speed limit voltage in torque
control mode.
2. In torque control mode. Analog
torque limit voltage in speed or
position control mode.
Status display at power-on in
corresponding control mode
0: Depends on the control mode.
Control Mode Status display at power-on
Position Cumulative feedback pulses
Position/speed Cumulative feedback pulses/servo motor speed
Speed Servo motor speed
Speed/torque Servo motor speed/analog torque command voltage
Torque Analog torque command voltage
Torque/position Analog torque command voltage/cumulative feedback pulses
1: Depends on the first digit setting of this parameter.

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 5. PARAMETERS

Initial Setting Control

Class No. Symbol Name and function Unit
value range mode
19 *BLK Parameter block 0000 0000h P S T
Used to select the reference and write ranges of the parameters. to
Operation can be performed for the parameters marked . 000Ch
000Eh
Basic Expansion Expansion
100Bh
Set parameters parameters 1 parameters 2
Operation 100Ch
value No. 0 No. 20 No. 50
100Eh
to No. 19 to No. 49 to No. 84
0000 Reference
(Initial
Write
value)
Basic parameters

Reference No. 19 only

000A
Write No. 19 only
Reference
000B
Write
Reference
000C
Write
Reference
000E
Write
Reference
100B
Write No. 19 only
Reference
100C
Write No. 19 only
Reference
100E
Write No. 19 only

20 *OP2 Function selection 2 0000 0000h

Used to select restart after instantaneous power failure, to
servo lock at a stop in speed control mode, and slight vibration 0111h
suppression control.

0
Restart after instantaneous S
power failure
If the input power supply voltage
had reduced in the speed control
mode to stop the servo motor due
to the undervoltage alarm (AL.10)
Expansion parameters 1

but the supply voltage has return-

ed to normal, the servo motor can
be restarted by merely switching
on the start signal without resett-
ing the alarm.
0: Invalid
1: Valid

Stop-time servo lock selection

The shaft can be servo-locked to
remain still at a stop in the speed
control mode.
0: Valid
1: Invalid

Slight vibration suppression control

P
Made valid when auto tuning selection is
set to "0400" in parameter No. 2.
Used to suppress vibration at a stop.
0: Invalid
1: Valid

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 5. PARAMETERS

Initial Setting Control

Class No. Symbol Name and function Unit
value range mode
21 *OP3 Function selection 3 (Command pulse selection) 0000 0000h P
Used to select the input form of the pulse train input signal. to
(Refer to Section 3.4.1.) 0012h

0 0
Command pulse train input form
0: Forward/reverse rotation pulse train
1: Signed pulse train
2: A/B phase pulse train

Pulse train logic selection

0: Positive logic
1: Negative logic

22 *OP4 Function selection 4 0000 0000h

Used to select stop processing at LSP/LSN signal off and choose to
VC/VLA voltage averaging. 0401h
Expansion parameters 1

0 0
How to make a stop when LSP/LSN P S
signal is valid. (Refer to Section 5.2.3.)
0: Sudden stop
1: Slow stop

VC/VLA voltage averaging P S T

Used to set the filtering time when the
analog speed command (VC) voltage
or analog speed limit (VLA) is imported.
Set 0 to vary the speed to voltage fluctua-
tion in real time. Increase the set value
to vary the speed slower to voltage flu-
ctuation.

Set value Filtering time [ms]

0 0
1 0.444
2 0.888
3 1.777
4 3.555

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 5. PARAMETERS

Initial Setting Control

Class No. Symbol Name and function Unit
value range mode
23 FFC Feed forward gain 0 % 0 P
Used to set the fee forward gain. to
At the setting of 100%, droop pulses during constant-speed operation 100
will be almost zero.
Note that sudden acceleration/deceleration will increase overshoot.
24 ZSP Zero speed 50 r/min 0 P S T
Used to set the output range of the zero speed signal (ZSP). to
10000
25 VCM Analog speed command maximum speed 0 0 S
Used to set the speed at the maximum input voltage (10V) of the r/min 1
analog speed command (VC). to
Set "0" to select the rated speed of the servo motor connected. 50000
Analog speed limit maximum speed 0 0 T
Used to set the speed at the maximum input voltage (10V) of the r/min 1
analog speed limit (VLA). to
Set "0" to select the rated speed of the servo motor connected. 50000
26 TLC Analog torque command maximum output 100 % 0 T
Used to set the output torque at the analog torque command voltage to
(TC 8V) of 8V on the assumption that the maximum torque is 1000
100[%]. For example, set 50 to output (maximum torque 50/100) at
the TC of 8V.
27 *ENR Encoder output pulses 4000 pulse/ 1 P S T
Used to set the encoder pulses (A-phase, B-phase) output by the rev to
servo amplifier. 32768
Set the value 4 times greater than the A-phase or B-phase pulses.
You can use parameter No. 54 to choose the output pulse setting or
output division ratio setting.
The number of A/B-phase pulses actually output is 1/4 times greater
than the preset number of pulses.
Expansion parameters 1

The maximum output frequency is 1.3Mpps (after multiplication by

4). Use this parameter within this range.
For output pulse designation
Set " 0 " (initial value) in parameter No. 54.
Set the number of pulses per servo motor revolution.
Output pulse set value [pulses/rev]
At the setting of 5600, for example, the actually output A/B-phase
pulses are as indicated below:
5600
A B-phase output pulses 1400[pulse]
4
For output division ratio setting
Set "1 "in parameter No. 54.
The number of pulses per servo motor revolution is divided by the
set value.
Resolution per servo motor revolution
Output pulse [pulses/rev]
Set value
At the setting of 8, for example, the actually output A/B-phase
pulses are as indicated below:
131072 1
A B-phase output pulses 4096[pulse]
8 4
28 TL1 Internal torque limit 1 100 % 0 P S T
Set this parameter to limit servo motor-generated torque on the to
assumption that the maximum torque is 100[%]. 100
When 0 is set, torque is not produced.
(Note)
Torque limit
TL
0 Internal torque limit 1 (Parameter No. 28)
1 Analog torque limit internal torque limit 1
: Analog torque limit
Analog torque limit internal torque limit 1
: Internal torque limit 1
Note.0 :TL-SG off (open)
1 :TL-SG on(short)
When torque is output in analog monitor output, this set value is the
maximum output voltage ( 8V). (Refer to Section 3.4.1, (5))

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 5. PARAMETERS

Initial Setting Control

Class No. Symbol Name and function Unit
value range mode
29 VCO Analog speed command offset Depends mV 999 S
Used to set the offset voltage of the analog speed command (VC). on servo to
For example, if CCW rotation is provided by switching on forward amplifier 999
rotation start (ST1) with 0V applied to VC, set a negative value.
When automatic VC offset is used, the automatically offset value is
set to this parameter. (Refer to Section6.3.)
The initial value is the value provided by the automatic VC offset
function before shipment at the VC-LG voltage of 0V.
Analog speed limit offset T
Used to set the offset voltage of the analog speed limit (VLA).
For example, if CCW rotation is provided by switching on forward
rotation selection (RS1) with 0V applied to VLA, set a negative value.
When automatic VC offset is used, the automatically offset value is
set to this parameter. (Refer to Section6.3.)
The initial value is the value provided by the automatic VC offset
function before shipment at the VLA-LG voltage of 0V.
30 TLO Analog torque command offset 0 mV 999 T
Used to set the offset voltage of the analog torque command (TC). to
Analog torque limit offset 999 S
Used to set the offset voltage of the analog torque limit (TLA).
31 MO1 Analog monitor ch1 offset 0 999
mV P S T
Used to set the offset voltage of the analog monitor ch1 output (MO1). to 999
32 MO2 Analog monitor ch2 offset 0 999
mV P S T
Used to set the offset voltage of the analog monitor ch2 output (MO2). to 999
33 MBR Electromagnetic brake sequence output 100 ms 0 P S T
Expansion parameters 1

Used to set the delay time (Tb) between electronic brake interlock to
signal (MBR) and the base drive circuit is shut-off. 1000
34 GD2 Ratio of load inertia moment to servo motor inertia moment 70 0.1 0 P S
Used to set the ratio of the load inertia moment to the servo motor times to
shaft inertia moment. When auto tuning is selected, the result of 3000
auto tuning is automatically set.
In this case, it varies between 0 and 1000.
35 PG2 Position loop gain 2 35 rad/s 1 P
Used to set the gain of the position loop. to
Set this parameter to increase the position response to level load 1000
disturbance. Higher setting increases the response level but is liable
to generate vibration and/or noise.
When auto tuning is selected, the result of auto tuning is
automatically set.
36 VG1 Speed loop gain 1 177 rad/s 20 P S
Normally this parameter setting need not be changed. to
Higher setting increases the response level but is liable to generate 8000
vibration and/or noise.
When auto tuning is selected, the result of auto tuning is
automatically set.
37 VG2 Speed loop gain 2 817 rad/s 20 P S
Set this parameter when vibration occurs on machines of low rigidity to
or large backlash. Higher setting increases the response level but is 20000
liable to generate vibration and/or noise.
When auto tuning is selected, the result of auto tuning is
automatically set.
38 VIC Speed integral compensation 48 ms 1 P S
Used to set the integral time constant of the speed loop. to
Higher setting increases the response level but is liable to generate 1000
vibration and/or noise.
When auto tuning is selected, the result of auto tuning is
automatically set.

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 5. PARAMETERS

Initial Setting Control

Class No. Symbol Name and function Unit
value range mode
39 VDC Speed differential compensation 980 0 P S
Used to set the differential compensation. to
Made valid when the proportion control signal is switched on. 1000
40 For manufacturer setting 0
Must not be changed.
41 *DIA Input signal automatic ON selection 0000 0000h P S T
Used to set automatic ON of SON, LSP and LSN. to
0111h
0
Servo-on signal (SON) input selection
0: Switched on/off by external input.
1: Switched on automatically in servo
amplifier.
(No need of external wiring)
Forward rotation stroke end signal P S
(LSP) input selection
0: Switched on/off by external input.
1: Switched on automatically in servo
amplifier.
(No need of external wiring)
Reverse rotation stroke end signal (LSN)
input selection
0: Switched on/off by external input.
Expansion parameters 1

1: Switched on automatically in servo

amplifier.
(No need of external wiring)

42 *DI1 Input signal selection 1 0003 0000h

Used to assign the control mode changing signal input pins and to set to
the clear signal. 0015h
0 0
P/S
Control change signal (LOP) in-
put pin assignment S/T
Used to set the control mode T/P
change signal input connector
pins. Note that this parameter is
made valid when parameter No.
0 is set to select the position/spe-
ed, speed/torque or torque/posi-
tion change mode.
Set value Connector pin No.
0 CN1B-5
1 CN1B-14
2 CN1A-8
3 CN1B-7
4 CN1B-8
5 CN1B-9

Clear signal (CR) selection P S T

0: Droop pulses are cleared on the
leading edge.
1: While on, droop pulses are always cleared.

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 5. PARAMETERS

Initial Setting Control

Class No. Symbol Name and function Unit
value range mode
43 *DI2 Input signal selection 2 (CN1B-pin 5) 0111 0000h P S T
This parameter is unavailable when parameter No.42 is set to assign to
the control change signal (LOP) to CN1B-pin 5. 0EEEh
Allows any input signal to be assigned to CN1B-pin 5.
Note that the setting digit and assigned signal differ according to the
control mode.
0
Position
control mode Input signals of
Speed control CN1B-pin 5
mode selected.
Torque control mode
Signals that may be assigned in each control mode are indicated
below by their symbols.
Setting of any other signal will be invalid.
(Note) Control mode
Set value
P S T
0
1 SON SON SON
2 RES RES RES
3 PC PC
Expansion parameters 1

4 TL TL
5 CR CR CR
6 SP1 SP1
7 SP2 SP2
8 ST1 RS2
9 ST2 RS1
A SP3 SP3
B CM1
C CM2
D TL1 TL1 TL1
E CDP CDP CDP
Note: P: Position control mode
S: Speed control mode
T: Torque control mode
44 *DI3 Input signal selection 3 (CN1B-pin 14) 0222 0000h P S T
Allows any input signal to be assigned to CN1B-pin 14. to
The assignable signals and setting method are the same as in input 0EEEh
signal selection 2 (parameter No. 43).

0
Position
control mode Input signals of
Speed control CN1B-pin 14
mode selected.
Torque control mode
This parameter is unavailable when parameter No. 42 is set to
assign the control change signal (LOP) to CN1B-pin 14.

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 5. PARAMETERS

Initial Setting Control

Class No. Symbol Name and function Unit
value range mode
45 *DI4 Input signal selection 4 (CN1A-pin 8) 0665 0000h P S T
Allows any input signal to be assigned to CN1A-pin 8. to
The assignable signals and setting method are the same as in input 0EEEh
signal selection 2 (parameter No. 43).

0
Position
control mode Input signals of
Speed control CN1A-pin 8
mode selected.
Torque control mode
This parameter is unavailable when parameter No. 42 is set to
assign the control change signal (LOP) to CN1 A-pin 8.
46 *DI5 Input signal selection 5 (CN1B-pin 7) 0770 0000h P S T
Allows any input signal to be assigned to CN1B-pin 7. to
The assignable signals and setting method are the same as in input 0EEEh
signal selection 2 (parameter No. 43).

0
Position
control mode Input signals of
Speed control CN1B-pin 7
mode selected.
Torque control mode
This parameter is unavailable when parameter No. 42 is set to
Expansion parameters 1

assign the control change signal (LOP) to CN1 B-pin 7.

47 *DI6 Input signal selection 6 (CN1B-pin 8) 0883 0000h P S T
Allows any input signal to be assigned to CN1B-pin 8. to
The assignable signals and setting method are the same as in input 0EEEh
signal selection 2 (parameter No. 43).

0
Position
control mode Input signals of
Speed control CN1B-pin 8
mode selected.
Torque control mode
This parameter is unavailable when parameter No. 42 is set to
assign the control change signal (LOP) to CN1B-pin 8.
When "Used in absolute position detection system" is selected in
parameter No. 1, CN1B-pin 8 is in the ABS transfer mode (ABSM).
(Refer to Section 15.5.)
48 *DI7 Input signal selection 7 (CN1B-pin 9) 0994 0000h P S T
Allows any input signal to be assigned to CN1B-pin 9. to
The assignable signals and setting method are the same as in input 0EEEh
signal selection 2 (parameter No. 43).

0
Position
control mode Input signals of
Speed control CN1B-pin 9
mode selected.
Torque control mode
This parameter is unavailable when parameter No. 42 is set to
assign the control change signal (LOP) to CN1B-pin 9.
When "Used in absolute position detection system" is selected in
parameter No. 1, CN1B-pin 9 is in the ABS request mode (ABSR).
(Refer to Section 15.5.)

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 5. PARAMETERS

Initial Setting Control

Class No. Symbol Name and function Unit
value range mode
49 *DO1 Output signal selection 1 0000 0000h P S T
Used to select the connector pins to output the alarm code, warning to
(WNG) and battery warning (BWNG). 0551h

0
Setting of alarm code output
Connector pins
Set value CN1B-19 CN1A-18 CN1A-19
0 ZSP INP or SA RD
1 Alarm code is output at alarm occurrence.

(Note) Alarm code

Alarm
CN1B CN1A CN1A Name
display
pin 19 pin 18 pin 19
88888 Watchdog
AL.12 Memory error 1
AL.13 Clock error
AL.15 Memory error 2
0 0 0 AL.17 Board error 2
AL.19 Memory error 3
AL.37 Parameter error
AL.8A Serial communication time-out
AL.8E Serial communication error
AL.30 Regenerative error
0 0 1
AL.33 Overvoltage
Expansion parameters 1

0 1 0 AL.10 Undervoltage
AL.45 Main circuit device overheat
AL.46 Servo motor overheat
0 1 1
AL.50 Overload 1
AL.51 Overload 2
AL.24 Motor output ground fault
1 0 0
AL.32 Overcurrent
AL.31 Overspeed
1 0 1 AL.35 Command pulse frequency error
AL.52 Error excessive
AL.16 Encoder error 1
AL.1A Motor combination error
1 1 0
AL.20 Encoder error 2
AL.25 Absolute position erase
Note: 0:Pin-SG off (open)
1:Pin-SG on (short)
Setting of warning (WNG) output
Select the connector pin to output warning.
The old signal before selection will be unavailable.
Set value Connector pin No.
0 Not output.
1 CN1A-19
2 CN1B-18
3 CN1A-18
4 CN1B-19
5 CN1B-6
Setting of battery warning (BWNG) output
Select the connector pin to output battery warning.
The old signal before selection will be unavailable.
Set this function as in the second digit of this
parameter.
Parameter No. 1 setting has priority.

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 5. PARAMETERS

Initial Setting Control

Class No. Symbol Name and function Unit
value range mode
50 For manufacturer setting 0000
Must not be changed.
51 *OP6 Function selection 6 0000 0000h P S T
Used to select the operation to be performed when the alarm reset to
signal switches on. 0100h

0 0 0

Operation to be performed when the

alarm reset signal switches on
0: Base circuit not switched off
1: Base circuit switched off

52 For manufacturer setting 0000

Must not be changed.
53 *OP8 Function selection 8 0000 0000h P S T
Used to select the protocol of serial communication. to
0110h
0 0

Protocol checksum selection

0: Yes (checksum added)
1: No (checksum not added)
Expansion parameters 2

Protocol checksum selection

0: With station numbers
1: No station numbers

54 *OP9 Function selection 9 0000 0000h P S T

Use to select the command pulse rotation direction, encoder output to
pulse direction and encoder pulse output setting. 1101h

0
Servo motor rotation direction changing
Changes the servo motor rotation
direction for the input pulse train.
Servo motor rotation direction
Set value At forward rotation At reverse rotation
pulse input (Note) pulse input (Note)
0 CCW CW
1 CW CCW
Note. Refer to Section 3.4.1, (1), (a).
Encoder output pulse phase changing
Changes the phases of A, B-phase encoder output pulses.
Servo motor rotation direction
Set value
CCW CW
A phase A phase
0
B phase B phase

A phase A phase
1
B phase B phase

Encoder pulse output setting selection (refer to parameter No. 27)

0: Output pulse setting
1: Division ratio setting

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 5. PARAMETERS

Initial Setting Control

Class No. Symbol Name and function Unit
value range mode
55 *OPA Function selection A 0000 0000h P
Used to select the position command acceleration/deceleration time to
constant (parameter No. 7) control system. 0010h

0 0 0

Position command acceleration/deceleration

time constant control
0: Primary delay
1: Linear acceleration/deceleration

56 SIC Serial communication time-out selection 0 0 P S T

Used to set the communication protocol time-out period in [s].
When you set "0", time-out check is not made. s 1 to 60
57 For manufacturer setting 10
Must not be changed.
58 NH1 Machine resonance suppression filter 1 0000 0000h P S T
Used to set the machine resonance suppression filter. to
(Refer to Section 8.1.) 031Fh

Notch frequency
Expansion parameters 2

Set "00" when you have set adaptive vibration

suppression control to be "valid" or "held"
(parameter No. 60: 1 or 2 ).

Setting Frequency Setting Frequency Setting Frequency Setting Frequency

00 Invalid 08 562.5 10 281.3 18 187.5
01 4500 09 500 11 264.7 19 180
02 2250 0A 450 12 250 1A 173.1
03 1500 0B 409.1 13 236.8 1B 166.7
04 1125 0C 375 14 225 1C 160.1
05 900 0D 346.2 15 214.3 1D 155.2
06 750 0E 321.4 16 204.5 1E 150
07 642.9 0F 300 17 195.7 1F 145.2

Notch depth
Setting Depth Gain
0 Deep 40dB
1 14dB
to
2 8dB
3 Shallow 4dB

59 NH2 Machine resonance suppression filter 2 0000 0000h P S T

Used to set the machine resonance suppression filter. to
031Fh
0

Notch frequency
Same setting as in parameter No. 58
However, you need not set "00" if you have
set adaptive vibration suppression control to
be "valid" or "held".
Notch depth
Same setting as in parameter No. 58

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 5. PARAMETERS

Initial Setting Control

Class No. Symbol Name and function Unit
value range mode
60 LPF Low-pass filter/adaptive vibration suppression control 0000 0000h P S T
Used to set the low-pass filter and adaptive vibration suppression to
control. (Refer to Chapter 8.) 1210h

Low-pass filter selection

0: Valid
1: Invalid
VG2 setting 10
When you choose "valid",
2 (1 GD2 setting 0.1) [Hz]
bandwidth filter is set automatically.
Adaptive vibration suppression control selection
Choosing "valid" or "held" in adaptive vibration
suppression control selection makes the machine
resonance control filter 1 (parameter No. 58) invalid.
0: Invalid
1: Valid
Machine resonance frequency is always detected
Expansion parameters 2

and the filter is generated in response to resonance to

suppress machine vibration.
2: Held
The characteristics of the filter generated so far are held,
and detection of machine resonance is stopped.
Adaptive vibration suppression control sensitivity
Used to set the sensitivity of machine resonance detection.
0: Normal
1: Large sensitivity

61 GD2B Ratio of load inertia moment to servo motor inertia moment 2 70 0.1 0 P S
Used to set the ratio of load inertia moment to servo motor inertia times to
moment when gain changing is valid. 3000
62 PG2B Position control gain 2 changing ratio 100 % 10 P
Used to set the ratio of changing the position control gain 2 when to
gain changing is valid. 200
Made valid when auto tuning is invalid.
63 VG2B Speed control gain 2 changing ratio 100 % 10 P S
Used to set the ratio of changing the speed control gain 2 when gain to
changing is valid. 200
Made valid when auto tuning is invalid.
64 VICB Speed integral compensation changing ratio 100 % 50 P S
Used to set the ratio of changing the speed integral compensation to
when gain changing is valid. Made valid when auto tuning is invalid. 1000

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 5. PARAMETERS

Initial Setting Control

Class No. Symbol Name and function Unit
value range mode
65 *CDP Gain changing selection 0000 0000h P S
Used to select the gain changing condition. (Refer to Section 8.3.) to
1210h
0 0 0

Gain changing selection

Gains are changed in accordance with the settings
of parameters No. 61 to 64 under any of the following
conditions:
0: Invalid
1: Gain changing (CDP) signal is ON
2: Command frequency is equal to higher than
parameter No. 66 setting
3: Droop pulse value is equal to higher than
parameter No. 66 setting
4: Servo motor speed is equal to higher than
parameter No. 66 setting

66 CDS Gain changing condition 10 kpps 10 P S

Expansion parameters 2

Used to set the value of gain changing condition (command pulse to

frequency, droop pulses, servo motor speed) selected in parameter r/min 9999
No. 65.The set value unit changes with the changing condition item.
(Refer to Section 8.3.)
67 CDT Gain changing time constant 1 ms 0 P S
Used to set the time constant at which the gains will change in to
response to the conditions set in parameters No. 65 and 66. 100
(Refer to Section 8.3.)
68 For manufacturer setting 0
Must not be changed.
69 CMX2 Command pulse multiplying factor numerator 2 1 0 1 P
Used to set the multiplier for the command pulse. to
Setting "0" automatically sets the connected motor resolution. 65535
70 CMX3 Command pulse multiplying factor numerator 3 1 0 1 P
Used to set the multiplier for the command pulse. to
Setting "0" automatically sets the connected motor resolution. 65535
71 CMX4 Command pulse multiplying factor numerator 4 1 0 1 P
Used to set the multiplier for the command pulse. to
Setting "0" automatically sets the connected motor resolution. 65535
72 SC4 Internal speed command 4 200 r/min 0 to in- S
Used to set speed 4 of internal speed commands. stanta-
neous
Internal speed limit 4 permi- T
Used to set speed 4 of internal speed limits. ssible
speed

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 5. PARAMETERS

Initial Setting Control

Class No. Symbol Name and function Unit
value range mode
73 SC5 Internal speed command 5 300 r/min 0 to in- S
Used to set speed 5 of internal speed commands. stanta-
neous
Internal speed limit 5 permi- T
Used to set speed 5 of internal speed limits. ssible
speed
74 SC6 Internal speed command 6 500 r/min 0 to in- S
Used to set speed 6 of internal speed commands. stanta-
neous
Internal speed limit 6 permi- T
Used to set speed 6 of internal speed limits. ssible
speed
75 SC7 Internal speed command 7 800 r/min S
0 to in-
Used to set speed 7 of internal speed commands. stanta-
Expansion parameters 2

neous
Internal speed limit 7 permi- T
Used to set speed 7 of internal speed limits. ssible
speed

76 TL2 Internal torque limit 2 100 % 0 P S T

Set this parameter to limit servo motor-generated torque on the to
assumption that the maximum torque is 100[%]. 100
When 0 is set, torque is not produced.
When torque is output in analog monitor output, this set value is the
maximum output voltage ( 8V). (Refer to Section 3.4.1, (5))
77 For manufacturer setting 00
78 Must not be changed. 10000
79 10
80 10
81 100
82 100
83 100
84 0

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 5. PARAMETERS

5.2 Detailed description

5.2.1 Electronic gear

CAUTION Wrong setting can lead to unexpected fast rotation, causing injury.

POINT
1 CMX
The guideline of the electronic gear setting range is 500.
50 CDV
If the set value is outside this range, noise may be generated during
acceleration/ deceleration or operation may not be performed at the preset
speed and/or acceleration/deceleration time constants.
The following specification symbols are required to calculate the electronic
gear.

(1) Concept of electronic gear

The machine can be moved at any multiplication factor to input pulses.
Motor
Input pulse train

CMX Deviation
CDV counter
CMX Parameter No.3
CDV Parameter No.4 Feedback pulse

Electronic gear
Encoder

The following setting examples are used to explain how to calculate the electronic gear:
POINT
The following specification symbols are required to calculate the electronic
gear
Pb : Ballscrew lead [mm]
n : Reduction ratio
Pt : Servo motor resolution [pulses/rev]
0: Travel per command pulse [mm/pulse]
S : Travel per servo motor revolution [mm/rev]
: Angle per pulse [ /pulse]
: Angle per revolution [ /rev]

(a) For motion in increments of 10 m per pulse

n
n NL/NM
Machine specifications 1/2 NL

Pb 10[mm]
Ballscrew lead Pb 10 [mm] NM
Reduction ratio: n 1/2 Servo motor
Servo motor resolution: Pt 131072 [pulses/rev] 131072 [pulse/rev]

CMX Pt Pt 3 131072 262144 32768

0 0 10 10
CDV S n Pb 1/2 10 1000 125
Hence, set 32768 to CMX and 125 to CDV.

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 5. PARAMETERS

(b) Conveyor setting example

For rotation in increments of 0.01 per pulse
Servo motor
131072 [pulse/rev]
Machine specifications Table

Table : 360 /rev

Reduction ratio: n 4/64
Servo motor resolution: Pt 131072 [pulses/rev] Timing belt : 4/64

CMX Pt 131072 65536

0.01 ................................................................................. (5.1)
CDV 4/64 360 1125
Since CMX is not within the setting range in this status, it must be reduced to the lowest term.
When CMX has been reduced to a value within the setting range, round off the value to the
nearest unit.
CMX 65536 26214.4 26214
CDV 1125 450 450
Hence, set 26214 to CMX and 450 to CDV.

POINT
For unlimited one-way rotation, e.g. an index table, indexing positions will
be missed due to cumulative error produced by rounding off.
For example, entering a command of 36000 pulses in the above example
causes the table to rotate only:
26214 1 4
36000 360 359.995
450 131072 64
Therefore, indexing cannot be done in the same position on the table.

(2) Instructions for reduction

The calculated value before reduction must be as near as possible to the calculated value after
reduction.
In the case of (1), (b) in this section, an error will be smaller if reduction is made to provide no fraction
for CDV. The fraction of Expression (5.1) before reduction is calculated as follows.
CMX 65536
58.25422.................................................................................................................... (5.2)
CDV 1125
The result of reduction to provide no fraction for CMX is as follows.
CMX 65536 32768 32768
58.20249 .................................................................................... (5.3)
CDV 1125 562.5 563
The result of reduction to provide no fraction for CDV is as follows.
CMX 65536 26214.4 26214
58.25333 .................................................................................. (5.4)
CDV 1125 450 450
As a result, it is understood that the value nearer to the calculation result of Expression (5.2) is the
result of Expression (5.4). Accordingly, the set values of (1), (b) in this section are CMX 26214,
CDV 450.

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 5. PARAMETERS

(3) Setting for use of AD75P

The AD75P also has the following electronic gear parameters. Normally, the servo amplifier side
electronic gear must also be set due to the restriction on the command pulse frequency (differential
400kpulse/s, open collector 200kpulse/s).

AP: Number of pulses per motor revolution

AL: Moving distance per motor revolution
AM: Unit scale factor
AP75P Servo amplifier

Command AP CMX Deviation

value Control AL AM Command CDV counter
unit pulse
Electronic gear Electronic gear Feedback pulse
Servo motor

The resolution of the servo motor is 131072 pulses/rev. For example, the pulse command needed to
rotate the servo motor is as follows
Servo motor speed [r/min] Required pulse command
2000 131072 2000/60 4369066 pulse/s
3000 131072 3000/60 6553600 pulse/s

For the AD75P, the maximum value of the pulse command that may be output is 200kpulse/s in the
open collector system or 400kpulse/s in the differential line driver system. Hence, either of the servo
motor speeds exceeds the maximum output pulse command of the AD75P.
Use the electronic gear of the servo amplifier to run the servo motor under the maximum output pulse
command of the AD75P.

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 5. PARAMETERS

To rotate the servo motor at 3000r/min in the open collector system (200kpulse/s), set the electronic
gear as follows
CMX N0
f pt
CDV 60
f : Input pulses [pulse/s]
N0 : Servo motor speed [r/min]
Pt : Servo motor resolution [pulse/rev]
CMX 3000
200 131072
CDV 60

CMX 3000 131072 3000 131072 4096

CDV 60 200 60 200000 125
The following table indicates the electronic gear setting example (ballscrew lead 10mm) when the
AD75P is used in this way.

Rated servo motor speed 3000r/min 2000r/min

Open Differential Open Differential
Input system
collector line driver collector line driver
Servo amplifier Max. input pulse frequency [kpulse/s] 200 500 200 500
Feedback pulse/revolution [pulse/rev] 131072 131072
Electronic gear (CMX/CDV) 4096/125 2048/125 8192/375 4096/375
Command pulse frequency [kpulse/s] (Note) 200 400 200 400
Number of pulses per servo motor revolution as
4000 10000 6000 15000
viewed from AD75P[pulse/rev]
AP 1 1 1 1
Minimum command unit
AD75P AL 1 1 1 1
1pulse
AM 1 1 1 1
Electronic gear
AP 4000 10000 6000 15000
Minimum command unit
AL 1000 1000 1000 1000
0.1 m
AM 10 10 10 10

Note: Command pulse frequency at rated speed

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 5. PARAMETERS

5.2.2 Analog output

The servo status can be output to two channels in terms of voltage. Use this function when using an
ammeter to monitor the servo status or synchronizing the torque/speed with the other servo.
The servo amplifier is factory-set to output the motor speed to ch1 and the generated torque to ch2. The
setting can be changed as listed below by changing the parameter No.17 value:
Refer to Appendix 2 for the measurement point.
Setting Output item Description Setting Output item Description
0 Motor speed CCW direction 6 Droop pulses 10[V]
CCW direction
8[V]
( 10V/128pulse)

Max. speed 128[pulse]

0 Max. speed 0 128[pulse]

8[V] 10[V]
CW direction CW direction
1 Generated torque Driving in CCW direction 7 Droop pulses 10[V]
CCW direction
8[V]
( 10V/2048pulse)

Max. torque 2048[pulse]

0 Max. torque 0 2048[pulse]

Driving in CW direction 8[V] 10[V]

CW direction
2 Motor speed 8 Droop pulses 10[V]
CCW direction

CW CCW ( 10V/8192pulse)
direction 8[V] direction
8192[pulse]

0 8192[pulse]

Max. speed 0 Max. speed

10[V]
CW direction
3 Generated torque 9 Droop pulses 10[V]
CCW direction
Driving in Driving in ( 10V/32768pulse)
CW direction 8[V] CCW direction

32768[pulse]
0 32768[pulse]

Max. torque 0 Max. torque

10[V]
CW direction
4 Current command 8[V] CCW direction A Droop pulses 10[V]
CCW direction
(Torque command) Max. command ( 10V/131072pulse)
current
(Max. torque
131072[pulse]
command)
0 Max. command 0
131072[pulse]
current
(Max. torque
command)
8[V] 10[V]
CW direction CW direction
5 Command pulse CCW direction B Bus voltage
8[V]
frequency
8[V]

500kpps
0 500kpps

0 400[V]
8[V]
CW direction

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 5. PARAMETERS

Change the following digits of parameter No.17:

Parameter No. 17

0 0

Analog monitor ch1 output selection

(Signal output to across MO1-LG)

Analog monitor ch2 output selection

(Signal output to across MO2-LG)

Parameters No.31 and 32 can be used to set the offset voltages to the analog output voltages. The setting
range is between 999 and 999mV.
Parameter No. Description Setting range [mV]
31 Used to set the offset voltage for the analog monitor ch1 output.
999 to 999
32 Used to set the offset voltage for the analog monitor ch2 output.

5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern

The stopping pattern is factory-set to make a sudden stop when the forward/reverse rotation stroke end is
made valid. A slow stop can be made by changing the parameter No. 22 value.
Parameter No.22 Setting Stopping method
Sudden stop
0
Position control mode : Motor stops with droop pulses cleared.
(initial value)
Speed control mode : Motor stops at deceleration time constant of zero.
Slow stop
Position control mode : The motor is decelerated to a stop in accordance with the
1 parameter No. 7 value.
Speed control mode : The motor is decelerated to a stop in accordance with the
parameter No. 12 value.

5.2.4 Alarm history clear

The servo amplifier stores one current alarm and five past alarms from when its power is switched on
first. To control alarms which will occur during operation, clear the alarm history using parameter No.16
before starting operation.
Clearing the alarm history automatically returns to " 0 ".
After setting, this parameter is made valid by switch power from OFF to ON.

Parameter No.16

Alarm history clear

0: Invalid (not cleared)
1: Valid (cleared)

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 5. PARAMETERS

5.2.5 Position smoothing

By setting the position command acceleration/deceleration time constant (parameter No.7), you can run
the servo motor smoothly in response to a sudden position command.
The following diagrams show the operation patterns of the servo motor in response to a position command
when you have set the position command acceleration/deceleration time constant.
Choose the primary delay or linear acceleration/deceleration in parameter No. 55 according to the
machine used.

(1) For step input

: Input position command

Command

: Position command after

filtering for primary delay
: Position command after filtering
for linear acceleration/deceleration
t : Position command acceleration/
deceleration time constant (parameter No. 7)

t t
Time
(3t)

(2) For trapezoidal input

(3t)
t

: Input position command

: Position command after filtering
Command

for linear acceleration/deceleration

: Position command after
filtering for primary delay
t : Position command acceleration/
deceleration time constant
(parameter No. 7)
t
Time
(3t)

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 5. PARAMETERS

MEMO

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 6. DISPLAY AND OPERATION

6. DISPLAY AND OPERATION

6.1 Display flowchart

Use the display (5-digit, 7-segment LED) on the front panel of the servo amplifier for status display,
parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external
sequences, and/or confirm the operation status. Press the "MODE" "UP" or "DOWN" button once to move
to the next screen.
To refer to or set the expansion parameters, make them valid with parameter No. 19 (parameter write
disable).
button
MODE
Basic Expansion Expansion
Status display Diagnosis Alarm parameters parameters 1 parameters 2

(Note)
Cumulative feedback Sequence Current alarm Parameter No. 0 Parameter No. 20 Parameter No. 50
pulses [pulse]

Motor speed External I/O Last alarm Parameter No. 1 Parameter No. 21 Parameter No. 51
[r/min] signal display

Droop pulses Output signal Second alarm in past

[pulse] forced output UP

Cumulative command Test operation Third alarm in past

pulses [pulse] Jog feed DOWN

Command pulse Test operation Fourth alarm in past Parameter No. 18 Parameter No. 48 Parameter No. 83
frequency [kpps] Positioning operation

Speed command voltage Test operation Fifth alarm in past Parameter No. 19 Parameter No. 49 Parameter No. 84
Speed limit voltage[mV] Motor-less operation

Torque limit voltage Test operation Sixth alarm in past

Torque command voltage Machine analyzer operation
[mV]

Regenerative load Software version L Parameter error No.

ratio [%]

Effective load ratio Software version H

[%]

Peak load ratio Automatic VC offset

[%]

Instantaneous torque Motor series ID

[%]

Within one-revolution Motor type ID

position low [pulse]

Within one-revolution Encoder ID

position, high [100 pulses]

ABS counter
[rev]

Load inertia moment

ratio [times]

Bus voltage [V]

Note: The initial status display at power-on depends on the control mode.
Position control mode: Cumulative feedback pulses(C), Speed control mode: Motor speed(r),
Torque control mode: Torque command voltage(U)
Also, parameter No. 18 can be used to change the initial indication of the status display at power-on.

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 6. DISPLAY AND OPERATION

6.2 Status display

The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or
"DOWN" button to change display data as desired. When the required data is selected, the corresponding
symbol appears. Press the "SET" button to display its data. At only power-on, however, data appears after
the symbol of the status display selected in parameter No. 18 has been shown for 2[s].
The servo amplifier display shows the lower five digits of 16 data items such as the motor speed.

6.2.1 Display examples

The following table lists display examples:

Displayed data
Item Status
Servo amplifier display

Forward rotation at 3000r/min

Motor speed

Reverse rotation at 3000r/min

Reverse rotation is indicated by " ".

Load inertia
15.5 times
moment

11252pulse

Multi-
revolution
counter
12566pulse
Lit

Negative value is indicated by the lit decimal points in the upper four
digits.

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 6. DISPLAY AND OPERATION

6.2.2 Status display list

The following table lists the servo statuses that may be shown:
Refer to Appendix 3 for the measurement point.
Display
Name Symbol Unit Description
range
Cumulative feedback C pulse Feedback pulses from the servo motor encoder are counted and 99999
pulses displayed. The value in excess of 99999 is counted, bus since the to
servo amplifier display is five digits, it shows the lower five digits of 99999
the actual value. Press the "SET" button to reset the display value to
zero.
Reverse rotation is indicated by the lit decimal points in the upper
four digits.
Servo motor speed r r/min The servo motor speed is displayed. 5400
The value rounded off is displayed in 0.1r/min. to
5400
Droop pulses E pulse The number of droop pulses in the deviation counter is displayed. 99999
When the servo motor is rotating in the reverse direction, the to
decimal points in the upper four digits are lit. 99999
Since the servo amplifier display is five digits, it shows the lower five
digits of the actual value.
The number of pulses displayed is not yet multiplied by the electronic
gear.
Cumulative command P pulse The position command input pulses are counted and displayed. 99999
pulses As the value displayed is not yet multiplied by the electronic gear to
(CMX/CDV), it may not match the indication of the cumulative 99999
feedback pulses.
The value in excess of 99999 is counted, but since the servo
amplifier display is five digits, it shows the lower five digits of the
actual value. Press the "SET" button to reset the display value to
zero. When the servo motor is rotating in the reverse direction, the
decimal points in the upper four digits are lit.
Command pulse n kpps The frequency of the position command input pulses is displayed. 800
frequency The value displayed is not multiplied by the electronic gear to
(CMX/CDV). 800
Analog speed F V (1) Torque control mode 10.00
command voltage Analog speed limit (VLA) voltage is displayed. to
Analog speed limit (2) Speed control mode 10.00
voltage Analog speed command (VC) voltage is displayed.
Analog torque U V (1) Position control mode, speed control mode 0
command voltage Analog torque limit (TLA) voltage is displayed. to
Analog torque limit 10V
voltage (2) Torque control mode 10
Analog torque command (TLA) voltage is displayed. to
10V
Regenerative load L % The ratio of regenerative power to permissible regenerative power is 0
ratio displayed in %. to
100
Effective load ratio J % The continuous effective load torque is displayed. 0
The effective value is displayed relative to the rated torque of 100%. to
300
Peak load ratio b % The maximum torque generated during acceleration/deceleration, etc. 0
The highest value in the past 15 seconds is displayed relative to the to
rated torque of 100%. 400
Instantaneous torque T % Torque that occurred instantaneously is displayed. 0
The value of the torque that occurred is displayed in real time to
relative to the rate torque of 100%. 400
Within one-revolution Cy1 pulse Position within one revolution is displayed in encoder pulses. 0
position low The value returns to 0 when it exceeds the maximum number of to
pulses. 99999
The value is incremented in the CCW direction of rotation.

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 6. DISPLAY AND OPERATION

Display
Name Symbol Unit Description
range
Within one-revolution Cy2 100 The within one-revolution position is displayed in 100 pulse 0
position high pulse increments of the encoder. to
The value returns to 0 when it exceeds the maximum number of 1310
pulses.
The value is incremented in the CCW direction of rotation.
ABS counter LS rev Travel value from the home position in the absolute position 32768
detection systems is displayed in terms of the absolute position to
detectors counter value. 32767
Load inertia moment dC 0.1 The estimated ratio of the load inertia moment to the servo motor 0.0
ratio Times shaft inertia moment is displayed. to
300.0
Bus voltage Pn V The voltage (across P-N) of the main circuit converter is displayed. 0
to
450

6.2.3 Changing the status display screen

The status display item of the servo amplifier display shown at power-on can be changed by changing the
parameter No. 18 settings.
The item displayed in the initial status changes with the control mode as follows:

Control mode Status display at power-on

Position Cumulative feedback pulses
Position/speed Cumulative feedback pulses/servo motor speed
Speed Servo motor speed
Speed/torque Servo motor speed/analog torque command voltage
Torque Analog torque command voltage
Torque/position Analog torque command voltage/cumulative feedback pulses

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 6. DISPLAY AND OPERATION

6.3 Diagnostic mode

Name Display Description

Not ready.
Indicates that the servo amplifier is being initialized or an alarm
has occurred.
Sequence
Ready.
Indicates that the servo was switched on after completion of
initialization and the servo amplifier is ready to operate.

Refer to section 6.6. Indicates the ON-OFF states of the external I/O signals.
The upper segments correspond to the input signals and the
External I/O signal lower segments to the output signals.
display Lit: ON
Extinguished: OFF
The I/O signals can be changed using parameters No. 43 to 49.

Output signal forced The digital output signal can be forced on/off. For more
output information, refer to section 6.7.

Jog operation can be performed when there is no command from

Jog feed the external command device.
For details, refer to section 6.8.2.

The servo configuration software (MRZJW3-SETUP111E) is

required for positioning operation. This operation cannot be
Positioning
performed from the operation section of the servo amplifier.
operation
Positioning operation can be performed once when there is no
Test
command from the external command device.
operation
Without connection of the servo motor, the servo amplifier
mode
provides output signals and displays the status as if the servo
Motorless
motor is running actually in response to the external input
operation
signal.
For details, refer to section 6.8.4.
Merely connecting the servo amplifier allows the resonance point
Machine
of the mechanical system to be measured.
analyzer
The servo configuration software (MRZJW3-SETUP111E or later)
operation
is required for machine analyzer operation.

Software version Low Indicates the version of the software.

Software version High Indicates the system number of the software.

If offset voltages in the analog circuits inside and outside the

servo amplifier cause the servo motor to rotate slowly at the
analog speed command (VC) or analog speed limit (VLA) of 0V,
this function automatically makes zero-adjustment of offset
voltages.
When using this function, make it valid in the following
Automatic VC offset procedure. Making it valid causes the parameter No. 29 value to
be the automatically adjusted offset voltage.
1) Press "SET" once.
2) Set the number in the first digit to 1 with "UP"/"DOWN".
3) Press "SET".
You cannot use this function if the input voltage of VC or VLA
is 0.4V or more.

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 6. DISPLAY AND OPERATION

Name Display Description

Press the "SET" button to show the motor series ID of the servo
motor currently connected.
Motor series
For indication details, refer to the optional MELSERVO Servo
Motor Instruction Manual.
Press the "SET" button to show the motor type ID of the servo
motor currently connected.
Motor type
For indication details, refer to the optional MELSERVO Servo
Motor Instruction Manual.
Press the "SET" button to show the encoder ID of the servo motor
currently connected.
Encoder
For indication details, refer to the optional MELSERVO Servo
Motor Instruction Manual.

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 6. DISPLAY AND OPERATION

6.4 Alarm mode

The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the
display indicate the alarm number that has occurred or the parameter number in error. Display examples
are shown below.
Name Display Description

Indicates no occurrence of an alarm.

Current alarm
Indicates the occurrence of overvoltage (AL.33).
Flickers at occurrence of the alarm.

Indicates that the last alarm is overload 1 (AL.50).

Indicates that the second alarm in the past is overvoltage (AL.33).

Indicates that the third alarm in the past is undervoltage (AL.10).

Alarm history

Indicates that the fourth alarm in the past is overspeed (AL.31).

Indicates that there is no fifth alarm in the past.

Indicates that there is no sixth alarm in the past.

Indicates no occurrence of parameter error (AL.37).

Parameter error

Indicates that the data of parameter No. 1 is faulty.

Functions at occurrence of an alarm

(1) Any mode screen displays the current alarm.
(2) The other screen is visible during occurrence of an alarm. At this time, the decimal point in the fourth
digit flickers.
(3) For any alarm, remove its cause and clear it in any of the following methods:
(a) Switch power OFF, then ON.
(b) Press the "SET" button on the current alarm screen.
(c) Turn on the alarm reset (RES) signal (for clearable alarms, refer to Section 10.2.1).
(4) Use parameter No. 16 to clear the alarm history.
(5) Pressing "SET" on the alarm history display screen for 2s or longer shows the following detailed
information display screen. Note that this is provided for maintenance by the manufacturer.

(6) Press "UP" or "DOWN" to move to the next history.

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 6. DISPLAY AND OPERATION

6.5 Parameter mode

The parameters whose abbreviations are marked are made valid by changing the setting and then
switching power off once and switching it on again. Refer to Section 5.1.2.

(1) Operation example

The following example shows the operation procedure performed after power-on to change the control
mode (parameter No. 0) to the speed control mode.
Using the "MODE" button, show the basic parameter screen.

The parameter number is displayed.

Press or to change the number.
UP DOWN

Press SET twice.

The set value of the specified parameter number flickers.

Press UP once.
During flickering, the set value can be changed.
Use or .
UP DOWN
( 2: Speed control mode)

Press SET to enter.

/
To shift to the next parameter, press the UP DOWN button.
When changing the parameter No. 0 setting, change its set value, then switch power off once and
switch it on again to make the new value valid.

(2) Expansion parameters

To use the expansion parameters, change the setting of parameter No. 19 (parameter write disable).
Refer to section 5.1.1.

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 6. DISPLAY AND OPERATION

6.6 External I/O signal display

The ON/OFF states of the digital I/O signals connected to the servo amplifier can be confirmed.

(1) Operation
Call the display screen shown after power-on.
Using the "MODE" button, show the diagnostic screen.

Press UP once.

External I/O signal display screen

(2) Display definition

CN1B CN1B CN1B CN1B CN1A CN1B CN1B CN1B CN1B
15 9 8 7 8 14 5 17 16

Input signals
Always lit

Output signals

CN1A CN1B CN1B CN1B CN1B CN1A CN1A

14 18 4 6 19 18 19
Lit: ON
Extinguished: OFF

The 7-segment LED shown above indicates ON/OFF.

Each segment at top indicates the input signal and each segment at bottom indicates the output signal.
The signals corresponding to the pins in the respective control modes are indicated below:

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 6. DISPLAY AND OPERATION

(a) Control modes and I/O signals

Signal (Note 2) Symbols of I/O signals in control modes
Related
Connector Pin No. input/output
P P/S S S/T T T/P parameter
(Note 1) I/O
8 I CR CR/SP1 SP1 SP1 SP1 SP1/CR No.43 to 48
14 O OP OP OP OP OP OP
CN1A
18 O INP INP/SA SA SA/ /INP No.49
19 O RD RD RD RD RD RD No.49
(Note 3) 4 O DO1 DO1 DO1 DO1 DO1 DO1
5 I SON SON SON SON SON SON No.43 to 48
6 O TLC TLC TLC TLC/VLC VLC VLC/TLC No.49
7 I LOP SP2 LOP SP2 LOP No.43 to 48
8 I PC PC/ST1 ST1 ST1/RS2 RS2 RS2/PC No.43 to 48
9 I TL TL/ST2 ST2 ST2/RS1 RS1 RS1/TL No.43 to 48
CN1B
14 I RES RES RES RES RES RES No.43 to 48
15 I EMG EMG EMG EMG EMG EMG
16 I LSP LSP LSP LSP/ /LSP
17 I LSN LSN LSN LSN/ /LSN
18 O ALM ALM ALM ALM ALM ALM No.49
19 O ZSP ZSP ZSP ZSP ZSP ZSP No.1 49

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

2. P: Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control change mode, S/T:
Speed/torque control change mode, T/P: Torque/position control change mode
3. The signal of CN1A-18 is always output.

(b) Symbol and signal names

Symbol Signal name Symbol Signal name
SON Servo-on EMG Emergency stop
LSP Forward rotation stroke end LOP Control change
LSN Reverse rotation stroke end TLC Limiting torque
CR Clear VLC Limiting speed
SP1 Speed selection 1 RD Ready
SP2 Speed selection 2 ZSP Zero speed
PC Proportion control INP In position
ST1 Forward rotation start SA Speed reached
ST2 Reverse rotation start ALM Trouble
RS1 Forward rotation selection WNG Warning
RS2 Reverse rotation selection OP Encoder Z-phase pulse (open collector)
TL Torque limit BWNG Battery warning
RES Reset

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 6. DISPLAY AND OPERATION

(3) Default signal indications

(a) Position control mode
EMG(CN 1 B-15) Emergency stop
TL (CN 1 B-9) Torque limit
PC (CN 1 B-8) Proportional control
CR (CN 1 A-8) Clear
RES (CN 1 B-14) Reset
SON(CN 1 B-5) Servo-on
LSN (CN 1 B-17) Reverse rotation stroke end

LSP (CN 1 B-16) Forward rotation stroke end

Input signals
Lit: ON
Output signals Extinguished:OFF
RD (CN 1 A-19) Ready
LNP (CN 1 A-18) In position
ZSP (CN 1 B-19) Zero speed
TLC (CN 1 B-6) Limiting torque
DO1 (CN 1 B-4) In position
ALM (CN 1 B-18) Trouble
OP (CN 1 A-14) Encoder Z-phase pulse

(b) Speed control mode

EMG(CN 1 B-15) Emergency stop
ST2 (CN 1 B-9) Reverse rotation start
ST1 (CN 1 B-8) For ward rotation start
SP2 (CN 1 B-7) Speed selection 2
SP1 (CN 1 A-8) Speed selection 1
RES (CN 1 B-14) Reset
SON (CN 1 B-5) Servo-on
LSN (CN 1 B-17) External emergency stop

LSP (CN 1 B-16) Forward rotation stroke end

Input signals Lit: ON
Extinguished: OFF
Output signals
RD (CN 1 A-19) Ready
SA (CN 1 A-18) Limiting speed
ZSP (CN 1 B-19) Zero speed
TLC (CN 1 B-6) Limiting torque
DO1 (CN 1 B-4) Limiting speed
ALM (CN 1 B-18) Trouble
OP (CN 1 A-14) Encoder Z-phase pulse

(c) Torque control mode

EMG(CN 1 B-15) Emergency stop
RS1 (CN 1 B-9) Forward rotation selection
RS2 (CN 1 B-8) Reverse rotation selection
SP2 (CN 1 B-7) Speed selection 2
SP1 (CN 1 A-8) Speed selection 1
RES (CN 1 B-14) Reset
SON (CN 1 B-5) Servo-on

Input signals Lit: ON

Output signals Extinguished: OFF
RD (CN 1 A-19) Ready
ZSP (CN 1 B-19) Zero speed
VLC (CN 1 B-6) Speed reached
ALM (CN 1 B-18) Trouble
OP (CN 1 A-14) Encoder Z-phase pulse

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 6. DISPLAY AND OPERATION

6.7 Output signal forced output (DO forced output)

POINT
When the servo system is used in a vertical lift application, turning on the
electromagnetic brake interlock signal after assigning it to pin CN1B-19
will release the electromagnetic brake, causing a drop. Take drop
preventive measures on the machine side.

The output signal can be forced on/off independently of the servo status. This function is used for output
signal wiring check, etc. This operation must be performed in the servo off state (SON signal off).

Operation
Call the display screen shown after power-on.
Using the "MODE" button, show the diagnostic screen.

Press UP twice.

Press SET for more than 2 seconds.

Switch on/off the signal below the lit segment.
Always lit
Indicates the ON/OFF of the output signal. The correspondences
between segments and signals are as in the output signals of the
CN1A CN1B CN1B CN1B CN1B CN1A CN1A external I/O signal display.
14 18 4 6 19 18 19
(Lit: ON, extinguished: OFF)

Press MODE once.

The segment above CN1A-pin 18 is lit.

Press UP once.

CN1A-pin 18 is switched on.

(CN1A-pin 18-SG conduct.)

Press DOWN once.

CN1A-pin 18 is switched off.

Press SET for more than 2 seconds.

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 6. DISPLAY AND OPERATION

6.8 Test operation mode

The test operation mode is designed to confirm servo operation and not to confirm
machine operation. In this mode, do not use the servo motor with the machine.
CAUTION Always use the servo motor alone.
If any operational fault has occurred, stop operation using the forced stop (EMG)
signal.

POINT
The test operation mode cannot be used in the absolute position detection
system. Use it after choosing "Incremental system" in parameter No. 1.
The servo configuration software is required to perform positioning
operation.
Test operation cannot be performed if the servo-on (SON) signal is not
turned OFF.

6.8.1 Mode change

Call the display screen shown after power-on. Choose jog operation/motor-less operation in the following
procedure. Using the "MODE" button, show the diagnostic screen.

Press UP three times. Press UP five times.

Press SET for more Press SET for more than 2s.
than 2s.
When this screen When this screen is displayed,
appears, jog feed can motor-less operation can be
be performed. performed.
Flickers in the test operation mode.

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 6. DISPLAY AND OPERATION

6.8.2 Jog operation

Jog operation can be performed when there is no command from the external command device.

(1) Operation
Connect EMG-SG to start jog operation and connect VDD-COM to use the internal power supply.
Hold down the "UP" or "DOWN" button to run the servo motor. Release it to stop. When using the
servo configuration software, you can change the operation conditions. The initial conditions and
setting ranges for operation are listed below:
Item Initial setting Setting range
Speed [r/min] 200 0 to instantaneous permissible speed
Acceleration/deceleration time constant [ms] 1000 0 to 50000

How to use the buttons is explained below:

Button Description
Press to start CCW rotation.
"UP"
Release to stop.
Press to start CW rotation.
"DOWN"
Release to stop.

If the communication cable is disconnected during jog operation performed by using the servo
configuration software, the servo motor will be decelerated to a stop.

(2) Status display

You can confirm the servo status during jog operation.
Pressing the "MODE" button in the jog operation-ready status calls the status display screen. With
this screen being shown, perform jog operation with the "UP" or "DOWN" button. Every time you
press the "MODE" button, the next status display screen appears, and on completion of a screen cycle,
pressing that button returns to the jog operation-ready status screen. For full information of the status
display, refer to Section 6.2. In the test operation mode, you cannot use the "UP" and "DOWN" buttons
to change the status display screen from one to another.

(3) Termination of jog operation

To end the jog operation, switch power off once or press the "MODE" button to switch to the next
screen and then hold down the "SET" button for 2 or more seconds.

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 6. DISPLAY AND OPERATION

6.8.3 Positioning operation

POINT
The servo configuration software is required to perform positioning
operation.

Positioning operation can be performed once when there is no command from the external command
device.

(1) Operation
Connect EMG-SG to start positioning operation and connect VDD-COM to use the internal power
supply.
Pressing the "Forward" or "Reverse" button on the servo configuration software starts the servo motor,
which will then stop after moving the preset travel distance. You can change the operation conditions
on the servo configuration software. The initial conditions and setting ranges for operation are listed
below:
Item Initial setting Setting range
Travel distance [pulse] 10000 0 to 9999999
Speed [r/min] 200 0 to instantaneous permissible speed
Acceleration/deceleration time constant [ms] 1000 0 to 50000

How to use the keys is explained below:

Key Description
"Forward" Press to start positioning operation CCW.
"Reverse" Press to start positioning operation CW.
Press during operation to make a temporary stop. Pressing
the "Pause" button again erases the remaining distance.
"Pause"
To resume operation, press the button that was pressed to
start the operation.

If the communication cable is disconnected during positioning operation, the servo motor will come
to a sudden stop.

(2) Status display

You can monitor the status display even during positioning operation.

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 6. DISPLAY AND OPERATION

6.8.4 Motor-less operation

Without connecting the servo motor, you can provide output signals or monitor the status display as if the
servo motor is running in response to external input signals. This operation can be used to check the
sequence of a host programmable controller or the like.
(1) Operation
After turning off the signal across SON-SG, choose motor-less operation. After that, perform external
operation as in ordinary operation.

(2) Status display

You can confirm the servo status during motor-less operation.
Pressing the "MODE" button in the motor-less operation-ready status calls the status display screen.
With this screen being shown, perform motor-less operation. Every time you press the "MODE"
button, the next status display screen appears, and on completion of a screen cycle, pressing that
button returns to the motor-less operation-ready status screen. For full information of the status
display, refer to Section 6.2. In the test operation mode, you cannot use the "UP" and "DOWN" buttons
to change the status display screen from one to another.

(3) Termination of motor-less operation

To terminate the motor-less operation, switch power off.

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 7. GENERAL GAIN ADJUSTMENT

7. GENERAL GAIN ADJUSTMENT

POINT
For use in the torque control mode, you need not make gain adjustment.

7.1 Different adjustment methods

7.1.1 Adjustment on a single servo amplifier

The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first
execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2, manual
mode 1 and manual mode 2 in this order.

(1) Gain adjustment mode explanation

Parameter No. 2 Estimation of load inertia Automatically set

Gain adjustment mode Manually set parameters
setting moment ratio parameters
Auto tuning mode 1 010 Always estimated PG1 (parameter No. 6) Response level setting of
(initial value) GD2 (parameter No. 34) parameter No. 2
PG2 (parameter No. 35)
VG1 (parameter No. 36)
VG2 (parameter No. 37)
VIC (parameter No. 38)
Auto tuning mode 2 020 Fixed to parameter No. PG1 (parameter No. 6) GD2 (parameter No. 34)
34 value PG2 (parameter No. 35) Response level setting of
VG1 (parameter No. 36) parameter No. 2
VG2 (parameter No. 37)
VIC (parameter No. 38)
Manual mode 1 030 PG2 (parameter No. 35) PG1 (parameter No. 6)
VG1 (parameter No. 36) GD2 (parameter No. 34)
VG2 (parameter No. 37)
VIC (parameter No. 38)
Manual mode 2 040 PG1 (parameter No. 6)
GD2 (parameter No. 34)
PG2 (parameter No. 35)
VG1 (parameter No. 36)
VG2 (parameter No. 37)
VIC (parameter No. 38)
Interpolation mode 000 Always estimated GD2 (parameter No. 34) PG1 (parameter No. 6)
PG2 (parameter No. 35) VG1 (parameter No. 36)
VG2 (parameter No. 37)
VIC (parameter No. 38)

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 7. GENERAL GAIN ADJUSTMENT

(2) Adjustment sequence and mode usage

START
Usage
Interpolation Yes Used when you want to
made for 2 or more
axes? match the position gain
No Interpolation mode (PG1) between 2 or more
axes. Normally not used for
Operation other purposes.
Allows adjustment by
Auto tuning mode 1
merely changing the
response level setting.
Operation First use this mode to make
adjustment.
Yes No
OK? OK? Used when the conditions of
auto tuning mode 1 are not
No Yes met and the load inertia
Auto tuning mode 2 moment ratio could not be
estimated properly, for
Operation example.

Yes
OK?
This mode permits
No adjustment easily with three
Manual mode 1 gains if you were not
satisfied with auto tuning
Operation results.

Yes
OK?
You can adjust all gains
No
manually when you want to
Manual mode 2 do fast settling or the like.

END

7.1.2 Adjustment using servo configuration software

This section gives the functions and adjustment that may be performed by using the servo amplifier with
the servo configuration software which operates on a personal computer.
Function Description Adjustment
Machine analyzer With the machine and servo motor You can grasp the machine resonance frequency and
coupled, the characteristic of the determine the notch frequency of the machine
mechanical system can be measured by resonance suppression filter.
giving a random vibration command from You can automatically set the optimum gains in
the personal computer to the servo and response to the machine characteristic. This simple
measuring the machine response. adjustment is suitable for a machine which has large
machine resonance and does not require much settling
time.
Gain search Executing gain search under to-and-fro You can automatically set gains which make positioning
positioning command measures settling settling time shortest.
characteristic while simultaneously
changing gains, and automatically
searches for gains which make settling
time shortest.
Machine simulation Response at positioning settling of a You can optimize gain adjustment and command
machine can be simulated from machine pattern on personal computer.
analyzer results on personal computer.

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 7. GENERAL GAIN ADJUSTMENT

7.2 Auto tuning

7.2.1 Auto tuning mode

The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load
inertia moment 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 inertia moment 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 No. Abbreviation Name

6 PG1 Position control gain 1
34 GD2 Ratio of load inertia moment to servo motor inertia moment
35 PG2 Position control gain 2
36 VG1 Speed control gain 1
37 VG2 Speed control gain 2
38 VIC Speed integral compensation

POINT
The auto tuning mode 1 may not be performed properly if the following
conditions are not satisfied.
Time to reach 2000rpm is the acceleration/deceleration time constant of 5s or
less.
Speed is 150r/min or higher.
The ratio of load inertia moment to motor inertia moment is not more
than 100 times.
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 inertia moment ratio is not estimated in this mode, set the value of a correct load
inertia moment ratio in parameter No. 34.
The following parameters are automatically adjusted in the auto tuning mode 2.

Parameter No. Abbreviation Name

6 PG1 Position control gain 1
35 PG2 Position control gain 2
36 VG1 Speed control gain 1
37 VG2 Speed control gain 2
38 VIC Speed integral compensation

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 7. GENERAL GAIN ADJUSTMENT

7.2.2 Auto tuning mode operation

The block diagram of real-time auto tuning is shown below.

Load inertia
Automatic setting moment

Encoder
Command Control gains Current
PG1,VG1 control Motor
PG2,VG2,VIC
Current feedback

Set 0 or 1 to turn on. Real-time auto Position/speed

tuning section feedback
Load inertia
Gain
moment ratio
table
SW1 estimation section Speed feedback

Parameter No. 2 Parameter No. 34

Load inertia moment
0 1 0 7 ratio estimation value

First digit
Third digit Response level setting
Auto tuning selection

When a motor is accelerated/decelerated, the load inertia moment ratio estimation section always
estimates the load inertia moment ratio from the current and speed of the motor. The results of
estimation are written to parameter No. 34 (load inertia moment ratio). These results can be confirmed on
the status display screen of the servo amplifier display section.
If the value of the load inertia moment ratio is already known or if estimation cannot be made properly,
set " 2 " in parameter No. 2 (auto tuning) to stop the estimation of the load inertia moment ratio
(SW1 in above diagram turned off), and set the load inertia moment ratio in parameter No. 34 manually.
From the value of parameter No. 34 and the first digit (response level setting) of parameter No. 2, the
optimum control 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 6 minutes since power-on.
At power-on, auto tuning is performed with the value of each control gain saved in the EEP-ROM being
used as an initial value.

POINT
If sudden disturbance torque is imposed during operation, the estimation
of the inertia moment ratio may malfunction temporarily. In such a case,
choose the auto tuning mode 2 (parameter No. 2: 020 ) and set the correct
load inertia moment ratio in parameter No. 34.

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 7. GENERAL GAIN ADJUSTMENT

7.2.3 Adjustment procedure by auto tuning

Since auto tuning is made valid 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.

(1) Basic procedure

Auto tuning adjustment

Acceleration/deceleration repeated

Yes Load inertia moment ratio

estimation value stable?

No

Auto tuning
conditions not satisfied. No
(Estimation of load inertia
moment ratio is difficult)

Yes
Set "020 " in parameter No. 2
(auto tuning) and set parameter
No. 34 (load inertia moment ratio)
manually.

Adjust response level setting

so that desired response is
achieved on vibration-free level.

Acceleration/deceleration repeated

Requested No
performance satisfied?

Yes

END
To manual mode

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 7. GENERAL GAIN ADJUSTMENT

7.2.4 Response level setting in auto tuning mode

Set the response of the whole servo system in the first digit (response level setting) of parameter No. 2. As
the response level setting is increased, the trackability 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 100Hz, adaptive vibration suppression control (parameter No. 60) or machine resonance
suppression filter (parameter No. 58 59) may be used to suppress machine resonance. Suppressing
machine resonance may allow the response level setting to increase. Refer to Section 8.1 for adaptive
vibration suppression control and machine resonance suppression filter.
Parameter No. 2

0 1 0 7
Response level setting
Auto tuning selection

Machine characteristic
Response level setting Machine resonance
Machine rigidity Guideline of corresponding machine
frequency guideline
1 Low 15Hz
2 20Hz
3 25Hz
Large conveyor
4 30Hz
5 35Hz
6 45Hz Arm robot
7 55Hz
General machine
8 Middle 70Hz
tool conveyor
9 85Hz
Precision
A 105Hz working
machine
B 130Hz
Inserter
C 160Hz
Mounter
D 200Hz Bonder

E 240Hz
F High 300Hz

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 7. GENERAL GAIN ADJUSTMENT

7.3 Manual mode 1 (simple manual adjustment)

If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with
three parameters.

7.3.1 Operation of manual mode 1

In this mode, setting the three gains of PG1 (position control gain 1), VG2 (speed control gain 2) and VIC
(speed integral compensation) automatically sets the other gains to the optimum values according to
these gains.
GD2
User setting

PG1
PG2
VG2
Automatic setting VG1
VIC

Therefore, you can adjust the model adaptive control system in the same image as the general PI control
system (position gain, speed gain, speed integral time constant). Here, the position gain corresponds to
PG1, the speed gain to VG2 and the speed integral time constant to VIC. When making gain adjustment
in this mode, set the load inertia moment ratio (parameter No. 34) correctly.

7.3.2 Adjustment by manual mode 1

POINT
If machine resonance occurs, adaptive vibration suppression control
(parameter No. 60) or machine resonance suppression filter (parameter No.
58 59) may be used to suppress machine resonance. (Refer to Section 8.1.)

(1) For speed control

(a) Parameters
The following parameters are used for gain adjustment:
Parameter No. Abbreviation Name
34 GD2 Ratio of load inertia moment to servo motor inertia moment
37 VG2 Speed control gain 2
38 VIC Speed integral compensation

(b) Adjustment procedure

Step Operation Description
Set an estimated value to the ratio of load inertia moment to servo
1
motor inertia moment (parameter No. 34).
Increase the speed control gain 2 (parameter No. 37) within the Increase the speed control gain.
2 vibration- and unusual noise-free range, and return slightly if vibration
takes place.
Decrease the speed integral compensation (parameter No. 38) within Decrease the time constant of the speed
3
the vibration-free range, and return slightly if vibration takes place. integral compensation.
If the gains cannot be increased due to mechanical system resonance or Suppression of machine resonance
the like and the desired response cannot be achieved, response may be Refer to Section 8.1.
4 increased by suppressing resonance with adaptive vibration
suppression control or machine resonance suppression filter and then
executing steps 2 and 3.
While checking the settling characteristic and rotational status, fine- Fine adjustment
5
adjust each gain.

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 7. GENERAL GAIN ADJUSTMENT

(c)Adjustment description
1) Speed control gain 2 (VG2: parameter No. 37)
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:
VG2 setting
Speed loop response frequency(Hz)
(1 ratio of load inertia moment to motor inertia moment) 2

2) Speed integral compensation (VIC: parameter No. 38)

To eliminate stationary deviation against a command, the speed control loop is under
proportional integral control. For the speed integral compensation (VIC), set the time constant
of this integral control. Increasing the setting lowers the response level. However, if the load
inertia moment 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
VIC setting(ms)
VG2 setting/ (1 GD2 setting 0.1)

(2) For position control

(a) Parameters
The following parameters are used for gain adjustment:
Parameter No. Abbreviation Name
6 PG1 Position control gain 1
34 GD2 Ratio of load inertia moment to servo motor inertia moment
37 VG2 Speed control gain 2
38 VIC Speed integral compensation

(b) Adjustment procedure

Step Operation Description

Set an estimated value to the ratio of load inertia moment to servo
1
motor inertia moment (parameter No. 34).
Set a slightly smaller value to the position control gain 1 (parameter
2
No. 6).
Increase the speed control gain 2 (parameter No. 37) within the Increase the speed control gain.
3 vibration- and unusual noise-free range, and return slightly if vibration
takes place.
Decrease the speed integral compensation (parameter No. 38) within Decrease the time constant of the speed
4
the vibration-free range, and return slightly if vibration takes place. integral compensation.
5 Increase the position control gain 1 (parameter No. 6). Increase the position control gain.
If the gains cannot be increased due to mechanical system resonance or Suppression of machine resonance
the like and the desired response cannot be achieved, response may be Refer to Section 8.1.
6 increased by suppressing resonance with adaptive vibration
suppression control or machine resonance suppression filter and then
executing steps 3 to 5.
While checking the settling characteristic and rotational status, fine- Fine adjustment
7
adjust each gain.

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 7. GENERAL GAIN ADJUSTMENT

(c) Adjustment description

1) Position control gain 1 (PG1: parameter No. 6)
This parameter determines the response level of the position control loop. Increasing PG1
improves trackability to a position command but a too high value will make overshooting liable
to occur at the time of settling.

PG1 guideline
VG2 setting
(1 load inertia moment ratio)
( 13 to 15 )
2) Speed control gain 2 (VG2: parameter No. 37)
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:
VG2 setting
Speed loop response frequency(Hz)
(1 ratio of load inertia moment to motor inertia moment) 2

3) Speed integral compensation (VIC: parameter No. 38)

To eliminate stationary deviation against a command, the speed control loop is under
proportional integral control. For the speed integral compensation (VIC), set the time constant of
this integral control. Increasing the setting lowers the response level. However, if the load
inertia moment 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:

VIC setting(ms) 2000 to 3000

VG2 setting/(1 GD2 setting 0.1)

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 7. GENERAL GAIN ADJUSTMENT

7.4 Interpolation mode

The interpolation mode is used to match the position control 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, the
model control gains (PG1, VG1) which determine command trackability are set manually and the other
gains are set automatically.

(1) Parameter
PG1 and VG1 can be set manually but the following parameters are automatically adjusted by auto
tuning.
Parameter No. Abbreviation Name
34 GD2 Ratio of load inertia moment to servo motor inertia moment
35 PG2 Position control gain 2
37 VG2 Speed control gain 2
38 VIC Speed integral compensation

The following parameters are adjustable manually.

Parameter No. Abbreviation Name
6 PG1 Position control gain 1
36 VG1 Speed control gain 1

(2) Adjustment procedure

Step Operation Description
1 Set "010 " in parameter No. 2. Select the auto tuning mode 1.
During operation, increase the response level setting (parameter No. 2), and Adjustment in auto tuning mode
2
return the setting if vibration occurs. 1.
3 Check the values of PG1 (parameter No. 6) and VG1 (parameter No. 36). Check the upper setting limits.
4 Set "000 " in parameter No. 2. Select the interpolation mode.
Using the PG1 value checked in step 3 as the guideline of the upper limit, set in
5 Set PG1.
PG1 the value identical to the position loop gain of the axis to be interpolated.
Using the VG1 value checked in step 3 as the guideline of the upper limit, look
6 at the rotation status and set in VG1 the value three or more times greater than Set VG1.
the PG1 setting.
Looking at the interpolation characteristic and rotation status, fine-adjust the
7 Fine adjustment.
gains and response level setting.

(3) Adjustment description

(a) Position control gain 1 (PG1: parameter No.6)
This parameter determines the response level of the position control loop. Increasing PG1 improves
trackability to a position command but a too high value will make overshooting liable to occur at
the time of settling. The droop pulse value is determined by the following expression.
Rotation speed (r/min) 131,072(pulse)
Droop pulse value (pulse)
PG1 setting
(b) Speed control gain 1 (VG1: parameter No. 36)
Set the response level of the speed loop of the model. Make setting using the following expression
as a guideline.
VG1 setting PG1 setting 3

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 7. GENERAL GAIN ADJUSTMENT

7.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super

7.5.1 Response level setting

To meet higher response demands, the MELSERVO-J2-Super series has been changed in response level
setting range from the MELSERVO-J2 series. The following table lists comparison of the response level
setting.
Parameter No. 2

2
Response level setting

MELSERVO-J2 series MELSERVO-J2-Super series

Response level setting Machine resonance frequency Response level setting Machine resonance frequency guideline
1 15Hz
1 20Hz 2 20Hz
3 25Hz
4 30Hz
5 35Hz
2 40Hz 6 45Hz
7 55Hz
3 60Hz 8 70Hz
4 80Hz 9 85Hz
5 100Hz A 105Hz
B 130Hz
C 160Hz
D 200Hz
E 240Hz
F 300Hz

Note that because of a slight difference in gain adjustment pattern, response may not be the same if the
resonance frequency is set to the same value.

7.5.2 Auto tuning selection

The MELSERVO-J2-Super series has an addition of the load inertia moment ratio fixing mode. It also has
the addition of the manual mode 1 which permits manual adjustment with three parameters.
Parameter No. 2

1
Auto tuning selection

Auto tuning selection (Third digit setting)

Gain adjustment mode Remarks
MELSERVO-J2 series MELSERVO-J2-Super series
Position control gain 1 (PG1) is
Interpolation mode 0 0
fixed.
Auto tuning mode 1 1 1 Ordinary auto tuning
Estimation of load inertia moment
Auto tuning
Auto tuning mode 2 2 ratio stopped.
Response level setting valid.
Auto tuning Manual mode 1 3 Simple manual adjustment
invalid Manual mode 2 2 4 Manual adjustment of all gains

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 8. SPECIAL ADJUSTMENT FUNCTIONS

8. SPECIAL ADJUSTMENT FUNCTIONS

POINT
The functions given in this chapter need not be used generally. Use them
if you are not satisfied with the machine status after making adjustment
in the methods in Chapter 7.

8.1 Machine resonance suppression filter and adaptive vibration suppression control

If a mechanical system has a natural resonance point, increasing the servo system response may cause
the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.
Using the machine resonance suppression filter and adaptive vibration suppression control functions can
suppress the resonance of the mechanical system.

8.1.1 Function block diagram

Speed Parameter Parameter Parameter Parameter Current

control No.58 No.60 No.59 No.60 command
00 0 00 Low-pass 0
Motor
filter

Machine resonance Machine resonance 1 Encoder

suppression filter 1 except 00 suppression filter 2 except 00

Adaptive vibration
suppression control 1 or 2

8.1.2 Machine resonance suppression filter

(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) and gain decreasing depth.

Mechanical Machine resonance point

system
response
Frequency

Notch
depth

Frequency
Notch frequency

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 8. SPECIAL ADJUSTMENT FUNCTIONS

You can use the machine resonance suppression filter 1 (parameter No. 58) and machine resonance
suppression filter 2 (parameter No. 59) to suppress the vibration of two resonance frequencies. Note
that if adaptive vibration suppression control is made valid, the machine resonance suppression filter
1 (parameter No. 58) is made invalid.
Machine resonance point

Mechanical
system
response
Frequency

Notch
depth

Frequency
Parameter No. 58 Parameter No. 59

POINT
The machine resonance suppression filter is a delay factor for the servo
system. Hence, vibration may increase if you set a wrong resonance
frequency or a too deep notch.

(2) Parameters
(a) Machine resonance suppression filter 1 (parameter No. 58)
Using parameter No. 58, set the notch frequency and notch depth of the machine resonance
suppression filter 1.
When you have made adaptive vibration suppression control selection valid or held in parameter
No. 60, set "0000" to make the machine resonance suppression filter 1 invalid.
Parameter No. 58

0
Notch frequency
Setting Frequency Setting Frequency Setting Frequency Setting Frequency
00 Invalid 08 562.5 10 281.3 18 187.5
01 4500 09 500 11 264.7 19 180
02 2250 0A 450 12 250 1A 173.1
03 1500 0B 409.1 13 236.8 1B 166.7
04 1125 0C 375 14 225 1C 160.1
05 900 0D 346.2 15 214.3 1D 155.2
06 750 0E 321.4 16 204.5 1E 150
07 642.9 0F 300 17 195.7 1F 145.2

Notch depth
Setting Depth (Gain)
0 Deep ( 40dB)
1 ( 14dB)
2 ( 8dB)
3 Shallow( 4dB)

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 8. SPECIAL ADJUSTMENT FUNCTIONS

POINT
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.
The machine characteristic can be grasped beforehand by the machine
analyzer on the servo configuration software. This allows the required
notch frequency and depth to be determined.
Resonance may occur if parameter No. 58 59 is used to select a close
notch frequency and set a deep notch.

(b) Machine resonance suppression filter 2 (parameter No. 59)

The setting method of parameter No. 59 is the same as that of parameter No. 58. However, the
machine resonance suppression filter 2 can be set independently of whether adaptive vibration
suppression control is valid or invalid.

8.1.3 Adaptive vibration suppression control

(1) Function
Adaptive vibration suppression control is a function in which the servo amplifier detects machine
resonance 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. Also, while adaptive vibration suppression control is
valid, the servo amplifier always detects machine resonance, and if the resonance frequency changes,
it changes the filter characteristics in response to that frequency.
Machine resonance point Machine resonance point
Mechanical Mechanical
system system
response response
Frequency Frequency

Notch Notch
depth depth

Frequency Frequency
Notch frequency Notch frequency
When machine resonance is large and frequency is low When machine resonance is small and frequency is high

POINT
The machine resonance frequency which adaptive vibration suppression
control can respond to is about 150 to 500Hz. Adaptive vibration
suppression control has no effect on the resonance frequency outside this
range. Use the machine resonance suppression filter for the machine
resonance of such frequency.
Adaptive vibration suppression control may provide no effect on a
mechanical system which has complex resonance characteristics or which
has too large resonance.
Under operating conditions in which sudden disturbance torque is imposed
during operation, the detection of the resonance frequency may malfunction
temporarily, causing machine vibration. In such a case, set adaptive
vibration suppression control to be "held" (parameter No. 60: 2 ) to fix
the characteristics of the adaptive vibration suppression control filter.

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 8. SPECIAL ADJUSTMENT FUNCTIONS

(2) Parameters
Set the operation of adaptive vibration suppression control in the third and fourth digits of parameter
No. 60.
Parameter No. 60

0 0
Adaptive vibration suppression control selection
Choosing "valid" or "held" in adaptive vibration suppression
control selection makes the machine resonance suppression
filter 1 (parameter No. 58) invalid.
0: Invalid
1: Valid
Machine resonance frequency is always detected to
generate the filter in response to resonance, suppressing
machine vibration.
2: Held
Filter characteristics generated so far is held, and detection of
machine resonance is stopped.
Adaptive vibration suppression control sensitivity
Set the sensitivity of detecting machine resonance.
0: Normal
1: Large sensitivity

POINT
Adaptive vibration suppression control is factory-set to be invalid
(parameter No. 60: 0000).
The filter characteristics generated are saved in the EEP-ROM every 6
minutes since power-on. At next power-on, vibration suppression control is
performed with this data saved in the EEP-ROM being used as an initial
value.
Setting the adaptive vibration suppression control sensitivity can change
the sensitivity of detecting machine resonance. Setting of "large sensitivity"
detects smaller machine resonance and generates a filter to suppress
machine vibration. However, since a phase delay will also increase, the
response of the servo system may not increase.

8.2 Low-pass filter

(1) Function
When a ballscrew or the like is used, resonance of high frequency may occur as the response of the
servo system is increased. To prevent this, the low-pass filter is factory-set to be valid for a torque
command. The filter frequency of this low-pass filter is automatically adjusted to the value in the
following expression:
VG2 setting 10
Filter frequency(Hz)
2 (1 GD2 setting 0.1)
(2) Parameter
You can set the operation of the low-pass filter in the second digit of parameter No. 60.
Parameter No. 60

0
Low-pass filter selection
0: Valid (automatic adjustment) initial value
1: Invalid

POINT
In a mechanical system where rigidity is extremely high and resonance is
difficult to occur, setting the low-pass filter to be "invalid" may increase
the servo system response to shorten the settling time.

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 8. SPECIAL ADJUSTMENT FUNCTIONS

8.3 Gain changing function

This function can change the gains. You can change between gains during rotation and gains during stop
or can use an external signal to change gains during operation.

8.3.1 Applications
This function is used when:
(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 an external signal to ensure stability of the servo system since the
load inertia moment ratio varies greatly during a stop (e.g. a large load is mounted on a carrier).

8.3.2 Function block diagram

The valid control gains PG2, VG2, VIC and GD2 of the actual loop are changed according to the conditions
selected by parameters CDP (parameter No. 65) and CDS (parameter No. 66).
CDP
ParameterNo.65

External signal
CDP

Command pulse
frequency

Droop pulses

Changing
Model speed

Comparator
CDS
ParameterNo.66

GD2
ParameterNo.34
Valid
GD2 GD2B GD2 value
100

PG2
ParameterNo.35
Valid
PG2 PG2B PG2 value
100

VG2
ParameterNo.37
Valid
VG2 VG2B VG2 value
100

VIC
ParameterNo.38
Valid
VIC VICB VIC value
100

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 8. SPECIAL ADJUSTMENT FUNCTIONS

8.3.3 Parameters

When using the gain changing function, always set " 4 " in parameter No.2 (auto tuning) to choose
the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto
tuning mode.
Parameter Abbrevi
Name Unit Description
No. ation
6 PG1 Position control gain 1 rad/s Position and speed gains of a model used to set the response
36 VG1 Speed control gain 1 rad/s level to a command. Always valid.
Ratio of load inertia moment to 0.1 Control parameters before changing
34 GD2
servo motor inertia moment times
35 PG2 Position control gain 2 rad/s
37 VG2 Speed control gain 2 rad/s
38 VIC Speed integral compensation ms
Used to set the ratio of load Control parameters after
Ratio of load inertia moment to 0.1
61 GD2B inertia moment to servo motor changing
servo motor inertia moment 2 times
inertia moment after changing.
Used to set the ratio (%) of the
Position control gain 2 changing
62 PG2B % after-changing position control
ratio
gain 2 to PG2.
Used to set the ratio (%) of the
Speed control gain 2 changing
63 VG2B % after-changing speed control gain
ratio
2 to VG2.
Used to set the ratio (%) of the
Speed integral compensation
64 VICB % after-changing speed integral
changing ratio
compensation to VIC.
65 CDP Gain changing selection Used to select the changing condition.
kpps, Used to set the changing condition values.
66 CDS Gain changing condition pulse,
r/min
You can set the filter time constant for a gain change at
67 CDT Gain changing time constant ms
changing.

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 8. SPECIAL ADJUSTMENT FUNCTIONS

(1) Parameters No. 6, 34 to 38

These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of
GD2, PG2, VG2 and VIC to be changed.

(2) Ratio of load inertia moment to servo motor inertia moment 2 (GD2B: parameter No. 61)
Set the ratio of load inertia moment to servo motor inertia moment after changing. If the load inertia
moment ratio does not change, set it to the same value as GD2 (parameter No. 34).

(3) Position control gain 2 changing ratio (PG2B: parameter No. 62), speed control gain 2 changing ratio
(VG2B: parameter No. 63), speed integral compensation changing ratio (VICB: parameter No. 64)
Set the values of after-changing position control gain 2, speed control gain 2 and speed integral
compensation in ratio (%). 100% setting means no gain change.
For example, at the setting of PG2 100, VG2 2000, VIC 20 and PG2B 180%, VG2B 150% and
VICB 80%, the after-changing values are as follows:
Position control gain 2 PG2 PG2B/100 180rad/s
Speed control gain 2 VG2 VG2B/100 3000rad/s
Speed integral compensation VIC VICB/100 16ms

(4) Gain changing selection (CDP: parameter No. 65)

Used to set the gain changing condition. Choose the changing condition in the first digit. If you set "1"
here, you can use the gain changing (CDP) external input signal for gain changing. The gain changing
(CDP) signal can be assigned to the pins using parameters No. 43 to 48.
Parameter No. 65

0 0 0
Gain changing selection
Gains are changed in accordance with the settings of
parameters No. 61 to 64 under any of the following conditions:
0: Invalid
1: Gain changing (CDP) input signal is ON
2: Command frequency is equal to higher than parameter No. 66 setting
3: Droop pulse value is equal to higher than parameter No. 66 setting
4: Servo motor speed is equal to higher than parameter No. 66 setting

(5) Gain changing condition (CDS: parameter No. 66)

When you selected "command frequency", "droop pulses" or "servo motor speed" in gain changing
selection (parameter No.65), set the gain changing level.
The setting unit is as follows:

Gain changing condition Unit

Command frequency kpulse/s
Droop pulses pulse
Servo motor speed r/min

(6) Gain changing time constant (CDT: parameter No. 67)

You can set the primary delay filter to each gain at gain changing. This parameter is used to suppress
shock given to the machine if the gain difference is large at gain changing, for example.

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 8. SPECIAL ADJUSTMENT FUNCTIONS

8.3.4 Gain changing operation

This operation will be described by way of setting examples.

(1) When you choose changing by external input

(a) Setting

Parameter No. Abbreviation Name Setting Unit

6 PG1 Position control gain 1 100 rad/s
36 VG1 Speed control gain 1 1000 rad/s
Ratio of load inertia moment to
34 GD2 4 0.1 times
servo motor inertia moment
35 PG2 Position control gain 2 120 rad/s
37 VG2 Speed control gain 2 3000 rad/s
38 VIC Speed integral compensation 20 ms
Ratio of load inertia moment to
61 GD2B 100 0.1 times
servo motor inertia moment 2
Position control gain 2
62 PG2B 70 %
changing ratio
Speed control gain 2 changing
63 VG2B 133 %
ratio
Speed integral compensation
64 VICB 250 %
changing ratio
0001
65 CDP Gain changing selection (Changed by ON/OFF of
pin CN1A-8)
67 CDT Gain changing time constant 100 ms

(b) Changing operation

Gain changing OFF ON OFF
(CDP)
After-changing gain

Change of Before-changing gain

each gain CDT 100ms

Position control gain 1 100

Speed control gain 1 1000
Ratio of load inertia moment
4.0 10.0 4.0
to servo motor inertia moment
Position control gain 2 120 84 120
Speed control gain 2 3000 4000 3000
Speed integral compensation 20 50 20

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 8. SPECIAL ADJUSTMENT FUNCTIONS

(2) When you choose changing by droop pulses

(a) Setting

Parameter No. Abbreviation Name Setting Unit

6 PG1 Position control gain 1 100 rad/s
36 VG1 Speed control gain 1 1000 rad/s
Ratio of load inertia moment to
34 GD2 40 0.1 times
servo motor inertia moment
35 PG2 Position control gain 2 120 rad/s
37 VG2 Speed control gain 2 3000 rad/s
38 VIC Speed integral compensation 20 ms
Ratio of load inertia moment to
61 GD2B 100 0.1 times
servo motor inertia moment 2
Position control gain 2
62 PG2B 70 %
changing ratio
Speed control gain 2 changing
63 VG2B 133 %
ratio
Speed integral compensation
64 VICB 250 %
changing ratio
0003
65 CDP Gain changing selection
(Changed by droop pulses)
66 CDS Gain changing condition 50 pulse
67 CDT Gain changing time constant 100 ms

(b) Changing operation

Command pulse
Droop pulses

CDS
Droop pulses [pulses] 0
CDS

After-changing gain

Before-changing gain
Change of each gain
CDT 100ms

Position control gain 1 100

Speed control gain 1 1000
Ratio of load inertia moment
4.0 10.0 4.0 10.0
to servo motor inertia moment
Position control gain 2 120 84 120 84
Speed control gain 2 3000 4000 3000 4000
Speed integral compensation 20 50 20 50

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 9. INSPECTION

9. INSPECTION

Before starting maintenance and/or inspection, make sure that the charge lamp is
off more than 10 minutes after power-off. Then, confirm that the voltage is safe in
the tester or the like. Otherwise, you may get an electric shock.
WARNING
Any person who is involved in inspection should be fully competent to do the work.
Otherwise, you may get an electric shock. For repair and parts replacement,
contact your safes representative.

POINT
Do not test the servo amplifier with a megger (measure insulation
resistance), or it may become faulty.
Do not disassemble and/or repair the equipment on customer side.

(1) Inspection
It is recommended to make the following checks periodically:
(a) Check for loose terminal block screws. Retighten any loose screws.
(b) Check the cables and the like for scratches and cracks. Perform periodic inspection according to
operating conditions.

(2) Life
The following parts must be changed periodically as listed below. If any part is found faulty, it must be
changed immediately even when it has not yet reached the end of its life, which depends on the
operating method and environmental conditions. For parts replacement, please contact your sales
representative.
Part name Life guideline
Smoothing capacitor 10 years
Relay 100,000 times
Servo amplifier
Cooling fan 10,000 to 30,000hours (2 to 3 years)
Absolute position battery Refer to Section 15.2

(a) Smoothing capacitor

Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly
depends on ambient temperature and operating conditions. The capacitor will reach the end of its
life in 10 years of continuous operation in normal air-conditioned environment.

(b) Relays
Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of
their life at cumulative 100,000 switching times (switching life), which depends on the power
supply capacity.

(c) Servo amplifier cooling fan

The cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. Normally, therefore,
the fan must be changed in a few years of continuous operation as a guideline.
It must also be changed if unusual noise or vibration is found during inspection.

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 9. INSPECTION

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 10. TROUBLESHOOTING

10. TROUBLESHOOTING

10.1 Trouble at start-up

Excessive adjustment or change of parameter setting must not be made as it will

CAUTION
make operation instable.

POINT
Using the optional servo configuration software, you can refer to unrotated
servo motor reasons, etc.

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

10.1.1 Position control mode

(1) Troubleshooting
No. Start-up sequence Fault Investigation Possible cause Refer to
1 Power on LED is not lit. Not improved if connectors 1. Power supply voltage fault
LED flickers. CN1A, CN1B, CN2 and CN3 2. Servo amplifier is faulty.
are disconnected.
Improved when connectors Power supply of CNP1 cabling
CN1A and CN1B are is shorted.
disconnected.
Improved when connector 1. Power supply of encoder
CN2 is disconnected. cabling is shorted.
2. Encoder is faulty.
Improved when connector Power supply of CN3 cabling is
CN3 is disconnected. shorted.
Alarm occurs. Refer to Section 10.2 and remove cause. Section 10.2
2 Switch on servo-on Alarm occurs. Refer to Section 10.2 and remove cause. Section 10.2
signal. Servo motor shaft is 1. Check the display to see if 1. Servo-on signal is not input. Section 6.6
not servo-locked the servo amplifier is (Wiring mistake)
(is free). ready to operate. 2. 24VDC power is not
2. Check the external I/O supplied to COM.
signal indication to see if
the servo-on (SON) signal
is ON.
3 Enter input Servo motor does Check cumulative command 1. Wiring mistake Section 6.2
command. not rotate. pulses. (a) For open collector pulse
(Test operation) train input, 24VDC
power is not supplied to
OPC.
(b) LSP/LSN-SG are not
connected.
2. No pulses is input.
Servo motor run in 1. Mistake in wiring to Chapter 5
reverse direction. controller.
2. Mistake in setting of
parameter No. 54.

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 10. TROUBLESHOOTING

No. Start-up sequence Fault Investigation Possible cause Refer to

4 Gain adjustment Rotation ripples Make gain adjustment in the Gain adjustment fault Chapter 7
(speed fluctuations) following procedure:
are large at low 1. Increase the auto tuning
speed. response level.
2. Repeat acceleration and
deceleration several times
to complete auto tuning.
Large load inertia Make gain adjustment in the Gain adjustment fault Chapter 7
moment causes the following procedure:
servo motor shaft to If the servo motor may be
oscillate side to side. run with safety, repeat
acceleration and
deceleration several times
to complete auto tuning.
5 Cyclic operation Position shift occurs Confirm the cumulative Pulse counting error, etc. (2) in this
command pulses, cumulative due to noise. section
feedback pulses and actual
servo motor position.

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 10. TROUBLESHOOTING

(2) How to find the cause of position shift

Positioning unit Servo amplifier
(a) Output pulse Electronic gear (parameters No. 3, 4) Machine
counter
Servo motor
L
CMX
Q P SM
CDV (d) Machine stop
position M
(A) (b) Cumulative command (B)
(C) Servo-on (SON), pulses
stroke end
(LSP/LSN) input C Encoder

(c) Cumulative
feedback pulses

When a position shift occurs, check (a) output pulse counter, (b) cumulative command pulse display, (c)
cumulative feedback pulse display, and (d) machine stop position in the above diagram.
(A), (B) and (C) indicate position shift causes. For example, (A) indicates that noise entered the wiring
between positioning unit and servo amplifier, causing pulses to be mis-counted.

In a normal status without position shift, there are the following relationships:
1) Q P (positioning unit's output counter servo amplifier's cumulative command pulses)
CMX(parameter No.3)
2) P
CDV(parameter No.4)
C (cumulative command pulses electronic gear cumulative feedback pulses)
3) C M (cumulative feedback pulses travel per pulse machine position)

Check for a position shift in the following sequence:

1) When Q P
Noise entered the pulse train signal wiring between positioning unit and servo amplifier,
causing pulses to be miss-counted. (Cause A)
Make the following check or take the following measures:
Check how the shielding is done.
Change the open collector system to the differential line driver system.
Run wiring away from the power circuit.
Install a data line filter. (Refer to Section 13.2.6.)
CMX
2) When P C
CDV
During operation, the servo-on signal (SON) or forward/reverse rotation stroke end signal was
switched off or the clear signal (CR) and the reset signal (RES) switched on. (Cause C)
If a malfunction may occur due to much noise, increase the input filter setting (parameter No. 1).
3) When C M
Mechanical slip occurred between the servo motor and machine. (Cause B)

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 10. TROUBLESHOOTING

10.1.2 Speed control mode

No. Start-up sequence Fault Investigation Possible cause Refer to

1 Power on LED is not lit. Not improved if connectors 1. Power supply voltage fault
LED flickers. CN1A, CN1B, CN2 and CN3 2. Servo amplifier is faulty.
are disconnected.
Improved when connectors Power supply of CN1 cabling is
CN1A and CN1B are shorted.
disconnected.
Improved when connector 1. Power supply of encoder
CN2 is disconnected. cabling is shorted.
2. Encoder is faulty.
Improved when connector Power supply of CN3 cabling is
CN3 is disconnected. shorted.
Alarm occurs. Refer to Section 10.2 and remove cause. Section 10.2
2 Switch on servo-on Alarm occurs. Refer to Section 10.2 and remove cause. Section 10.2
signal. Servo motor shaft is 1. Check the display to see if 1. Servo-on signal is not input. Section 6.6
not servo-locked the servo amplifier is (Wiring mistake)
(is free). ready to operate. 2. 24VDC power is not
2. Check the external I/O supplied to COM.
signal indication to see if
the servo-on (SON) signal
is ON.
3 Switch on forward Servo motor does Call the status display and Analog speed command is 0V. Section 6.2
rotation start (ST1) not rotate. check the input voltage of
or reverse rotation the analog speed command
start (ST2). (VC).
Call the external I/O signal LSP, LSN, ST1 or ST2 is off. Section 6.6
display and check the
ON/OFF status of the input
signal.
Check the internal speed Set value is 0. (1), Section
commands 1 to 7 5.1.2
(parameters No. 8 to 10 72
to 75).
Check the internal torque Torque limit level is too low as
limit 1 (parameter No. 28). compared to the load torque.
When the analog torque Torque limit level is too low as
limit (TLA) is usable, check compared to the load torque.
the input voltage on the
status display.
4 Gain adjustment Rotation ripples Make gain adjustment in the Gain adjustment fault Chapter 7
(speed fluctuations) following procedure:
are large at low 1. Increase the auto tuning
speed. response level.
2. Repeat acceleration and
deceleration several
times to complete auto
tuning.
Large load inertia Make gain adjustment in the Gain adjustment fault Chapter 7
moment causes the following procedure:
servo motor shaft to If the servo motor may be
oscillate side to side. run with safety, repeat
acceleration and
deceleration several times
to complete auto tuning.

10 - 4

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 10. TROUBLESHOOTING

10.1.3 Torque control mode

No. Start-up sequence Fault Investigation Possible cause Refer to

1 Power on LED is not lit. Not improved if connectors 1. Power supply voltage fault
LED flickers. CN1A, CN1B, CN2 and CN3 2. Servo amplifier is faulty.
are disconnected.
Improved when connectors Power supply of CN1 cabling is
CN1A and CN1B are shorted.
disconnected.
Improved when connector 1. Power supply of encoder
CN2 is disconnected. cabling is shorted.
2. Encoder is faulty.
Improved when connector Power supply of CN3 cabling is
CN3 is disconnected. shorted.
Alarm occurs. Refer to Section 10.2 and remove cause. Section 10.2
2 Switch on servo-on Alarm occurs. Refer to Section 10.2 and remove cause. Section 10.2
signal. Servo motor shaft is Call the external I/O signal 1. Servo-on signal is not input. Section 6.6
free. display and check the (Wiring mistake)
ON/OFF status of the input 2. 24VDC power is not
signal. supplied to COM.
3 Switch on forward Servo motor does Call the status display and Analog torque command is 0V. Section 6.2
rotation start (RS1) not rotate. check the analog torque
or reverse rotation command (TC).
start (RS2). Call the external I/O signal RS1 or RS2 is off. Section 6.6
display and check the
ON/OFF status of the input
signal.
Check the internal speed Set value is 0. (1),
limits 1 to 7 Section 5.1.2
(parameters No. 8 to 10 72
to 75).
Check the analog torque Torque command level is too
command maximum output low as compared to the load
(parameter No. 26) value. torque.
Check the internal torque Set value is 0.
limit 1 (parameter No. 28).

10 - 5

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 10. TROUBLESHOOTING

10.2 When alarm or warning has occurred

POINT
Configure up a circuit which will detect the trouble (ALM) signal and turn
off the servo-on (SON) signal at occurrence of an alarm.

10.2.1 Alarms and warning list

When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or
warning has occurred, refer to Section 10.2.2 or 10.2.3 and take the appropriate action.
Set " 1" in parameter No. 49 to output the alarm code in ON/OFF status across the corresponding
pin and SG. Warnings (AL.92 to AL.EA) have no alarm codes. Any alarm code is output at occurrence of
the corresponding alarm. In the normal status, the signals available before alarm code setting (CN1B-19:
ZSP, CN1A-18: INP or SA, CN1A-19: RD) are output.
The alarms marked in the alarm deactivation column can be deactivated by the corresponding
operations.
(Note 2) Alarm code Alarm deactivation
Press
Alarm
"SET" on
Display CN1B-19 CN1A-18 CN1A-19 Name Power reset
current
pin pin pin OFF ON (RES)
alarm
signal
screen.
AL.10 0 1 0 Undervoltage
AL.12 0 0 0 Memory error 1
AL.13 0 0 0 Clock error
AL.15 0 0 0 Memory error 2
AL.16 1 1 0 Encoder error 1
AL.17 0 0 0 Board error 2
AL.19 0 0 0 Memory error 3
AL.1A 1 1 0 Motor combination error
AL.20 1 1 0 Encoder error 2
AL.24 1 0 0 Motor output ground fault
AL.25 1 1 0 Absolute position erase
AL.30 0 0 1 Regenerative error
Alarms

AL.31 1 0 1 Overspeed
AL.32 1 0 0 Overcurrent
AL.33 0 0 1 Overvoltage
AL.35 1 0 1 Command pulse frequency error
AL.37 0 0 0 Parameter error
AL.45 0 1 1 Main circuit device overheat
AL.46 0 1 1 Servo motor overheat
AL.50 0 1 1 Overload 1 (Note 1) (Note 1) (Note 1)
AL.51 0 1 1 Overload 2 (Note 1) (Note 1) (Note 1)
AL.52 1 0 1 Error excessive
AL.8A 0 0 0 Serial communication time-out
AL.8E 0 0 0 Serial communication error
88888 0 0 0 Watchdog
AL.92 Open battery cable warning
AL.96 Home position setting warning
AL.9F Battery warning
AL.E0 Excessive regenerative warning
Warnings

Removing the cause of occurrence

AL.E1 Overload warning
deactivates the alarm
AL.E3 Absolute position counter warning
automatically.
AL.E5 ABS time-out warning
AL.E6 Servo emergency stop
AL.E9 Main circuit off warning
AL.EA ABS servo-on warning
Note: 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence.
2. 0: Pin-SG off (open)
1: Pin-SG on (short)

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 10. TROUBLESHOOTING

10.2.2 Remedies for alarms

When any alarm has occurred, eliminate its cause, ensure safety, then reset the
alarm, and restart operation. Otherwise, injury may occur.
CAUTION
If an absolute position erase alarm (AL.25) occurred, always make home position
setting again. Otherwise, misoperation may occur.

POINT
When any of the following alarms has occurred, always remove its cause
and allow about 30 minutes for cooling before resuming operation. If
operation is resumed by switching control circuit power off, then on to reset
the alarm, the servo amplifier and servo motor may become faulty.
Regenerative error (AL.30)
Overload 1 (AL.50)
Overload 2 (AL.51)
The alarm can be deactivated by switching power off, then on or by turning
on the reset signal (RES). For details, refer to Section 10.2.1.

When an alarm occurs, the trouble signal (ALM) switches off and the dynamic brake is operated to stop
the servomotor. At this time, the display indicates the alarm No.
The servo motor comes to a stop. Remove the cause of the alarm in accordance with this section. The
optional servo configuration software may be used to refer to the cause.
Display Name Definition Cause Action
AL.10 Undervoltage Power supply 1. Power supply voltage is low. Review the power supply.
voltage dropped. 2. There was an instantaneous
MR-J2S- A:160V or control power failure of 60ms or
less longer.
MR-J2S- A1:83V or 3. Shortage of power supply capacity
less caused the power supply voltage to
drop at start, etc.
4. Power was restored after the bus
voltage had dropped to 200VDC.
(Main circuit power switched on
within 5s after it had switched off.)
5. Faulty parts in the servo amplifier Change the servo amplifier.
Checking method
Alarm (AL.10) occurs if power is
switched on after CN1A, CN1B
and CN3 connectors are
disconnected.

AL.12 Memory error 1 RAM, memory fault Faulty parts in the servo amplifier Change the servo amplifier.
AL.13 Clock error Printed board fault Checking method
AL.15 Memory error 2 EEP-ROM fault Alarm (any of AL.12,13 and 15)
occurs if power is switched on
after CN1A, CN1B and CN3
all connectors are disconnected.

AL.16 Encoder error 1 Communication 1. CN2 connector disconnected. Connect correctly.

error occurred 2. Encoder fault Change the servo motor.
between encoder 3. Encoder cable faulty Repair or change cable.
and servo amplifier. (Wire breakage or shorted)

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 10. TROUBLESHOOTING

Display Name Definition Cause Action

AL.17 Board error 2 CPU/parts fault Faulty parts in the servo amplifier Change the servo amplifier.
AL.19 Memory error 3 ROM memory fault Checking method
Alarm (AL.17 or AL.19) occurs if
power is switched on after CN1A,
CN1B and CN3 connectors are
disconnected.
AL.1A Motor Wrong combination Wrong combination of servo Use correct combination.
combination of servo anplifier amplifier and servo motor connected.
error and servo motor.
AL.20 Encoder error 2 Communication 1. Encoder connector (CN2) Connect correctly.
error occurred disconnected.
between encoder 2. Encoder cable faulty Repair or change the cable.
and servo amplifier. (Wire breakage or shorted)
AL.24 Motor outout Ground fault 1. Power input wires and servo motor Connect correctly.
ground fault occurred at the output wires are in contact at
servo motor outputs main circuit terminal block (TE1).
(U,V and W phases) 2. Sheathes of servo motor power Change the cable.
of the servo cables deteriorated, resulting in
amplififer. ground fault.
3. Main circuit of servo amplifier Change the servo amplifier.
failed.
Checking method
AL.24 occurs if the servo is
switched on after disconnecting
the U, V, W power cables from
the servo amplifier.
AL.25 Absolute Absolute position 1. Reduced voltage of super capacitor After leaving the alarm occurring for a few
position erase data in error in encoder minutes, switch power off, then on again.
Always make home position setting again.
2. Battery voltage low Change battery.
3. Battery cable or battery is faulty. Always make home position setting again.
Power was switched 4. Super capacitor of the absolute After leaving the alarm occurring for a few
on for the first time position encoder is not charged minutes, switch power off, then on again.
in the absolute Always make home position setting again.
position detection
system.
AL.30 Regenerative Permissible 1. Wrong setting of parameter No. 0 Set correctly.
alarm regenerative power 2. Built-in regenerative brake Connect correctly
of the built-in resistor or regenerative brake
regenerative brake option is not connected.
resistor or 3. High-duty operation or continuous 1. Reduce the frequency of positioning.
regenerative brake regenerative operation caused the 2. Use the regenerative brake option of
option is exceeded. permissible regenerative power of larger capacity.
the regenerative brake option to 3. Reduce the load.
be exceeded.
Checking method
Call the status display and check
the regenerative load ratio.

4. Power supply voltage is abnormal. Review power supply

MR-J2S- A:260V or more
MR-J2S- A1:135V or more
Regenerative 5. Regenerative transistor faulty. Change the servo amplifier.
transistor fault
Checking method
1) The regenerative brake option
has overheated abnormally.
2) The alarm occurs even after
removal of the built-in
regenerative brake resistor or
regenerative brake option.

6. Built-in regenerative brake Change servo amplifier or regenerative

resistor or regenerative brake brake option.
option faulty.
Cooling fan stop 7. Unusual overheat due to cooling 1. Change the servo amplifier or cooling
(MR-J2S-200A 350A) fan stop. fan.
2. Reduce ambient temperature.

10 - 8

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 10. TROUBLESHOOTING

Display Name Definition Cause Action

AL.31 Overspeed Speed has exceeded 1. Input command pulse frequency Set command pulses correctly.
the instantaneous exceeded the permissible
permissible speed. instantaneous speed frequency.
2. Small acceleration/deceleration Increase acceleration/deceleration time
time constant caused overshoot to constant.
be large.
3. Servo system is instable to cause 1. Re-set servo gain to proper value.
overshoot. 2. If servo gain cannot be set to proper
value:
1) Reduce load inertia moment ratio; or
2) Reexamine acceleration/
deceleration time constant.
4. Electronic gear ratio is large Set correctly.
(parameters No. 3, 4)
5. Encoder faulty. Change the servo motor.
AL.32 Overcurrent Current that flew is 1. Short occurred in servo amplifier Correct the wiring.
higher than the output phases U, V and W.
permissible current 2. Transistor (IPM) of the servo Change the servo amplifier.
of the servo amplifier faulty.
amplifier. Checking method
Alarm (AL.32) occurs if power is
switched on after U,V and W
are disconnected.

3. Ground fault occurred in servo Correct the wiring.

amplifier output phases U, V and
W.
4. External noise caused the Take noise suppression measures.
overcurrent detection circuit to
misoperate.
AL.33 Overvoltage Converter bus 1. Lead of built-in regenerative brake 1. Change lead.
voltage exceeded resistor or regenerative brake 2. Connect correctly.
400V. option is open or disconnected.
2. Regenerative transistor faulty. Change servo amplifier
3. Wire breakage of built-in 1. For wire breakage of built-in
regenerative brake resistor or regenerative brake resistor, change
regenerative brake option servo amplifier.
2. For wire breakage of regenerative brake
option, change regenerative brake
option.
4. Capacity of built-in regenerative Add regenerative brake option or increase
brake resistor or regenerative capacity.
brake option is insufficient.
5. Power supply voltage high. Review the power supply.

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 10. TROUBLESHOOTING

Display Name Definition Cause Action

AL.35 Command Input pulse 1. Pulse frequency of the command Change the command pulse frequency to a
pulse frequency frequency of the pulse is too high. proper value.
error command pulse is 2. Noise entered command pulses. Take action against noise.
too high. 3. Command device failure Change the command device.
AL.37 Parameter Parameter setting is 1. Servo amplifier fault caused the Change the servo amplifier.
error wrong. parameter setting to be rewritten.
2. Regenerative brake option not Set parameter No.0 correctly.
used with servo amplifier was
selected in parameter No.0.
AL.45 Main circuit Main circuit device 1. Servo amplifier faulty. Change the servo amplifier.
device overheat overheat 2. The power supply was turned on The drive method is reviewed.
and off continuously by overloaded
status.
3. Air cooling fan of servo amplifier Repair the cooling fan of the servo
stops. amplifier.
AL.46 Servo motor Servo motor 1. Ambient temperature of servo Review environment so that ambient
overheat temperature rise motor is over 40 . temperature is 0 to 40 .
actuated the 2. Servo motor is overloaded. 1. Reduce load.
thermal protector. 2. Review operation pattern.
3. Use servo motor that provides larger
output.
3. Thermal protector in encoder is Change servo motor.
faulty.
AL.50 Overload 1 Load exceeded 1. Servo amplifier is used in excess 1. Reduce load.
overload protection of its continuous output current. 2. Review operation pattern.
characteristic of 3. Use servo motor that provides larger
servo amplifier. output.
Load ratio 300%: 2. Servo system is instable and 1. Repeat acceleration/
2.5s or more hunting. deceleration to execute auto tuning.
Load ratio 200%: 2. Change auto tuning response setting.
100s or more 3. Set auto tuning to OFF and make gain
adjustment manually.
3. Machine struck something. 1. Review operation pattern.
2. Install limit switches.
4. Wrong connection of servo motor. Connect correctly.
Servo amplifier's output terminals
U, V, W do not match servo
motor's input terminals U, V, W.
5. Encoder faulty. Change the servo motor.
Checking method
When the servo motor shaft is
rotated slowly with the servo off,
the cumulative feedback pulses
should vary in proportion to the
rotary angle. If the indication
skips or returns midway, the
encoder is faulty.

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 10. TROUBLESHOOTING

Display Name Definition Cause Action

AL.51 Overload 2 Machine collision or 1. Machine struck something. 1. Review operation pattern.
the like caused max. 2. Install limit switches.
output current to 2. Wrong connection of servo motor. Connect correctly.
flow successively for Servo amplifier's output terminals
several seconds. U, V, W do not match servo
Servo motor locked: motor's input terminals U, V, W.
1s or more 3. Servo system is instable and 1. Repeat acceleration/deceleration to
hunting. execute auto tuning.
2. Change auto tuning response setting.
3. Set auto tuning to OFF and make gain
adjustment manually.
4. Encoder faulty. Change the servo motor.
Checking method
When the servo motor shaft is
rotated slowly with the servo off,
the cumulative feedback pulses
should vary in proportion to the
rotary angle. If the indication
skips or returns midway, the
encoder is faulty.

AL.52 Error excessive Droop pulse value of 1. Acceleration/deceleration time Increase the acceleration/deceleration
the deviation constant is too small. time constant.
counter exceeded 2. Torque limit value (parameter Increase the torque limit value.
80k pulses. No.28) is too small.
3. Motor cannot be started due to 1. Review the power supply capacity.
torque shortage caused by power 2. Use servo motor which provides larger
supply voltage drop. output.
4. Position control gain 1 (parameter Increase set value and adjust to ensure
No.6) value is small. proper operation.
5. Servo motor shaft was rotated by 1. When torque is limited, increase the
external force. limit value.
2. Reduce load.
3. Use servo motor that provides larger
output.
6. Machine struck something. 1. Review operation pattern.
2. Install limit switches.
7. Encoder faulty Change the servo motor.
8. Wrong connection of servo motor. Connect correctly.
Servo amplifier's output terminals
U, V, W do not match servo
motor's input terminals U, V, W.
AL.8A Serial RS-232C or RS-422 1. Communication cable breakage. Repair or change communication cable
communication communication 2. Communication cycle longer than Set correct value in parameter.
time-out stopped for longer parameter No. 56 setting.
than the time set in 3. Wrong protocol. Correct protocol.
parameter No.56.
AL.8E Serial Serial 1. Communication connector is Connect correctly.
communication communication disconnected.
error occurred
error 2. Communication cable fault Repair or change the cable.
between servo
amplifier and (Open cable or short circuit)
communication
3. Communication device (e.g. Change the communication device (e.g.
device (e.g. personal
computer). personal computer) faulty personal computer).

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 10. TROUBLESHOOTING

Display Name Definition Cause Action

88888 Watchdog CPU, parts faulty Fault of parts in servo amplifier Change servo amplifier.
Checking method
Alarm (88888) occurs if power
is switched on after CN1A, CN1B
and CN3 connectors are
disconnected.

10.2.3 Remedies for warnings

If AL.E6 or AL.E9 occurs, the servo off status is established. If any other warning occurs, operation can be
continued but an alarm may take place or proper operation may not be performed. Eliminate the cause of
the warning according to this section. Use the optional servo configuration software to refer to the cause
of warning.
Display Name Definition Cause Action
AL.92 Open battery Absolute position 1. Battery cable is open. Repair cable or changed.
cable warning detection system battery 2. Battery voltage dropped to 2.8V or less. Change battery.
voltage is low.
AL.96 Home position Home position setting 1. Droop pulses remaining are greater Remove the cause of droop pulse
setting warning could not be made. than the in-position range setting. occurrence
2. Command pulse entered after clearing Do not enter command pulse
of droop pulses. after clearing of droop pulses.
3. Creep speed high. Reduce creep speed.
AL.9F Battery warning Voltage of battery for Battery voltage fell to 3.2V or less. Change the battery.
absolute position
detection system reduced.
AL.E0 Excessive There is a possibility that Regenerative power increased to 85% or 1. Reduce frequency of
regenerative regenerative power may more of permissible regenerative power of positioning.
warning exceed permissible built-in regenerative brake resistor or 2. Change regenerative brake
regenerative power of regenerative brake option. option for the one with larger
built-in regenerative Checking method capacity.
Call the status display and check
brake resistor or 3. Reduce load.
regenerative load ratio.
regenerative brake
option.
AL.E1 Overload There is a possibility that Load increased to 85% or more of overload Refer to AL.50, AL.51.
warning overload alarm 1 or 2 alarm 1 or 2 occurrence level.
may occur. Cause, checking method
Refer to AL.50,51.

AL.E3 Absolute position Absolute position encoder 1. Noise entered the encoder. Take noise suppression
counter warning pulses faulty. measures.
2. Encoder faulty. Change servo motor.
AL.E5 ABS time-out 1. PC lader program wrong. Contact the program.
warning 2. ST2 TLC signal mis-wiring Connect properly.
AL.E6 Servo emergency EMG-SG are open. External emergency stop was made valid. Ensure safety and deactivate
stop (EMG-SG opened.) emergency stop.
AL.E9 Main circuit off Servo was switched on Switch on main circuit power.
warning with main circuit power
off.
AL.EA ABS Servo-on signal (SON) 1. PC ladder program wrong. 1. Correct the program.
servo-on warning turned on more than 1s 2. SON signal mis-wiring. 2. Connect properly.
after servo amplifier had
entered absolute position
data transfer mode.

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 11. OUTLINE DIMENSION DRAWINGS

11. OUTLINE DIMENSION DRAWINGS

11.1 Servo amplifiers

(1) MR-J2S-10A to MR-J2S-60A

MR-J2S-10A1 to MR-J2S-40A1
[Unit: mm]

A 70 (2.76) ([Unit: in])

135 (5.32)
6 ( 0.24) mounting hole B Terminal layout

(0.79)
20
(Terminal cover open)
6
(0.24)

MITSUBISHI MITSUBISHI

OPEN OPEN

C C C C
N N N N
1 1 1 1
168 (6.61)
156 (6.14)

A B A B

C C
Name plate C C
N N N N
2 3 2 3
E
E
N TE1 N
C C

L1 L2 L3

(Note)
6 (0.24)

U V W
7 (0.28)

TE2

6 PE terminal
(0.24)

4(0.16)

Variable dimensions Weight

Servo amplifier
A B [kg]([lb])
MR-J2S-10A(1)
50 (1.97) 6 (0.24) 0.7 (1.54)
MR-J2S-20A(1)
MR-J2S-40A(1)
70 (2.76) 22 (0.87) 1.1 (2.43)
MR-J2S-60A

Note: This data applies to the 3-phase 200 to 230VAC and 1-phase 230VAC power supply models.
TE1

For 3-phase 200 to 230VAC and 1-phase 230VAC For 1-phase 100 to 120VAC
L1 L2 L3 L1 L2
U V W U V W

Terminal screw: M4 0.7 Terminal screw: M4 0.7

Tightening torque: 1.24 [N m] (175.6 [oz in]) Tightening torque: 1.24 [N m] (175.6 [oz in])

PE terminals
TE2
Front
D C P L21 L11

Tightening torque: 0.5 to 0.6 [N m] (70.8 to 85.0 [oz in])

FRONT MSTB2,5/5-ST-5,08 Terminal screw: M4 0.7
(Phoenix Contact make) Tightening torque: 1.24 [N m] (175.6 [oz in])

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 11. OUTLINE DIMENSION DRAWINGS

(2) MR-J2S-70A MR-J2S-100A

[Unit: mm]
6 ( 0.24) 70(2.76) ([Unit: in])
mounting hole 70(2.76) 190(7.48)
22
(0.24)

Terminal layout

(0.79)
(0.87)
(Terminal cover open)

20
6

MITSUBISHI MITSUBISHI

OPEN OPEN

C C C C
N N N N
1 1 1 1
168(6.61)
156(6.14)

A B A B

C C
Name plate C C
N N N N
2 3 2 3
E E
N N
C C

L1 L2 L3
6(0.24)

U V W
7 (0.28)

PE terminal
6(0.24) TE2 TE1
22 42 6(0.24)
(0.87) (1.65)

6(0.24)

Weight
Servo amplifier
[kg]([lb])
MR-J2S-70A 1.7
MR-J2S-100A (3.75)

TE1

L1 L2 L3
U V W

Terminal screw: M4 0.7

Tightening torque: 1.24 [N m] (175.6 [oz in])

TE2
Front FRONT MSTB2,5/6-ST-5,08

D C P L21 L11 N (Phoenix Contact make)

Tightening torque: 0.5 to 0.6 [N m] (70.8 to 85.0 [oz in])

PE terminals

Terminal screw: M4 0.7

Tightening torque: 1.24 [N m] (175.6 [oz in])

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 11. OUTLINE DIMENSION DRAWINGS

(3) MR-J2S-200A MR-J2S-350A

[Unit: mm]
([Unit: in])
6 ( 0.24) 90(3.54) 70(2.76) 195(7.68)
mounting hole
(0.24)

6 78(3.07)
(0.24) Terminal layout
6

MITSUBISHI MITSUBISHI
168(6.61)
156(6.14)

TE2 12-M4
screw

TE1

PE terminal 3-M4 screw

Weight
Servo amplifier
[kg]([lb])
MR-J2S-200A 2.0
MR-J2S-350A (4.41)

TE1 PE terminals

L1 L2 L3 U V W

Terminal screw: M4 0.7

Tightening torque: 1.24 [N m] (175.6 [oz in])
Terminal screw: M4 0.7
Tightening torque: 1.24 [N m] (175.6 [oz in])
TE2

L11 L21 D P C N

Terminal screw: M4 0.7

Tightening torque: 1.24 [N m] (175.6 [oz in])

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 11. OUTLINE DIMENSION DRAWINGS

11.2 Connectors

(1) Servo amplifier side

<Sumitomo 3M make>
(a) Soldered type
Model [Unit: mm]
Connector : 10120-3000VE ([Unit: in])
Shell kit : 10320-52F0-008
12.0(0.47)

10.0(0.39)
14.0
22.0 (0.87) (0.55)

Logo, etc. are indicated here.

39.0 (1.54)
23.8 (0.94)

33.3 (1.31)
12.7(0.50)

(b) Threaded type

Model [Unit: mm]
Connector : 10120-3000VE ([Unit: in])
Shell kit : 10320-52A0-008
Note. This is not available as option 12.0
and should be user-prepared. (0.47)
(0.39)
10.0

22.0 14.0
(0.87) (0.55) 27.4 (1.08)
39.0 (1.54)

(0.94)
23.8
(0.22)
5.7

33.3 12.7
(1.31) (0.50)

(c) Insulation displacement type

Model [Unit: mm]
Connector : 10120-6000EL ([Unit: in])
Shell kit : 10320-3210-000
6.7
11.5(0.45)

( 0.26)

20.9 (0.82) Logo, etc. are indicated here.

2- 0.5 (0.02)
42.0 (1.65)
33.0 (1.30)

29.7 (1.17)

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 11. OUTLINE DIMENSION DRAWINGS

(2) Communication cable connector

<Japan Aviation Electronics Industry make>
[Unit: mm]
([Unit: in])
B

Fitting fixing screw G E (max. diameter of

F
cable used)

C
D

A B C D F
Type E G
1 1 0.25 1 Reference
DE-C1-J6-S6 34.5(1.36) 19(0.75) 24.99(0.98) 33(1.30) 6(0.24) 18(0.71) #4-40

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 11. OUTLINE DIMENSION DRAWINGS

MEMO

11 - 6

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 12. CHARACTERISTICS

12. CHARACTERISTICS

12.1 Overload protection characteristics

An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier
from overloads. The operation characteristics of the electronic thermal relay are shown below. Overload 1
alarm (AL.50) occurs if overload operation performed is above the electronic thermal relay protection
curve shown below. Overload 2 alarm (AL.51) occurs if the maximum current flew 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.
In a machine like the one for vertical lift application where unbalanced torque will be produced, it is
recommended to use the machine so that the unbalanced torque is 70% or less of the rated torque.

(1) MR-J2S-10A to MR-J2S-100A

HC-KFS series 1000
HC-MFS series
HC-SFS series
During rotation
HC-UFS series
100
Operation time[s]

During stop
10

0.1
0 50 100 150 200 250 300

Load ratio [%]

Fig 12.1 Electronic thermal relay protection characteristics 1

(2) MR-J2S-200A to MR-J2S-350A

HC-SFS series 1000
HC-RFS series
HC-UFS series
During rotation
100
Operation time [s]

10

During stop
1

0.1
0 50 100 150 200 250 300

Load ratio [%]

Fig 12.2 Electronic thermal relay protection characteristics 2

12 - 1

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 12. CHARACTERISTICS

12.2 Power supply equipment capacity and generated loss

(1) Amount of heat generated by the servo amplifier

Table 12.1 indicates servo amplifiers' power supply capacities and losses generated under rated load.
For thermal design of an enclosure, use the values in Table 12.1 in consideration for the worst
operating conditions. The actual amount of generated heat will be intermediate between values at
rated torque and zero torque according to the duty used during operation. When the servo motor is run
at less than the maximum 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 12.1 Power supply capacity and generated heat per servo amplifier at rated output
(Note 1) (Note 2)
Area required for heat dissipation
Servo amplifier Servo motor Power supply Servo amplifier-generated heat[W]
capacity[kVA] At rated torque With servo off [m2] [ft2]
HC-KFS053 13 0.3 25 15 0.5 5.4
MR-J2S-10A(1) HC-MFS053 13 0.3 25 15 0.5 5.4
HC-UFS13 0.3 25 15 0.5 5.4
HC-KFS23 0.5 25 15 0.5 5.4
MR-J2S-20A(1) HC-MFS23 0.5 25 15 0.5 5.4
HC-UFS23 0.5 25 15 0.5 5.4
HC-KFS43 0.9 35 15 0.7 7.5
MR-J2S-40A(1) HC-MFS43 0.9 35 15 0.7 7.5
HC-UFS43 0.9 35 15 0.7 7.5
HC-SFS52 1.0 40 15 0.8 8.6
MR-J2S-60A
HC-SFS53 1.0 40 15 1.0 10.8
HC-MFS73 1.3 50 15 1.0 10.8
MR-J2S-70A
HC-UFS72 73 1.3 50 15 1.0 10.8
HC-SFS81 1.5 50 15 1.0 10.8
MR-J2S-100A
HC-SFS102 103 1.7 50 15 1.0 10.8
HC-SFS121 2.1 90 20 1.8 19.4
HC-SFS201 3.5 90 20 1.8 19.4
HC-SFS152 153 2.5 90 20 1.8 19.4
MR-J2S-200A HC-SFS202 203 3.5 90 20 1.8 19.4
HC-RFS103 1.8 90 20 1.8 19.4
HC-RFS153 2.5 90 20 1.8 19.4
HC-UFS152 2.5 90 20 1.8 19.4
HC-SFS301 4.8 120 20 2.7 29.1
HC-SFS352 353 5.5 130 20 2.7 29.1
MR-J2S-350A
HC-RFS203 3.5 90 20 1.8 19.4
HC-UFS202 3.5 90 20 1.8 19.4
Note:1. Note that the power supply capacity will vary according to the power supply impedance.
2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by
the regenerative brake option, use Equation 13.1 in Section 13.1.1.

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 12. CHARACTERISTICS

(2) Heat dissipation area for enclosed servo amplifier

The enclosed control box (hereafter called the control box) which will contain the servo amplifier
should be designed to ensure that its temperature rise is within 10 at the ambient temperature of
40 . (With a 5 (41 ) safety margin, the system should operate within a maximum 55 (131 )
limit.) The necessary enclosure heat dissipation area can be calculated by Equation 12.1:

P
A ............................................................................................................................................. (12.1)
K T
where, A : Heat dissipation area [m2]
P : Loss generated in the control box [W]
T : Difference between internal and ambient temperatures [ ]
K : Heat dissipation coefficient [5 to 6]

When calculating the heat dissipation area with Equation 12.1, assume that P is the sum of all losses
generated in the enclosure. Refer to Table 12.1 for heat generated by the servo amplifier. "A" indicates
the effective area for heat dissipation, but if the enclosure is directly installed on an insulated wall,
that extra amount must be added to the enclosure's surface area.
The required heat dissipation area will vary wit the conditions in the enclosure. If convection in the
enclosure is poor and heat builds up, effective heat dissipation will not be possible. Therefore,
arrangement of the equipment in the enclosure and the use of a fan should be considered.
Table 12.1 lists the enclosure dissipation area for each servo amplifier when the servo amplifier is
operated at the ambient temperature of 40 (104 ) under rated load.

(Outside) (Inside)

Air flow

Fig. 12.3 Temperature distribution in enclosure

When air flows along the outer wall of the enclosure, effective heat exchange will be possible, because
the temperature slope inside and outside the enclosure will be steeper.

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 12. CHARACTERISTICS

12.3 Dynamic brake characteristics

When an alarm, emergency stop or power failure occurs, the dynamic brake is operated to bring the servo
motor to a sudden stop. Fig. 12.4 shows the pattern in which the servo motor comes to a stop when the
dynamic brake is operated. Use Equation 12.2 to calculate an approximate coasting distance to a stop.
The dynamic brake time constant varies with the servo motor and machine operation speeds. (Refer to
Fig. 12.5)
ON
Emergency stop(EMG)
OFF

Time constant
V0
Machine speed

te Time

Fig. 12.4 Dynamic brake operation diagram

V0 JL
Lmax te 1 ....................................................................................................................... (12.2)
60 JM
Lmax : Maximum coasting distance .................................................................................................[mm][in]
Vo : Machine rapid feedrate ......................................................................................... [mm/min][in/min]
JM : Servo motor inertial moment................................................................................. [kg cm2][oz in2]
JL : Load inertia moment converted into equivalent value on servo motor shaft..... [kg cm2][oz in2]
: Brake time constant (Fig. 12.5) ...................................................................................................... [s]
te : Delay time of control section (Fig. 12.4)......................................................................................... [s]
(There is internal relay delay time of about 30ms.)

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 12. CHARACTERISTICS

0.02 0.04
0.018 0.035 121
0.016

Time constant [s]

Time constant [s]

0.03 201
0.014
0.012 0.025
23
0.01 0.02 301
73
0.008 0.015
0.006
053 0.01
0.004
0.005 81
0.002 43
0 13 0
0 500 1000 1500 2000 2500 3000 0 50 500 1000
Speed [r/min] Speed [r/min]
a. HC-MFS series b. HC-SFS1000r/min series
0.045 0.12
0.04
0.1 203

Time constant [s]

0.035
Time constant [s]

0.03 0.08 53
352 202
0.025
52 0.06
0.02
0.015 0.04 353
152
0.01 102 103
0.02
0.005
153
0 0
0 500 1000 1500 2000 0 50 500 1000 1500 2000 2500 3000
Speed [r/min] Speed [r/min]
c. HC-SFS2000r/min series d. HC-SFS3000r/min series
0.018 0.1
103 0.09 72
0.016
0.08
Time constant [s]

Time constant [s]

0.014
0.012 0.07
0.01 0.06 152
153
0.008 0.05
0.006 0.04
0.004 0.03
0.002 203 0.02
0.01 202
0
0 500 1000 1500 2000 2500 3000 0
0 500 1000 1500 2000
Speed [r/min]
Speed [r/min]
e. HC-RFS series f. HC-UFS 2000r/min series
0.07
73
0.06

0.05
Time constant [s]

0.04

0.03
43
0.02 23
13
0.01

0
0 50 500 10001500200025003000
Speed [r/min]
g. HC-UFS3000r/min series
Fig. 12.5 Dynamic brake time constant

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 12. CHARACTERISTICS

Use the dynamic brake at the load inertia moment indicated in the following table. If the load inertia
moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the
load inertia moment may exceed the value, contact Mitsubishi.
Servo amplifier Load inertia moment ratio [times]
MR-J2S-10A to MR-J2S-200A
30
MR-J2S-10A1 to MR-J2S-40A1
MR-J2S-350A 16

12.4 Encoder cable flexing life

The flexing 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 flexing-life encoder cable
MR-JCCBL M-H
MR-JHSCBL M-H
MR-ENCBL M-H
1 106
5 105 b : Standard encoder cable
MR-JCCBL M-L
MR-JHSCBL M-L
Flexing life [times]

1 105
5 104

1 104
b
5 103

1 103
4 7 10 20 40 70 100 200

Flexing radius [mm]

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 13. OPTIONS AND AUXILIARY EQUIPMENT

13. OPTIONS AND AUXILIARY EQUIPMENT

Before connecting any option or auxiliary equipment, make sure that the charge
WARNING lamp is off more than 10 minutes after power-off, then confirm the voltage with a
tester or the like. Otherwise, you may get an electric shock.

Use the specified auxiliary equipment and options. Unspecified ones may lead to a
CAUTION
fault or fire.

13.1 Options

13.1.1 Regenerative brake options

The specified combinations of regenerative brake options and servo amplifiers

CAUTION
may only be used. Otherwise, a fire may occur.

(1) Combination and regenerative power

(Note) Regenerative power[W]
Servo amplifier Built-in regenerative MR-RB032 MR-RB12 MR-RB32 MR-RB30 MR-RB50
brake resistor [40 ] [40 ] [40 ] [13 ] [13 ]
MR-J2S-10A(1) 30
MR-J2S-20A(1) 10 30 100
MR-J2S-40A(1) 10 30 100
MR-J2S-60A 10 30 100
MR-J2S-70A 20 30 100 300
MR-J2S-100A 20 30 100 300
MR-J2S-200A 100 300 500
MR-J2S-350A 100 300 500
Note: This value is the regenerative power of the resistor and is not the rated power.

(2) Selection of the regenerative brake option

(a) Simple selection method
In horizontal motion applications, select the regenerative brake option as described below:
When the servo motor is run without load in the regenerative mode from the running speed to a
stop, the permissible duty is as indicated in Section 5.1 of the separately available Servo Motor
Instruction Manual.
For the servo motor with a load, the permissible duty changes according to the inertia moment of
the load and can be calculated by the following formula:
Permissible Permissible duty for servo motor with no load (value indication Section 5.1 in Servo Motor Instruction Manual)
duty (m 1)
2
ratedspeed [times/min]
running speed

where m load inertia moment/servo motor inertia moment

From the permissible duty, find whether the regenerative brake option is required or not.
Permissible duty number of positioning times [times/min]
Select the regenerative brake option out of the combinations in (1) in this section.

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 13. OPTIONS AND AUXILIARY EQUIPMENT

(b) To make selection according to regenerative energy

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 brake option:
a. Regenerative energy calculation
Use the following table to calculate the regenerative energy.

Servo motor speed

tf(1 cycle)
No
Up

Time

Unbalance torque
M Down
t1 t2 t3 t4
Friction Tpsa1 Tpsd1 Tpsa2 Tpsd2
torque 1)
( )

Generated torque
(Driving)
TF
2) 4) 8)
5)
TU
6)
3)
(Regenerative) 7)
( )

Formulas for calculating torque and energy in operation

Regenerative power Torque applied to servo motor [N m] Energy [J]
(JL JM) No 1 0.1047
1) T1 TU TF E1 No T1 Tpsa1
9.55 10
4 Tpsa1 2
2) T2 TU TF E2 0.1047 No T2 t1
(JL JM) No 1 0.1047
3) T3 TU TF E3 No T3 Tpsd1
9.55 10
4 Tpsd1 2
4), 8) T4 TU E4 0 (No regeneration)
(JL JM) No 1 0.1047
5) T5 TU TF E5 No T5 Tpsa2
9.55 10
4
Tpsa2 2

6) T6 TU TF E6 0.1047 No T6 t3
(JL JM) No 1 0.1047
7) T7 TU TF E7 No T7 Tpsd2
9.55 10
4 Tpsd2 2

Sum total of regenerative energies Sum total of negative energies in 1) to 8)

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.
Servo amplifier Inverse efficiency[%] Capacitor charging[J]
MR-J2S-10A(1) 55 9
MR-J2S-20A(1) 70 9
MR-J2S-40A(1) 85 11
MR-J2S-60A 85 11
MR-J2S-70A 80 18
MR-J2S-100A 80 18
MR-J2S-200A 85 40
MR-J2S-350A 85 40

Inverse efficiency ( ) :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.

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 13. OPTIONS AND AUXILIARY EQUIPMENT

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 brake option.
ER [J] Es Ec
Calculate the power consumption of the regenerative brake option on the basis of single-cycle operation
period tf [s] to select the necessary regenerative brake option.
PR [W] ER/tf ............................................................................................(13.1)

(3) Connection of the regenerative brake option

When using the regenerative brake option, always remove wiring from across P-D and install the
regenerative brake option across P-C. Set parameter No.0 according to the option to be used. The
regenerative brake option will generate heat of about 100 . Fully examine heat dissipation,
installation position, used cables, etc. before installing the option. For wiring, use flame-resistant
cables and keep them clear of the regenerative brake option body. Always use twisted cables of max.
5m length for connection with the servo amplifier.
Parameter No.0

Selection of regenerative
0: Not used.
2: MR-RB032
3: MR-RB12
4: MR-RB32
5: MR-RB30
6: MR-RB50

Servo amplifier Always remove the lead from across P-D.

Regenerative brake option
D
P
P
C
C
G3
(Note) G4
G3 G4: Thermal protector terminals.
Abnormal heating will dis-
5m (16.4 ft) max.
connect G3-G4.

Note: Make up a sequence which will switch off the magnetic contactor
(MC) when abnormal heating occurs.

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 13. OPTIONS AND AUXILIARY EQUIPMENT

(4) Outline drawing

(a) MR-RB032 MR-RB12
[Unit: mm (in)]

LA
6 (0.24) mounting hole

6 (0.23)
LB

12 (0.47)
MR-RB
156 (6.14)
168 (6.61)

144 (5.67)

5 (0.20)

G3
G4
TE1 P
C
12 (0.47)
6 (0.23)

6 (0.23) 1.6 (0.06)

20
(0.79) LD

LC

Regenerative Regenerative Resistance Variable dimensions Weight

brake option power[W] [ ] LA LB LC LD [kg] [lb]
30 15 119 99
MR-RB032 30 40 0.5 1.1
(1.18) (0.59) (4.69) (3.9)
40 15 169 149
MR-RB12 100 40 1.1 2.4
(1.57) (0.59) (6.69) (5.87)

(b) MR-RB32 MR-RB30 (c) MR-RB50

[Unit: mm (in)] [Unit: mm (in)]
79
(7.05) 7 14 slot
350(13.78)

325(12.80)
125(4.92)
150(5.91)

Terminal
block

Terminal 7(0.28)
3.2(0.13) block 10 90
17 7(0.28)
318(12.52) (0.67) (0.39) (3.54) 2.3(0.09)
12 116(4.57)
100(3.94) (0.47)
200(7.87) 17(0.67) 128(5.04)

Regenerative Weight Regenerative Weight

Regenerative Resistance Regenerative Resistance
power power
brake option [ ] [kg] [lb] brake option [ ] [kg] [lb]
[W] [W]
MR-RB32 300 40 2.9 6.4 MR-RB50 500 13 5.6 12.3
MR-RB30 300 13 2.9 6.4

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 13. OPTIONS AND AUXILIARY EQUIPMENT

13.1.2 Cables and connectors

(1) Cable make-up

The following cables are used for connection with the servo motor and other models.
Servo amplifier

9)
Operation
CN1A CN1B
panel
Personal
13) computer
14)
CN2 CN3
12)
Controller

To U, V, W,
10)
18) 19)
11) HC-KFS
HC-MFS
1) 2)
10) HC-UFS 3000 r/min
11)

6)

HC-SFS
15) 16) 17) HC-RFS
3) 4) 5) HC-UFS 2000r/min

Note: Those indicated by broken lines

are not available as options.
7) 8)

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 13. OPTIONS AND AUXILIARY EQUIPMENT

No. Product Model Description Application

1) Standard encoder MR-JCCBL M-L Connector: 10120-3000VE Housing : 1-172161-9 Standard
cable Refer to (2) in this Shell kit: 10320-52F0-008 Connector pin : 170359-1 flexing life
section. (3M or equivalent) (AMP or equivalent) IP20
2) Long flexing life MR-JCCBL M-H Long flexing
encoder cable Refer to (2) in this life
section. IP20
3) Standard encoder MR-JHSCBL M-L Connector: 10120-3000VE Connector: MS3106B20-29S Standard
cable Refer to (2) in this Shell kit: 10320-52F0-008 Cable clamp: MS3057-12A flexing life
section. (3M or equivalent) (Japan Aviation Electronics) IP20
4) Long flexing life MR-JHSCBL M-H Long flexing
encoder cable Refer to (2) in this life
section.
5) IP65-compliant MR-ENCBL M-H Connector: 10120-3000VE Connector Long flexing
encoder cable Refer to (2) in this Shell kit: 10320-52F0-008 : MS3106A20-29S (D190) life
section. (3M or equivalent) Cable clamp IP65
: CE3057-12A-3 (D265) IP67
Back shell: CE02-20BS-S Not oil-
(DDK) resistant.

6) Encoder MR-J2CNM Connector: 10120-3000VE Housing : 1-172161-9 IP20

connector set Shell kit: 10320-52F0-008 Pin : 170359-1
(3M or equivalent) Cable clamp: MTI-0002
(AMP or equivalent)

7) Encoder MR-J2CNS Connector: 10120-3000VE Connector: MS3106B20-29S IP20

connector set Shell kit: 10320-52F0-008 Cable clamp: MS3057-12A
(3M or equivalent) (Japan Aviation Electronics)

8) Encoder MR-ENCNS Connector: 10120-3000VE Connector: MS3106A20-29S (D190) IP65

connector set Shell kit: 10320-52F0-008 Cable clamp: CE3057-12A-3 (D265) IP67
(3M or equivalent) Back shell: CE02-20BS-S
(DDK)

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No. Product Model Description Application

Control signal MR-J2CN1 Connector: 10120-3000VE
9) connector set Shell kit: 10320-52F0-008
(3M or equivalent) Qty: 2 each
Junction MR-J2TBL M Connector: HIF3BA-20D-2.54R Connector: 10120-6000EL For junction
terminal block Refer to (Hirose Electric) Shell kit: 10320-3210-000 terminal
cable Section13.1.3. (3M or equivalent) block
10)
connection

Junction MR-TB20 Refer to Section 13.1.3.

11)
terminal block
Bus cable MR-J2HBUS M Connector: 10120-6000EL Connector: 10120-6000EL For
Refer to Shell kit: 10320-3210-000 Shell kit: 10320-3210-000 maintenance
12) section13.1.4. (3M or equivalent) (3M or equivalent) junction
card
connection

Maintenance MR-J2CN3TM Refer to Section 13.1.4.

13)
junction card
Communication MR-CPCATCBL3M Connector: 10120-6000EL Connector: DE-9SF-N For
cable Refer to (3) in this Shell kit: 10320-3210-000 Case: DE-C1-J6-S6 connection
section. (3M or equivalent) (Japan Aviation Electronics) with PC-AT-
14)
compatible
personal
computer
Power supply MR-PWCNS1 Connector: CE05-6A22-23SD-B-BSS EN
connector set Cable clamp:CE3057-12A-2 (D265) Standard-
15)
(DDK) compliant
IP65 IP67
Power supply MR-PWCNS2 Connector: CE05-6A24-10SD-B-BSS EN
connector set Cable clamp: CE3057-16A-2 (D265) Standard-
16)
(DDK) compliant
IP65 IP67
Brake connector MR-BKCN Plug: MS3106A10SL-4S (D190) (DDK) EN
set Cable connector: YS010-5-8 (Daiwa Dengyo) Standard-
17)
compliant
IP65 IP67
Power supply MR-PWCNK1 Plug: 5559-04P-210 IP20
18) connector set Terminal: 5558PBT3L (For AWG16)(6 pcs.)
(Molex make)
Power supply MR-PWCNK2 Plug: 5559-06P-210 For motor
19) connector set Terminal: 5558PBT3L (For AWG16)(8 pcs.) with brake
(Molex make) IP20

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 13. OPTIONS AND AUXILIARY EQUIPMENT

(2) Encoder cable

If you have fabricated the encoder cable, connect it correctly.
CAUTION
Otherwise, misoperation or explosion may occur.

POINT
The encoder cable is not oil resistant.
Refer to Section 12.4 for the flexing life of the encoder cable.

Generally use the encoder cable available as our options. If the required length is not found in the
options, fabricate the cable on the customer side.

(a) MR-JCCBL M-L MR-JCCBL M-H

These encoder cables are used with the HC-KFS HC-MFS HC-UFS3000r/min series servo
motors.
1) Model explanation
Model: MR-JCCBL M-

Symbol Specifications
L Standard flexing life
H Long flexing life

Symbol (Note) Cable length [m]

2 2
5 5
10 10
20 20
30 30
40 40 Note: MR-JCCBL M-H has
50 50 no 40 and 50m sizes.

2) Connection diagram
For the pin assignment on the servo amplifier side, refer to Section 3.3.1.
Encoder cable
Servo amplifier
supplied to servo motor
Encoder connector Encoder connector
Servo motor
Encoder cable 172161-9 (AMP)
(option or fabricated)
1 2 3
MR MRR BAT
CN2 Encoder
4 5 6

30cm MD MDR CNT

7 8 9
50m max. P5 LG SHD

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MR-JCCBL2M-L MR-JCCBL10M-L MR-JCCBL10M-H

MR-JCCBL5M-L to to
MR-JCCBL2M-H MR-JCCBL30M-L MR-JCCBL50M-H
MR-JCCBL5M-H
Servo amplifier side Encoder side Servo amplifier side Encoder side Servo amplifier side Encoder side
P5 19 7 P5 19 7 P5 19 7
LG 11 LG 11 LG 11
P5 20 P5 20 P5 20
LG 12 LG 12 LG 12
P5 18 P5 18 P5 18
LG 2 LG 2 LG 2

8 8 8
MR 7 1 MR 7 1 MR 7 1
MRR 17 2 MRR 17 2 MRR 17 2
MD 6 4 MD 6 4 MD 6 4
MDR 16 5 MDR 16 5 MDR 16 5
BT 9 3 BT 9 3 BT 9 3
LG 1 LG 1 LG 1

SD Plate 9 SD Plate 9 SD Plate 9

When fabricating an encoder cable, use the recommended wires given in Section 13.2.1 and the
MR-J2CNM connector set for encoder cable fabrication, and fabricate an encoder cable as shown
in the following wiring diagram. Referring to this wiring diagram, you can fabricate an encoder
cable of up to 50m length including the length of the encoder cable supplied to the servo motor.
When the encoder cable is to be fabricated by the customer, the wiring of MD and MDR is not
required.
Refer to Chapter 3 of the servo motor instruction guide and choose the encode side connector
according to the servo motor installation environment.
For use of AWG24 For use of AWG22
Servo amplifier side Servo amplifier side
(3M) Encoder side (3M) Encoder side
P5 19 7 P5 19 7
LG 11 LG 11
P5 20 P5 20
LG 12 LG 12
P5 18 P5 18
LG 2 LG 2

8 8
MR 7 1 MR 7 1
MRR 17 2 MRR 17 2

BT 9 3 BT 9 3
LG 1 LG 1

SD Plate 9 SD Plate 9

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 13. OPTIONS AND AUXILIARY EQUIPMENT

(b) MR-JHSCBL M-L MR-JHSCBL M-H MR-ENCBL M-H

These encoder cables are used with the HC-SFS HC-RFS HC-UFS2000r/min series servo motors.
1) Model explanation
Model: MR-JHSCBL M-

Symbol Specifications
L Standard flexing life
H Long flexing life

Symbol Cable length [m]

2 2
5 5
10 10
20 20
30 30
40 40
50 50
Note: MR-JHSCBL M-L has
no 40 and 50m sizes.

Model: MR-ENCBL M-H

Long flexing life

Symbol Cable length [m]

2 2
5 5
10 10
20 20
30 30
40 40
50 50

2) Connection diagram
For the pin assignment on the servo amplifier side, refer to Section 3.3.1.
Servo amplifier
Encoder connector Encoder connector Pin Signal Pin Signal
Encoder cable Servo motor A MD K
M AB
(Optional or fabricated) L C B MDR L
N
C MR M CNT
K T P D
J D MRR N SHD
CN2 Encoder S R E E P
H G F F BAT R LG
G LG S P5
50m max. H T
J

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 13. OPTIONS AND AUXILIARY EQUIPMENT

MR-JHSCBL2M-L MR-JHSCBL10M-L MR-JHSCBL10M-H

MR-JHSCBL5M-L to to
MR-JHSCBL2M-H MR-JHSCBL30M-L MR-JHSCBL50M-H
MR-JHSCBL5M-H MR-ENCBL10M-H
MR-ENCBL2M-H to
MR-ENCBL5M-H MR-ENCBL50M-H
Servo amplifier side Encoder side Servo amplifier side Encoder side Servo amplifier side Encoder side
P5 19 S P5 19 S P5 19 S
LG 11 LG 11 LG 11
P5 20 P5 20 P5 20
LG 12 R LG 12 LG 12
MR 7 C P5 18 P5 18
MRR 17 D LG 2 LG 2
P5 18
LG 2 R R
BAT 9 F MR 7 C MR 7 C
LG 1 G MRR 17 D MRR 17 D

SD Plate N
BAT 9 F BAT 9 F
(Note) Use of AWG24 LG 1 G LG 1 G
(Less than 10m)
SD Plate N SD Plate N
Note: AWG28 can be used for 5m or less.
Use of AWG22 Use of AWG24
(10m to 50m) (10m to 50m)

When fabricating an encoder cable, use the recommended wires given in Section 13.2.1 and the
MR-J2CNS connector set for encoder cable fabrication, and fabricate an encoder cable in
accordance with the optional encoder cable wiring diagram given in this section. You can
fabricate an encoder cable of up to 50m length.
Refer to Chapter 3 of the servo motor instruction guide and choose the encode side connector
according to the servo motor installation environment.

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(3) Communication cable

POINT
This cable may not be used with some personal computers. After fully
examining the signals of the RS-232C connector, refer to this section and
fabricate the cable.

Select the communication cable according to the shape of the RS-232C connector of the personal
computer used. When fabricating the cable, refer to the connection diagram in this section.
The following must be observed in fabrication:
Always use a shielded, multi-core cable and connect the shield with FG securely.
The optional communication cable is 3m(10ft) long. When the cable is fabricated, its maximum
length is 15m(49ft) in offices of good environment with minimal noise.

Connection diagram
MR-CPCATCBL3M
Personal computer side Servo amplifier side

Plate FG
TXD 3 2 RXD
1 GND
RXD 2 12 TXD
GND 5 11 GND
RTS 7
CTS 8
DSR 6
DTR 4
D-SUB9 pins Half-pitch 20 pins

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13.1.3 Junction terminal block (MR-TB20)

POINT
When using the junction terminal block, you cannot use SG of CN1A-20
and CN1B-20. Use SG of CN1A-4 and CN1B-4.

(1) How to use the junction terminal block

Always use the junction terminal block (MR-TB20) with the junction terminal block cable (MR-
J2TBL05M) as a set. A connection example is shown below:
Servo amplifier
Junction terminal block
Cable clamp
MR-TB20
(AERSBAN-ESET)
CN1A
or
CN1B Junction terminal
block cable
(MR-J2TBL05M)

Ground the junction terminal block cable on the junction terminal block side with the standard
accessory cable clamp fitting (AERSBAN-ESET). For the use of the cable clamp fitting, refer to Section
13.2.6, (2).

(2) Terminal labels

Among the terminal block labels for the junction terminal block, use the two for the MR-J2S-A(MR-J2-
A). When changing the input signals in parameters No. 43 to 48, refer to (4) in this section and Section
3.3 and apply the accessory signal seals to the labels.
1) For CN1A 2) For CN1B
LG PP LZ LB COM OPC PG LZR LBR RD LG VDD SON TL P15R COM EMG LSN ZSP
11

11
17

17
12

13

15

16

18

19

12

13

15

16

18

19
10

14

10

14

NP P15R LA CR SG NG OP LAR INP SD VC DO1 TLC PC SG TLA RES LSP ALM SD

1

1
7

7
2

9
0

(3) Outline drawing

[Unit: mm]
126(4.96) ([Unit: in.])
117(4.61)
50(1.97)
60(2.36)

MITSUBISHI
MR-TB20

2- 4.5(0.18)
46.2(1.82)

Terminal screw: M3.5

Applicable cable: Max. 2mm 2
(0.28)

(Crimping terminal width: 7.2mm (0.283 in) max.)

7

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(4) Junction terminal block cable (MR-J2TBL M)

Model : MR-J2TBL M

Symbol Cable length[m]

05 0.5
1 1

Junction terminal block side connector (Hirose Electric) Servo amplifier side (CN1A CN1B) connector (3M)
HIF3BA-20D-2.54R (connector) 10120-6000EL (connector)
10320-3210-000 (shell kit)
(Note) Symbol
Junction terminal Pin Pin
Position control mode Speed control mode Torque control mode block terminal No. No. No.
For CN1A For CN1B For CN1A For CN1B For CN1A For CN1B
LG LG LG LG LG LG 10 B1 1
NP VC VC VLA 0 A1 2
PP VDD VDD VDD 11 B2 3
P15R DO1 P15R DO1 P15R DO1 1 A2 4
LZ SON LZ SON LZ SON 12 B3 5
LA TLC LA TLC LA VLC 2 A3 6
LB LB SP2 LB SP2 13 B4 7
CR PC SP1 ST1 SP1 RS2 3 A4 8
COM TLC COM ST2 COM RS1 14 B5 9
SG SG SG SG SG SG 4 A5 10
OPC P15R P15R P15R 15 B6 11
NG TLA TLA TC 5 A6 12
PG COM COM COM 16 B7 13
OP RES OP RES OP RES 6 A7 14
LZR EMG LZR EMG LZR EMG 17 B8 15
LAR LSP LAR LSP LAR 7 A8 16
LBR LSN LBR LSN LBR 18 B9 17
INP ALM SA ALM ALM 8 A9 18
RD ZSP RD ZSP RD ZSP 19 B10 19
SD SD SD SD SD SD 9 A10 20
Plate

Note: The labels supplied to the junction terminal block are designed for the position control mode. When using the junction
terminal block in the speed or torque control mode, change the signal abbreviations using the accessory signal seals.

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13.1.4 Maintenance junction card (MR-J2CN3TM)

(1) Usage
The maintenance junction card (MR-J2CN3TM) is designed for use when a personal computer and
analog monitor outputs are used at the same time.
Servo amplifier Communication cable
Bus cable Maintenance junction card (MR-J2CN3TM)
MR-J2HBUS M
CN3B

CN3 CN3A
CN3C
A1 A2 A3 A4 B4 B3 B2 B1 B5 B6 A5 A6
VDD EMI DI MBR SG PE LG LG MO1 MO2
COM EMGO Analog monitor output 2
Not used
Analog monitor output 1

(2) Connection diagram

TE1
B5
LG
CN3A CN3B CN3C B6
LG
1 A5
1 1 1 MO1
2 2 2 A6
3 3 3 3 MO2
4 4 4 4
5 5 5 5
6 6 6
7 7 7
8 8 8
9 9 9 A1
10 10 10 10 VDD
11 11 11 A2
12 12 12 COM
13 A3
13 13 13 EMI
14 14 14 14
15 A4
15 15 15 DI
16 16 16 B4 Not used
17 17 17 MBR
18 18 18 B3
19 19 19 19 EMGO
20 20 20 20 B2
SG
Shell Shell Shell B1
PE

(3) Outline drawing

[Unit: mm]
([Unit: in])

CN3A CN3B CN3C

2- 5.3(0.21)(mounting hole)
75(2.95)
MR-J2CN3TM

A1 A6

B1 B6
TE1

3(0.12)
88(3.47) 41.5(1.63)
100(3.94)
Weight: 110g(0.24Ib)

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(4) Bus cable (MR-J2HBUS M)

Model: MR-J2HBUS M

Symbol Cable length [m]

05 0.5
1 1
5 5

MR-J2HBUS05M
MR-J2HBUS1M
MR-J2HBUS5M

10120-6000EL (connector) 10120-6000EL (connector)

10320-3210-000 (shell kit) 10320-3210-000 (shell kit)

LG 1 1
LG 11 11
RD 2 2
RD* 12 12
3 3
13 13
TD 4 4
TD* 14 14
LG 5 5
LG 15 15
6 6
16 16
EMG 7 7
EMG* 17 17
8 8
18 18
BAT 9 9
19 19
10 10
20 20

SD Plate Plate

13.1.5 Battery (MR-BAT, A6BAT)

Use the battery to build an absolute position detection system.

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13.1.6 Servo configurations software

The servo configuration software uses the communication function of the servo amplifier to perform
parameter setting changes, graph display, test operation, etc. on a personal computer.

(1) Specifications
Item (Note 1) Description
Communication signal Conforms to RS-232C.
Baudrate [bps] 57600, 38400, 19200, 9600
(Note 2) Monitor Batch display, high-speed display, graph display
Alarm Alarm display, alarm history, data display at alarm occurrence
External I/O signal display, no-rotation reason display, cumulative power-on time display,
Diagnostic software number display, motor information display, tuning data display, ABS data display,
automatic VC offset display, shaft name setting.
Parameters Data setting, list display, change list display, detailed information display, turning
Jog operation, positioning operation, motor-less operation, output signal forced output, program
Test operation
operation in simple language.
Advanced function Machine analyzer, gain search, machine simulation.
File operation Data read, save, print
Others Automatic operation, station setting, help display
Note: 1. On some personal computers, this software may not run properly.
2. Minimum resolution changes with the processing speed of the personal computer.

(2) System configuration

(a) Components
To use this software, the following components are required in addition to the servo amplifier and
servo motor:
Model Description
Which contains a DX4,75MHz or higher CPU and on which Windows 95 or 98(English) runs
Personal
(Pentium or higher recommended).Memory: 16MB or more, hard disk free space: 5MB or more, serial port
computer
used.
OS Windows 95/98 (English)
800 600 or more, 256-color or 16-scale monochrome display which can be used with Windows 95/98
Display
(English).
Keyboard Which can be connected to the personal computer.
Mouse Which can be used with Windows 95/98(English). Note that a serial mouse is not used.
Printer Which can be used with Windows 95/98(English).
Communication MR-CPCATCBL3M
cable When this cannot be used, refer to (3) Section 13.1.2 and fabricate.
RS-232C/RS-422
Needed to use the RS-422 multidrop communication function of the servo amplifier.
converter
Note: Windows is a trade mark of Microsoft Corporation.

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(b) Configuration diagram

1) When using RS-232C
Servo amplifier

Personal computer

Communication cable

CN3 CN2 Servo motor

To RS-232C
connector

2) When using RS-422

You can make multidrop connection of up to 32 axes.
Servo amplifier

Personal computer
RS-232C/RS-422
converter (Note 1)
Communication cable

CN3 CN2 Servo motor

(Axis 1)
To RS-232C
connector

Servo amplifier

CN3 CN2 Servo motor

(Axis 2)

Servo amplifier

CN3 CN2 Servo motor

(Axis 32)

Note: For cable connection, refer to section 14.1.1.

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13.2 Auxiliary equipment

Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/C-
UL Standard, use the products which conform to the corresponding standard.

13.2.1 Recommended wires

(1) Wires for power supply wiring

The following diagram shows the wires used for wiring. Use the wires given in this section or
equivalent.
1) Main circuit power supply lead 3) Motor power supply lead
Servo amplifier Servo motor
Power supply
L1 U U
L2 V V
L3 W W Motor
L11
L21

5) Electromagnetic
2) Control power supply lead brake lead
Electro-
B1
magnetic
Regenerative brake option B2 brake
C
P Encoder

4) Regenerative brake option lead Encoder cable (refer to Section 13.1.2)

The following table lists wire sizes. The wires used assume that they are 600V vinyl wires and the
wiring distance is 30m max. If the wiring distance is over 30m, choose the wire size in consideration of
voltage drop.
The alphabets (a, b) in the table correspond to the crimping terminals (Table 13.2) used to wire the
servo amplifier. For connection with the terminal block TE2 of the MR-J2S-100A or less, refer to
Section 3.11.
The servo motor side connection method depends on the type and capacity of the servo motor. Refer to
Section 3.8.

Table 13.1 Recommended wires

(Note 1) Wires [mm2]
Servo amplifier
1) L1 L2 L3 2) L11 L21 3) U V W 4) P C 5) B1 B2
MR-J2S-10A(1)
MR-J2S-20A(1)
MR-J2S-40A(1) 1.25 (AWG16) : a
2 (AWG14) : a
MR-J2S-60A
MR-J2S-70A 1.25 (AWG16) 2 (AWG14) : a 1.25 (AWG16)
MR-J2S-100A 2 (AWG14) : a
MR-J2S-200A 3.5 (AWG12) : b 3.5 (AWG12) : b
(Note 2)
MR-J2S-350A 5.5 (AWG10) : b
5.5 (AWG10) : b

Note: 1. For the crimping terminals and applicable tools, see the following table:
2. 3.5mm2 for use of the HC-RFS203 servo motor.

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Table 13.2 Recommended crimping terminals

Servo amplifier side crimping terminals (AMP)
Symbol
Crimping terminal Applicable tool
a 32959 47387
b 32968 59239

(2) Wires for cables

When fabricating a cable, use the wire models given in the following table or equivalent:

Table 13.3 Wires for option cables

Type Model Length [m] Wire model
2 to 10 UL20276 AWG#28 7pair(BLAC)
MR-JCCBL M-L
20 30 UL20276 AWG#22 6pair(BLAC)
2 5 A14B2343 6P
MR-JCCBL M-H
10 to 50 A14B0238 7P
2 5 UL20276 AWG#28 4pair(BLAC)
Encoder cable MR-JHSCBL M-L
10 to 30 UL20276 AWG#22 6pair(BLAC)
2 5 A14B2339 4P
MR-JHSCBL M-H
10 to 50 A14B2343 6P
2 5 A14B2339 4P
MR-ENCBL M-H
10 to 50 A14B2343 6P
Communication cable MR-CPCATCBL3M 3 UL20276 AWG#28 3pair(BLAC)
Bus cable MR-J2HBUS M 0.5 to 5 UL20276 AWG#28 10pair(CREAM)

Table 13.4 Wire specifications

Characteristics of one core (Note 3)
Core size Number of
Wire model Structure Conductor Insulation coating OD Finishing OD
[mm2] Cores
[Wires/mm] resistance [ /mm] d[mm] (Note 1) [mm]
UL20276 AWG#28 7pair(BLAC) 0.08 14(7 pairs) 7/0.127 222 0.38 5.6
UL20276 AWG#28 4pair(BLAC) 0.08 8(4 pairs) 7/0.127 222 0.38 4.7
UL20276 AWG#28 3pair(BLAC) 0.08 6(3 pairs) 7/0.127 222 0.38 4.6
UL20276 AWG#28 10pair(CREAM) 0.08 20(10 pairs) 7/0.127 222 0.38 6.1
UL20276 AWG#22 6pair(BLAC) 0.3 12(6 pairs) 12/0.18 62 1.2 8.2
(Note 2) A14B2343 6P 0.2 12(6 pairs) 40/0.08 105 0.88 7.2
(Note 2) A14B2339 4P 0.2 8(4 pairs) 40/0.08 105 0.88 6.5
(Note 2) A14B0238 7P 0.2 14(7 pairs) 40/0.08 105 0.88 8.0
Note 1: d is as shown below:
d

Conductor Insulation sheath

2: Purchased from Toa Electric Industry

3: Standard OD. Max. OD is about 10% greater.

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13.2.2 No-fuse breakers, fuses, magnetic contactors

Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse
instead of the no-fuse breaker, use the one having the specifications given in this section.
Fuse
Servo amplifier No-fuse breaker Magnetic contactor
Class Current [A] Voltage [V]
MR-J2S-10A(1) NF30 type 5A K5 10
MR-J2S-20A NF30 type 5A K5 10
MR-J2S-40A 20A1 NF30 type 10A K5 15
S-N10
MR-J2S-60A 40A1 NF30 type 15A K5 20
AC250
MR-J2S-70A NF30 type 15A K5 20
MR-J2S-100A NF30 type 15A K5 25
MR-J2S-200A NF30 type 20A K5 40 S-N18
MR-J2S-350A NF30 type 30A K5 70 S-N20

13.2.3 Power factor improving reactors

The input power factor is improved to be about 90%. For use with a 1-phase power supply, it may be
slightly lower than 90%.
FR-BAL Servo amplifier
NFB MC
B or less

R X
L1
E

RXS YTZ

3-phase S Y
L2
D 200 to 230VAC
Terminal block
F mounting screw T Z
L3
Specification
number
C or less

Serial FR-BAL Servo amplifier

number MC
NFB
R X
L1
A
1-phase S Y
L2
230VAC
T Z
L3

FR-BAL Servo amplifier

NFB MC
1-phase R X
L1
100 to120VAC
S Y
L2

T Z

Dimensions [mm (in) ]

Servo amplifier Model Weight [kg (lb)]
A B C D E F
MR-J2S-10A(1)/20A FR-BAL-0.4K 135 (5.31) 64 (2.25) 120 (4.72) 120 (4.72) 45 (1.77) M4 2 (4.4)
MR-J2S-40A/20A1 FR-BAL-0.75K 135 (5.31) 74 (2.91) 120 (4.72) 120 (4.72) 57 (2.24) M4 3 (6.6)
MR-J2S-60A/70A/40A1 FR-BAL-1.5K 160 (6.30) 76 (2.99) 145 (5.71) 145 (5.71) 55 (2.17) M4 4 (8.8)
MR-J2S-100A FR-BAL-2.2K 160 (6.30) 96 (3.78) 145 (5.71) 145 (5.71) 75 (2.95) M4 6 (13.2)
MR-J2S-200A FR-BAL-3.7K 220 (8.66) 95 (3.74) 200 (7.87) 200 (7.87) 70 (2.76) M5 8.5 (18.7)
MR-J2S-350A FR-BAL-7.5K 220 (8.66) 125 (4.92) 205 (8.07) 200 (7.87) 100 (3.94) M5 14.5 (32.0)

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13.2.4 Relays

The following relays should be used with the interfaces:

Interface Selection example
Relay used especially for switching on-off analog input To prevent defective contacts , use a relay for small signal
command and input command (interface DI-1) signals (twin contacts).
(Ex.) Omron : type G2A , MY
Relay used for digital output signals (interface DO-1) Small relay with 12VDC or 24VDC of 40mA or less
(Ex.) Omron : type MY

13.2.5 Surge absorbers

A surge absorber is required for the electromagnetic brake. Use the following surge absorber or equivalent.
Insulate the wiring as shown in the diagram.
Maximum rating Static
Maximum capacity Varistor voltage
Permissible circuit Surge Energy Rated
limit voltage (reference rating (range) V1mA
voltage immunity immunity power
value)
AC[Vma] DC[V] [A] [J] [W] [A] [V] [pF] [V]
(Note) 220
140 180 5 0.4 25 360 300
500/time (198 to 242)
Note: 1 time 8 20 s
(Example) ERZV10D221 (Matsushita Electric)
TNR-12G221K (Marcon Electronics)
Outline drawing [mm] ( [in] ) (ERZ-C10DK221)

13.5 (0.53) 4.7 1.0 (0.19 0.04)

(0.65)
16.5

Vinyl tube
3.0 (0.12)
or less

30.0 (1.18)
or more

0.8 (0.03) Crimping terminal

for M4 screw

13.2.6 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 devices 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 devices 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 laying power lines (input and output cables) and signal cables side by side or do not bundle
them together. Separate power lines from signal cables.
Use shielded, twisted pair cables for connection with the encoder and for control signal
transmission, and connect the shield to the SD terminal.
Ground the servo amplifier, servo motor, etc. together at one point (refer to Section 3.10).

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(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.
(c) Techniques for noises radiated by the servo amplifier that cause peripheral devices 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 devices located near the
main circuit cables, and those transmitted through the power supply cables.
Noises produced Noises transmitted Noise radiated directly
by servo amplifier in the air from servo amplifier Route 1)

Noise radiated from the

power supply cable Route 2)

Noise radiated from

servo motor cable Route 3)
Magnetic induction
noise Routes 4) and 5)

Static induction
noise Route 6)

Noises transmitted
Noise transmitted through
through electric Route 7)
power supply cable
channels

Noise sneaking from

grounding cable due to Route 8)
leakage current

5)

7) 7)
2)
7)

Sensor
power
1) supply
Servo
2)
amplifier
Instrument Receiver
3)
8)
6)
4) Sensor

3)
Servo motor SM

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Noise transmission route Suppression techniques

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 control box 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 laying the power lines (I/O cables of the servo amplifier) and signal cables 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 signal and power cables or put cables in separate metal conduits.
When the power lines and the signal cables 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 laying the power lines (I/O cables of the servo amplifier) and signal cables side by side or
bundling them together.
(4) Use shielded wires for signal and power cables or put the cables in separate metal conduits.
When the power supply of peripheral devices is connected to the power supply of the servo
amplifier system, noises produced by the servo amplifier may be transmitted back through the
7) power supply cable and the devices may malfunction. The following techniques are required.
(1) Insert the radio noise filter (FR-BIF) on the power cables (I/O cables) of the servo amplifier.
(2) Insert the line noise filter (FR-BSF01 FR-BLF) on the power cables of the servo amplifier.
When the cables of peripheral devices are connected to the servo amplifier to make a closed loop
8) circuit, leakage current may flow to malfunction the peripheral devices. If so, malfunction may be
prevented by disconnecting the grounding cable of the peripheral device.

(2) Noise reduction products

(a) Data line filter
Noise can be prevented by installing a data line filter onto the encoder cable, etc.
For example, the ZCAT3035-1330 of TDK make and the ESD-SR-25 of Tokin make are available as
data line filters.
As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK make) are
indicated below.
This impedances are reference values and not guaranteed values.
Impedance[ ] [Unit: mm]([Unit: in.])
10 to 100MHZ 100 to 500MHZ
30 1 (0.51 0.04)

39 1(1.54 0.04) Loop for fixing the

80 150
34 1 cable band
13 1

(1.34 0.04)
(1.18 0.04)

TDK

Product name Lot number

Outline drawing (ZCAT3035-1330)

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(b) Surge suppressor

The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic
brake or the like near the servo amplifier is shown below. Use this product or equivalent.

MS

Relay
Surge suppressor

Surge suppressor

Surge suppressor This distance should be short

(within 20cm(0.79 in.)).
(Ex.) 972A.2003 50411
(Matsuo Electric Co.,Ltd. 200VAC rating)
Rated Outline drawing [Unit: mm] ([Unit: in.])
voltage C [ F] R [Ω] Test voltage AC[V] Vinyl sheath 18 1.5
AC[V] (0.71 0.06)
Blue vinyl cord Red vinyl cord
50 Across 6(0.24)
200 0.5
(1W) T-C 1000(1 to 5s)

10(0.39)or less 10(0.39)or less

4(0.16)
10 3 15 1(0.59 0.04) 10 3 31(1.22)
(0.39 (0.39
0.12) 200(7.87) 48 1.5 200(7.87) 0.15)
or more (1.89 0.06) or more

Note that a diode should be installed to a DC relay, DC valve or

the like. RA
Maximum voltage: Not less than 4 times the drive voltage of
the relay or the like
Maximum current: Not less than twice the drive current of Diode
the relay or the like
(c) Cable clamp fitting (AERSBAN -SET)
Generally, the earth of the shielded cable may only be connected to the connector's SD terminal.
However, the effect can be increased by directly connecting the cable to an earth plate as shown
below.
Install the earth 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 earth plate with the cable clamp.
If the cable is thin, clamp several cables in a bunch.
The clamp comes as a set with the earth plate.

Cable
Cable clamp
(A,B) Earth plate
40(1.57)

Strip the cable sheath of

the clamped area. cutter

cable External conductor

Clamp section diagram

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 13. OPTIONS AND AUXILIARY EQUIPMENT

Outline drawing
[Unit: mm]
([Unit: in.])

Earth plate Clamp section diagram

2- 5(0.20) hole 17.5(0.69)

installation hole

30(1.18)
L or less
B 0.3(0.01)

10(0.39)

(0.940)

A
C
6 (0.24)
3 (0.12)

35 (1.38)
7 (0.28)

0.2

(0.940)
0

0.3
0
24

24
(Note)M4 screw 6 22(0.87)
(0.24) 35(1.38)
11(0.43)

Note: Screw hole for grounding. Connect it to

the earth plate of the control box.

Type A B C Accessory fittings Clamp fitting L

100 86 30 70
AERSBAN-DSET clamp A: 2pcs. A
(3.94) (3.39) (1.18) (2.76)
70 56 45
AERSBAN-ESET clamp B: 1pc. B
(2.76) (2.20) (1.77)

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 13. OPTIONS AND AUXILIARY EQUIPMENT

(d) Line noise filter (FR-BLF, FR-BSF01)

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 (zero-phase current)
especially within 0.5MHz to 5MHz band.
Connection diagram Outline drawing [Unit: mm] ([Unit: in.])
Wind the 3-phase wires by the equal number of times in the FR-BLF(MR-J2S-350A)
same direction, and connect the filter to the power supply side

7 (0.28)
and output side of the servo amplifier. 7 (0.28)

31.5 (1.24)
The effect of the filter on the power supply side is higher as the
number of winds is larger. The number of turns is generally four.
If the wires are too thick to be wound, use two or more filters 130 (5.12)
and make the total number of turns as mentioned above. 85 (3.35)
On the output side, the number of turns must be four or less.

(0.09) 80 (3.15)
35 (1.38)
Do not wind the grounding wire together with the 3-phase wires.
The filter effect will decrease. Use a separate wire for grounding.
Example 1 NFB Servo amplifier 160 (6.30)

2.3
Power 180 (7.09)
L1
supply
L2
Line noise L3 FR-BSF01(for MR-J2S-200A or less)
filter
(Number of turns: 4)
110 (4.33)
Example 2 NFB 95 (3.74) 2- 5 (0.20)
Servo amplifier
22 (0.87)

Power
L1
supply
L2
Line noise L3 65 (2.56)
filter
Two filters are used 33 (1.3)
(Total number of turns: 4)

65 (2.56)
3 (0.12)

(e) Radio noise filter (FR-BIF)...for the input side only

This filter is effective in suppressing noises radiated from the power supply side of the servo
amplifier especially in 10MHz and lower radio frequency bands. The FR-BIF is designed for the
input only.
Connection diagram Outline drawing (Unit: mm) ([Unit: in.])
Make the connection cables as short as possible. Leakage current: 4mA
Grounding is always required.
About 300(11.81)

Red White Blue Green

Servo amplifier
NFB
L1
Power
L2
supply
29 (1.14)
L3
42 (1.65)

5 (0.20)
4 (0.16)

hole

Radio noise
filter FR-BIF 58 (2.28) 29 (1.14)
7 (0.28)
44 (1.73)

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 13. OPTIONS AND AUXILIARY EQUIPMENT

13.2.7 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 a leakage current breaker according to the following formula, and ground the servo amplifier,
servo motor, etc. securely.
Make the input and output cables as short as possible, and also make the grounding cable as long as
possible (about 30cm (11.8 in)) to minimize leakage currents.

Rated sensitivity current 10 {Ig1 Ign Iga K (Ig2 Igm)} [mA] ..........(13.2)

Cable K: Constant considering the harmonic contents

Leakage current breaker
Mitsubishi K
NV Noise Type
filter products
Servo Cable
amplifier
SM Models provided with
NV-SF
harmonic and surge 1
NV-CF
reduction techniques
NV-CA
Ig1 Ign Iga Ig2 Igm
General models NV-CS 3
NV-SS

Ig1: Leakage current on the electric channel from the leakage current breaker to the input terminals
of the servo amplifier (Found from Fig. 13.1.)
Ig2: Leakage current on the electric channel from the output terminals of the servo amplifier to the
servo motor (Found from Fig. 13.1.)
Ign: Leakage current when a filter is connected to the input side (4.4mA per one FR-BIF)
Iga: Leakage current of the servo amplifier (Found from Table 13.6.)
Igm: Leakage current of the servo motor (Found from Table 13.5.)

120 Table 13.5 Servo motor's Table 13.6 Servo amplifier's

leakage current leakage current
100 example (Igm) example (Iga)
Leakage current

80 Servo motor Leakage Servo amplifier Leakage

output [kW] current [mA] capacity [kW] current [mA]
60
0.05 to 0.5 0.1
0.1 to 0.6 0.1
40 0.6 to 1.0 0.1
[mA] 1.2 to 2.2 0.2
20 0.7 to 3.5 0.15
3 to 3.5 0.3
0
2 3.5 8 1422 38 80 150
5.5 30 60 100 Table 13.7 Leakage circuit breaker selection example
Cable size[mm2]
Rated sensitivity
Fig. 13.1 Leakage current example
(Ig1, Ig2) for CV cable run Servo amplifier current of leakage
in metal conduit circuit breaker
MR-J2S-10A to MR-J2S-350A
15 [mA]
MR-J2S-10A1 to MR-J2S-40A1

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 13. OPTIONS AND AUXILIARY EQUIPMENT

(2) Selection example

Indicated below is an example of selecting a leakage current breaker under the following conditions:
2mm2 5m 2mm2 5m

NV
Servo
Servo motor
amplifier SM
MR-J2S-60A HC-MFS73

Ig1 Iga Ig2 Igm

Use a leakage current breaker generally available.

Find the terms of Equation (13.2) 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 (13.2):

Ig 10 {0.1 0 0.1 3 (0.1 0.1)}

8.0 [mA]

According to the result of calculation, use a leakage current breaker having the rated sensitivity
current (Ig) of 8.0[mA] or more. A leakage current breaker having Ig of 15[mA] is used with the NV-
CA/CS/SS series.

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 13. OPTIONS AND AUXILIARY EQUIPMENT

13.2.8 EMC filter

For compliance with the EMC Directive of the EN Standard, it is recommended to use the following filter:

(1) Combination with the servo amplifier

Recommended filter
Servo amplifier Weight [kg]
(Note) Model Leakage current [mA]
MR-J2S-10A to MR-J2S-100A
SF1252 38 0.75
MR-J2S-10A1 to MR-J2S-40A1
MR-J2S-200A MR-J2S-350A SF1253 57 1.37
Note: ROXBURGH make

(2) Connection example

EMC filter Servo amplifier
NFB LINE LOAD
(Note 1) Power supply
3-phase L1 L1 L1
200 to 230V AC, L2 L2 L2
1-phase
230VAC or L3 L3 L3
1-phase (Note 2)
L11
100 to120VAC
L21

Note: 1. For 1-phase 230VAC power supply, connect the power supply
to L1,L2 and leave L3 open.There is no L3 for 1-phase 100 to 120VAC
power supply.
2. Connect when the power supply has earth.

(3) Outline drawing

[Unit: mm(in)]
SF1252 SF1253
149.5(5.886) 6.0(0.236) 209.5(8.248) 6.0(0.236)

L1 L1
L2 LINE L2 LINE
L3 L3
(input side) (input side)
LINE

LINE
168.0(6.614)

156.0(6.142)
140.0(5.512)

168.0(6.614)

156.0(6.142)
140.0(5.512)
LABEL

LABEL
LOAD

LOAD

L1'
L2' LOAD L1'
L2' LOAD
L3' L3'
(output side) (output side)

8.5 16.0(0.63) 8.5 23.0(0.906)

(0.335) 42.0 (0.335) 49.0
(1.654) (1.929)

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 14. COMMUNICATION FUNCTIONS

14. COMMUNICATION FUNCTIONS

This servo amplifier has the RS-422 and RS-232C serial communication functions. These functions can be
used to perform servo operation, parameter changing, monitor function, etc.
However, the RS-422 and RS-232C communication functions cannot be used together. Select between RS-
422 and RS-232C with parameter No.16. (Refer to Section 14.2.2.)

14.1 Configuration

14.1.1 RS-422 configuration

(1) Outline
Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus.
Servo amplifier Servo amplifier Servo amplifier
MITSUBISHI MITSUBISHI MITSUBISHI

Controller such as
personal computer

CHARGE CHARGE CHARGE

To CN3 To CN3 To CN3

RS-232C/ Axis 1 (Station 0) Axis 2 (Station 1) Axis 32 (Station 31)

RS-422
converter RS-422
Unavailable as option.
To be prepared by customer.

(2) Cable connection diagram

Wire as shown below:
(Note 3) 30m max. (Note 1)
Axis 32 (last axis)
(Note 1) (Note 1)
servo amplifier
Axis 1 servo amplifier Axis 2 servo amplifier
CN3 connector
CN3 connector CN3 connector
Plate SD Plate SD Plate SD
9 SDP 9 SDP 9 SDP
19 SDN 19 SDN 19 SDN
5 RDP 5 RDP 5 RDP
15 RDN 15 RDN 15 RDN
10 TRE 10 TRE 10 TRE (Note 2)
11 LG 11 LG 11 LG
1 LG 1 LG 1 LG
RS-422
output unit
RDP
RDN
SDP
SDN
GND
GND

Note: 1. Connector set MR-J2CN1(3M or equivalent)

Connector: 10120-3000VE
Shell kit: 10320-52F0-008
2. In the last axis, connect TRE and RDN.
3. 30m max. in environment of little noise.

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 14. COMMUNICATION FUNCTIONS

14.1.2 RS-232C configuration

(1) Outline
A single axis of servo amplifier is operated.
Servo amplifier
MITSUBISHI

CHARGE

To CN3

RS-232C
Controller such as
personal computer

(2) Cable connection diagram

Wire as shown below. The communication cable for connection with the personal computer (MR-
CPCATCBL3M) is available. (Refer to Section 13.1.2.)
(Note 1)
Personal computer (Note 2) 15m max.
Servo amplifier
connector D-SUB25 (socket)
CN3 connector
(Note 3)
Plate FG
TXD 3 2 RXD
1 GND
RXD 2 12 TXD
GND 5 11 GND
RTS 7
CTS 8
DSR 6
DTR 4

Note: 1. 3M's CN3 connector

Connector: 10120-6000EL
Shell kit: 10320-3210-000
2. 15m max. in environment of little noise. However, this distance should be 3m max. for use at
38400bps or more baudrate.
3. For PC-AT compatible controller.

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 14. COMMUNICATION FUNCTIONS

14.2 Communication specifications

14.2.1 Communication overview

This servo amplifier is designed to send a reply on receipt of an instruction. The device which gives this
instruction (e.g. personal computer) is called a master station and the device which sends a reply in
response to the instruction (servo amplifier) is called a slave station. When fetching data successively, the
master station repeatedly commands the slave station to send data.

Item Description
Baudrate 9600/19200/38400/57600 asynchronous system
Start bit : 1 bit
Data bit : 8 bits
Transfer code
Parity bit : 1 bit (even)
Stop bit : 1 bit
Transfer protocol Character system, half-duplex communication system

(LSB) (MSB)

Next
Start 0 1 2 3 4 5 6 7 Parity Stop start

Data

1 frame (11bits)

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 14. COMMUNICATION FUNCTIONS

14.2.2 Parameter setting

When the RS-422/RS-232C communication function is used to operate the servo, set the communication
specifications of the servo amplifier in the corresponding parameters.
After setting the values of these parameters, they are made valid by switching power off once, then on
again.

(1) Communication baudrate

Choose the communication speed. Match this value to the communication speed of the sending end
(master station).
Parameter No. 16

Communication baudrate
0: 9600[bps]
1: 19200[bps]
2: 38400[bps]
3: 57600[bps]

(2) RS-422/RS-232C serial interface selection

Select the RS-422 or RS-232C communication standard. RS-422 and RS-232C cannot be used together.
Parameter No. 16

RS-422/RS-232C communication standard selection

0: RS-232C used
1: RS-422 used

(3) Communication delay time

Set the time from when the servo amplifier (slave station) receives communication data to when it
sends back data. Set "0" to send back data in less than 800 s or "1" to send back data in 800 s or more.
Parameter No. 16

Communication delay time

0: Invalid
1: Valid, reply sent in 800 s or more

(4) Station number setting

Set the station number of the servo amplifier in parameter No. 15. The setting range is stations 0 to 31.

(5) Protocol station number selection

When communication is made without setting station numbers to servo amplifiers as in the MR-J2-A
servo amplifiers, choose "no station numbers" in parameter No. 53. The communication protocol will
be free of station numbers.
Parameter No. 53

Protocol station number selection

0: With station numbers
1: No station numbers

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 14. COMMUNICATION FUNCTIONS

14.3 Protocol

POINT
Whether station number setting will be made or not must be selected if
the RS-232C communication function is used. Note that choosing "no
station numbers" in parameter No. 53 will make the communication
protocol free of station numbers as in the MR-J2-A servo amplifiers.

Since up to 32 axes may be connected to the bus, add a station number or group to the command, data
No., etc. to determine the destination servo amplifier of data communication. Set the station number to
each servo amplifier using the parameter and set the group to each station using the communication
command. Transmission data is valid for the servo amplifier of the specified station number or group.
When "*" is set as the station number added to the transmission data, the transmission data is made
valid for all servo amplifiers connected. However, when return data is required from the servo amplifier
in response to the transmission data, set "0" to the station number of the servo amplifier which must
provide the return data.

(1) Transmission of data from the controller to the servo

10 frames (data)
Command

S S E
Controller side Data Check Station number
O T Data* T
(Master station) No. sum or
H X X
group
Error code

S E
Servo side Station number Check
T T
(Slave station) or sum
X X
group

6 frames
Positive response: Error code A
Negative response: Error code other than A

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 14. COMMUNICATION FUNCTIONS

(2) Transmission of data request from the controller to the servo

10 frames

Command
S S E
Data Check Station number
Controller side O T T
No. sum or
(Master station) H X X
group

Error code
S E
Station number Check
Servo side T Data* T
or sum
(Slave station) X X
group

6 frames (data)

(3) Recovery of communication status by time-out

EOT causes the servo to return to
E the receive neutral status.
Controller side O
(Master station) T

Servo side
(Slave station)

(4) Data frames

The data length depends on the command.

Data or Data or 12 frames or 16 frames

4 frames 8 frames

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 14. COMMUNICATION FUNCTIONS

14.4 Character codes

(1) Control codes

Hexadecimal Personal computer terminal key operation
Code name Description
(ASCII code) (General)
SOH 01H start of head ctrl A
STX 02H start of text ctrl B
ETX 03H end of text ctrl C
EOT 04H end of transmission ctrl D

(2) Codes for data

JIS8 unit codes are used.
b8 0 0 0 0 0 0 0 0
b7 0 0 0 0 1 1 1 1
b6 0 0 1 1 0 0 1 1
b5 0 1 0 1 0 1 0 1

b8 to C
b4 b3 b2 b1 0 1 2 3 4 5 6 7
b5 R
0 0 0 0 0 NUL DLE Space 0 @ P ` p
0 0 0 1 1 SOH DC1 ! 1 A Q a q
0 0 1 0 2 STX DC2 “ 2 B R b r
0 0 1 1 3 ETX DC3 # 3 C S c s
0 1 0 0 4 $ 4 D T d t
0 1 0 1 5 % 5 E U e u
0 1 1 0 6 & 6 F V f v
0 1 1 1 7 ‘ 7 G W g w
1 0 0 0 8 ( 8 H X h x
1 0 0 1 9 ) 9 I Y i y
1 0 1 0 10 : J Z j z
1 0 1 1 11 ; K [ k {
1 1 0 0 12 , L l |
1 1 0 1 13 M ] m }
1 1 1 0 14 . N ^ n 
1 1 1 1 15 / ? O _ o DEL

(3) Station numbers

You may set 32 station numbers from station 0 to station 31 and the JIS8 unit codes are used to
specify the stations.
Station number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
JIS8 code 0 1 2 3 4 5 6 7 8 9 A B C D E F
Station number 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
JIS8 code G H I J K L M N O P Q R S T U V
For example, "30H" is transmitted in hexadecimal for the station number of "0" (axis 1).

(4) Group
Group a b c d e f All group
JIS8 code a b c d e f
For example, "61H" is transmitted in hexadecimal for group a.

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 14. COMMUNICATION FUNCTIONS

14.5 Error codes

Error codes are used in the following cases and an error code of single-code length is transmitted.
On receipt of data from the master station, the slave station sends the error code corresponding to that
data to the master station.
The error code sent in upper case indicates that the servo is normal and the one in lower case indicates
that an alarm occurred.
Error code
Error name Description Remarks
Servo normal Servo alarm
[A] [a] Normal operation Data transmitted was processed properly. Positive response
[B] [b] Parity error Parity error occurred in the transmitted data.
[C] [c] Checksum error Checksum error occurred in the transmitted data.
Character not existing in the specifications was
[D] [d] Character error
transmitted.
Negative response
Command not existing in the specifications was
[E] [e] Command error
transmitted.
Data No. not existing in the specifications was
[F] [f] Data No. error
transmitted.

14.6 Checksum

Checksum range
Station number
or
group

STX or ETX Check

SOH

Checksum range

The check sum is a JIS8-coded hexadecimal representing the lower two digits of the sum of JIS8-coded
hexadecimal numbers up to ETX, with the exception of the first control code (STX or S0H).
(Example)

S E
T [0] [A] [1] [2] [5] [F] T [5] [2]
X X
02H 30H 41H 31H 32H 35H 46H 03H

30H 41H 31H 32H 35H 46H 03H

152H

Lower 2 digits 52 is sent after conversion into ASCII code [5][2].

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 14. COMMUNICATION FUNCTIONS

14.7 Time-out operation

The master station transmits EOT when the slave station does not start reply operation (STX is not
received) 300[ms] after the master station has ended communication operation. 100[ms] after that, the
master station retransmits the message. Time-out occurs if the slave station does not answer after the
master station has performed the above operation three times. (Communication error)
100ms 100ms 100ms *Time-out
300ms 300ms 300ms 300ms
Message

Message

Message

Message
E E E
Controller O O O
(Master station) T T T

Servo
(Slave station)

14.8 Retry operation

When a fault occurs in communication between the master and slave stations, the error code in the
response data from the slave station is a negative response code ([B] to [F], [b] to [f]). In this case, the
master station retransmits the message which was sent at the occurrence of the fault (Retry operation). A
communication error occurs if the above operation is repeated and results in the error three or more
consecutive times.
*Communication error
Message

Message

Controller Message
(Master station)

Servo S S S
(Slave station) T T T
X X X

Station number Station number Station number

or or or
group group group

Similarly, when the master station detects a fault (e.g. checksum, parity) in the response data from the
slave station, the master station retransmits the message which was sent at the occurrence of the fault. A
communication error occurs if the retry operation is performed three times.

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 14. COMMUNICATION FUNCTIONS

14.9 Initialization

After the slave station is switched on, it cannot reply to communication until the internal initialization
processing terminates. Hence, at power-on, ordinary communication should be started after:
(1) 1s or more time has elapsed after the slave station is switched on; and
(2) Making sure that normal communication can be made by reading the parameter or other data which
does not pose any safety problems.

14.10 Communication procedure example

The following example reads the set value of parameter No.2 "function selection 1" from the servo
amplifier of station 0:
Data item Value Description
Station number 0 Servo amplifier station 0
Command 05 Read command
Data No. 02 Parameter No.2

Axis No. Command Data No.

Start

Data [0] 0 5 STX 02 ETX

Data make-up
[0][0][5] STX [0][2] ETX
Checksum calculation and Checksum 30H 30H 35H 02H 30H 32H 03H FCH
addition

Addition of SOH to make Transmission data SOH 05 STX 02 ETX F C 46H 43H
up transmission data
Master station slave station
Data transmission
Master station slave station
Data receive

No
Is there receive data?

Yes No
300ms elapsed?
Yes
No
3 consecutive times?
Master station slave station
Yes Yes
Other than error code
[A] [a]? 100ms after EOT transmission
No
3 consecutive times?
No Error processing
Yes Receive data analysis
Error processing
End

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 14. COMMUNICATION FUNCTIONS

14.11 Command and data No. list

14.11.1 Read commands

(1) Status display (Command [0][1])

Command Data No. Description Display item Frame length
[0][1] [8][0] Status display data value and cumulative feedback pulses 12
[0][1] [8][1] processing information servo motor speed 12
[0][1] [8][2] droop pulses 12
[0][1] [8][3] cumulative command pulses 12
[0][1] [8][4] command pulse frequency 12
analog speed command voltage
[0][1] [8][5] 12
analog speed limit voltage
analog torque command voltage
[0][1] [8][6] 12
analog torque limit voltage
[0][1] [8][7] regenerative load ratio 12
[0][1] [8][8] effective load ratio 12
[0][1] [8][9] peak load ratio 12
[0][1] [8][A] Instantaneous torque 12
[0][1] [8][B] within one-revolution position 12
[0][1] [8][C] ABS counter 12
[0][1] [8][D] load inertia moment ratio 12
[0][1] [8][E] Bus voltage 12

(2) Parameter (Command [0][5])

Command Data No. Description Frame length
[0][5] [0][0] to Current value of each parameter 8
[5][4] The decimal equivalent of the data No. value (hexadecimal) corresponds
to the parameter number.

(3) External I/O signals (Command [1][2])

Command Data No. Description Frame length
[1][2] [4][0] External input pin statuses 8
[1][2] [C][0] External output pin statuses 8

(4) Alarm history (Command [3][3])

Command Data No. Description Alarm occurrence sequence Frame length
[3][3] [1][0] most recent alarm 4
[3][3] [1][1] first alarm in past 4
[3][3] [1][2] second alarm in past 4
Alarm number in alarm history
[3][3] [1][3] third alarm in past 4
[3][3] [1][4] fourth alarm in past 4
[3][3] [1][5] fifth alarm in past 4
[3][3] [2][0] most recent alarm 8
[3][3] [2][1] first alarm in past 8
[3][3] [2][2] Alarm occurrence time in alarm second alarm in past 8
[3][3] [2][3] history third alarm in past 8
[3][3] [2][4] fourth alarm in past 8
[3][3] [2][5] fifth alarm in past 8

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 14. COMMUNICATION FUNCTIONS

(5) Current alarm (Command [0][2] [3][5])

Command Data No. Description Frame length
[0][2] [0][0] Current alarm number 4

Command Data No. Description Display item Frame length

[3][5] [8][0] Status display data value and cumulative feedback pulses 12
[3][5] [8][1] processing information at alarm servo motor speed 12
[3][5] [8][2] occurrence droop pulses 12
[3][5] [8][3] cumulative command pulses 12
[3][5] [8][4] command pulse frequency 12
analog speed command voltage
[3][5] [8][5] 12
analog speed limit voltage
analog torque command voltage
[3][5] [8][6] 12
analog torque limit voltage
[3][5] [8][7] regenerative load ratio 12
[3][5] [8][8] effective load ratio 12
[3][5] [8][9] peak load ratio 12
[3][5] [8][A] Instantaneous torque 12
[3][5] [8][B] within one-revolution position 12
[3][5] [8][C] ABS counter 12
[3][5] [8][D] load inertia moment ratio 12
[3][5] [8][E] Bus voltage 12

(6) Group setting (Command [1][F])

Command Data No. Description Frame length
[1][F] [0][0] Reading of group setting value 4

(7) Others
Command Data No. Description Frame length
[0][2] [9][0] Servo motor end pulse unit absolute position 8
[0][2] [9][1] Command unit absolute position 8
[0][2] [7][0] Software version 16

14.11.2 Write commands

(1) Status display (Command [8][1])
Command Data No. Description Setting range Frame length
[8][1] [0][0] Status display data clear 1EA5 4

(2) Parameter (Command [8][4])

Command Data No. Description Setting range Frame length
[8][4] [0][0] to Each parameter write Depends on the 8
[5][4] The decimal equivalent of the data No. value parameter.
(hexadecimal) corresponds to the parameter
number.

(3) Alarm history (Command [8][2])

Command Data No. Description Setting range Frame length
[8][2] [2][0] Alarm history clear 1EA5 4

(4) Current alarm (Command [8][2])

Command Data No. Description Setting range Frame length
[8][2] [0][0] Alarm reset 1EA5 4

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 14. COMMUNICATION FUNCTIONS

(5) Operation mode selection (Command [8][B])

Command Data No. Description Setting range Frame length
[8][B] [0][0] Operation mode changing 0000 to 0004 4
0000: Exit from test operation mode
0001: Jog operation
0002: Positioning operation
0003: Motor-less operation
0004: DO forced output (output signal forced output)

(6) External input signal disable (Command [9][0])

Command Data No. Description Setting range Frame length
[9][0] [0][0] Turns off the external input signals (DI), external analog 1EA5 4
input signals and pulse train inputs with the exception of
EMG, LSP and LSN, independently of the external ON/OFF
statuses.
[9][0] [0][3] Changes the external output signals (DO) into the value of 1EA5 4
command [8][B] or command [A][0] data No. [0][1].
[9][0] [1][0] Enables the disabled external input signals (DI), external 1EA5 4
analog input signals and pulse train inputs with the
exception of EMG, LSP and LSN.
[9][0] [1][3] Enables the disabled external output signals (DO). 1EA5 4

(7) Data for test operation mode (Command [9][2] [A][0])

Command Data No. Description Setting range Frame length
[9][2] [0][0] Input signal for test operation 8
[9][2] [A][0] Forced output from signal pin 8

Command Data No. Description Setting range Frame length

[A][0] [1][0] Writes the speed of the test operation mode (jog operation, 0000 to 7FFF 4
positioning operation).
[A][0] [1][1] Writes the acceleration/deceleration time constant of the test 00000000 to 8
operation mode (jog operation, positioning operation). 7FFFFFFF
[A][0] [1][2] Clears the acceleration/deceleration time constant of the test 1EA5 4
operation mode (jog operation, positioning operation).
[A][0] [1][3] Writes the moving distance (in pulses) of the test operation 80000000 to 8
mode (jog operation, positioning operation). 7FFFFFFF
[A][0] [1][5] Temporary stop command of the test operation mode (jog 1EA5 4
operation, positioning operation)

(8) Group setting (Command [9][F])

Command Data No. Description Setting range Frame length
[9][F] [0][0] Setting of group 4

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 14. COMMUNICATION FUNCTIONS

14.12 Detailed explanations of commands

14.12.1 Data processing

When the master station transmits a command data No. or a command data No. data to a slave
station, the servo amplifier returns a reply or data according to the purpose.
When numerical values are represented in these send data and receive data, they are represented in
decimal, hexadecimal, etc.
Therefore, data must be processed according to the application.
Since whether data must be processed or not and how to process data depend on the monitoring,
parameters, etc., follow the detailed explanation of the corresponding command.
The following methods are how to process send and receive data when reading and writing data.

(1) Processing the read data

When the display type is 0, the eight-character data is converted from hexadecimal to decimal and a
decimal point is placed according to the decimal point position information.
When the display type is 1, the eight-character data is used unchanged.

The following example indicates how to process the receive data "003000000929" given to show.
The receive data is as follows.

0 0 3 0 0 0 0 0 0 9 2 9
Data 32-bit length (hexadecimal representation)
(Data conversion is required as indicated in the display type)

Display type
0: Data must be converted into decimal.
1: Data is used unchanged in hexadecimal.

Decimal point position

0: No decimal point
1: First least significant digit (normally not used)
2: Second least significant digit
3: Third least significant digit
4: Forth least significant digit
5: Fifth least significant digit
6: Sixth least significant digit

Since the display type is "0" in this case, the hexadecimal data is converted into decimal.
00000929H 2345
As the decimal point position is "3", a decimal point is placed in the third least significant digit.
Hence, "23.45" is displayed.

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 14. COMMUNICATION FUNCTIONS

(2) Writing the processed data

When the data to be written is handled as decimal, the decimal point position must be specified. If it is
not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the
decimal point position.
The data to be sent is the following value.

0
Data is transferred in hexadecimal.

Decimal point position

0: No decimal point
1: First least significant digit
2: Second least significant digit
3: Third least significant digit
4: Forth least significant digit
5: Fifth least significant digit

By way of example, here is described how to process the set data when a value of "15.5" is sent.
Since the decimal point position is the second digit, the decimal point position data is "2".
As the data to be sent is hexadecimal, the decimal data is converted into hexadecimal.
155 9B
Hence, "0200009B" is transmitted.

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 14. COMMUNICATION FUNCTIONS

14.12.2 Status display

(1) Status display data read

When the master station transmits the data No. (refer to the following table for assignment) to the
slave station, the slave station sends back the data value and data processing information.
1) Transmission
Transmit command [0][1] and the data No. corresponding to the status display item to be read.
Refer to Section 14.11.1.
2) Reply
The slave station sends back the status display data requested.

0 0
Data 32 bits long (represented in hexadecimal)
(Data conversion into display type is required)

Display type
0: Used unchanged in hexadecimal
1: Conversion into decimal required

Decimal point position

0: No decimal point
1: Lower first digit (usually not used)
2: Lower second digit
3: Lower third digit
4: Lower fourth digit
5: Lower fifth digit
6: Lower sixth digit

(2) Status display data clear

The cumulative feedback pulse data of the status display is cleared. Send this command immediately
after reading the status display item. The data of the status display item transmitted is cleared to zero.

Command Data No. Data

[8][1] [0][0] 1EA5

For example, after sending command [0][1] and data No. [8][0] and receiving the status display data,
send command [8][1], data No. [0][0] and data [1EA5] to clear the cumulative feedback pulse value to
zero.

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 14. COMMUNICATION FUNCTIONS

14.12.3 Parameter

(1) Parameter read

Read the parameter setting.
1) Transmission
Transmit command [0][5] and the data No. corresponding to the parameter No.
The data No. is expressed in hexadecimal equivalent of the data No. value corresponds to the
parameter number.

Command Data No.

[0][5] [0][0] to
[5][4]

2) Reply
The slave station sends back the data and processing information of the requested parameter No.

Data is transferred in hexadecimal.

Decimal point position
0: No decimal point
1: Lower first digit
2: Lower second digit
0 3: Lower third digit
4: Lower fourth digit
5: Lower fifth digit
Display type
0: Used unchanged in hexadecimal
1: Conversion into decimal required
Parameter write type
0: Valid after write
1: Valid when power is switched on again after write

Read enable/disable
0: Read enable
1: Read disable

Enable/disable information changes according to the setting of parameter No.19 "parameter

write inhibit". When the enable/disable setting is read disable, ignore the parameter data part
and process it as unreadable.

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 14. COMMUNICATION FUNCTIONS

(2) Parameter write

POINT
The number of parameter write times is restricted to 1,000,000 times.

Write the parameter setting.

Write the value within the setting range. Refer to Section 5.1 for the setting range.
Transmit command [8][4], the data No., and the set data.
The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value corresponds to
the parameter number.
When the data to be written is handled as decimal, the decimal point position must be specified. If it
is not specified, data cannot be written. When the data is handled as hexadecimal, specify 0 as the
decimal point position.
Write the data after making sure that it is within the upper/lower limit value range given in Section
5.1.2. Read the parameter data to be written, confirm the decimal point position, and create
transmission data to prevent error occurrence. On completion of write, read the same parameter
data to verify that data has been written correctly.

Command Data No. Set data

[8][4] [0][0] to See below.
[5][4]

Data is transferred in hexadecimal.

Decimal point position

0: No decimal point
1: Lower first digit
2: Lower second digit
3: Lower third digit
4: Lower forth digit
5: Lower fifth digit

Write mode
0: Write to EEP-ROM
3: Write to RAM
When using communication to change
parameter values frequently, set "3"
here and change data on RAM in the
servo amplifier.
Frequent change to EEP-ROM data
may cause the permissible write times
(1 million times) of EEP-ROM to be
exceeded, leading to a failure.

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 14. COMMUNICATION FUNCTIONS

14.12.4 External I/O pin statuses (DIO diagnosis)

(1) External input pin status read

Read the ON/OFF statuses of the external input pins.
(a) Transmission
Transmit command [1][2] and data No. [4][0].
Command Data No.
[1][2] [4][0]

(b) Reply
The ON/OFF statuses of the input pins are sent back.
b31 b1 b0
1: ON
0: OFF
Command of each bit is transmitted to the master
station as hexadecimal data.

bit External input pin bit External input pin bit External input pin bit External input pin
0 CN1B-16 8 CN1B-9 16 24
1 CN1B-17 9 17 25
2 CN1B-15 10 18 26
3 CN1B-5 11 19 27
4 CN1B-14 12 20 28
5 CN1A-8 13 21 29
6 CN1B-7 14 22 30
7 CN1B-8 15 23 31

(2) External output pin status read

Read the ON/OFF statuses of the external output pins.
(a) Transmission
Transmit command [1][2] and data No. [C][0].
Command Data No.
[1][2] [C][0]

(b) Reply
The slave station sends back the ON/OFF statuses of the output pins.
b31 b1 b0
1: ON
0: OFF
Command of each bit is transmitted to the master
station as hexadecimal data.

bit External output pin bit External output pin bit External output pin bit External output pin
0 CN1A-19 8 16 24
1 CN1A-18 9 17 25
2 CN1B-19 10 18 26
3 CN1B-6 11 19 27
4 CN1B-4 12 20 28
5 CN1B-18 13 21 29
6 CN1A-14 14 22 30
7 15 23 31

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 14. COMMUNICATION FUNCTIONS

14.12.5 Disable/enable of external I/O signals (DIO)

Inputs can be disabled independently of the external I/O signal ON/OFF. When inputs are disabled, the
input signals are recognized as follows. Among the external input signals, EMG, LSP and LSN cannot be
disabled.
Signal Status
External input signals (DI) OFF
External analog input signals 0V
Pulse train inputs None

(1) Disabling/enabling the external input signals (DI), external analog input signals and pulse train
inputs with the exception of EMG, LSP and LSN.
Transmit the following communication commands:
(a) Disable
Command Data No. Data
[9][0] [0][0] 1EA5

(b) Enable
Command Data No. Data
[9][0] [1][0] 1EA5

(2) Disabling/enabling the external output signals (DO)

Transmit the following communication commands:
(a) Disable
Command Data No. Data
[9][0] [0][3] 1EA5

(b) Enable
Command Data No. Data
[9][0] [1][3] 1EA5

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 14. COMMUNICATION FUNCTIONS

14.12.6 External input signal ON/OFF (test operation)

Each input signal can be turned on/off for test operation. Turn off the external input signals.
Send command [9] [2], data No. [0] [0] and data.
Command Data No. Set data
[9][2] [0][0] See below
b31 b1 b0
1: ON
0: OFF
Command of each bit is transmitted to the slave
station as hexadecimal data.

bit Signal abbreviation bit Signal abbreviation bit Signal abbreviation bit Signal abbreviation
0 SON 8 16 24
1 LSP 9 17 25
2 LSN 10 18 26
3 TL 11 ST1 19 27
4 12 ST2 20 28
5 PC 13 21 29
6 RES 14 22 30
7 CR 15 23 31

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 14. COMMUNICATION FUNCTIONS

14.12.7 Test operation mode

(1) Instructions for test operation mode

The test operation mode must be executed in the following procedure. If communication is interrupted
for longer than 0.5s during test operation, the servo amplifier causes the motor to be decelerated to a
stop and servo-locked. To prevent this, continue communication without a break, e.g. monitor the
status display.
(a) Execution of test operation
1) Turn off all external input signals.

2) Disable the external input signals.

Command Data No. Data
[9][0] [0][0] 1EA5

3) Choose the test operation mode.

Command Data No. Transmission data Selection of test operation mode
[8][B] [0][0] 0000 Test operation mode cancel
[8][B] [0][0] 0001 Jog operation
[8][B] [0][0] 0002 Positioning operation
[8][B] [0][0] 0003 Motor-less operation
[8][B] [0][0] 0004 DO forced output

4) Set the data needed for test operation.

5) Start.

6) Continue communication using the status display or other command.

(b) Termination of test operation

To terminate the test operation mode, complete the corresponding operation and:
1) Clear the test operation acceleration/deceleration time constant.
Command Data No. Data
[A][0] [1][2] 1EA5

2) Cancel the test operation mode.

Command Data No. Data
[8][B] [0][0] 0000

3) Enable the disabled external input signals.

Command Data No. Data
[9][0] [1][0] 1EA5

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 14. COMMUNICATION FUNCTIONS

(2) Jog operation

Transmit the following communication commands:
(a) Setting of jog operation data
Item Command Data No. Data
Speed [A][0] [1][0] Write the speed [r/min] in hexadecimal.
Acceleration/decelerati [A][0] [1][1] Write the acceleration/deceleration time constant
on time constant [ms] in hexadecimal.

(b) Start
Turn on the external input signals SON and ST1/ST2 by using command [9][2] data No. [0][0].
Item Command Data No. Data
Forward rotation start [9][2] [0][0] 00000801: Turns on SON and ST1.
Reverse rotation start [9][2] [0][0] 00001001: Turns on SON and ST2.

(3) Positioning operation

Transmit the following communication commands:
(a) Setting of positioning operation data
Item Command Data No. Data
Speed [A][0] [1][0] Write the speed [r/min] in hexadecimal.
Acceleration/decelerat [A][0] [1][1] Write the acceleration/deceleration time constant
ion time constant [ms] in hexadecimal.
Moving distance [A][0] [1][3] Write the moving distance [pulse] in
hexadecimal.

(b) Start
Turn on the external input signals SON and ST1/ST2 by using command [9][2] data No. [0][0].
Item Command Data No. Data
Forward rotation start [9][2] [0][0] 00000801: Turns on SON and ST1.
Reverse rotation start [9][2] [0][0] 00001001: Turns on SON and ST2.

(c) Temporary stop

A temporary stop can be made during positioning operation.
Command Data No. Data
[A][0] [1][5] 1EA5

Retransmit the same communication commands as at the start time to resume operation.
To stop positioning operation after a temporary stop, retransmit the temporary stop communication
command. The remaining moving distance is then cleared.

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 14. COMMUNICATION FUNCTIONS

14.12.8 Output signal pin ON/OFF (DO forced output)

In the test operation mode, the output signal pins can be turned on/off independently of the servo status.
Using command [9][0], disable the output signals in advance.
(1) Choosing DO forced output in test operation mode
Transmit command [8][B] data No. [0][0] data "0004" to choose DO forced output.

0 0 0 4
Selection of test operation mode
4: DO forced output (output signal forced output)

(2) External output signal ON/OFF

Transmit the following communication commands:
Command Data No. Setting data
[9][2] [A][0] See below.
b31 b1 b0
1: ON
0: OFF
Command of each bit is sent to the slave station in hexadecimal.

bit External output pin bit External output pin bit External output pin bit External output pin
0 CN1A-19 8 16 24
1 CN1A-18 9 17 25
2 CN1B-19 10 18 26
3 CN1B-6 11 19 27
4 CN1B-4 12 20 28
5 CN1B-18 13 21 29
6 CN1A-14 14 22 30
7 15 23 31

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 14. COMMUNICATION FUNCTIONS

14.12.9 Alarm history

(1) Alarm No. read

Read the alarm No. which occurred in the past. The alarm numbers and occurrence times of No. 0 (last
alarm) to No. 5 (sixth alarm in the past) are read.
(a) Transmission
Send command [3][3] and data No. [1][0] to [1][5]. Refer to Section 14.11.1.

(b) Reply
The alarm No. corresponding to the data No. is provided.

0 0
Alarm No. is transferred in decimal.

For example, “0032” means AL.32 and “00FF” means AL._ (no alarm).

(2) Alarm occurrence time read

Read the occurrence time of alarm which occurred in the past.
The alarm occurrence time corresponding to the data No. is provided in terms of the total time
beginning with operation start, with the minute unit omitted.
(a) Transmission
Send command [3][3] and data No. [2][0] to [2][5].
Refer to Section 14.11.1.

(b) Reply

The alarm occurrence time is transferred in decimal.

Hexadecimal must be converted into decimal.

For example, data “01F5” means that the alarm occurred in 501 hours after start of operation.

(3) Alarm history clear

Erase the alarm history.
Send command [8][2] and data No. [2][0].
Command Data No. Data
[8][2] [2][0] 1EA5

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 14. COMMUNICATION FUNCTIONS

14.12.10 Current alarm

(1) Current alarm read

Read the alarm No. which is occurring currently.
(a) Transmission
Send command [0][2] and data No. [0][0].
Command Data No.
[0][2] [0][0]

(b) Reply
The slave station sends back the alarm currently occurring.

0 0
Alarm No. is transferred in decimal.

For example, “0032” means AL.32 and “00FF” means AL._ (no alarm).

(2) Read of the status display at alarm occurrence

Read the status display data at alarm occurrence. When the data No. corresponding to the status
display item is transmitted, the data value and data processing information are sent back.
(a) Transmission
Send command [3][5] and any of data No. [8][0] to [8][E] corresponding to the status display item to
be read. Refer to Section 14.11.1.

(b) Reply
The slave station sends back the requested status display data at alarm occurrence.

0 0
Data 32 bits long (represented in hexadecimal)
(Data conversion into display type is required)

Display type
0: Conversion into decimal required
1: Used unchanged in hexadecimal

Decimal point position

0: No decimal point
1: Lower first digit (usually not used)
2: Lower second digit
3: Lower third digit
4: Lower fourth digit
5: Lower fifth digit
6: Lower sixth digit

(3) Current alarm clear

As by the entry of the RES signal, reset the servo amplifier alarm to make the servo amplifier ready to
operate. After removing the cause of the alarm, reset the alarm with no command entered.
Command Data No. Data
[8][2] [0][0] 1EA5

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 14. COMMUNICATION FUNCTIONS

14.12.11 Other commands

(1) Servo motor end pulse unit absolute position

Read the absolute position in the servo motor end pulse unit.
Note that overflow will occur in the position of 16384 or more revolutions from the home position.
(a) Transmission
Send command [0][2] and data No. [9][0].
Command Data No.
[0][2] [9][0]

(b) Reply
The slave station sends back the requested servo motor end pulses.

Absolute value is sent back in hexadecimal in

the servo motor end pulse unit.
(Must be converted into decimal)

For example, data "000186A0" is 100000 [pulse] in the motor end pulse unit.

(2) Command unit absolute position

Read the absolute position in the command unit.
(a) Transmission
Send command [0][2] and data No. [9][1].
Command Data No.
[0][2] [9][1]

(b) Reply
The slave station sends back the requested command pulses.

Absolute value is sent back in hexadecimal in the

command unit.
(Must be converted into decimal)

For example, data "000186A0" is 100000 [pulse] in the command unit.

(3) Software version

Reads the software version of the servo amplifier.
(a) Transmission
Send command [0][2] and data No.[7][0].
Command Data No.
[0][2] [7][0]

(b) Reply
The slave station returns the software version requested.

0
Software version (15 digits)

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 14. COMMUNICATION FUNCTIONS

MEMO

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 15. ABSOLUTE POSITION DETECTION SYSTEM

15. ABSOLUTE POSITION DETECTION SYSTEM

15.1 Outline

15.1.1 Features

For normal operation, as shown below, 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 general-purpose programming controller power is on or off.
Therefore, once the home position is defined at the time of machine installation, home position return is
not needed when power is switched on thereafter.
If a power failure or a fault occurs, restoration is easy.
Also, the absolute position data, which is battery-backed by the super capacitor in the encoder, can be
retained within the specified period (cumulative revolution counter value retaining time) if the cable is
unplugged or broken.
General purpose programmable
Servo amplifier
controller
Pulse train
CPU Positioning module (command) Home position data
Current
EEPROM memory Current

Position control
position

Speed control
LSO position
data
1XO data
I/O module Backed up in the
current position

case of power failure LS 1X

Changing the

Input
Detecting the Detecting the
number of position within
revolutions one revolution
data

Output Battery MR-BAT

Servo motor
1 pulse/rev Accumulative
revolution counter High speed serial
Super capacitor communication
Within-one-revolution counter
A, B, Z phase signals
(Position detector)

15.1.2 Restrictions

The absolute position detection system cannot be configured under the following conditions. Test
operation cannot be performed in the absolute position detection system, either. To perform test
operation, choose incremental in parameter No.1.
(1) Speed control mode, torque control mode.
(2) Control switch-over mode (position/speed, speed/torque, torque/speed).
(3) Stroke-less coordinate system, e.g. rotary shaft, infinitely long positioning.
(4) Changing of electronic gear after home position setting.
(5) Use of alarm code output.

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 15. ABSOLUTE POSITION DETECTION SYSTEM

15.2 Specifications

(1) Specification list

Item Description
System Electronic battery backup system
1 piece of lithium battery ( primary battery, nominal 3.6V)
Battery
Type: MR-BAT or A6BAT
Maximum revolution range Home position 32767 rev.
(Note 1) Maximum speed at power failure 500r/min
(Note 2) Battery backup time Approx. 10,000 hours (battery life with power off)
(Note 3) Data holding time during battery
2 hours at delivery, 1 hour in 5 years after delivery
replacement
Battery storage period 5 years from date of manufacture
Note: 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the
like.
2. Time to hold data by a battery with power off.
3. Period during which data can be held by the super capacitor in the encoder after power-off, with the
battery voltage low or the battery removed, or during which data can be held with the encoder cable
disconnected.
Battery replacement should be finished within this period.

(2) General-purpose programmable controller

Positioning module I/O module
AD71 AD71S2 AD71S7
A1SD71S2 A1SD71S7 AX40 41 42
AD75 AY40 41 42
A1SD75
FX-1PG FX-1GM
FX2-32MT
FX(E)-20GM FX-10GM
Programmable controller Servo amplifier

AD75 etc.
CN1A

CN2
I/O CN1B

CON1

Servo motor
Battery (MR-BAT)

(3) Parameter setting

Set " 1 " in parameter No.1 to make the absolute position detection system valid.
Parameter No. 1

Selection of absolute position detection system

0: Incremental system
1: Absolute position detection system

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 15. ABSOLUTE POSITION DETECTION SYSTEM

15.3 Battery installation procedure

Before starting battery installation procedure, make sure that the charge lamp is off
WARNING more than 10 minutes after power-off. Then, confirm that the voltage is safe in the
tester or the like. Otherwise, you may get an electric shock.

POINT
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, directly by hand.

(1) Open the operation window. (When the model used is the MR-J2S-200A or more, also remove the front
cover.
(2) Install the battery in the battery holder.
(3) Install the battery connector into CON1 until it clicks.
Battery connector
Operation window Battery connector

CON1
CON1

Battery

Battery Battery holder Battery holder

For MR-J2S-100A or less For MR-J2S-200A or more

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 15. ABSOLUTE POSITION DETECTION SYSTEM

15.4 Standard connection diagram

Servo amplifier

VDD CN1B-3
COM CN1B-13
(Note 2) Stroke end in forward rotation LSP CN1B-16
Stroke end in reverse rotation LSN CN1B-17
External torque control TL CN1B-7 (Note 3)
Reset
RES CN1B-14
SG CN1B-10
EMG (Note 1)
Output Emergency stop
Electromagnetic Servo-on EMG CN1B-15
brake output SON CN1B-5
ABS transmission
RA2 mode
ABSM CN1B-8
ABS request
ABSR CN1B-9
ABS bit 0
Reset Input DO1 CN1B-4
ABS bit 1
ZSP CN1B-19
Send data ready
TLC CN1B-6

I/O module

Dog
Near-zero point signal
Stop SG CN1A-10
Stop signal
Power supply (24V) VDD CN1B-3
Ready RD CN1A-19
Zero-point P15R CN1A-4
Positioning
module

signal OP CN1A-14
CR CN1A-8
Clear
SG CN1A-20

Command PP CN1A-3
pulses PG CN1A-13
(for open- NP CN1A-2
collector type) NG CN1A-12

Upper limit setting

P15R CN1B-11
Torque limit TLA CN1B-12
10V/max.torque
LG CN1B-1
SD Plate

Note: 1. Always install the emergency stop switch.

2. For operation, always short the forward/reverse rotation stroke end (LSN/LSP) with SG.
3. When using the torque limit signal (TL), set " 4" in parameter No.46 to assign TL to
pin CN1B-7.

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 15. ABSOLUTE POSITION DETECTION SYSTEM

15.5 Signal explanation

When the absolute position data is transferred, the signals of connector CN1 change as described in this
section. They return to the previous status on completion of data transfer. The other signals are as
described in Section 3.3.2.
For the I/O interfaces (symbols in the I/O Category column in the table), refer to Section 3.6.
I/O Control
Signal name Code Pin No. Function/Application
category mode
While ABSM is shorted by connection to SG, the servo
ABS transfer (Note)
ABSM amplifier is in the ABS transfer mode, and the functions DI-1
mode CN1B-8
of ZSP, TLC, and D01 are as indicated in this table.

(Note) ABSR-SG are shorted to request the ABS data in the

ABS request ABSR DI-1
CN1B-9 ABS transfer mode.

Indicates the lower bit of the ABS data (2 bits) which is

sent from the servo to the programmable controller in
ABS bit 0 D01 CN1B-4 the ABS transfer mode. DO-1
If there is a signal, the circuit between D01 and SG is
closed. P

Indicates the upper bit of the ABS data (2 bits) which is (Position

sent from the servo to the programmable controller in control)

ABS bit 1 ZSP CN1B-19 the ABS transfer mode. DO-1

If there is a signal, the circuit between ZSP and SG is
closed.
Indicates that the data to be sent is being prepared in
Send data ready TLC CN1B-6 the ABS transfer mode. At the completion for the ready DO-1
state, the circuit between TLC and SG is closed.
When CR-SG are shorted, the position control counter is
Home position
CR CN1A-8 cleared and the home position data is stored into the DI-1
setting
non-volatile memory (backup memory).

Note: When "Used in absolute position detection system" is selected in parameter No. 1, pin CN1B-8
acts as the ABS transfer mode (ABSM) signal and pin CN1B-9 as the ABS request (ABSR) signal.
They do not return to the original signals if data transfer ends.

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 15. ABSOLUTE POSITION DETECTION SYSTEM

15.6 Startup procedure

(1) Battery installation.

Refer to Section 15.3 installation of absolute position backup battery.

(2) Parameter setting

Set "1 "in parameter No. 1 of the servo amplifier and switch power off, then on.

(3) Resetting of absolute position erase alarm (AL.25)

After connecting the encoder cable, the absolute position erase alarm (AL.25) occurs at first power-on.
Leave the alarm as it is for a few minutes, then switch power off, then on to reset the alarm.

(4) Confirmation of absolute position data transfer

When the servo-on signal is turned on, the absolute position data is transferred to the programmable
controller. When the ABS data is transferred properly:
(a) The ready output (RD) turns on.

(b) The programmable controller/ABS data ready contact (M3 for A1SD71, M99 for 1PG) turns on.

(c) The servo configuration software ABS data display window (refer to Section 15.9) and
programmable controller side ABS data registers (D3, D4 for A1SD71, D106, D107 for 1PG) show
the same value (at the home position address of 0).
If any warning such as ABS time-out warning (AL.E5) or programmable controller side transfer
error occurs, refer to Section 15.10 or Chapter 10 and take corrective action.

(5) Home position setting

The home position must be set if:
(a) System setup is performed;

(b) The servo amplifier has been changed;

(c) The servo motor has been changed; or

(d) The absolute position erase alarm (AL.25) occurred.

In the absolute position system, the absolute position coordinates are made up by making home
position setting at the time of system setup.
The motor shaft may misoperate if positioning operation is performed without home position setting.
Always make home position setting before starting operation.
For the home position setting method and types, refer to Section 15.7.3.

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 15. ABSOLUTE POSITION DETECTION SYSTEM

15.7 Absolute position data transfer protocol

POINT
After switching on the ABS transfer mode (ABSM), turn on the servo-on
signal (SON). When the ABS transfer mode is off, turning on the servo-on
signal (SON) does not switch on the base circuit.

15.7.1 Data transfer procedure

Each time the SON signal is turned ON (when the power is switched ON for example), the programmable
controller reads the position data (present position) of the servo amplifier.
Time-out monitoring is performed by the programmable controller.
Servo amplifier Programmable controller

SON ON

Start processing
ABS transfer mode ON Every time the SON is
turned ON, the ABS transfer
mode signal is turned ON
DI0 allocation change
Send data ready ON to set the data to be
transmitted.

ABS request ON

Repeated to configure 32-bit data

Transmission data set Watch dog timer <Current position data>
Send data ready OFF
The data is read in units of
2 bits; the read data is written
Reading 2 bits to the lowest bits, and the 16 times
register is shifted right until
32-bit data is configured.
Shift and addition
ABS request OFF

Send data ready ON

Repeated to configure 6-bit data

ABS request ON
<Sumcheck data>
The data is read in units of
Transmission data set Watch dog timer
Send data ready OFF 2 bits; the read data is written
to the lowest bits, and the 3 times
register is shifted right until
Reading 2 bits 6-bit data is configured.

Shift and addition

ABS request OFF

Send data ready ON

End processing

Setting the current

A sum check is executed
position
for the received 32-bit data.
After making sure that
ABS transfer mode OFF Sum check there are no errors in the data,
the current position is set.
DI0 allocation change
TLC (send data ready) OFF

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 15. ABSOLUTE POSITION DETECTION SYSTEM

15.7.2 Transfer method

The sequence in which the base circuit is turned ON (servo-on) when it is in the OFF state due to the
servo-on (SON) signal going OFF, an emergency stop, or alarm, is explained below. In the absolute
position detection system, every time the servo-on (SON) signal is turned on, the ABS transfer mode
(ABSM) signal should always be turned on to read the current position in the servo amplifier to the
controller. The servo amplifier transmits to the controller the current position latched when the ABS
transfer mode (ABSM) signal switches from OFF to ON. At the same time, this data is set as a position
command value inside the servo amplifier. Unless the ABS transfer mode signal (ABSM) is turned ON,
the base circuit cannot be turned ON.
(1) At power-on
(a) Timing chart
ON
Power
supply
OFF
If SON is turned ON before ABSM is input

ON
Servo-on
(SON)
OFF

2), 3)
4) ON
ABS transfer mode During transfer of ABS During transfer of ABS
(ABSM) OFF

(Note) (Note)
ON
ABS request
(ABSR)
OFF

(Note) (Note)
ON
Send data ready
(TLC)
OFF

(Note) (Note)
Transmission
ABS data ABS data
(ABS) data
D01:bit1
ZSP:bit2 80[ms] 80[ms]

ON
Base circuit
OFF

1)
ON
Ready Operation Operation
(RD) enabled enabled
OFF

Note: For details, refer to (1) (b) in this section.

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 15. ABSOLUTE POSITION DETECTION SYSTEM

1) The ready signal (RD) is turned ON when the ABS transfer mode signal (ABSM) is turned OFF
after transmission of the ABS data.
While the ready signal (RD) is ON, the ABS transfer mode signal (ABSM) input is not accepted.
2) Even if the servo-on (SON) signal is turned ON before the ABS transfer mode signal (ABSM) is
turned ON, the base circuit is not turned ON until the ABS transfer mode signal (ABSM) is
turned ON.
If a servo alarm has occurred, the ABS transfer mode signal (ABSM) is not received.
The ABS transfer mode signal (ABSM) allows data transmission even while a servo warning is
occurring.
3) If the ABS transfer mode signal (ABSM) is turned OFF during the ABS transfer mode, the ABS
transfer mode is interrupted and the time-out error (AL.E5) occurs.
4) The functions of output signals such as ZSP, TLC, D01, and INP change depending on the
ON/OFF state of the ABS transfer mode signal (ABSM).
Note that if the ABS transfer mode signal (ABSM) is turned ON for a purpose other than ABS
data transmission, the output signals will be assigned the functions of ABS data transmission.
Output signal
Symbol Pin No.
ABS transfer mode (ABSM): OFF ABS transfer mode (ABSM): ON
(Note)
CN1B-4 Positioning completion ABS data bit 0
D01
ZSP CN1B-19 Zero speed ABS data bit 1
TLC CN1B-6 During torque limit control Send data ready
(Note)
CN1A-18 Positioning completion ABS data bit 0
INP

Note: CN1B-4 and CN1A-18 output the same signals. (To enter the positioning completion
signal into INPS of the AD75, connect CN1A-18.)

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(b) Detailed description of absolute position data transfer

Servo-on ON
(programmable
controller) OFF

ON
Servo-on
(SON)
OFF
(Note)
1) 7)
ON
ABS transfer mode
During transfer of ABS
(ABSM)
OFF

3) 5)
ON
ABS request
(ABSR)
OFF

2) 4) 6)
ON
Send data ready
(TLC)
OFF

Lower Check sum

Transmission (ABS) data 2 bits Upper 2 bits

Note: If the servo-on (SON) signal is not turned ON within 1 second after the ABS transfer mode signal (ABSM)
is turned ON, an SON time-out warning (AL.EA) occurs. This warning, however, does not interrupt data
transmission. It is automatically cleared when the servo-on (SON) signal is turned ON.

1) The programmable controller turns ON the ABS transfer mode signal (ABSM) and servo-on
(SON) signals at the leading edge of the internal servo-on signal.
2) In response to the ABS transfer mode signal, the servo detects and calculates the absolute
position and turns ON the send data ready (TLC) signal to notify the programmable controller
that the servo is ready for data transmission.
3) After acknowledging that the ready to send (TLC) signal has been turned ON, the
programmable controller turns ABS request (ABSR) ON.
4) In response to ABS request (ABSR), the servo outputs the lower 2 bits of the ABS data and the
ready to send (TLC) signal in the OFF state.
5) After acknowledging that the ready to send (TLC) signal has been turned OFF, which implies
that 2 bits of the ABS data have been transmitted, the programmable controller reads the lower
2 bits of the ABS data and then turns OFF the ABS request (ABSR).
6) The servo turns ON the ready to send (TLC) so that it can respond to the next request.
Steps 3) to 6) are repeated until 32-bit data and the 6-bit check sum have been transmitted.
7) After receiving of the check sum, the programmable controller turns the ABS transfer mode
signal (ABSM) OFF.
If the ABS transfer mode signal (ABSM) is turned OFF during data transmission, the ABS
transfer mode is interrupted.

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(c) Checksum
The check sum is the code which is used by the programmable controller to check for errors in the
received ABS data. The 6-bit check sum is transmitted following the 32-bit ABS data.
At the programmable controller, calculate the sum of the received ABS data using the ladder
program and compare it with the check sum code sent from the servo.
The method of calculating the check sum is shown. Every time the programmable controller
receives 2 bits of ABS data, it adds the data to obtain the sum of the received data. The check sum
is 6-bit data.
Negative data is available for the FX-1PG and unavailable for the A1SD71.

Example: ABS data: 10 (FFFFFFF6H)

10 b
01 b <Appendix>
11 b Decimal 10
11 b
11 b Hexadecimal FFFF FFF6
11 b
11 b Binary 1111 1111 1111 0110
11 b When the binary data of each 2bits of the
11 b ABS data is added up, "10 1101b " is obtained.
11 b
11 b
11 b
11 b
11 b
11 b
11 b
101101 b

Therefore, the check sum of " 10" (ABS data) is "2Db"

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(2) Transmission error

(a) Time-out warning(AL.E5)
In the ABS transfer mode, the time-out processing shown below is executed at the servo. If a time-
out error occurs, an ABS time-out warning (AL.E5) is output.
The ABS time-out warning (AL.E5) is cleared when the ABS transfer mode (ABSM) changes from
OFF to ON.
1) ABS request OFF-time time-out check (applied to 32-bit ABS data in 2-bit units check sum)
If the ABS request signal is not turned ON by the programmable controller within 5s after the
send data ready signal is turned ON, this is regarded as a transmission error and the ABS time-
out warning (AL.E5) is output.
ON
ABS transfer mode
OFF
5s

ON
ABS request
OFF
Signal is not turned ON
ON
Send data ready
OFF

Yes
AL.E5 warning
No

2) ABS request ON-time time-out check (applied to 32-bit ABS data in 2-bit units check sum)
If the ABS request signal is not turned OFF by the programmable controller within 5s after the
send data ready signal is turned OFF, this is regarded as the transmission error and the ABS
time-out warning (AL.E5) is output.
ON
ABS transfer mode
OFF
5s

ON
ABS request
OFF
Signal is not turned OFF
ON
Send data ready
OFF

Yes
AL.E5 warning
No

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 15. ABSOLUTE POSITION DETECTION SYSTEM

3) ABS transfer mode finish-time time-out check

If the ABS transfer mode signal is not turned OFF within 5s after the last ready to send signal
(19th signal for ABS data transmission) is turned ON, it is regarded as the transmission error
and the ABS time-out warning (AL.E5) is output.
5s

ON
ABS transfer mode
OFF
Signal is not turned OFF
1 2 3 4 18 19
ON
ABS request
OFF

ON
Send data ready
1 2 3 4 18 19
OFF

Yes
AL.E5 warning
No

(b) Check sum error

If the check sum error occurs, the programmable controller should retry transmission of the ABS
data.
Using the ladder check program, turn OFF the ABS transfer mode (ABSM) and servo-on (SON)
signals once. Turn them ON again after an OFF time of longer than 20 ms.
If the ABS data transmission fails to end normally even after retry, regard this situation as an
ABS check sum error and execute error processing.
The start command should be interlocked with the ABS data ready signal to disable positioning
operation when an check sum error occurs.
20ms 20ms 20ms
or more or more or more

ON
Servo-on Retry 1 Retry 2 Retry 3
OFF

ON
ABS transfer mode
OFF

ON
ABS request
OFF

ON
Send data ready
OFF

Yes
ABS check sum error
No

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(3) At the time of alarm reset

If an alarm occurs, turn OFF the servo-on (SON) signal by detecting the alarm output (ALM).
If an alarm has occurred, the ABS transfer mode signal (ABSM) cannot be accepted.
In the reset state, the ABS transfer mode signal (ABSM) can be input.
ON
Servo-on
(SON)
OFF

ON
Reset
(RES)
OFF

ON
ABS transfer mode
During transfer of ABS
(ABSM)
OFF

ON
ABS request
(ABSR)
OFF

ON
Send data ready
(TLC)
OFF

Transmission
ABS data
(ABS) data
80[ms]

ON
Base circuit
OFF

Alarm output ON
(ALM)
OFF

ON
Ready Operation
(RD) enabled
OFF

Occurrence of alarm

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(4) At the time of emergency stop reset

(a) If the power is switched ON in the emergency stop state
The emergency stop state can be reset while the ABS data is being transferred.
If the emergency stop state is reset while the ABS data is transmitted, the base circuit is turned
ON 80[ms] after resetting. If the ABS transfer mode signal (ABSM) is OFF when the base circuit is
turned ON, the ready signal (RD) is turned ON 20[ms] after the turning ON of the base circuit. If
the ABS transfer mode signal (ABSM) is ON when the base circuit is turned ON, it is turned OFF
and then the ready signal (RD) is turned ON. The ABS data can be transmitted after the
emergency stop state is reset.
The current position in the servo amplifier is updated even during an emergency stop. When servo-
on (SON) and ABS transfer mode (ABSM) are turned ON during an emergency stop as shown
below, the servo amplifier transmits to the controller the current position latched when the ABS
transfer mode (ABSM) switches from OFF to ON, and at the same time, the servo amplifier sets
this data as a position command value. However, since the base circuit is OFF during an
emergency stop, the servo-lock status is not encountered. Therefore, if the servo motor is rotated by
external force or the like after the ABS transfer mode (ABSM) is turned ON, this travel is
accumulated in the servo amplifier as droop pulses. If the emergency stop is cleared in this status,
the base circuit turns ON and the motor returns to the original position rapidly to compensate for
the droop pulses. To avoid this status, reread the ABS data before clearing the emergency stop.
ON
Power
supply
OFF

ON
Servo-on
(SON)
OFF

Reset
ON
Emergency stop
(EMG)
OFF

ON
ABS transfer mode
During transfer of ABS
(ABSM)
OFF

ON
ABS request
(ABSR)
OFF

ON
Send data ready
(TLC)
OFF

Send (ABS) data ABS data

80[ms]

ON
Base circuit
OFF
20[ms]

ON
Ready Operation
(RD) enabled
OFF

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(b) If emergency stop is activated during servo-on

The ABS transfer mode signal (ABSM) is permissible while in the emergency stop state. In this
case, the base circuit and the ready signal (RD) are turned ON after the emergency stop state is
reset.
ON
Servo-on
(SON)
OFF

ON
Emergency stop
(EMG)
OFF

ON
ABS transfer mode
During transfer of ABS
(ABSM)
OFF

ON
ABS request
(ABSR)
OFF

ON
Send data ready
(TLC)
OFF

Send (ABS) data ABS data

80[ms]

ON
Base circuit
OFF

ON
Ready Operation
(RD) enabled
OFF

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 15. ABSOLUTE POSITION DETECTION SYSTEM

15.7.3 Home position setting

(1) Dog type home position return

Preset a home position return creep speed at which the machine will not be given impact. On detection
of a zero pulse, the home position setting signal (CR) is turned from off to on. At the same time, the
servo amplifier clears the droop pulses, comes to a sudden stop, and stores the stop position into the
non-volatile memory as the home position ABS data.
The home position setting signal should be turned on after it has been confirmed that the in-position
(D01 or INP) is on. If this condition is not satisfied, the home position setting warning (AL.96) will
occur, but that warning will be reset automatically by making home position return correctly.
The number of home position setting times is limited to 1,000,000 times.

Servo Motor

Near-zero point dog

ON
Dog signal
(DOG)
OFF

Completion of ON
positioning
(D01 or INP) OFF

ON
Home position
setting (CR)
OFF
20 [ms] or more 20 [ms] or more

Home position
Update
ABS data

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(2) Data set type home position return

Move the machine to the position where the home position is to be set by performing manual operation
such as jog operation to turn the motor shaft more than one revolution. When the home position
setting signal (CR) is on for longer than 20ms, the stop position is stored into the non-volatile memory
as the home position ABS data.
The home position setting signal should be turned on after it has been confirmed that the in-position
(D01 or INP) is on. If this condition is not satisfied, the home position setting warning (AL.96) will
occur, but that warning will be reset automatically by making home position return correctly.
The number of home position setting times is limited to 1,000,000 times.

Manual feed (JOG, etc.)

(more than 1 revolution
of the motor shaft)
Servo Motor

Completion of ON
positioning
(D01 or INP) OFF

ON
Home position
setting (CR)
OFF
20 [ms] or more

Home position
Update
ABS data

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 15. ABSOLUTE POSITION DETECTION SYSTEM

15.7.4 Use of servo motor with electromagnetic brake

The timing charts at power on/off and servo-on (SON) on/off are given below.
Preset " 1 " in parameter No. 1 to make the electromagnetic brake interlock signal (MBR) usable.
When the ABS transfer mode is ON, the electromagnetic brake interlock (MBR) is used as the ABS data
bit 1.
Hence, make up an external sequence which will cause the electromagnetic brake torque to be generated
by the ABS mode (ABSM) and electromagnetic brake interlock signals.
ON
Power
supply
OFF

ON
Servo-on
(SON)
OFF

ON
ABS transfer mode During transmission During transmission
(ABSM) of ABS of ABS
OFF

ON
ABS request
(ABSR)
OFF

ON
Send data ready
(TLC)
OFF

Send (ABS) data ABS data ABS data

80 [ms] 80 [ms]

ON
Base circuit
OFF
20 [ms] 20 [ms]

ON
Ready
(RD)
OFF
Tb Tb
ON
Electromagnetic
brake (MBR)
OFF

ON
Electromagnetic
brake torque
OFF

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 15. ABSOLUTE POSITION DETECTION SYSTEM

15.7.5 How to process the absolute position data at detection of stroke end

The servo amplifier stops the acceptance of the command pulse when stroke end (LSP LSN) is detected,
clears the droop pulses to 0 at the same time, and stops the servo motor rapidly.
At this time, the programmable controller keeps outputting the command pulse. Since this causes a
discrepancy between the absolute position data of the servo amplifier and the programmable controller, a
difference will occur between the position data of the servo amplifier and that of the programmable
controller.
To prevent this difference in position data from occurring, do as described below. When the servo
amplifier has detected the stroke end, perform jog operation or the like to clear the stroke end. After that,
switch the servo-on signal off once, then on again, or switch the power off once, then on again. This causes
the absolute position data of the servo amplifier to be transferred to the programmable controller,
restoring the normal data.

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 15. ABSOLUTE POSITION DETECTION SYSTEM

15.8 Examples of use

15.8.1 MELSEC-A1S (A1SD71)

(1) Instructions
The absolute coordinate system (programmable controller coordinate system) of the A1SD71 (AD71)
only covers the range in which the address increases (positive coordinate values) on moving away from
the machine home position (the position reached in the home position return operation). Therefore, if
the motor enters the range where the coordinate value is negative due to the load torque or a fall on a
vertical axis when the power is turned ON/OFF at a point near the machine home position, the system
fails to detect the absolute position. To prevent this problem, it is necessary to set the home position
(operation home position) for positioning in addition to the machine home position.
(a) The home position should be set in the direction in which the position address of the programmable
controller coordinate system increases on moving away from machine home position, as illustrated
below. Note that the home position for positioning must be more than one revolution of the servo
motor shaft from the machine home position.
If the address of the machine home position is changed to any value other than "0", the home
position should be set in the direction in which the position address increases on moving away from
the machine home position (machine home position after changing the home position address) and
at a point removed from the machine home position by more than one revolution of the motor shaft.
Home position Machine home
Machine home position (operation home position) Home position position
Programmable Programmable
controller coordinate 0 10000 50000 controller coordinate 50000 10000 0
system system
ABS 20000 0 50000 ABS 50000 0 20000
coordinate Direction in which coordinate Direction in which
system address increases system address increases
More than 1 revolution More than 1 revolution
of motor shaft of motor shaft

a) If revolution direction parameter (Pr. 14) 0 b) If revolution direction parameter (Pr. 14) 1

(b) In the range where the address decreases on moving away from the machine home position, do not
turn the power supply to the programmable controller or the servo amplifier, the servo-on
pushbutton switch, or the PC-RESET switch, ON/OFF. If any of these operations are attempted,
the ABS coordinate error (Y4B) is output since the absolute position cannot be detected.
Machine
Machine home position Home position Home position home position
Programmable Programmable
controller coordinate 0 10000 50000 controller coordinate 50000 10000 0
system system
ABS 20000 0 50000 ABS 50000 0 20000
coordinate Direction in which coordinate Direction in which
ABS coordinate ABS coordinate
system address increases system address increases
value error occurs value error occurs
if power is turned if power is turned
on within this range Absolute position data can be Absolute position data can be on within this range
detected detected

a) If revolution direction parameter (Pr. 14) 0 b) If revolution direction parameter (Pr. 14) 1

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 15. ABSOLUTE POSITION DETECTION SYSTEM

If the address of the machine home position is changed to any coordinate value other than "0", the
programmable controller coordinate system will be as illustrated below.
The power should be turned ON/OFF in the range in which the address increases on moving away
from the home position.
Machine home position Home position Machine home position Home position
Programmable Programmable
controller coordinate controller coordinate
system 0 20000 30000 70000 system 70000 30000 20000 0

ABS ABS
20000 0 50000 50000 0 20000
coordinate coordinate
Direction in which Direction in which
system system
address increases address increases

Absolute position data can be detected Absolute position data can be detected
ABS coordinate value error occurs if ABS coordinate value error occurs if
power is turned on within this range power is turned on within this range
* Home position address changed to "2000" * Home position address changed to "2000"

a) If revolution direction parameter (Pr. 14) 0 b) If revolution direction parameter (Pr. 14) 1

(c) In a positioning program, the address of the positioning point should be determined by adding the
home position address to the target position address.
Example) After home position return, execute positioning at 1) to 3).
1) Positioning at position address 80000
(PC coordinate 140000)
2) Positioning at position address 130000
(PC coordinate 190000)
3) Positioning at position address 0
(PC coordinate 60000)

ABS coordinate 1)
error region (80000 60000)

Programmable Machine home position Home position (operation home

2)
controller position)
(130000 60000)
coordinate 0 10000 50000 60000 100000 150000
system
ABS coordinate 50000 0 50000
(0 60000) Direction in which
system
Stroke limit address increases
3)

* Home position address changed to "50000"

Mechanical limit
If revolution direction parameter (Pr. 14) 0

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(d) Slot arrangement

The sequence programs presented in this section show I/O numbers (X, Y) assuming the
arrangement of modules on the main base unit is as illustrated below. A1SD71 is mounted at I/O
slots 0 and 1, a 16-point input module at slot 2, and 16-point output module at slot 3. If the actual
arrangement of the modules differs from this arrangement, change the X and Y numbers
accordingly.
The numbers of the devices (M, D, T, etc.) used in the program can be changed as required.
7
6
5
4
3
2
1
I/O slot No. 0

A1SD71
A1S
Power
CPU
supply
16-point output module
16-point input module
[Numbers used] X, X0-X, Y2F

Example arrangement of modules

(e) Points
1) The A1SD71 has 48 I/O points and occupies 2 slots. For I/O allocation using the GPP function,
follow the instructions given below.
First slot: Vacant slot 16 points
Second slot: Special function module 32 points
2) To execute the FROM/TO instruction for the A1SD71, use the head I/O number of the second
slot.
X30 to X3F
Y40 to Y4F Note: The program example given
in (3) in this section is for 1-axis
16-point output
16-point input

control. Slot allocations are as

module

module

A1S illustrated to the left. To use the

A1SD71
CPU system for 2-axis control,
increase the number of I/O
points.
X,Y000 X,Y010
to to I/O numbers to be set
X,Y00F X,Y02F with FROM/TO instruction

Therefore, the I/O number to be set with the FROM/TO instruction is head I/O number allocated
to the A1SD71 010H.
3) By setting "0 point of vacant slot" for the first slot of the A1SD71 in the "I/O allocation" of the
GPP function, the 16 points in the first slot can be saved.
In this case, the I/O number to be set with the FROM/TO instruction is the same number as the
head I/O number allocated to the A1SD71.

A1S
A1SD71
CPU

X,Y000
to I/O numbers to be set with FROM/TO instruction
X,Y00F

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(2) Connection diagram

General purpose Servo amplifier
programmable controller CN1B
A1S62P VDD 3
24 COM 13
24G SG 10
LG FG SG 20
Power
supply
INPUT
AC100/200

A1SCPU
A1SX40 ABS bit 0/Completion of positioning
0 DO1 4
ABS bit 1/Zero speed
1 ZSP 19
Send data ready/Torque limit control
2 TLC 6
Trouble
3 Alarm reset
ALM 18
4 Emergency stop
EMG 15
5 Servo-on
6
Home position return
7
COM
Operation mode I
8 Operation mode II
9 Position start
A Position stop (Note 3)
B
JOG
C
JOG
D
E
F
COM
NC
NC

A1SY40 Servo-on
0 SON 5
ABS transfer mode
1 ABSM 8
ABS request
2 ABSR 9
Alarm reset
3 RES 14
4 RA2

5 Electromagnetic
brake output
6 (Note 4)
7
COM1

8
9
A (Note 2)
B
COM2

(Note 1)
A1SD71-S2
DOG 6B
STOP 6A
Power supply 5A CN1A
RDY 5B RD 19
9A P15R 4
PGO
9B OP 14
12A CR 8
CLEAR
12B SG 10
Power supply 17A OPC 11
PULSE- 15A PP 3
F 15B SG 20
PULSE- 16A NP 2
R 16B SD Plate

Note: 1. To be connected for dog type home position setting. The connection in Note 2 is not required.
2. To be connected for data set type home position setting. The connection in Note 1 is not required.
3. This circuit is for reference only.
4. The electromagnetic brake output should be controlled by connecting the programmable controller output to a relay.

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(3) Sequence program example

(a) Conditions
This sample program is an ABS sequence program example for a single axis (X axis).
To transmit the ABS data using the OFF-to-ON change of the servo-on signal as the trigger.
1) When the servo-ON signal and the GND of the power supply are shorted, the ABS data is
transmitted when the power to the servo amplifier power is turned ON, or at the leading edge of
the RUN signal after a PC reset operation (PC-RESET). The ABS data is also transmitted when
an alarm is reset, or when the emergency stop state is reset.
2) If a check sum discrepancy is detected in the transmitted data, ABS data transmission is retried
up to three times. If the check sum discrepancy is still detected after retrying, the ABS check
sum error is generated (Y4A ON).
3) The following time periods are measured and if the ON/OFF state does not change within the
specified time, the ABS communication error is generated (Y4A ON).
ON period of ABS transfer mode (Y41)
ON period of ABS request (Y42)
OFF period of ready to send ABS data (X32).
4) If the relationship between the polarity ( ) of the received ABS data and the setting value for
parameter No. 14 (rotating direction) of A1SD71 (AD71) involves negative coordinate values,
which cannot be handled by the A1SD71 (AD71), the ABS coordinate error is generated (Y4B
ON).

(b) Device list

X input contact Y output contact
X30 ABS bit 0 / completion of positioning Y40 Servo-on
X31 ABS bit 1 / zero speed Y41 ABS transfer mode
X32 Send ABS data ready / torque limit control Y42 ABS request
X33 Servo alarm Y43 Alarm reset
X34 Error reset X44 (Note 2) Electromagnetic brake output
X35 Servo emergency stop Y45 (Note 1) Clear
X36 Servo-on Y48 Servo alarm
X37 Home position return start Y49 ABS communication error
X38 Operation mode I Y4A ABS check sum error
X39 Operation mode II Y4B ABS coordinate error
D register M contact
D0 ABS data transmission counter M0 ABS data transmission start
D1 Check sum transmission counter M1 Sum check completion
D2 Check sum addition counter M2 Sum check discrepancy
D3 ABS data: Lower 16 bits M3 ABS data ready
D4 ABS data: Upper 16 bits M4 Transmission data read enabled
D5 ABS data 2-bit receiving buffer M5 Check sum 2 bits read completion
D6 Check data in case of check sum error M6 ABS 2 bits read completion
D7 Retry frequency M7 ABS 2 bits request
D8 Forward rotation direction M8 Servo-on request
D9 Home position address: Lower 16 bits M9 Servo alarm
D10 Home position address: Upper 16 bits M10 ABS data transmission retry start pulse
D100 Received shift data: Lower 16 bits M11 Retry flag setting
D101 Received shift data: Upper 16 bits M12 Retry flag reset
T timer M13 PLS processing command
T0 ABS transfer mode timer M20 (Note 1) Clear signal ON timer request
T1 ABS request response timer M21 (Note 2) Data set type home position return request
T2 Retry wait timer C counter
T3 Ready to send response timer C0 ABS data receive frequency counter
T10 (Note 1) Clear signal ON timer C1 Check sum receive frequency counter
T200 Transmitted data read 10ms delay timer C2 Retry counter
Note 1: Necessary when data set type home position return is executed.
2: Necessary in the event of electromagnetic brake output.

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(c) ABS data transfer program for X axis

This sequence program example assumes the following conditions:
Parameters of the A1SD71-S2 (AD71) positioning module
1) Unit setting : 3 pulse (PLS)
2) Travel per pulse : 1 1 pulse
To select the unit other than the pulse, conversion into the unit of the feed command value per
pulse is required. Hence, add the following program to the area marked Note in the sequence
program.

<Additional program>

Item mm inch degree pulse

D*P K D3 D3
Unit setting 0 1 2 3
0.00001 0.0001 0.001 0.00001 0.0001 0.001
Travel per pulse 0.1 to 1.0 to 10.0
to to to to to to
Unit of travel m/PLS inch/PLS degree/PLS PLS
Constant K for
conversion into 1 to 10 to 100 1 to 10 to 100 1 to 10 to 100 None
unit of travel
Reference
For 1 m/PLS, set constant K to 10
For 5 m/PLS, set constant K to 50
When the unit setting is pulse, the additional program is not required.

M9038
TOP H0001 K201 K1 K1 A1SD71 error reset
Initial
pulse
ON
MOV K3 D7 Setting retry count (3 times) Initial setting

M9039
DMOV D100 A0 Loading received shift data
PC RUN

X36
SET M8 Servo-on request
Servo-on PB

X36
RST M3 Resetting ready to send
Servo-on
PB
RST M8 Resetting servo-on request

Resetting ABS transfer

RST C0 Servo-on control
counter at servo OFF

Resetting checksum transfer

RST C1
counter at servo OFF

M8 M9 M11
Y40 Servo-on output
Servo-on Error Retry flag
request flag setting
PLS M0 ABS I/F start

1 (To be continued) 1

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 15. ABSOLUTE POSITION DETECTION SYSTEM

1 (Continued from preceding page) 1

M8
PLS M12 Setting retry flag
Servo-on request
ABS data
transmission
M12
retry control
RST C2 Resetting retry counter
Retry flag reset request

X34 M9
Y43 Alarm reset output
Error reset Error flag
PB
Y43

Alarm reset

X35
M9 Error flag output
Emergency Servo alarm
stop PB detection, alarm
X33
reset control
RST M3 Resetting ready to send
Servo alarm

RST M8 Resetting servo-on request

Y48 Servo alarm

M0
Initializing ABS data transfer
MOV K16 D0
ABS data
counter
transfer
start Initializing check sum transfer
MOV K3 D1
counter

MOV K0 D2 Initializing check sum register

MOV K0 D5 Initializing ABS data register

ABS transfer
DMOV K0 D9 Initializing ABS data register mode
Initial setting

DMOV K0 A0 Initializing ABS data register

Resetting error for ABS

RST Y4B
coordinate

Resetting ABS transfer

RST C0
counter

Resetting check sum transfer

RST C1
counter

M0
Y41 ABS transfer mode
ABS data transfer ABS transfer
start
Y41 C1 mode control

ABS Checksum
transfer counter
mode
2 (To be continued) 2

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 15. ABSOLUTE POSITION DETECTION SYSTEM

2 (Continued from preceding page) 2

C0 C1 Y41
DMOVP A0 D3 Saving ABS 32-bit data
Counter Check sum ABS
counter transfer
mode
MOVP K0 A0 Clearing register

*1 Reading X-axis rotating

FROMP H0001 K7872 D8 K1 Detecting absolute
direction parameter
position polarity
and A1SD71
Rotation direction parameter
WAND H0004 D8 rotating direction
mask

WAND H8000 A1 ABS data sign mask

PLS M13 PLS processing command

Rotation direction
M13 judgment
Reversing polarity of upper
D8 K4 NEG D4
PLS processing
16 bits
command

K1 D4 Subtraction for upper 16 bits

Reversing polarity of
absolute position
Reversing polarity of lower
NEG D3
16 bits

Lower 16 bits 0
K0 D3 K1 D4
D4 1 D4

M4 C0
MOV K1X30 D5 Reading 4 bits
Read ABS data
enabled counter

WAND H0003 D5 Masking 2 bits

WOR D5 A0 Adding 2 bits

Reading checksum
6 bits
(2 bit 3 times)
FOR K2 Right rotation of A0 2 bits

D1
Counting check sum data
C1
reception frequency

Completion of reading, 2 bits

PLS M5
of check sum

3 (To be continued) 3

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 15. ABSOLUTE POSITION DETECTION SYSTEM

3 (Continued from preceding page) 3

M4 C0
MOV K1X30 D5 Reading 4 bits
Read ABS data
enabled counter

WAND H0003 D5 Masking 2 bits

WOR D5 A0 Adding 2 bits

Reading ABS data

DROR K2 Right rotation of A0 2 bits 32 bits
(2 bits 16 times)

D5 D2 D2 Adding check sum

D0 Counting frequency of ABS

C0
data reception

Completion of reading: 2 bits

PLS M6
of ABS data

C1
RORP K10 Right rotation of A0 10 bits
Check
sum
counter
WAND H003F A0 Masking check sum

D2 A0 M1 Sum check OK
Detecting ABS data
check sum error
D2 A0 M2 Sum check NG

MOV A0 D6 Sum check memory

C2
Y4A ABS check sum error
Retry counter
M6
RST Y42 Resetting ABS request
ABS 2 bits read
completion
M5

Check sum 2 bits read completion

Y41 X32
PLS M7 ABS 2 bits request
ABS transfer Send data
ABS request
mode ready
M7 control
SET Y42 Setting ABS request
ABS 2 bits request

Y42 X32 K1
T200 10ms delay timer
ABS Send data ready
request
Y42 X32 T200 Transmission data read
M4
10ms delay timer enabled

4 (To be continued) 4

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 15. ABSOLUTE POSITION DETECTION SYSTEM

4 (Continued from preceding page) 4

M1
*1 A1SD71: reading home
DFROP H0001 K7912 D9 K1
Check sum OK
position address

Inserting constant K for conversion Restoring absolute

(Note) D*P K D3 D3
into the unit of feed per pulse position data

Adding home position address

D P D3 D9 D3
to absolute position

Detecting ABS
D K0 D3 SET Y4B Setting ABS coordinate error
coordinate error

M1 Y4B
*1 X-axis: Present position
DTOP H0001 K41 D3 K1
Check ABS coordinate error change ABS data "ready"
Writing ABS data
sum OK
to A1SD71
SET M3 ABS data "ready"

Y49 X36
RST Y41 Resetting ABS transfer mode
ABS commu- Servo-on PB
nication error
Y41 K50
T0 ABS transfer mode timer (5s)
ABS transfer mode

Y41 Y42 K10 ABS request response timer

T1
ABS transfer ABS request (1s)
mode
Y41 X32 K10 Ready to send response ABS communication
T3
ABS transfer Send data ready timer (1s) error detecting
mode
T0
Y49 ABS communication error
ABS transfer NG

T1

ABS request NG

T3

Send data ready NG

5 (To be continued) 5

Note: When the unit setting parameter value of the AD71 positioning module is changed from "3" (pulse) to "0" (mm),
the unit is 0.1 m for the input value. To change the unit to 1 m, and this program to multiple the feed value
by 10.

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 15. ABSOLUTE POSITION DETECTION SYSTEM

5 (Continued from preceding page) 5

M2
PLS M10 ABS transfer retry start pulse
Check sum NG

M10 C2
SET M11 Setting retry flag
Retry start Retry
pulse counter
D7
C2 Retry counter
ABS transfer
M11 K1 retry control
T2 Retry wait timer (100ms)
Retry flag set

T2
RST M11 Resetting retry flag
Retry wait timer

M9039
DMOV A0 D100 Saving received shift data
PC RUN

END

POINT
When absolute position data is received at power ON, for example, if a
negative coordinate position which cannot be handled by the A1SD71 is
detected, the ABS coordinate error (Y4B ON) is generated. If this error is
generated, move the axis into the positive coordinate zone in JOG operation.
Then, turn OFF the servo-on pushbutton switch and turn it ON again.

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(d) X-axis control program

This precludes execution of the X-axis start program while M3 (ready to send the ABS data) is
OFF.
Positioning X-axis start
mode command M3 When M3 (ready to send the ABS data)
X-axis start program is turned ON, the X-axis start command
Ready to executes the X-axis start program.
send the
ABS date

(e) Dog type home position return

For an example of a program for the dog type home position return operation, refer to the home
position return program presented in the User's Manual for A1SD71.

(f) Data set type home position return

After jogging the machine to the position where the home position (e.g.500) is to be set, choose the
home position return mode set the home position with the home position return start (PB ON).
After switching power on, rotate the servo motor more than 1 revolution before starting home
position return.
Do not turn ON the clear signal (Y45) for an operation other than home position return. Turning it
ON in other circumstances will cause position shift.

M9039 Home position return mode

Y2D PC ready (Note 1)
PC RUN
Home position
return mode Y41 X30 X37
PLS M20 Clear signal ON timer request
ABS Positioning Home position
transfer completion return start PB
mode K1
M20
T10 Clear signal 100ms ON timer
Clear signal ON
timer request
M21
SET M21 Setting data set type home position return request
Data set type home
position return request
T10
RST M21 Resetting data set type home position return request
Clear signal 100ms ON timer

M21
Y45 Clear signal ON
Data set type home
position return request
Setting X-axis home position address "500"
DMOVP K500 D9
in the data register (Note 1)

DTOP H0001 K7912 D9 K1 *1:Changing X-axis home position address

DFROP H0001 K7912 D9 K1 (Note 2)

DTOP H0001 K41 D9 K1 *1:Changing X-axis present position data

Note 1: If data of the home position address parameter is not written by using an A6GPP programming tol, etc. before
starting a program for data set type home position return, the circuits indicated by Note 1 are necessary and the
circuit indicated by Note 2 is not necessary.
2: Contrary to Note 1 above, if the home position address is written in the home position address parameter.
the circuit indicated by Note 3 is necessary and the circuits indicated by Note 1 are not necerssary.

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(g) Electromagnetic brake output

During ABS data transfer (for several seconds after the servo-on signal is turned on), the servo
motor must be at a stop.
Set "1 1 "in parameter No. 1 of the servo amplifier to choose the electromagnetic brake interlock
signal.

Y41 X31
Y44 Electromagnetic brake output
ABS Brake (MBR)
transfer
mode

(h) Positioning completion

To create the status information for servo positioning completion.
During ABS data transfer (for several seconds after the servo-on signal is turned on), the servo
motor must be at a stop.

Y41 X30
M Completion of servo positioning
ABS transfer Positioning
mode completion
Y41

ABS transfer
mode

(i) Zero speed

To create the status information for servo zero speed
During ABS data transfer (for several seconds after the servo-on signal is turned on), the servo
motor must be at a stop.

Y41 X31
M Servo zero speed
ABS transfer Zero
mode speed
Y41

ABS transfer
mode

(j) Torque limiting

To create the status information for the servo torque limiting mode
During ABS data transfer (for several seconds after the servo-on signal is turned on), the torque
limiting must be off.

Y41 X32
M Servo torque limiting mode
ABS transfer Torque limiting
mode mode

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(4) Sequence program - 2-axis control

The following program is a reference example for creation of an ABS sequence program for the second
axis (Y axis) using a single A1SD71 module. Create a program for the third axis in a similar manner.
(a) Y-axis program
Refer to the X-axis ABS sequence program and create the Y-axis program.
Assign the X inputs, Y outputs, D registers, M contacts, T timers and C counters of the Y axis so
that they do not overlap those of the X axis.
The buffer memory addresses of the A1SD71 differ between the X and Y axes. The instructions
marked *1 in the program of Section 15.8.1 (3), (c) should be changed as indicated below for use
with the Y axis:
[FROMP H0001 K7872 D8 K1] [FROMP H0001 K7892 D8 K1]
[DFROP H0001 K7912 D9 K1] [DFROP H0001 K7922 D9 K1]
[DTOP H0001 K41 D3 K1] [DTOP H0001 K341 D3 K1]

[Program configuration]

X-axis ABS sequence program

(Program in Section 15.8.1 (3), (f))

Y-axis ABS sequence program

(Refer to the X-axis program and write the Y-axis
program)

(b) Data set type home position return

Arrange the data set type home position return programs given in Section 15.8.1 (3), (f) in series to
control two axes.
Refer to the X-axis data set type home position return program and create the Y-axis program.
Assign the X inputs, Y outputs, D registers, M contacts and T timers of the Y axis so that they do
not overlap those of the X axis.
The buffer memory addresses of the A1SD75 differ between the X and Y axes. The instructions
marked *1 in the program of Section 15.8.1 (3), (f) should be changed as indicated below for use
with the Y axis:
[DTOP H0001 K7912 D9 K1] [DTOP H0001 K7922 D9 K1]
[DTOP H0001 K41 D9 K1] [DTOP H0001 K341 D9 K1]

[Program configuration]

X-axis data set type home position return program

(Program in Section 15.8.1 (3), (f))

Y-axis data set type home position return program

(Refer to the X-axis program and write the Y-axis
program)

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 15. ABSOLUTE POSITION DETECTION SYSTEM

15.8.2 MELSEC FX(2N)-32MT (FX(2N)-1PG)

(1) Connection diagram

(a) FX-32MT (FX-1PG)
Servo amplifier

FX-32MT
L
Power supply

N CN1B
24V
COM SG 10
PC-RUN
RUN
3.3k ABS bit 0/Completion of positioning
X0 DO1 4
ABS bit 1/Zero speed
X1 ZSP 19
Send data ready/Torque limit control
X2 TLC 6
Alarm
X3 ALM 18
Alarm reset Servo ready CN1A
X4 RD
Emergency stop 19
X5
Servo-on
X6
X7
JOG( )
X10
JOG( )
X11
Position start
X12
Position stop
X13
Home position return start
X14
1PG error reset
X15

COM1 EMG 15
Servo-on
Y0 SON 5
ABS transfer mode
Y1 ABSM 8
ABS request
Y2 ABSR 9
Alarm reset
Y3 RES 14
COM2
Y4 RA2
Electromagnetic
Y5 brake output
Y6 (Note 3)
Y7
COM3
Servo alarm
Y10 (Note 2)
ABS communication
Y11
error
Y12
ABS check sum error
Y13
24 COM 13
SG

FX-1PG SG
S/S
3.3k
DOG DOG
24V
STOP
VH VDD 3
SD
VL (Note 1) CN1A
FPO OPC 11
3.3k Pulse train for forward rotation
FP PP 3
COM0
Pulse train for reverse rotation
SG 20
RP NP 2
3.3k
RPO
COM1 SG 10
Clear
CLR CR 8
PGO P15R 4 15V
Z-phase pulse
PGO OP 14
SD Plate

SD

Note 1: To be connected for the dog type home position setting. At this time, do not connect the portions marked (Note 2).
2: To be connected for the data set type home position setting. At this time, do not connect the portions marked (Note 1).
3: The electromagnetic brake interlock signal should be controlled by connecting the programmable controller output to a relay.

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(b) FX2N-32MT (FX2N-1PG)

Servo amplifier

FX 2N-32MT
L
Power supply

24V N CN1B
COM SG 10

ABS bit 0/Completion of positioning

X0 DO1 4
3.3k ABS bit 1/Zero speed
X1 ZSP 19
Send data ready/Torque limit control
X2 TLC 6
Alarm
X3 ALM 18
Alarm reset Servo ready
X4 RD CN1A
Emergency stop 19
X5
Servo-on
X6
X7
JOG( )
X10
JOG( )
X11
Position start
X12
Position stop
X13
Home position return start
X14
1PG error reset
X15

COM1 EMG 15
Servo-on
Y0 SON 5
ABS transfer mode
Y1 ABSM 8
ABS request
Y2 ABSR 9
Alarm reset
Y3 RES 14
COM2
Y4 RA2 Electromagnetic
Y5 brake output
Y6 (Note 3)
Y7
COM3
Servo alarm
Y10 (Note 2)
ABS communication
Y11 error
Y12 ABS check sum error
Y13
24 COM 13

FX2N-1PG
S/S
3.3k SD
DOG DOG
24V
STOP
VIN VDD 3
(Note 1) CN1A
OPC 11
3.3k Pulse train for forward rotation
FP PP 3
COM0
Pulse train for reverse rotation
SG 20
RP NP 12
3.3k

COM1 SG 10
Clear
CLR CR 8
PGO P15R 4 15V
Z-phase pulse
PGO OP 14
SD Plate

SD

Note 1: To be connected for the dog type home position setting. At this time, do not connect the portions marked (Note 2).
2: To be connected for the data set type home position setting. At this time, do not connect the portions marked
(Note 1).
3: The electromagnetic brake interlock signal should be controlled by connecting the programmable controller
output to a relay.

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(2) Sequence program example

(a) Conditions
1) Operation pattern
ABS data transfer is made as soon as the servo-on pushbutton is turned on. After that,
positioning operation is performed as shown below:
Home position
3) 1)
300000 0 300000
address

2)

After the completion of ABS data transmission, JOG operation is possible using the JOG or
JOG pushbutton switch.
After the completion of ABS data transmission, dog type home position return is possible using
the home position return pushbutton switch.
2) Buffer memory assignment
For BFM#26 and later, refer to the FX2(N)-1PG User's Manual.
BMF No.
Upper 16 Lower 16 Name and symbol Set value Remark
bits bits
- #0 Pulse rate A 2000
#2 #1 Feed rate B 1000
- #3 Parameter H0000 Command unit: Pulses
#5 #4 Max. speed Vmax 100000PPS
- #6 Bias speed Vbia 0PPS
#8 #7 JOG operation Vjog 10000PPS
#10 #9 Home position return speed (high speed) VRT 50000PPS
- #11 Home position return speed (creep) VCL 1000PPS
- #12 Home position return zero-point signal count N 2 pulses Initial value: 10
#14 #13 Home position address HP 0
- #15 Acceleration/deceleration time Ta 200ms Initial value: 100
- #16 Not usable
#18 #17 Target address (I) P(I) 0
#20 #19 Operation speed (I) V(I) 100000 Initial value: 10
#22 #21 Target address (II) P(II) 0
#24 #23 Operation speed (II) V(II) 10
- #25 Operation command H0000

3) Instructions
When the servo-on pushbutton switch and the GND of the power supply are shorted, the ABS
data is transmitted when the servo amplifier power is turned ON, or at the leading edge of the
RUN signal after a PC reset operation (PC-RESET). The ABS data is also transmitted when an
alarm is reset, or when the emergency stop state is reset.
If check sum discrepancy is detected in the transmitted data, the ABS data transmission is
retried up to three times. If the check sum discrepancy is still detected after retrying, the ABS
check sum error is generated (Y12 ON).
The following time periods are measured and if the ON/OFF state does not change within the
specified time, the ABS communication error is generated (Y11 ON).
ON period of ABS transfer mode (Y1)
ON period of ABS request (Y2)
OFF period of ready to send the ABS data (X2).

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(b) Device list

X input contact Y output contact
X0 ABS bit 0 / completion of positioning Y0 Servo-on
X1 ABS bit 1 / zero speed Y1 ABS transfer mode
X2 Send ABS data ready/ torque limit control Y2 ABS request
X3 Servo alarm Y3 Alarm reset
X4 Alarm reset PB Y4 (Note 2) Electromagnetic brake output
X5 Servo emergency stop Y5 (Note 1) Clear
X6 Servo-on PB Y10 Servo alarm
X7 Servo ready Y11 ABS communication error
X10 JOG ( ) PB Y12 ABS check sum error
X11 JOG (−) PB
X12 Position start PB
X13 Position stop PB
X14 Home position return start PB
X15 1PG error reset
D register M contact
D0 ABS data: Lower 16 bits M0 Error flag
D1 ABS data: Upper 16 bits M1 ABS data transmission start
D2 Check sum addition counter M2 Retry command
D3 Check data in case of check sum error M3 ABS data read
D4 Transmission retry count in check sum M4 Spare
discrepancy
D24 Home position address: Lower 16 bits M5 Servo-on request
D25 Home position address: Upper 16 bits M6 Retry flag
D106 1PG present position address: Lower 16 bits M10
D107 1PG present position address: Upper 16 bits M11
ABS data 2 bit receiving buffer
M12
M13
M20
ABS data 32 bit buffer
M51
M52
Check sum 6 bit buffer
M57
M58
For checksum comparison
M59
T timer M62 Sum check discrepancy (greater)
T200 Retry wait timer M63 Sum check discrepancy
T201 ABS transfer mode timer M64 Sum check discrepancy (less)
T202 ABS request response timer M70 (Note 1) Clear signal ON timer request
T203 Ready to send response timer M71 (Note 1) Data set type home position return request
T204 ABS data waiting timer M99 ABS data ready
T210 (Note 1) Clear signal ON timer
C counter
C0 All data reception frequency counter (19 times)
C1 Check sum reception frequency counter
C2 ABS data reception frequency counter (16 times)
Note 1: Necessary when data set type home position return is executed.
2: Necessary in the event of electromagnetic brake output.

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(c) ABS data transfer program for X-axis

M8002
Setting home position address
DMOV K0 D24
Initial to 0
pulse
Setting 1PG pulse command
TO K0 K3 K0 K1
unit

DTO K0 K4 K100000 K1 1PG max. speed: 100 kpps

DTO K0 K7 K10000 K1 1PG Jog speed: 10 kpps

1PG home position return

DTO K0 K9 K50000 K1
speed: 50 kpps

TO K0 K11 K1000 K1 1PG creep speed: 1 kpps

1PG home position return

TO K0 K12 K2 K1
zero-point count: twice

1PG home position address

DTO K0 K13 D24 K1 Initial setting
setting

1PG acceleration/deceleration
TO K0 K15 K200 K1
time: 200ms

1PG operation speed:

DTO K0 K19 K100000 K1
100kpps

Position move account 1:

DMOV K300000 D100
300000 pulses

Position move account 2:

DMOV K 250000 D102
250000 pulses

Position move account 3:

DMOV K0 D104
0 pulses

DMOV K0 Z Clearing index registers V, Z

Setting "4 times" for check

DMOV K4 D4 sum error transmission
frequency

1 (To be continued) 1

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 15. ABSOLUTE POSITION DETECTION SYSTEM

1 (Continued from preceding page) 1

X6 M6
SET M5 Servo-on request
Servo-on Retry
PB
M5 Y12 M0 Y11
Y0 Servo-on output
Servo-on ABS check Error ABS
request error flag communication
error
PLS M1 ABS data transmission start

M1 M6
RST C1 Clearing retry counter
ABS Retry
transmission
X6 start
Resetting ready to send ABS
RST M99
Servo-on PB data

Servo-on and
RST M5 Resetting servo-on request
retry control

Y12
RST Y1 Resetting ABS transfer mode

RST Y2 Resetting ABS request

RST M6 Resetting retry flag

Resetting check sum

ZRST M62 M64
judgement

Resetting communication
ZRST C0 C2
counter

2 (To be continued) 2

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 15. ABSOLUTE POSITION DETECTION SYSTEM

2 (Continued from preceding page) 2

X4 M0
Y3 Alarm reset output
Alarm Error flag
reset PB
Y3
RST C1 Clearing retry counter
Alarm reset

Clearing ABS data receiving

ZRST M0 M64
area

Clearing ABS receive data

ZRST D0 D3
buffer

Resetting ABS data reception

RST C2
counter

Resetting all data reception

RST C0
counter

X5 Servo alarm
M0 Error flag output detection, alarm
Emergency stop PB
reset control
X3
Y10 Servo alarm output
Servo alarm

RST Y1 Resetting ABS transfer mode

RST Y2 Resetting ABS request

RST M99 Resetting ready to send

RST M5 Resetting servo-on request

RST M6 Resetting retry flag

M1
SET Y1 ABS transfer mode ON
ABS data
transmission start
Clearing ABS data reception
ZRST M10 M64
area
ABS transfer
Clearing ABS receiver data
ZRST D0 D2 mode
buffer
Initial setting
Resetting ABS data reception
RST C2
counter

Resetting all data reception

RST C0
counter

3 (To be continued) 3

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 15. ABSOLUTE POSITION DETECTION SYSTEM

3 (Continued from preceding page) 3

Y1 X2
PLS M3 Resetting ABS data
ABS Send data ready
transfer
mode M3
ABS data 32 bits
SET Y2 ABS request ON
ABS data read (2 bits 16 times)

Y2 X2 K1 Check sum 6 bits

T204 ABS data waiting timer 10ms (2 bits 3 times)
ABS Send data
request ready
T204
WANDP K1X0 H0003 K1M10 Masking ABS data 2 bits
ABS data waiting timer

SFTR M10 M20 K38 K2 Right shift (2 bits) of ABS data

C2
ADDP K1M10 D2 D2 Check sum addition

K16
Updating ABS data reception
C2
counter

K19
Updating all data reception
C0
counter

RST Y2 Resetting ABS request

C0
RST Y1 Resetting ABS transfer mode
All data reception counter

WANDP H003F D2 D2 Masking check sum 6 bits

CMPP K2M52 D2 M62 Comparison of check sum

Detection of ABS
C1 check sum error,
Y12 ABS data check sum error retry control
Retry counter

M62 C1
PLS M2 Retry command
Retry
counter
M64 K10
T200 Setting retry wait timer: 100ms

Storing check sum value in the

MOV K2M52 D3
case of check sum error

SET M6 Retry flag ON

RST M5 Resetting servo-on request

4 (To be continued) 4

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 15. ABSOLUTE POSITION DETECTION SYSTEM

4 (Continued from preceding page) 4

M63
DMOVP K8M20 D0 ABS data D0, D1
Check
sum
match
Adding 1PG home position
DADDP D0 D24 D0
address

DTOP K0 K26 D0 K1 ABS data 1PG

Writing absolute
position data to
1PG
SET M99 Setting ABS data ready

Clearing check sum judging

ZRST M62 M64
area

RST M6 Resetting retry flag

Y11 X6
Detecting ABS
RST Y1
ABS Servo-on communication error
communi- PB
cation error
RST Y2 Resetting ABS request

Y1 K500
T201 ABS transfer mode 5s timer
ABS transfer mode

Y1 Y2 K100
ABS request response
T202
ABS transfer ABS request 1s timer Detecting ABS
mode communication
Y1 X2 K100
Ready to send response error
T203
ABS transfer Send data ready 1s timer
mode
T201
Y11 ABS communication error
ABS transmission NG

T202

ABS request NG

T203

Send data ready NG

M2 D4
C1 Counting retry frequency
Retry command ABS transfer
T200 M6 retry control
SET M5 Setting servo-on request
Retry Retry
wait
timer
5 (To be continued) 5

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 15. ABSOLUTE POSITION DETECTION SYSTEM

5 (Continued from preceding page) 5

M8000
M109
Normally
OFF

M110

M111
1PG control
command
(not used)
M112

M102

M103

X7 X12 M99
PLS M120 Start command pulse
Servo Position ABS data
ready start PB ready
X10
M104 1PG JOG command
JOG Operation
command
X11 control
M105 1PG JOG command
JOG
(Note)
X7 X14 1PG home position return
M106
Servo ready Home position return PB start

M120
DTO K0 K17 D100Z K1 Setting motion distance
Position
start
command
pulse SET 108 1PG start

DINC Z

DINC Z

Index processing
Position
DCMP Z K6 M121 command
control
M122
DMOV K0 Z
INDX 6

X12
M101 1PG stop command
Position
stop PB
M0

Error flag

X16
M100 1PG error reset
1PG error reset

6 (To be continued) 6

Note: Program example for the dog type home position return. For the data set type home position return, refer to the
program example in (2), (d) in this section.

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 15. ABSOLUTE POSITION DETECTION SYSTEM

6 (Continued from preceding page) 6

M8000
TO K0 K25 K4M100 K1 FX2 1PG
Normally Transmission of control signals
ON

FROM K0 K28 K3M200 K1 1PG FX2

Transmission of status

DFROMK0 K26 D106 K1 1PG FX2

Transmission of present
M200 position D106, D107
RST M108 1PG
Resetting start command

END

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(d) Data set type home position return

After jogging the machine to the position where the home position (e.g.500) is to be set, choose the
home position return mode set the home position with the home position return start (PBON).
After switching power on, rotate the servo motor more than 1 revolution before starting home
position return.
Do not turn ON the clear signal (Y5) for an operation other than home position return. Turning it
ON in other circumstances will cause position shift.

Y1 X0 X14
PLS M70 Clear signal ON timer request
ABS transfer Positioning Home position
mode completion return start PB
M70 K10
T210 Clear signal 100ms ON timer
Clear signal ON
timer request
M71
SET M71 Setting data set type home position return request
Date set type home position return request

T210
RST M71 Resetting data set type home position return request
Clear signal 100ms ON timer

M71
Y5 Clear signal ON
Data set type
home position
return request
Setting X-axis home position address "500"
DMOVP K500 D24
in the data register

DTOP K0 K13 D24 K1 Changing X-axis home position address

DTOP K0 K26 D24 K1 Changing X-axis present position data

(e) Electromagnetic brake output

During ABS data transfer (for several seconds after the servo-on signal is turned on), the servo
motor must be at a stop.
Set "1 1 " in parameter No. 1 of the servo amplifier to choose the electromagnetic brake interlock
signal.

Y1 X1
Y4 Electromagnetic brake output
ABS transfer Brake (MBR)
mode

(f) Positioning completion

To create the status information for servo positioning completion.
During ABS data transfer (for several seconds after the servo-on signal is turned on), the servo
motor must be at a stop.

Y1 X0
M Completion of servo positioning
ABS transfer Positioning
mode completion
Y1

ABS transfer
mode

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(g) Zero speed

To create the status information for servo zero speed.
During ABS data transfer (for several seconds after the servo-on signal is turned on), the servo
motor must be at a stop.

Y1 X1
M Servo zero speed
ABS transfer Zero speed
mode
Y1

ABS transfer
mode

(h) Torque limiting

To create the status information for the servo torque limiting mode.
During ABS data transfer (for several seconds after the servo-on signal is turned on), the torque
limiting must be off.

Y1 X2
M Servo torque limiting mode
ABS transfer Torque limiting mode
mode

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 15. ABSOLUTE POSITION DETECTION SYSTEM

15.8.3 MELSEC A1SD75(AD75)

(1) Connection diagram
Servo amplifier
CN1B
A1S62P VDD 3
600mA 24 COM 13
24G SG 10
LG FG SG 20
Power INPUT
supply
AC100/200

A1SCPU
A1SX40 ABS data bit 0/Positioning completion
0 DO1 4
ABS data bit 1/zero speed
1 ZSP 19
Readying to send data/Torque limiting
2 TLC 6
Trouble
3 ALM 18
Alarm reset
4 Emergency stop
5 EMG 15
Servo-on
6 Home position return Upper limit
7 LSP 16
COM
Operation mode I
LSN 17
8 Lower limit
Operation mode II
9 Position start Operation
A mode Operating
Position stop (Note 3) status
B I II
JOG
C OFF OFF
JOG
D OFF ON JOG
E ON OFF Home
F position
COM return
NC ON ON Positioning
NC

A1SY40 Servo-on
0 SON 5
ABS transfer mode
1 ABSM 8
ABS request
2 ABSR 9
Alarm reset
3 RES 14
4 RA2
Electromagnetic
5 brake output
6 (Note 4)
7
COM1

8 Servo alarm
9 ABS communication error
A ABS checksum error
B
COM2

(Note 1)
A1SD75-P Proximity signal (Note 2)
DOG 11
PLS 12
RLS 13
STOP 14
CHG 15
START 16
COMMON 35
COMMON 36 CN1A
COM 9
Servo ready
RDY 7 RD 19
Positioning completion
INPS 8 INP 18
COMMON 26
CLEAR 5 CR 8
(Note 2)
COMMON 23 SG 10
SG 20
24 LZ 5
PGO
25 LZR 15
PULSE- 21 PG 13
F 3 PP 3
PULSE- 22 NG 12
R 4 NP 2
PLS COM 19 LG 1
PLS COM 20 (Note 6) (Note 5) SD Plate

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 15. ABSOLUTE POSITION DETECTION SYSTEM

Note 1: For the dog type home position return. Need not be connected for the data set type home position return.
2: If the servo motor provided with the zero point signal is started, the A1SD75(AD75) will output the deviation counter clear
signal. Therefore, do not connect the clear signal of the MR-J2-A to the A1SD75(AD75) but connect it to the output module of
the programmable controller.
3: This circuit is provided for your reference.
4: The electromagnetic brake output should be controlled via a relay connected to the programmable controller output.
5: Use the differential line driver system for pulse input. Do not use the open collector system.
6: To reinforce noise suppression, connect LG and pulse output COM.

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(2) Sequence program example

(a) Conditions
1) When the servo-on signal and power supply GND are shorted, the ABS data is transmitted at
power-on of the servo amplifier or on the leading edge of the RUN signal after a PC reset
operation (PC-RESET). The ABS data is also transmitted when an alarm is reset or when an
emergency stop is reset.
2) If a checksum mismatch is detected in the transmitted data, data transmission is retried up to
three times. If the checksum mismatch still persists after the retries, the ABS checksum error
occurs (Y3A ON).
3) The following time periods are measured. If the ON/OFF state does not change within the
specified time, the ABS communication error occurs change within the specified time, the ABS
communication error occurs (Y3A ON):
ON period of ABS transfer mode (Y31)
ON period of ABS request (Y32)
OFF period of reading to send ABS data (X22)
(b) Device list
X input contact Y output contact
X20 ABS bit 0 / positioning completion Y30 Servo-on
X21 ABS bit 1 / zero speed Y31 ABS transfer mode
X22 Reading to send ABS data / limiting torque Y32 ABS request
X23 Servo alarm Y33 Alarm reset
X24 Alarm reset X34 (Note 2) Electromagnetic brake output
X25 Servo emergency stop Y35 (Note 1) Clear
X26 Servo-on Y38 Servo alarm
X27 Home position return start 2) Y39 ABS communication error
X28 Operation mode I Y3A ABS checksum error
X29 Operation mode II
1) D register M contact
D0 ABS data transmission counter M5 ABS data transmission start
D1 Checksum transmission counter M6 Sum check completion
D2 Checksum addition register M7 Sum check mismatch
D3 ABS data: Lower 16 bits M8 ABS data ready
D4 ABS data: Upper 16 bits M9 Transmission data read enabled
D5 ABS data 2-bit receiving buffer M10 Checksum 2 bits read completion
D6 Check data in case of checksum error 4) M11 ABS 2 bits read completion
D7 Number of retries M12 ABS 2 bits request
D8 Forward rotation direction M13 Servo-on request
D9 Home position address: Lower 16 bits M14 Servo alarm
D10 Home position address: Upper 16 bits M15 ABS data transmission retry start pulse
D11 Drive unit ready data M16 Retry flag set
D12 Home position return completion data M17 Retry flag reset
D110 Received shift data: Lower 16 bits M18 PLS processing command
D111 Received shift data: Upper 16 bits M20 (Note 1) Clear signal ON timer request
3) T timer M21 (Note 1) Data set type home position return request
T0 ABS transmission mode timer M22 Home position return processing
T1 ABS request response timer instruction
T2 Retry wait timer M23 Current position change processing
T3 ABS data send reading response timer instruction
T10 (Note 1) Clear signal ON timer M24 Current position change flag
T200 Transmitted data read 10ms delay timer C counter
C0 ABS data receive times counter
C1 Checksum receive times counter
C2 Retry counter
Note: 1.Required for data set type home position return.
2.Required for electromagnetic brake output.

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(c) ABS data transfer program for X axis

This sequence program example assumes the following conditions:
Parameters of the A1SD75-P1 (AD75-P1) positioning module
1) Unit setting :3 pulse (PLS)
2) Travel per pulse :1 1 pulse

To select the unit other than the pulse, conversion into the unit of the feed value per pulse is
required. Hence, add the following program to the area marked (Note) in the sequence program:
<Additional program>
Item mm inch degree pulse
D*PK D3 D3 Unit setting 0 1 2 3
0.00001 0.0001 0.001 0.01 0.00001 0.0001 0.001 0.01
Travel per pulse 0.1 to 1 to 10 to 100
to to to to to to to to
Unit of travel m/PLS inch/PLS degree/PLS PLS

Constant K for
100 100
conversion into unit of 1 to 10 to 1000 1 to 10 to 100 to 1000 1 to 10 to 1000 None
to to
travel

Reference
For 1 m/PLS, set constant K to 10
For 5 m/PLS, set constant K to 50
The additional program is not required for the unit setting is PLS.
5)
M101
MOV K0 K3 Y30 Output signal reset
Error reset
completion

TO H0000 K1151 K1 K1 A1SD75 error reset

Initial
6) setting
Setting the number of retries
MOV K3 D7
(to 3 times)

SET M101 Error reset completion flag

M9039
DMOV D110 A0 Loading received shift data
PC RUN

1 (To be continued) 1

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 15. ABSOLUTE POSITION DETECTION SYSTEM

1 (Continued from preceding page) 1

X26
SET M13 Servo-on request
Servo-on 7)
PB

Reading A1SD75 1-axis RDY

FROM H0000 K816 D11 K1
signal

WAND H0001 D11 Masking RDY signal

Current position change

M23
processing instruction

M23
D11 K1 PLS M24 Current position change flag
Processing instruction RDY signal ON judgment

X26
Servo-on
RST M8 Resetting ready
Servo-on control
PB

RST M13 Resetting servo-on request

Resetting ABS transmission

RST C0
counter at servo OFF

Resetting checksum
RST C1 transmission counter at servo
OFF
M13 M14 M16
Y30 Servo-on output
Servo-on Error Retry flag
request flag set

PLS M5 ABS interface start

M13
PLS M17 Setting retry flag
Servo-on ABS transfer
request
M17 retry control
RST C2 Resetting retry counter
Retry flag
reset request
X24 M14
Y33 Alarm reset output
Error reset Error flag
PB
Y33

Alarm reset

X25
M14 Error flag output Servo alarm
Emergency stop PB detection,
X23 alarm reset
RST M8 Resetting ready control
Servo alarm

RST M13 Resetting servo-on request

Y38 Servo alarm

2 (To be continued) 2

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 15. ABSOLUTE POSITION DETECTION SYSTEM

2 (Continued from preceding page) 2

M5
Initializing ABS data
MOV K16 D0
ABS data transmission counter
transfer
start
Initializing checksum
MOV K3 D1
transmission counter

MOV K0 D2 Initializing checksum register

MOV K0 D5 Initializing ABS data register

ABS transfer mode
initial setting
DMOV K0 D9 Initializing ABS data register

DMOV K0 A0 Initializing ABS data register

Resetting ABS transmission

RST C0
counter

Resetting checksum
RST C1
transmission counter

M5
Y31 ABS transfer mode
ABS data ABS transfer mode
transfer start
Y31 C1 control

ABS transfer Checksum counter

mode
C0 C1 Y31
DMOVPA0 D3 Saving ABS 32-bit data
Counter Sum ABS transfer
counter mode

MOVP K0 A0 Clearing register

8)

*1 Reading x-axis rotation

FROMPH0000 K5 D8 K1 Absolute position
direction parameter
polarity,A1SD75
rotation direction
Masking rotation direction
WAND H0001 D8 setting detection
parameter

9)
WAND H8000 A1 Masking ABS data sign

PLS M18 PLS processing command

10)
Rotation direction
M18 judgment
Reversing polarity of upper
D8 K1 NEG D4
PLS 16 bits
processing
command
Decrementing upper 16 bits
K1 D4
by 1
Reversing absolute
position polarity
Reversing polarity of lower
NEG D3
16 bits

Lower 16 bits 0
K0 D3 K1 D4
D4 1 D4

3 (To be continued) 3

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 15. ABSOLUTE POSITION DETECTION SYSTEM

3 (Continued from preceding page) 3 11)

M9 C0
MOV K1X20 D5 Reading 4 bits
Read ABS data
enabled counter

WAND H0003 D5 Masking 2 bits

WOR D5 A0 Adding 2 bits

Reading checksum
6bits
(2 bits 3 times)
ROR K2 Right rotation of A0 2 bits

D1
Counting the number of
C1
checksum data

Completion of reading
PLS M10
checksum 2 bits

M9 C0
MOV K1X20 D5 Reading 4 bits
Read ABS data
enabled counter

WAND H0003 D5 Masking 2 bits 11)

WOR D5 A0 Adding 2 bits

Reading ABS data

DROR K2 Right rotation of A0 2 bits 32 bits
(2 bits 16 times)

D5 D2 D2 Adding checksum

D0
Counting the number of ABS
C0
data

Completion of reading ABS

PLS M11
2 bits data

C1
RORP K10 Right rotation of A0 10 bits
Checksum
counter

WAND H003F A0 Masking sum check

D2 A0 M6 Sum check OK
Detecting ABS
checksum error
D2 A0 M7 Sum check NG

MOV A0 D6 Sum check memory

C2
Y3A ABS checksum error
Retry counter

4 (To be continued) 4

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 15. ABSOLUTE POSITION DETECTION SYSTEM

4 (Continued from preceding page) 4

M11
RST Y32 ABS request reset
ABS 2 bits
completion
M10

Checksum 2 bits completion

Y31 X22
PLS M12 ABS 2 bits request
ABS transfer Ready to send ABS request
mode ABS data
M12 control
SET Y32 ABS request set
ABS 2 bits request

Y32 X22 K1
T200 10ms delay timer
ABS request Ready to send ABS data

Y32 X22 T200

M9 Transmitted data read enabled
10ms delay timer 12)
M6
*1: Reading A1SD75 home
DFROP H0000 K0072 D9 K1
Checksum position address
OK
Inserting constant K for conversion Restoring absolute
(Note) D*P K D3 D3
into the unit of feed per pulse position data.

Adding home position address

D P D3 D9 D3
to absolute position

7) 13)
M6 Y3B M24
SET M8 ABS data ready
Checksum ABS Change 14)
OK coordinate flag
error
Changing X-axis current
DTOP H0000 K1154 D3 K1
position
Writing absolute
Writing No. 9003 data for
TO H0000 K1150 K9003 K1 position data to
changing current value
A1SD75

SET Y10 Positioning start

Y10 X1 X4
Switching start signal off on
RST Y10
Positioning Start com- BUSY completion of positioning
start pletion
XA

Error detection

5 (To be continued) 5 15)

Note: When the unit setting parameter value of the AD75 positioning module is changed from "3" (pulse) to "0" (mm), the
unit is 0.1 m for the input value. To set the unit to 1 m, add this program to multiple the feed value by 10.

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 15. ABSOLUTE POSITION DETECTION SYSTEM

5 (Continued from preceding page) 5

Y39 X26
RST Y31 Resetting ABS transfer mode
ABS communi- Servo-on PB
cation error
Y31 K50
T0 ABS transfer mode 5s timer
ABS transfer mode

Y31 Y32 K10

ABS request response
T1
ABS transfer ABS request 1s timer
mode
Y31 X22 K10 Detecting ABS
ABS data send ready
T3 communication
ABS transfer Ready to send response 1s timer
error
mode ABS data
T0
Y39 ABS communication error
ABS transfer NG

T1

ABS request NG

T3

Readying to send ABS data NG

M7
PLS M15 ABS transfer retry start pulse
Sum check NG

M15 C2
SET M16 Setting retry flag
Retry start Retry
counter
D7
C2 Retry counter
ABS transfer
M16 K1 retry control
T2 Retry waiting timer (100ms)
Retry flag set

T2
RST M16 Resetting retry flag
Retry waiting timer

M9039
DMOV A0 D110 Saving received shift data
PC RUN

END

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(d) X-axis program

Do not execute the X-axis program while the ABS ready (M8) is off.
(Note)
Positioning X-axis start
mode command M8 When "M8" (ready to send ABS data) switches on,
X-axis start program the X-axis start program is executed by the X-axis
Ready to
send ABS
start command.
data

(e) Dog type home position return

Refer to the home position return program in the A1SD75 User’s Manual.
Note that this program requires a program which outputs the clear signal (Y35) after completion of
home position return.
Add the following program:
16)
Home position return
start command
Reading 1-axis home position return
FROM H0000 K817 D12 K1
completion signal

WAND K0016 D12 Masking home position return completion

M22 Home position return processing instruction

M22
D12 K16 Y35 Switching clear signal on
Processing Home position return
instruction completion judgment

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(f) Data set type home position return

After jogging the machine to the position where the home position (e.g. 500) is to be set, choose the
home position return mode and set the home position with the home position return start (PBON).
After switching power on, rotate the servo motor more than 1 revolution before starting home
position return.
Do not turn ON the clear signal (Y35) for an operation other than home position return. Turning it
on in other circumstances will cause position shift.

M9039
Y1D Programmable controller ready
PC RUN
Home position
return mode Y31 X20 X27
PLS M20 Clear signal ON timer request
ABS transfer Positioning Home position
mode completion return start PB
M20 K1
T10 Clear signal 100ms ON timer
Clear signal ON
timer request
M21
SET M21 Setting data set type home position return request
Data set type home position return request

T10
Resetting data set type home position return
RST M21
Clear signal 100ms ON timer request

M21
Y35 Switch clear signal on
Data set type home position
return request

Setting X-axis home position address 500

DMOVP K500 D9
in data register 17)
(Note 1)

DTOP H0000 K72 D9 K1 *1: Changing X-axis home position address

(Note 2) DFROP H0000 K72 D9 K1 18)

DTOP H0000 K1154 D9 K1 *1: Changing X-axis current value

TO H0000 K1150 K9003 K1 Writing positioning data No. 9003

SET Y10 Starting positioning

Y10 X1 X4
Switching BUSY signal off to switch start
RST Y10
Positioning Start BUSY signal off.
start completion

XA

Error detection

19)
Note 1: If the data of the home position address parameter is not written from the A7PHP programming tool or the like
before starting the data set type home position return program, this sequence circuit (Note 1) is required and
the sequence circuit (Note 2) is not required.
2: Contrary to above 2, if the home position address is written in the home position address parameter,
the sequence circuit (Note1) is not required but this sequence circuit (Note 1) is required.

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(g) Electromagnetic brake output

During ABS data transfer (for several seconds after the servo-on signal is turned on), the servo
motor must be at a stop.
Set "1 1 " in parameter No. 1 of the servo amplifier to choose the electromagnetic brake interlock
signal.

Y31 X21
Y34 Electromagnetic brake output
ABS transfer Brake (MBR)
mode

(h) Positioning completion

To create the status information for servo positioning completion.
During ABS data transfer (for several seconds after the servo-on signal is turned on), the servo
motor must be at a stop.

Y31 X20
M Servo positioning completion
ABS transfer Positioning
mode completion
Y31

ABS transfer
mode

(i) Zero speed

To create the status information for servo zero speed.
During ABS data transfer (for several seconds after the servo-on signal is turned on), the servo
motor must be at a stop.

Y31 X21
M Servo zero speed
ABS transfer Zero
mode speed
Y31

ABS transfer
mode

(j) Torque limiting

To create the status information for the servo torque limiting mode.
During ABS data transfer (for several seconds after the servo-on signal is turned on), the torque
limiting must be off.

Y31 X22
M Servo torque limiting mode
ABS transfer Torque limiting
mode mode

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(3) Sequence program - 2-axis control

The following program is a reference example for creation of an ABS sequence program for the second
axis (Y axis) using a single A1SD75 module. Create a program for the third axis in a similar manner.
(a) Y-axis program
Refer to the X-axis ABS sequence program and create the Y-axis program.
Assign the X inputs, Y outputs, D registers, M contacts, T timers and C counters of the Y axis so
that they do not overlap those of the X axis.
The buffer memory addresses of the A1SD75 differ between the X and Y axes. The instructions
marked *1 in the program of Section 15.8.3 (2), (c) should be changed as indicated below for use
with the Y axis:
[FROMP H0000 K5 D8 K1] [FROMP H0000 K155 D8 K1]
[DFROP H0000 K72 D9 K1] [DFROP H0000 K222 D9 K1]
[DTOP H0000 K1154 D3 K1] [DTOP H0000 K1204 D3 K1]
[TO H0000 K1150 K9003 K1] [TO H0000 K1200 K9003 K1]

[Program configuration] 20)

X-axis ABS sequence program

(Program in Section 15.8.3 (2) (c))

Y-axis ABS sequence program

(Refer to the X-axis program and write the Y-axis
program)

(b) Data set type home position return

Arrange the data set type home position return programs given in Section 15.8.3 (2), (f) in series to
control two axes.
Refer to the X-axis data set type home position return program and create the Y-axis program.
Assign the X inputs, Y outputs, D registers, M contacts and T timers of the Y axis so that they do
not overlap those of the X axis.
The buffer memory addresses of the A1SD75 differ between the X and Y axes. The instructions
marked *1 in the program of Section 15.8.3 (2), (f) should be changed as indicated below for use
with the Y axis:

[DTOP H0000 K72 D9 K1] [DTOP H0000 K222 D9 K1]

[DTOP H0000 K1154 D9 K1] [DTOP H0000 K1204 D3 K1]
[TO H0000 K1150 K9003 K1] [TO H0000 K1200 K9003 K1]

[Program configuration]
20)

X-axis data set type home position return program

(Program in Section 15.8.3 (2) (f))

Y-axis data set type home position return program

(Refer to the X-axis program and write the Y-axis
program)

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(4) Differences between A1SD75 (AD75) and A1SD71 (AD71)

The sequence programs shown in (2) of this section differ from those for the A1SD71 (AD71) in the
following portions. 1) to 20) in the following sentences indicate the numbers in the programs given in
(2) of this section.
(a) Devices used
Since the A1SD75 (AD75) is a one-slot module which occupies 32 I/O points, the I/O devices are
different, as indicated by 1) and 2), from those of the two-slot A1SD71 which occupies 48 point. The
A1SD75 (AD75) uses the devices indicated in the following table, and its D registers and M
contacts are different as indicated by 3) and 4).
Devices Bit device :Data at ON
Device name Application
Axis 1 Axis 2 Axis 3 Data register :Stored data
X0 AD75 ready Not ready/ WDT error
Input X4 X5 X6 BUSY BUSY(running)
XA XB XC Error detection Error detection
Y10 Y11 Y12 Positioning start Start being requested
Y13 Y14 Y1C Axis stop Stop being requested
Y16 Y18 Y1A Forward rotation jog start Forward rotation being started
Output
Y17 Y19 Y1B Reverse rotation jog start Reverse rotation being started
Programmable controller CPU
Y1D Programmable controller ready
normal
M0 Parameter setting completion flag Setting complete
Flash ROM registration processing
M1 Processing
flag
M2 M3 M4 Axis error reset requesting flag Requesting
internal relay
M100 AD75 normal flag AD75 normal
M101 Initial error reset completion flag Error reset complete
M102 All BUSY signal OFF flag All BUSY signal OFF
M103 AD75 operable flag Operable
D100 Flash ROM registration results Registration results
D101 D102 D103 Axis error code Error code
Data register
D104 D105 D106 Axis warning code Warning code
D107 D108 D109 Axis error reset results Axis error reset results

(b) ABS sequence program example

1) Initial setting
To reset the error of the A1SD75, the program 5) is added to reset all output signals at start-up.
The axis error reset buffer memory address is changed from 201 to 1154 (axis 1) and the slot
number from H0001 (slot number 1) to H0000 (slot number 2) 6).
2) Absolute position polarity, A1SD75 rotation direction setting detection
The slot number and buffer memory of the X-axis rotation direction parameter reading area are
changed from [FROMP H0001 K7872 D8 K1] to [FROMP H0000 K5 D8 K1] 8).
The rotation direction parameter masking area is changed from [WAND H0004 D8] to [WAND
H0001 D8] 9).
3) Reversing absolute position polarity
The rotation direction judging area is changed from [= D8 K4] to [= D8 K1] 10).
4) Reading checksum 6 bits, reading ABS data 32 bits
The 4 bits reading area is changed from [MOV K1 X30D5] to [MOV K1X20 D5] 11).
5) Restoring absolute position data
The slot number and buffer address of the A1SD75 home position address reading area are
changed from [DFROP H0001 K7912 D9 K1] to [DFROP H0000 K72 D9 K1] 12)

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 15. ABSOLUTE POSITION DETECTION SYSTEM

6) Writing absolute position data to A1SD75

The slot number and buffer address of the X-axis current value changing area are changed from
[DTOP H0001 K41 D3 K1] to [DTOP H0000 K1154 D3 K1] 14). When the current value is changed
in the A1SD75, the current feed value is changed at the start of positioning data No.9003.
Therefore, the starting program for positioning data No.9003 15) is added.
7) X-axis data set type home position return program
The slot numbers and buffer addresses of the X-axis home position address changing area are
changed from [DTOP H0001 K7912 D9 K1] to [DTOP H0000 K72 D9 K1] and from [DFROP
H0001 K7912 D9 K1] to [DFROP H0000 K72 D9 K1] 17).
The slot number and buffer address of the X-axis current value changing area are changed from
[DTOP H0001 K41 D3 K1] to [DTOP H0000 K1154 D3 K1] 18). When the current value is changed
in the A1SD75, the current feed value is changed at the start of positioning data No.9003.
Therefore, the starting program for positioning data No.9003 19) is added.
8) Y-axis sequence program, Y-axis data set type home position return program.
The slot numbers and buffer addresses are changed as indicated by 20).
9) Writing absolute position data to AD75
The A1SD75 (AD75) allows the current position to be changed only when the ready signal of the
Servo amplifier is on. Therefore, if the CPU scan is fast, the program for A1SD71 may change
the current position before the ready signal switches on. 7) is added because the current position
must be changed after it has been confirmed that the drive unit ready signal of the A1SD75
(D75) has switched on/off.
10) ABS coordinate error detection
As the A1SD75 (AD75) can handle the negative-polarity coordinate position that the A1SD71
could not handle, the program for ABS coordinate error detection is deleted. 13)
11) Dog type home position return program
Due to the changes in wiring described in (4), (a), 4) of this section, the program for
outputting the clear signal (Y35) after completion of a home position return is required. 16)

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 15. ABSOLUTE POSITION DETECTION SYSTEM

15.9 Confirmation of absolute position detection data

You can confirm the absolute position data with servo configuration software (MRZJW3-SETUP121E).
Choose "Diagnostics" and "Absolute Encoder Data" to open the absolute position data display screen.
(1) Choosing "Diagnostics" in the menu opens the sub-menu as shown below:

(2) By choosing "Absolute Encoder Data" in the sub-menu, the absolute encoder data display window
appears.

(3) Press the "Close" button to close the absolute encoder data display window.

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 15. ABSOLUTE POSITION DETECTION SYSTEM

15.10 Absolute position data transfer errors

15.10.1 Corrective actions

(1) Error list

The number within parentheses in the table indicates the output coil or input contact number of the
A1SD71 (AD71).
Output coil
Name Description Cause Action
AD71 1PG
(Note) Y49 Y11 1. The ABS data transfer mode 1. Wiring for ABS transfer mode Correct the wiring.
ABS signal (Y41) is not completed signal, ABS data request
communication within 5s. signal, or ready to send signal
error 2. The ready to send signal is disconnected or connected to
(X32) is not turned OFF the SG terminal.
within 1s after the ABS data 2. PC ladder program wrong. Correct the ladder.
request signal (Y42) is turned 3. Faulty PLC output or input Change the input or output
ON. module. module.
3. The ready to send signal 4. Faulty printed board in the Change the amplifier
(X32) remains OFF for longer servo amplifier.
than 1s. 5. Power supply to the servo Turn on the power to the servo
amplifier is OFF. amplifier.
ABS data Y4A Y12 ABS data sumcheck resulted 1. Wiring for the ABS data Correct the wiring.
check sum in mismatch four times signal (ABS bit 0 (PF), bit 1
error consecutively. (ZSP)) is disconnected or
connected to the SG terminal.
2. PC ladder program wrong. Correct the ladder.
3. Faulty PLC input module. Change the input module.
4. Faulty printed board in the Change the amplifier.
servo amplifier.
ABS Y4B The motor position is in the 1. The servo is turned ON or the 1. Reconsider the position
coordinate negative coordinate value power supply is turned ON where the servo is turned
error range when the servo is near the machine home ON.
turned ON or when power position or in the zone in 2. Set the home position for
supply is turned ON. which addresses decrease. positioning apart from the
machine home position.
2. The machine falls on a Change the electromagnetic
vertical axis when the servo brake operation sequence.
signal is turned ON/OFF.
Servo alarm Y48 Y10 Alarm occurred in the servo 1. Emergency stop (EMG) of the After ensuring safety, turn
amplifier. servo amplifier was turned EMG on.
off.
2. Trouble (ALM) of the servo Refer to Section 10.2.2 and take
amplifier was turned on. action.
Note: Refer to (2) in this section for details of error occurrence definitions.

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(2) ABS communication error

(a) The OFF period of the send data ready signal output from the servo amplifier is checked.
If the OFF period is 1s or longer, this is regarded as a transfer fault and the ABS communication
error is generated.
The ABS communication error occurs if the ABS time-out warning (AL.E5) is generated at the
servo amplifier due to an ABS request ON time time-out.
ON
ABS transfer mode
OFF
1s

ON
ABS request
OFF

ON
Send data ready
OFF
The signal does not come ON
YES
ABS communication
error
NO

(b) The time required for the ABS transfer mode signal to go OFF after it has been turned ON (ABS
transfer time) is checked.
If the ABS transfer time is longer than 5s, this is communication error occurs if the ABS time-out
warning (AL.E5) is generated at the servo amplifier due to an ABS transfer mode completion time
time-out.
5s

ON
ABS transfer mode
OFF The signal does not go OFF

1 2 3 4 18 19
ON
ABS request
OFF

ON
Send data ready 1 2 3 4 18 19
OFF

YES
ABS communication
error
NO

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 15. ABSOLUTE POSITION DETECTION SYSTEM

(c) To detect the ABS time-out warning (AL.E5) at the servo amplifier, the time required for the ABS
request signal to go OFF after it has been turned ON (ABS request time) is checked. If the ABS
request remains ON for longer than 1s, it is regarded that an fault relating to the ABS request
signal or the send data ready signal has occurred, and the ABS communication error is generated.
The ABS communication error occurs if the ABS time-out warning (AL.E5) is generated at the
servo amplifier due to an ABS request OFF time time-out.
ON
ABS transfer mode
OFF
1s

ON
ABS request
OFF
The signal does
not go OFF
ON
Send data ready
OFF

YES
ABS communication
error NO

15.10.2 Error resetting conditions

Always remove the cause of the error before resetting the error.
Output coil
Name Servo status Resetting condition
AD71 1PG
ABS communication error Y49 Y11 Ready (RD) signal off Reset when servo-on PB (X36)
signal turns off.
ABS checksum error Y4A Y12 Ready (RD) signal on For AD71
Reset when servo-on PB (X36)
signal turns from off to on.
For FX-1PG
Reset when servo-on PB (X36)
signal turns off.
ABS coordinate error Y4B Ready (RD) signal on Reset when servo-on PB (X36)
signal turns from off to on after a
motion to ( ) coordinate is made by
jog operation.
Servo alarm Y48 Y10 Ready (RD) signal on Reset when alarm reset PB turns
on or power switches from off to on.

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 Appendix

App 1. Signal arrangement recording sheets

(1) Position control mode

CN1A CN1B

1 11 1 11
2 12 2 12
LG OPC LG P15R
NP NG TLA
3 13 3 13
4 14 4 14
PP PG VDD COM
P15R OP DO1
5 15 5 15
6 16 6 16
LZ LZR EMG
LA LAR LSP
7 17 7 17
8 18 8 18
LB LBR LSN
9 19 9 19
10 20 10 20
COM
SG SG SG SG

(2) Speed control mode

CN1A CN1B

1 11 1 11
2 12 2 12
LG LG P15R
3 13 VC
3 13
4 14 4 14
VDD COM
P15R OP DO1
5 15 5 15
6 16 6 16
LZ LZR EMG
LA LAR LSP
7 17 7 17
8 18 8 18
LB LBR LSN
9 19 9 19
10 20 10 20
COM
SG SG SG SG

(3) Torque control mode

CN1A CN1B

1 11 1 11
2 12 2 12
LG LG P15R
VLA TC
3 13 3 13
4 14 4 14
VDD COM
P15R OP DO1
5 15 5 15
6 16 6 16
LZ LZR EMG
LA LAR
7 17 7 17
8 18 8 18
LB LBR
9 19 9 19
10 20 10 20
COM
SG SG SG SG

App - 1

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 Appendix

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Command Current
pulse frequency Droop pulse command Bus voltage

Current
Speed
App 2. Analog monitor block diagram

Command command encoder

Position Speed Current
PWM M Servo Motor
pulse control control control

Encoder
Current feedback

App - 2
Differ-
ential

Position feedback

Generated
Motor speed torque
 Appendix

Instantaneous Effective Peak

torque load ratio load ratio

Effective
Peak hold
value calculation

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App 3. Status display block diagram

Command Cumulative Servo

pulse frequency Droop pulse motor speed Bus voltage
command pulses

Electronic gear
Command PP, NP CMX Position Speed Current Servo
PWM M
pulse CDV control control control motor

App - 3
Speed
feedback Absolute
Auto position
tuning section detection
Cumulative low
encoder
Within one-
feedback pulse revolution position high ABS counter
Differ-
ential
Within
Present one-revolution
position ABS counter
calculation

Load inertia
moment ratio
 Appendix

MEMO

App - 4

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 REVISIONS
*The manual number is given on the bottom left of the back cover.
Print data *Manual number Revision
Nov.,1999 SH(NA)030006-A First edition
Sep.,2000 SH(NA)030006-B Addition of single-phase 100VAC specifications
Compatible Servo Configuration software model name change
Compliance with EC Directives 1: Review of sentence
Section 1.2: Review of function block diagram
Section 1.3: Moving of servo amplifier standard specifications
Review of torque limit description in position control mode
Review of torque limit description in speed control mode
Deletion of torque linearity in torque limit mode
Addition of speed limit in torque control mode
Section 3.1.1 (1): Addition of encoder Z-phase pulse connection
Addition of Note for use of junction terminal block
Section 3.1.1 (2): Addition of Note for increased noise immunity
Section 3.1.2: Addition of Note for input of negative voltage
Section 3.1.3: Addition of Note for input of negative voltage
Section 3.3.1 (2): Review of Note
Section 3.4.1 (4): Addition of description about electronic gear switching
Section 3.4.3 (1)(a): Review of description for low voltage
Section 3.5: Change in timing chart
Section 3.5 3): Review of description
Section 3.6.2 (7): Review of connection
Section 3.9: Review of POINT
Section 3.9 (3)(b),(c): Change in timing chart
Section 3.9 (3)(d),(e): Addition
Section 5.1.2 (2): Deletion of description as to parameter No. 22 TC, TLA
Addition of parameter No. 27 setting example
Correction of parameter No. 35 setting range
Review of parameter No. 47, 48 sentences
Section 5.2.5: Correction of operation pattern diagram
Section 6.2.2: Review of within one-revolution position sentence
Section 6.3: Review of automatic VC offset description
Section 6.6 (2)(a): Review of Note
Section 6.8: Review of PL sentence
Chapter 7: Addition of POINT
Section 7.3.2 (1), (2): Review of sentence makeup
Section 7.4: Addition
Section 8.1.1: Addition
Section 8.3.2: Addition
Section 10.1.1 (1): Addition of Investigation item at power-on
Section 10.1.2: Addition of Investigation item at power-on
Addition of Investigation item at on of ST1 or ST2
Section 10.1.3: Addition of Investigation item at power-on
Addition of Investigation item at on of ST1 or ST2
Section 10.2: Addition of POINT
Section 10.2.2: Review of Cause of AL.10
Deletion of Cause 4 of AL.16
Review of Cause and Action of AL.24
Addition of description to AL.25

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Print data *Manual number Revision
Sep.,2000 SH(NA)030006-B Section 10.2.2: Addition of description to AL.30
Addition of Cause to AL.33
Chapter 11: Changed to only outline dimensional drawing
Section 11.2 (2): Addition
Section 12.2 (1): Review of Note for Table 12.1
Section 12.3: Correction of dynamic brake time constant graph
Chapter 13: Deletion of MR-CPC98CBL3M communication cable
Section 13.1.1 (4)(c): Review of outline drawing
Section 13.1.2 (1): Deletion of MR-PWCNF power supply connector set
Section 13.1.2 (1)1), 6): Change of encoder side connector models
Section 13.1.2 (1)19), 20): Change of terminal models
Section 13.1.2 (2)(a)2): Addition of description for fabrication
Section 13.1.3: Addition of POINT
Section 13.1.3 (4): Addition of cable length
Change in connection diagram
Section 13.2.1 (1): Addition of Note for recommended wires
Section 13.2.8 (1): Addition of leakage current to recommended filter
Section 14.1.2 (2): Deletion of MR-CPC98CBL3M communication cable
Section 14.11.1 (6): Addition
Section 14.11.2 (8): Addition
Section 15.7: Addition of POINT
Section 15.8.1 (1)(b): Change in b) Coordinates when zero address is changed
to other than 0
Section 15.8.2 (1)(b): Review of connection diagram
Section 15.9: Change of display screen
Section 15.10.1 (1): Deletion of Cause 5 of ABS checksum error