MR E A/AG QW003 INSTRUCTION MANUAL ES

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MR-E- A-QW003/MR-E- AG-QW003

General-Purpose AC Servo
EZMOTION MR-E Super
General-Purpose Interface
MODEL

MR-E- A-QW003
MR-E- AG-QW003
INSTRUCTION MANUAL
HF-KN/HF-SN servo motor is available for the servo amplifier with
software version A9 or later.
For HF-KN/HF-SN servo motor, refer to HF-KN/HF-SN Servo Motor
Instruction Manual (SH030123).

Instruction Manual B

MODEL

MR-E-A/AG-QW003
INSTRUCTIONMANUAL

MODEL
CODE

1CW705

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

SH (NA) 030075-B (1210) MEE

Printed in Japan

This Instruction Manual uses recycled paper.
Specifications subject to change without notice.

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".

WARNING

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

CAUTION

Indicates that incorrect handling may cause hazardous conditions,
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.

A- 1

1. To prevent electric shock, note the following

WARNING
Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns
off. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo
amplifier, whether the charge lamp is off or not.
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.
To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked
servo amplifier to the protective earth (PE) of the control box.

) of the

When using a residual current device (RCD), select the type B.
Insulate the connections of the power supply terminals to prevent an electric shock.

2. To prevent fire, note the following

CAUTION
Install the servo amplifier, servo motor and regenerative resistor on incombustible material. Installing them
directly or close to combustibles will lead to a fire.
Always connect a magnetic contactor between the main circuit power supply and L1, L2, and L3 of the
servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the servo
amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a large current may
cause a fire when the servo amplifier malfunctions.
When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier, and servo motor.
Always connect a molded-case circuit breaker to the power supply of the servo amplifier.

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.

Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.)
with the servo amplifier heat sink, regenerative resistor, servo motor, etc. since they may be hot while
power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a
parts may damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.
A- 2

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

(1) Transportation and installation

CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the specified number of products is not allowed.
Do not carry the servo motor by the cables, shaft or encoder.
Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual.
Do not get on or put heavy load on the equipment.
The servo amplifier 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.
Do not block intake and exhaust areas of the servo amplifier. Doing so may cause malfunction to the
equipment.
Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.
When you keep or use it, please fulfill the following environmental conditions.
Environment
In
operation
Ambient
temperature
In storage
Ambient
humidity
Ambience
Altitude

In operation
In storage

(Note)
Vibration resistance

[
[
[
[

]
]
]
]

Conditions
Servo amplifier
0 to 55 (non-freezing)
32 to 131 (non-freezing)
20 to 65 (non-freezing)
4 to 149 (non-freezing)
90 RH or less (non-condensing)
90 RH or less (non-condensing)
Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Max. 1000m above sea level
2

5.9m/s at 10Hz to 55Hz (directions of X,Y, and Z axes)

Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during
operation.
Be sure to measure the motor vibration level with the servo motor mounted to the machine when checking
the vibration level. A great vibration may cause the early damage of a bearing, encoder, brake, and
reduction gear. The great vibration may also cause the poor connector connection or bolt looseness.
For the gain adjustment at the equipment startup, check the torque waveform and the speed waveform by
using a measurement device, and then check that no vibration occurs. If the vibration occurs due to high
gain, the vibration may cause the early damage of the servo motor.
Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo
motor during operation.
Never hit the servo motor or shaft, especially when coupling the servo motor to 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.

A- 3

(2) Wiring

CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo
motor and servo amplifier.
Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor.
Otherwise, the servo motor does not operate properly.
Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W)
directly. Do not let a magnetic contactor, etc. intervene.
Servo amplifier

Servo motor

Servo amplifier

Servo motor
U

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 of the servo amplifier must be wired in
the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.
Servo amplifier

Servo amplifier

Control output
signal

When the cable is not tightened enough to the terminal block (connector), the cable or terminal block
(connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified
torque.

(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.

A- 4

(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 of the servo amplifier 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.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break a servo amplifier.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the servo motor shaft and should not
be used for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor
are coupled via a timing belt), the electromagnetic brake may not hold the servo 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 an electromagnetic brake circuit so that it is activated also by an external EMG stop switch.
Contacts must be open when
an trouble (ALM) and when an
electromagnetic brake interlock
(MBR) turns off.

Contacts must be open with
the EMG stop switch.

Servo motor
RA
24VDC

Electromagnetic brake

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

A- 5

(6) Storage for servo motor

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

(7) Maintenance, inspection and parts replacement

CAUTION
With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident
due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general
environment.
For replacement, please contact your local sales office.

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

A- 6

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

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

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

A- 7

COMPLIANCE WITH CE MARKING
Refer to Appendix 1 for the compliance with CE marking.

COMPLIANCE WITH UL/cUL STANDARD
Refer to Appendix 2 for the compliance with UL/cUL standard.
<>
Relevant manuals
Manual name

Manual No.

HF-KN/HF-SN Servo Motor Instruction Manual

SH(NA)030123

MR-E Series Instructions and Cautions for Safe Use of AC Servos

IB(NA)0300057

EMC Installation Guidelines

IB(NA)67310

<>
Wires mentioned in this instruction manual are selected based on the ambient temperature of 40

A- 8

(104

CONTENTS

1. FUNCTIONS AND CONFIGURATION

1- 1 to 1-10

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- 6
1.6 Combination with servo motor .................................................................................................................. 1- 6
1.7 Parts identification..................................................................................................................................... 1- 7
1.8 Servo system with auxiliary equipment .................................................................................................... 1- 9
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- 3
3. SIGNALS AND WIRING

3- 1 to 3- 44

3.1 Standard connection example .................................................................................................................. 3- 2
3.1.1 Position control mode......................................................................................................................... 3- 2
3.1.2 Internal speed control mode .............................................................................................................. 3- 8
3.2 Internal connection diagram of servo amplifier ........................................................................................ 3- 9
3.3 I/O signals................................................................................................................................................. 3-10
3.3.1 Connectors and signal arrangements .............................................................................................. 3-10
3.3.2 Signal explanations ........................................................................................................................... 3-13
3.4 Detailed description of the signals........................................................................................................... 3-19
3.4.1 Position control mode........................................................................................................................ 3-19
3.4.2 Internal speed control mode ............................................................................................................. 3-24
3.4.3 Position/internal speed control change mode .................................................................................. 3-26
3.5 Alarm occurrence timing chart................................................................................................................. 3-28
3.6 Interfaces.................................................................................................................................................. 3-29
3.6.1 Common line ..................................................................................................................................... 3-29
3.6.2 Detailed description of the interfaces ............................................................................................... 3-30
3.7 Input power supply circuit ........................................................................................................................ 3-34
3.7.1 Connection example ......................................................................................................................... 3-34
3.7.2 Terminals........................................................................................................................................... 3-35
3.7.3 Power-on sequence .......................................................................................................................... 3-36
3.8 Servo motor with electromagnetic brake................................................................................................. 3-37
3.8.1 Precautions........................................................................................................................................ 3-37
3.8.2 Setting................................................................................................................................................ 3-37
3.8.3 Timing charts ..................................................................................................................................... 3-38
3.9 Grounding................................................................................................................................................. 3-40
3.10 Servo amplifier connectors (CNP1, CNP2) wiring method
(When MR-ECPN1-B and MR-ECPN2-B of an option are used.)....................................................... 3-41
3.11 Instructions for the 3M connector .......................................................................................................... 3-44
1

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 Internal speed control mode .............................................................................................................. 4- 4
5. PARAMETERS

5- 1 to 5- 30

5.1 Parameter list ............................................................................................................................................ 5- 1
5.1.1 Parameter write inhibit ....................................................................................................................... 5- 1
5.1.2 Lists..................................................................................................................................................... 5- 2
5.2 Detailed description.................................................................................................................................. 5-24
5.2.1 Electronic gear................................................................................................................................... 5-24
5.2.2 Analog monitor .................................................................................................................................. 5-26
5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern .................................... 5-29
5.2.4 Alarm history clear............................................................................................................................. 5-29
5.2.5 Position smoothing............................................................................................................................ 5-30
6. DISPLAY AND OPERATION

6- 1 to 6-14

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- 6
6.5 Parameter mode ....................................................................................................................................... 6- 7
6.6 External I/O signal display ........................................................................................................................ 6- 8
6.7 Output signal (DO) forced output............................................................................................................. 6-10
6.8 Test operation mode ................................................................................................................................ 6-11
6.8.1 Mode change..................................................................................................................................... 6-11
6.8.2 Jog operation..................................................................................................................................... 6-12
6.8.3 Positioning operation......................................................................................................................... 6-13
6.8.4 Motor-less operation ......................................................................................................................... 6-14
7. GENERAL GAIN ADJUSTMENT

7- 1 to 7-10

7.1 Different adjustment methods................................................................................................................... 7- 1
7.1.1 Adjustment on a single servo amplifier.............................................................................................. 7- 1
7.1.2 Adjustment using MR Configurator (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 basis ..................................................................................................................... 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
2

7.3.2 Adjustment by manual mode 1 .......................................................................................................... 7- 7
7.4 Interpolation mode ................................................................................................................................... 7-10
8. SPECIAL ADJUSTMENT FUNCTIONS

8- 1 to 8-10

8.1 Function block diagram............................................................................................................................. 8- 1
8.2 Machine resonance suppression filter...................................................................................................... 8- 1
8.3 Adaptive vibration suppression control..................................................................................................... 8- 3
8.4 Low-pass filter ........................................................................................................................................... 8- 4
8.5 Gain changing function ............................................................................................................................. 8- 5
8.5.1 Applications ........................................................................................................................................ 8- 5
8.5.2 Function block diagram...................................................................................................................... 8- 5
8.5.3 Parameters ......................................................................................................................................... 8- 6
8.5.4 Gain changing procedure................................................................................................................... 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 Internal speed control mode .......................................................................................................... 10- 4
10.2 When alarm or warning has occurred .................................................................................................. 10- 5
10.2.1 Alarms and warning list.................................................................................................................. 10- 5
10.2.2 Remedies for alarms...................................................................................................................... 10- 6
10.2.3 Remedies for warnings ................................................................................................................. 10-11
11. OUTLINE DIMENSION DRAWINGS

11- 1 to 11- 8

11.1 Servo amplifiers .................................................................................................................................... 11- 1
11.2 Connectors ............................................................................................................................................ 11- 5
12. CHARACTERISTICS

12- 1 to 12- 4

12.1 Overload protection characteristics ...................................................................................................... 12- 1
12.2 Power supply equipment capacity and generated loss ....................................................................... 12- 1
12.3 Dynamic brake characteristics.............................................................................................................. 12- 3
12.4 Encoder cable flexing life...................................................................................................................... 12- 4
12.5 Inrush currents at power-on of main circuit and control circuit............................................................ 12- 4
13. OPTIONS AND AUXILIARY EQUIPMENT

13- 1 to 13-24

13.1 Options .................................................................................................................................................. 13- 1
13.1.1 Regenerative options ..................................................................................................................... 13- 1
13.1.2 Cables and connectors .................................................................................................................. 13- 6
13.1.3 Analog monitor, RS-232C branch cable (MR-E3CBL15-P) ......................................................... 13- 9
13.1.4 MR Configurator (servo configurations software) ........................................................................ 13-10
13.2 Auxiliary equipment.............................................................................................................................. 13-11
13.2.1 Selection example of wires ........................................................................................................... 13-11
13.2.2 Circuit breakers, fuses, magnetic contactors ............................................................................... 13-12
3

13.2.3 Power factor improving AC reactors............................................................................................. 13-13
13.2.4 Relays............................................................................................................................................ 13-14
13.2.5 Surge absorbers............................................................................................................................ 13-14
13.2.6 Noise reduction techniques .......................................................................................................... 13-15
13.2.7 Leakage current breaker............................................................................................................... 13-22
13.2.8 EMC filter....................................................................................................................................... 13-24
14. MR-E-

AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

14- 1 to 14- 64

14.1. Functions and configuration ................................................................................................................ 14- 1
14.1.1 Introduction..................................................................................................................................... 14- 1
14.1.2 Function block diagram.................................................................................................................. 14- 2
14.1.3 Servo amplifier standard specifications......................................................................................... 14- 3
14.1.4 Model code definition ..................................................................................................................... 14- 4
14.1.5 Parts identification .......................................................................................................................... 14- 4
14.1.6 Servo system with auxiliary equipment ......................................................................................... 14- 6
14.2. Signals and wiring ................................................................................................................................ 14- 8
14.2.1 Standard connection example ....................................................................................................... 14- 8
14.2.2 Internal connection diagram of servo amplifier ............................................................................ 14-11
14.2.3 Connectors and signal arrangements .......................................................................................... 14-12
14.2.4 Signal explanations ....................................................................................................................... 14-14
14.2.5 Detailed description of the signals................................................................................................ 14-20
14.3 Startup .................................................................................................................................................. 14-27
14.3.1 Speed control mode ...................................................................................................................... 14-27
14.3.2 Torque control mode..................................................................................................................... 14-30
14.4 Parameters........................................................................................................................................... 14-32
14.4.1 Item list .......................................................................................................................................... 14-32
14.4.2 Details list ...................................................................................................................................... 14-35
14.5 Display and operation .......................................................................................................................... 14-55
14.5.1 Display flowchart ........................................................................................................................... 14-55
14.5.2 Status display ................................................................................................................................ 14-56
14.5.3 Diagnostic mode ........................................................................................................................... 14-58
14.5.4 External I/O signal display ............................................................................................................ 14-60
14.6. Troubleshooting .................................................................................................................................. 14-62
14.6.1 Trouble at start-up......................................................................................................................... 14-62
14.6.2 Alarms and warning list................................................................................................................. 14-64
APPENDIX

App.- 1 to App.- 6

App. 1 COMPLIANCE WITH CE MARKING.............................................................................................App.- 1
App. 2 COMPLIANCE WITH UL/cUL STANDARD ..................................................................................App.- 4

1. FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATION
1.1 Introduction
The Mitsubishi general-purpose AC servo MR-E Super has position control and internal speed control modes.
It can perform operation with the control modes changed, e.g. position/internal speed control. Hence, it is
applicable to wide range of fields such as precision positioning and smooth speed control of machine tools and
general industrial machines.
As this new series has the RS-232C or RS-422 serial communication function, a MR Configurator (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 MR-E Super servo motor is equipped with an incremental position encoder that has the resolution of
131072 pulses/rev to ensure high precision positioning.
(1) Position control mode
An up to 1Mpps 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 the parameter.
(2) Internal speed control mode
The 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.

1- 1

1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram
The function block diagram of this servo is shown below.
Regenerative option
(Note 3)
Servo amplifier
(Note 3)
MCCB MC
(Note 2)
Power
supply

Diode
stack

Servo motor

D
(Note 3)

(Note 1)

Relay

L1
L2

Regenerative
TR

CHARGE
lamp

Current
detector

Dynamic
brake circuit

(Note 4)
Cooling fan

RA
24VDC B1

Control
circuit
power
supply

Electromagnetic
brake

Voltage Overcurrent Current
detection protection detection

CN2

(Note 3)
Base amplifier

Encoder

Pulse
input

Virtual
encoder
Model speed
control

Model position
control

Virtual
motor

Model
position

Model
torque
Current
control

Model
speed
Actual speed
control

Actual position
control

RS-232C

D/A

I/F
CN1
(Note 3)

CN3
(Note 3)

D I/O control
Servo on
Start
Failure, etc.

Analog monitor
(2 channels)

Controller
RS-232C

Note 1. The built-in regenerative resistor is not provided for the MR-E-10A-QW003/MR-E-20A-QW003.
2. The single-phase 230VAC can be used for MR-E-70A-QW003 or smaller servo amplifier.
Connect the power supply cables to L1 and L2 while leaving L3 open. Refer to section 1.3 for the power supply specification.
3. The control circuit connectors (CN1, CN2 and CN3) are safely isolated from main circuit terminals
(L1, L2, L3, U, V, W, P, C and D).
4. Servo amplifiers MR-E-200A-QW003 have a cooling fan.

1- 2

1. FUNCTIONS AND CONFIGURATION

1.3 Servo amplifier standard specifications
Servo amplifier
MR-E- -QW003

10A

20A

40A

0.7

1.1

2.3

70A

100A

200A

6.0

11.0

Item
Output

Rated voltage

3-phase 170VAC

Rated current

[A]

Voltage/frequency
Power supply

5.8

3-phase 200 to 230VAC, 50/60Hz or 1-phase 230VAC,

3-phase 200 to 230VAC,

50/60Hz

Rated current

[A]

0.9

1.5

50/60Hz
2.6

3.8

5.0

10.5

3-phase 200 to 230VAC:
Permissible voltage fluctuation

170 to 253VAC

3-phase 170 to 253VAC

1-phase 230VAC: 207 to 253VAC
Permissible frequency fluctuation

Within

Power supply capacity

Refer to section 12.2

Inrush current

[A]

Refer to section 12.5

Control system

Sine-wave PWM control, current control system

Dynamic brake

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

Protective functions

relay), encoder error protection, regenerative error protection, undervoltage, instantaneous

Internal speed
control mode

Position control mode

power failure protection, overspeed protection, excessive error protection
Max. input pulse frequency

1Mpps (for differential receiver), 200kpps (for open collector)

Command pulse multiplying factor

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

In-position range setting

0 to

2.5 revolutions

Torque limit

Set by parameter setting

Speed control range

Internal speed command 1: 5000
0.01

Speed fluctuation ratio

Environment

(power fluctuation

10 )

Set by parameter setting

Structure

Force-cooling,

Self-cooled, open (IP00)
Operation
Storage

Ambient

Operation

humidity

Storage

open (IP00)

[ ]

0 to 55 (non-freezing)

[ ]

32 to 131 (non-freezing)

[ ]

20 to 65 (non-freezing)

[ ]

4 to 149 (non-freezing)
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 above sea level
2

Vibration resistance
Mass

or less (load fluctuation 0 to 100 )
0

Torque limit

temperature

10000 pulse (command pulse unit)

Error excessive

Ambient

A/B

5.9m/s at 10Hz to 55Hz (directions of X,Y, and Z axes)
[kg]

0.7

1- 3

1.1

1.7

2.0

1. FUNCTIONS AND CONFIGURATION

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

Description

(Note)
Control mode

Reference

Position control mode

This servo is used as position control servo.

Section 3.1.1
Section 3.4.1
Section 4.2.2

Internal speed control mode

This servo is used as internal speed control servo.

Section 3.1.2
Section 3.4.2
Section 4.2.3

Position/internal speed control
change mode

Using external input signal, control can be switched between
position control and internal speed control.

P/S

Section 3.4.4

High-resolution encoder

High-resolution encoder of 131072 pulses/rev is used as a
servo motor encoder.

P, S

Gain changing function

You can switch between gains during rotation and gains during
stop or use an external input signal to change gains during
operation.

P, S

Section 8.5

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

P, S

Section 8.3

P, S

Section 8.4

Low-pass filter

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

Machine analyzer function

Analyzes the frequency characteristic of the mechanical system
by simply connecting a MR Configurator (servo configuration
software)-installed personal computer and servo amplifier.

Machine simulation

Can simulate machine motions on a personal computer screen
on the basis of the machine analyzer results.

Gain search function

MR Configurator (servo configuration software) installed in a
personal computer changes gains automatically and searches
for overshoot-free gains in a short time.

Slight vibration suppression
control

Suppresses vibration of
stop.

Parameter No.20

Electronic gear

Input pulses can be multiplied by 1/50 to 50.

Parameters No.3, 4,
69 to 71

Auto tuning

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

P, S

Position smoothing

Speed can be increased smoothly in response to input pulse.

Parameter No.7

S-pattern acceleration/
deceleration time constant

Speed can be increased and decreased smoothly.

Parameter No.13

1 pulse produced at a servo motor

Chapter 7

Used when the built-in regenerative resistor of the servo
Regenerative option

amplifier does not have sufficient regenerative capability for the
regenerative power generated.

1- 4

P, S

Section 13.1.1

1. FUNCTIONS AND CONFIGURATION

Function
Alarm history clear
Restart after instantaneous
power failure
Command pulse selection
Input signal selection

Description
Alarm history is cleared.

(Note)
Control mode

Reference

P, S

Parameter No.16

Parameter No.20

Parameter No.21

If the input power supply voltage had reduced to cause an
alarm but has returned to normal, the servo motor can be
restarted by merely switching on the start signal.
Command pulse train form can be selected from among four
different types.
Forward rotation start, reverse rotation start, servo-on and other
input signals can be assigned to any pins.

P, S

Parameters
No.43 to 48
Section 3.4.1 (5)

Torque limit

Servo motor torque can be limited to any value.

P, S

Status display

Servo status is shown on the 5-digit, 7-segment LED display

P, S

Section 6.2

P, S

Section 6.6

P, S

Section 6.7

P, S

Section 6.8

P, S

Parameter No.17

P, S

Section 13.1.4

P, S

Section 10.2.1

External I/O signal display
Output signal (DO)
forced output
Test operation mode

ON/OFF statuses of external I/O signals are shown on the
display.
Output signal can be forced on/off independently of the servo
status.
Use this function for output signal wiring check, etc.
Servo motor can be run from the operation section of the servo
amplifier without the start signal entered.

Analog monitor output

Servo status is output in terms of voltage in real time.

MR Configurator

Using a personal computer, parameter setting, test operation,

(servo configuration software)

status display, etc. can be performed.

Alarm code output

Parameter No.28

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

Note. P: Position control mode, S: Internal speed control mode
P/S: Position/internal speed control change mode

1- 5

1. FUNCTIONS AND CONFIGURATION

1.5 Model code definition
(1) Rating plate
The year and month of manufacture
Model
Capacity
Applicable power supply

MR-E-40A-QW003

Rated output current
Serial number

(2) Model
MR-E Super servo amplifier (Source I/O interface)
Series

Pulse train interface

MR-E-40A-QW003 or less MR-E-70A-QW003,
MR-E-100A-QW003
Symbol Rated output [W] Symbol Rated output [W]
100
10
750
70
20
200
100
1000
40
400
200
2000
Rated output

Rating plate Rating plate

MR-E-200A-QW003

Rating plate

1.6 Combination with servo motor
The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to
the servo motor models with electromagnetic brakes. HF-KN/HF-SN servo motor is available for the servo
amplifier with software version A9 or later.
Servo amplifier

Servo motors
HF-KN (J)

MR-E-10A-QW003

MR-E-20A-QW003

MR-E-40A-QW003

MR-E-70A-QW003

MR-E-100A-QW003
MR-E-200A-QW003

HF-SN J

52
102
152

202

1- 6

1. FUNCTIONS AND CONFIGURATION

1.7 Parts identification
(1) MR-E-100A-QW003 or less
Name/application
Display
The 5-digit, seven-segment LED shows the servo status
and alarm number.

Reference

Chapter 6

Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.

MODE

DOWN

SET
Used to set data.

MODE

SET

Chapter 6

Used to change the
display or data in each
mode.

CN3
MITSUBISHI
MR-

Used to change the
mode.

CN1

Communication connector (CN3)
Used to connect a command device (RS-232C) and
output analog monitor data.

Section 3.3
Section 13.1.2

CHARGE

CNP1

L3L2L1 D C P

CNP2

WV U

CN2
I/O signal connector (CN1)
Used to connect digital I/O signals.
Encoder connector (CN2)
Use to connect the servo motor encoder.

Section 3.3
Section 3.3
Section1 3.1.2

Charge lamp
Lit to indicate that the main circuit is charged. While this
lamp is lit, do not reconnect the cables.
Servo motor power connector (CNP2)
Used to connect the servo motor.
Power supply/regenerative connector (CNP1)
Used to connect the input power supply and regenerative
option.

Protective earth (PE) terminal (
Fixed part
Ground terminal.
(MR-E-10A-QW003 to MR-E-40A-QW003: 2 places
MR-E-70A-QW003 MR-E-100A-QW003: 3 places)

1- 7

)

Section 3.7
Section 11.1
Section 3.7
Section 11.1
Section 13.1.1
Section 3.9
Section 11.1

1. FUNCTIONS AND CONFIGURATION

(2) MR-E-200A-QW003
Name/application
Display
The 5-digit, seven-segment LED shows the servo status
and alarm number.

Reference

Chapter 6

Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.

MODE

DOWN

SET
Used to set data.

Chapter 6

Used to change the
display or data in each
mode.
Used to change the
mode.
Communication connector (CN3)
Used to connect a command device (RS-232C) and
output analog monitor data.
I/O signal connector (CN1)
Used to connect digital I/O signals.
Rating plate

Cooling fan
Fixed part
(3 places)

Section 3.3
Section 13.1.2

Section 3.3

Section 1.5

Encoder connector (CN2)
Used to connect the servo motor encoder.

Section 3.3
Section 13.1.2

Power supply/regenerative connector (CNP1)
Used to connect the input power supply and regenerative
option.

Section 3.7
Section 11.1
Section 13.1.1

Charge lamp
Lit to indicate that the main circuit is charged. While this
lamp is lit, do not reconnect the cables.
Protective earth (PE) terminal (
Ground terminal.

)

Servo motor power connector (CNP2)
Used to connect the servo motor.

1- 8

Section 3.9
Section 11.1
Section 3.7
Section 11.1

1. FUNCTIONS AND CONFIGURATION

1.8 Servo system with auxiliary equipment

WARNING

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.

(1) MR-E-100A-QW003 or less
Options and auxiliary equipment
(Note)
Power supply

Reference

Options and auxiliary equipment

Reference

Circuit breaker

Section 13.2.2

Regenerative option

Section 13.1.1

Magnetic contactor

Section 13.2.2

Cables

Section 13.2.1

Section 13.1.4

Power factor improving reactor

Section 13.2.3

MR Configurator
(Servo configuration software)
Circuit breaker
(MCCB) or fuse

Personal
computer

Servo amplifier

MR Configurator
(Servo configuration software)

SET

MODE

To CN3
CN3
MITSUBISHI
MR-E-

Magnetic
contactor
(MC)

To CN1
Command device

CN1

Power
factor
improving
reactor
(FR-HAL)

To CN2

CNP1

Protective earth

CHARGE

L3 L2 L1 D C P

CNP2

W V U

CN2

To CNP2

L3
L2
L1

Regenerative option

C
P
Servo motor

Note. A 1-phase 230VAC power supply may be used with the servo amplifier of MR-E-70A-QW003 or less. Connect the power supply to L1
and L2 terminals and leave L3 open. Refer to section 1.3 for the power supply specification.

1- 9

1. FUNCTIONS AND CONFIGURATION

(2) MR-E-200A-QW003
Options and auxiliary equipment

(Note)
Power supply

Reference

Options and auxiliary equipment

Section 13.2.2

Regenerative option

Section 13.1.1

Magnetic contactor

Section 13.2.2

Cables

Section 13.2.1

Section 13.1.4

Power factor improving reactor

Section 13.2.3

MR Configurator
(Servo configuration software)

Circuit
breaker
(MCCB)
or fuse

Servo amplifier

Magnetic
contactor
(MC)

MODE

SET

MITSUBISHI EZMotion

Personal
computer

To CN3

CN3

To CN1
D C P L3 L2 L1

Power
factor
improving
reactor
(FR-HAL)

CN1

Command device

CNP1

To CN2
CN2

L2
L3

W V U

CHARGE

Reference

Circuit breaker

To CNP2
CNP2

P C
Regenerative option

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

1 - 10

2. INSTALLATION

2. INSTALLATION
WARNING

To prevent electric shock, ground each equipment securely.

CAUTION

Stacking in excess of the limited number of products is not allowed.
Install the equipment on incombustible material. Installing them directly or close to
combustibles will lead to a fire.
Install the equipment in a load-bearing place in accordance with this Instruction
Manual.
Do not get on or put heavy load on the equipment to prevent injury.
Use the equipment within the specified environmental condition range. (For details
of the environmental condition, refer to section 2.1.)
Provide an adequate protection to prevent screws, metallic detritus and other
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, please contact
your local sales office.
When treating the servo amplifier, be careful about the edged parts such as the
corners of the servo amplifier.
The servo amplifier must be installed in the metal cabinet (control box).

2.1 Environmental conditions
Environment
Ambient
temperature

In operation
In storage

Ambient

In operation

humidity

In storage

Ambience

Conditions
[ ]

0 to 55 (non-freezing)

[ ]

32 to 131 (non-freezing)

[ ]

20 to 65 (non-freezing)

[ ]

4 to 149 (non-freezing)
90 RH or less (non-condensing)
Indoors (no direct sunlight)
Free from corrosive gas, flammable gas, oil mist, dust and dirt

Altitude

Max. 1000m above sea level

Vibration resistance

5.9m/s at 10Hz to 55Hz (directions of X,Y, and Z axes)

2- 1

2. INSTALLATION

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

CAUTION

(1) Installation of one servo amplifier
Control box

Control box

40mm
or more
Servo
amplifier
MODE

10mm
or more

Wiring clearance

SET

10mm
or more

CN3
MITSUBISHI
MR-

Top

70mm

CN1

CHARGE

WV U

CNP1

L3L2 L1 D C P

CN2
CNP2

Bottom
40mm
or more

(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 cooling fan to prevent the internal temperature of the control box from exceeding the
environmental conditions.
Control box

100mm
or more

10mm
or more
Top

MODE

SET

MODE

30mm
or more

CN3

CN3
MITSUBISHI
MR-

MITSUBISHI
MR-

CN1

CNP1

CHARGE

WV U

CNP1

CNP2

L3L2L1 D C P

WV U

CN2

CHARGE

CN2
CNP2

L3L2L1 D C P

30mm
or more

SET

Bottom
40mm
or more

2- 2

2. INSTALLATION

(3) Others
When using heat generating equipment such as the regenerative option, install them with full consideration
of heat generation so that the servo amplifier is not affected.
Install the servo amplifier on a perpendicular wall in the correct vertical direction.
2.3 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 cooling fan installed on the ceiling.
(3) When installing the control box in a place where there are much toxic gas, dirt and dust, conduct an air
purge (force clean air into the control box from outside to make the internal pressure higher than the
external pressure) to prevent such materials from entering the control box.
2.4 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) For use in any application where the servo motor moves, fix the cables (encoder, power supply, and brake)
with having some slack from the connector connection part of the servo motor to avoid putting stress on the
connector connection part. Use the optional encoder cable within the flexing life range. Use the power
supply and brake wiring cables within the flexing life of the cables.
(3) Avoid any probability that the cable insulator might be cut by sharp chips, rubbed by a machine corner or
stamped by workers or vehicles.
(4) For installation on a machine where the servo motor will move, the flexing radius should be made as large
as possible. Refer to section 12.4 for the flexing life.

2- 3

2. INSTALLATION

MEMO

2- 4

3. SIGNALS AND WIRING

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

WARNING

Ground the servo amplifier and the servo motor securely.
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.
Insulate the connections of the power supply terminals to prevent an electric shock.
Wire the equipment correctly and securely. Otherwise, the servo motor may
operate unexpectedly, resulting in injury.
Connect cables to correct terminals to prevent a burst, fault, etc.
Ensure that polarity (

) is correct. Otherwise, a burst, damage, etc. may occur.

The surge absorbing diode installed to the DC relay designed for control output
should be fitted in the specified direction. Otherwise, the signal is not output due to
a fault, disabling the emergency stop and other protective circuits.

CAUTION

Servo amplifier

Control output
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 resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative resistor,
causing a fire.
Do not modify the equipment.
During power-on, do not open or close the motor power line. Otherwise, a
malfunction or faulty may occur.

3- 1

3. SIGNALS AND WIRING

3.1 Standard connection example
POINT
Refer to section 3.7.1 for the connection of the power supply system and to HFKN/HF-SN Servo Motor Instruction Manual for connection with the servo motor.
3.1.1 Position control mode
(1) FX-10GM
Positioning module
FX-10GM

Servo amplifier
(Note 7)
CN1

SVRDY
COM2
COM2
SVEND
COM4
PGO

1
2
12
11
14
13

7,17
24
8,18
VC
5
FPO
6
FP
COM5 9,19
16
RP
15
RPO
3
CLR
4
COM3
(Note 8) 2m max.

RD
SG
INP

11
13
10

VIN
OP

1
21

OPC
VIN

2
1

PP
SG
NP

23
13
25

VIN
CR
SD

1
5
Plate

START
1
STOP
2
ZRN
3
FWD
4
RVS
5
DOG
6
LSF
7
LSR
8
COM1 9,19
10m max.
(Note 3, 4) Emergency stop

(Note 7)
CN1
EMG
8

(Note 10)

(Note 7)
CN1

VIN

ALM

RA1

ZSP

RA2

(Note 2)

Trouble
(Note 5)
Zero speed

(Note 7)
CN1
15

LAR

Encoder A-phase pulse
(differential line driver)

LBR

Encoder B-phase pulse
(differential line driver)

Control common

LZR

Encoder Z-phase pulse
(differential line driver)

Plate

(Note 7)
CN3
4
MO1

Analog monitor 1

Servo-on

SON

Control common

Reset

RES

MO2

Analog monitor 2

LSP

LSN

Plate

VIN

(Note 4) Forward rotation stroke end
Reverse rotation stroke end

(Note 9)
MR Configurator
(Servo configuration software)

Control common

2m max.

Personal
computer
(Note 6)
Communication cable

3- 2

(Note 7)
CN3

(Note 1)

External
power
supply
24VDC

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. When starting operation, always connect the emergency stop (EMG) and forward rotation stroke end (LSN), reverse rotation stroke
end (LSP) with VIN. (Normally closed contacts)
5. Trouble (ALM) is connected with VIN in normal alarm-free condition (normally closed contact). When this signal is switched off (at
occurrence of an alarm), the output of the controller should be stopped by the sequence program.
6. When connecting the personal computer together with monitor outputs 1, 2, use the branch cable (MR-E3CBL15-P). (Refer to
section 13.1.3)
7. The pins with the same signal name are connected in the servo amplifier.
8. This length applies to the command pulse train input in the open collector system. It is 10m or less in the differential line driver
system.
9. Use MRZJW3-SETUP154E or 154C.
10. Externally supply 24VDC

10 , 200mA power for the interface. 200mA is a value applicable when all I/O signals are used.

Reducing the number of I/O points decreases the current capacity. Refer to the current necessary for the interface described in
section 3.6.2. Connect the external 24VDC power supply if the output signals are not used.

3- 3

3. SIGNALS AND WIRING

(2) AD75P

(A1SD75P )
Positioning module
AD75P
(A1SD75P )

READY
COM
INPS

7
26
8

PGO(24V)
PGO(5V)
PGO COM
CLEAR

6
24
25
5
23
21
3
22
4

CLEAR COM
PULSE F
PULSE F
PULSE R
PULSE R

PULSE F
PULSE COM
PULSE R
PULSE COM

DOG
FLS
RLS
STOP
CHG
START
COM
COM

Servo amplifier

(Note 8) 10m max.

1
19
2
20
11
12
13
14
15
16
35
36

(Note 7)
CN1
11
RD
13
SG
10
INP

(Note 11)

(Note 7)
CN1
1

VIN

ALM

RA1

ZSP

RA2

(Note 2)

Trouble
(Note 5)
Zero speed

19
LZ
20
LZR
1
VIN
5
CR
22
PG
23
PP
24
NG
25
NP
14
LG
SD Plate

(Note 10)

(Note 7)
CN1

24VDC

LAR

LBR

Plate

Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
Encoder Z-phase pulse
(open collector)

(Note 7) (Note 7)
CN3
CN1

EMG

MO1

Analog monitor 1

Servo-on

SON

Control common

Reset

RES

MO2

Analog monitor 2

LSP

LSN

Plate

VIN

(Note 3, 4) Emergency stop

(Note 4) Forward rotation stroke end
Reverse rotation stroke end

(Note 9)
MR Configurator
(Servo configuration software)

Control common

2m max.

Personal
computer
(Note 6)
Communication cable

3- 4

(Note 7)
CN3

(Note 1)

External
power
supply
24VDC

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. When starting operation, always connect the emergency stop (EMG) and forward rotation stroke end (LSN), reverse rotation stroke
end (LSP) with VIN. (Normally closed contacts)
5. Trouble (ALM) is connected with VIN in normal alarm-free condition (normally closed contact). When this signal is switched off (at
occurrence of an alarm), the output of the controller should be stopped by the sequence program.
6. When connecting the personal computer together with monitor outputs 1, 2, use the branch cable (MR-E3CBL15-P). (Refer to
section 13.1.3)
7. The pins with the same signal name are connected in the servo amplifier.
8. This length applies to the command pulse train input in the differential line driver system.
It is 2m or less in the open collector system.
9. Use MRZJW3-SETUP154E or 154C.
10. To enhance noise immunity, connect LG and pulse output COM.
11. Externally supply 24VDC

10 , 200mA power for the interface. 200mA is a value applicable when all I/O signals are used.

3- 5

3. SIGNALS AND WIRING

(3) QD75D

(differential driver)

Positioning module
QD75D

READY
RDY COM
PGO
PGO COM
CLEAR
CLEAR COM
PULSE F
PULSE F
PULSE R
PULSE R

Servo amplifier
(Note 8) 10m max.

11
RD
13
SG
19
LZ
20
LZR
1
VIN
5
CR
22
PG
23
PP
24
NG
25
NP
14
LG
SD Plate

11
12
9
10
13
14
16
15
18
17

(Note 10)

DOG
FLS
RLS
STOP
CHG
PULSER A
PULSER A
PULSER B
PULSER B

3
1
2
4
5
A19
B19
A20
B20

(Note 7)
CN1

(Note 11)

(Note 7)
CN1

VIN

ALM

RA1

ZSP

RA2

INP

RA3

(Note 2)

Trouble
(Note 5)
Zero speed

5V
5V
A
B

(Note 7)
CN1

0V
Manual pulse 5G
generator
MR-HDP01
External
power
supply
24VDC

LAR

LBR

Plate

Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common

(Note 7)
CN1

(Note 3, 4) Emergency stop

Encoder Z-phase pulse
(open collector)

EMG

Servo-on

SON

Reset

RES

LSP

Control common

LSN

MO2

Analog monitor 2

VIN

1
Plate

(Note 4) Forward rotation stroke end
Reverse rotation stroke end
10m or less
(Note 9)
MR Configurator
(Servo configuration software)

(Note 7)
CN3
4
MO1

Analog monitor 1

Control common

2m max.
Personal
computer
(Note 6)
Communication cable

3- 6

(Note 7)
CN3

(Note 1)

External
power
supply
24VDC

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. When starting operation, always connect the emergency stop (EMG) and forward rotation stroke end (LSN), reverse rotation stroke
end (LSP) with VIN. (Normally closed contacts)
5. Trouble (ALM) is connected with VIN in normal alarm-free condition (normally closed contact). When this signal is switched off (at
occurrence of an alarm), the output of the controller should be stopped by the sequence program.
6. When connecting the personal computer together with monitor outputs 1, 2, use the branch cable (MR-E3CBL15-P). (Refer to
section 13.1.3)
7. The pins with the same signal name are connected in the servo amplifier.
8. This length applies to the command pulse train input in the differential line driver system.
It is 2m or less in the open collector system.
9. Use MRZJW3-SETUP154E or 154C.
10. This connection is not required for the QD75D. Depending on the used positioning module, however, it is recommended to
connect the LG and control common terminals of the servo amplifier to enhance noise immunity.
11. Externally supply 24VDC

10 , 200mA power for the interface. 200mA is a value applicable when all I/O signals are used.

3- 7

3. SIGNALS AND WIRING

3.1.2 Internal speed control mode
Servo amplifier
(Note 7)
CN1
1

(Note 7)
CN1
EMG

Servo-on

SON

Forward rotation start

ST1

ST2

LSP

LSN

VIN

Reverse rotation start
(Note 4) Forward rotation stroke end
Reverse rotation stroke end

(Note 2)

ALM

RA1

ZSP

RA2

RA3

RA4

(Note 9)
Trouble
(Note 5)
Zero speed
Speed reached

10m max.

(Note 3, 4) Emergency stop

VIN

External
power
supply
24VDC

Ready

LZR

LAR

LBR

Plate

Encoder Z-phase pulse
(differential line driver)
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
Encoder Z-phase pulse
(open collector)

(Note 7)
CN3

(Note 8)
MR Configurator
(Servo configuration software)

Personal
computer

(Note 6)
Communication cable

(Note 7)
CN3

MO1

Analog monitor 1

Control common

MO2

Analog monitor 2

Plate

Control common

2m max.

(Note 1)

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

) of the servo amplifier to the

10 , 200mA power for the interface. 200mA is a value applicable when all I/O signals are used.

3- 8

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
(Note)

(Note)

External
power
supply
24VDC

CN1

VIN

INP

ST2

SON

RES

ST1

EMG EMG

LSP

LSN

CN1

OPC

LAR

LBR

Case

LZR

Approx. 4.7k

ALM

ZSP

Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k

Approx. 100

Approx. 1.2k

CN3
4

MO1

MO2

TXD

RXD

Case

Note. P: Position control mode, S: Internal speed control mode

3- 9

3. SIGNALS AND WIRING

3.3 I/O signals
3.3.1 Connectors and signal arrangements
POINT
The pin configurations of the connectors are as viewed from the cable
connector wiring section.
Refer to the next page for CN1 signal assignment.
(1) Signal arrangement
CN3
3
LG

1
RXD

CN1

1
MODE

SET

OPC
CN3
4
MO1

6
MO2

2
TXD

MITSUBISHI
MR-E

SON
6

CN1

LSP
8
CN2

CNP1

2
LG

6
4

MRR

MDR

1
P5

10
CHARGE

CN2

L3L2L1 D C P

CNP2

WV U

EMG

INP
12
ZSP

VIN
3
RES
5
CR
7
LSN
9
ALM
11
RD
13
SG

The connector frames are
connected with the PE (earth)
terminal inside the servo amplifier.

3 - 10

14
15
LA
17
LB
19
LZ
21
OP
23
PP
25
NP

LG
16
LAR
18
LBR
20
LZR
22
PG
24
NG
26

3. SIGNALS AND WIRING

(2) CN1 signal assignment
The signal assignment of connector changes with the control mode as indicated below;
For the pins which are given parameter No.s in the related parameter column, their signals can be changed
using those parameters.
Connector

Pin No.
1
2

CN1

(Note 2) I/O Signals in control modes

(Note 1) I/O

Related parameter

P/S

VIN

OPC

RES

RES/ST1

ST1

No.43 to 48

SON

No.43 to 48

LOP

ST2

No.43 to 48

LSP

No.43 48
No.43 48

LSN

EMG

ALM

No.49

INP

INP/SA

No.49

ZSP

No.1, 49

SG
LG

13
14

LAR

LBR

LZR

PG/

PP/

NG/

NP/

26
Note 1. I: Input signal, O: Output signal
2. P: Position control mode, S: Internal speed control mode, P/S: Position/internal speed control change mode

3 - 11

3. SIGNALS AND WIRING

(3) Symbols and signal names
Symbol

Signal name

Symbol

Signal name

SON

Servo-on

ZSP

Zero speed detection

LSP

Forward rotation stroke end

INP

In position

LSN

Reverse rotation stroke end

Speed reached

Clear

ALM

Trouble

SP1

Speed selection 1

WNG

Warning

SP2

Speed selection 2

Encoder Z-phase pulse (open collector)

Proportion control

MBR

Electromagnetic brake interlock

ST1

Forward rotation start

Encoder Z-phase pulse

ST2

Reverse rotation start

LZR

(differential line driver)

TL1

Internal Torque limit selection

Encoder A-phase pulse

RES

Reset

LAR

(differential line driver)

EMG

Emergency stop

Encoder B-phase pulse

LOP

Control change

LBR

(differential line driver)

VIN

Digital I/F power supply input

OPC

Open collector power input

Digital I/F common

Control common

Shield

Forward/reverse rotation pulse train

NG
RD

Ready

3 - 12

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: Internal speed 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 No.43 to
49.
The pin No.s in the connector pin No. column are those in the initial status.
(1) Input signals
POINT
The acceptance delay time of each input signal is less than 10ms.

Signal
Servo-on

Symbol

Connector
pin No.

SON

CN1-4

Functions/applications
Connect SON-VIN to switch on the base circuit and make the servo
amplifier ready to operate (servo-on).

I/O
division
DI-1

Disconnect SON-VIN 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

CN1-3

Disconnect RES-VIN for more than 50ms to reset the alarm.

DI-1

Some alarms cannot be deactivated by the reset (RES). (Refer to section
10.2.1.)
Shorting RES-VIN 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.
This device is not designed to make a stop. Do not turn it ON during
operation.
Forward rotation
stroke end

LSP

CN1-6

To start operation, short LSP-VIN and/or LSN-VIN. Open them to 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

Reverse rotation
stroke end

LSN

CN1-7

LSP

LSN

Operation
CCW

direction

Note. 0: LSP/LSN-VIN off (open)
1: LSP/LSN-VIN 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

LSP

LSN

3 - 13

DI-1

Control
mode
P

3. SIGNALS AND WIRING

Signal
Internal torque
limit selection

Symbol

Connector
pin No.

TL1

Functions/applications
When using this signal, make it usable by making the setting of parameter
No.43 to 48.

I/O
division
DI-1

(Refer to section 3.4.1 (5).)
Forward rotation
start

ST1

CN1-3

Used to start the servo motor in any of the following directions.
(Note) Input signals
ST2

Reverse rotation
start

ST2

CN1-5

DI-1

Servo motor starting direction

ST1

Stop (servo lock)

CCW

Stop (servo lock)

Note. 0: ST1/ST2-VIN off (open)
1: ST1/ST2-VIN 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.
Speed selection 1

SP1

DI-1

Used to select the command speed for operation.
When using SP1 to SP3, make it usable by making the setting of
parameter No.43 to 48.
Speed selection 2

SP2

Speed selection 3

SP3

(Note) Input signals

Servo motor starting direction

SP3

SP2

SP1

Internal speed command 1 (parameter No.8)

Internal speed command 2 (parameter No.9)

Internal speed command 3 (parameter No.10)

Internal speed command 4 (parameter No.72)

Internal speed command 5 (parameter No.73)

Internal speed command 6 (parameter No.74)

Internal speed command 7 (parameter No.75)

DI-1
DI-1

Note. 0: SP1/SP2/SP3-VIN off (open)
1: SP1/SP2/SP3-VIN on (short)
Proportion control

Connect PC-VIN to switch the speed amplifier from the proportional integral
type to the proportional type.
If the servo motor at a stop is rotated even one pulse due to any external
factor, it generates torque to compensate for a position shift. When the
servo motor shaft is to be locked mechanically after positioning completion
(stop), switching on the 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, set the internal torque limit 1
and 2 (parameter No.28 and 76) to make the torque less than the rated
torque at the same time of turning ON the proportion control signal.

3 - 14

DI-1

Control
mode
P

3. SIGNALS AND WIRING

Signal
Emergency stop

Symbol

Connector
pin No.

EMG

CN1-8

CN1-5

Functions/applications
Disconnect EMG-VIN to bring the servo motor to emergency stop state, in
which the servo is switched off and the dynamic brake is operated.

I/O
division

Control
mode
P

DI-1

Connect EMG-VIN in the emergency stop state to reset that state.
Clear

Connect CR-VIN to clear the position control counter droop pulses on its
leading edge. The pulse width should be 10ms or more.
When the parameter No.42 setting is "

DI-1

1 ", the pulses are always

cleared while CR-VIN are connected.
Electronic gear
selection 1

CM1

When using CM1 and CM2, make them usable by the setting of
parameters No.43 to 48.

DI-1

The combination of CM1-VIN and CM2-VIN gives you a choice of four
different electronic gear numerators set in the parameters.
Electronic gear
selection 2

CM2

(Note) Input signals

Electronic gear numerator

CM2

CM1

Parameter No.3

Parameter No.69

Parameter No.70

Parameter No.71

DI-1

Note. 0: CM1/CM2-VIN off (open)
1: CM1/CM2-VIN on (short)
Gain changing

CDP

When using this signal, make it usable by the setting of parameter No.43 to
48.

DI-1

Connect CDP-VIN 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.
Control change

LOP

DI-1

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

Refer to
Functions
/applications

(Note) LOP

Control mode

Position

Internal speed

Note. 0: LOP-VIN off (open)
1: LOP-VIN on (short)
Forward rotation
pulse train

CN1-23

Reverse rotation
pulse train

CN1-25

CN1-22

CN1-24

Used to enter a command pulse train.
In the open collector system (max. input frequency 200kpps).
Forward rotation pulse train across PP-SG
Reverse rotation pulse train across NP-SG
In the differential receiver system (max. input frequency 500kpps).
Forward rotation pulse train across PG-PP
Reverse rotation pulse train across NG-NP
The command pulse train form can be changed using parameter No.21.

3 - 15

DI-2

3. SIGNALS AND WIRING

(2) Output signals
Signal

Symbol

Connector
pin No.

Functions/applications

I/O
division

Trouble

ALM

CN1-9

ALM-VIN are disconnected when power is switched off or the protective
circuit is activated to shut off the base circuit. Without alarm, ALM-VIN are
connected within about 1s after power on.

DO-1

Ready

CN1-11

RD-VIN are connected when the servo is switched on and the servo
amplifier is ready to operate.

DO-1

In position

INP

CN1-10

INP-VIN are connected when the number of droop pulses is in the preset
in-position range. The in-position range can be changed using parameter
No.5.

DO-1

When the in-position range is increased, INP-VIN may be kept connected
during low-speed rotation.
Speed reached

Zero speed
detection

ZSP

CN1-12

Electromagnetic
brake interlock

MBR

(CN1-12)

SA turns off when servo on (SON) turns off or the servo motor speed has
not reached the preset speed with both forward rotation start (ST1) and
reverse rotation start (ST2) turned off. SA turns on when the servo motor
speed has nearly reached the preset speed. When the preset speed is
20r/min or less, SA always turns on.

DO-1

ZSP-VIN are connected when the servo motor speed is zero speed
(50r/min) or less. Zero speed can be changed using parameter No.24.

DO-1

Set "
1 " in parameter No.1 to use this parameter. Note that ZSP will
be unusable.

DO-1

In the servo-off or alarm status, MBR-VIN 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 parameter
No.49. The old signal before assignment will be unusable.
When warning has occurred, WNG-VIN are connected.
When there is no warning, WNG-VIN are disconnected within about 1s
after power-on.

3 - 16

DO-1

Control
mode
P

3. SIGNALS AND WIRING

Signal
Alarm code

Symbol

Connector
pin No.

I/O
division

Functions/applications

ACD 0

To use this signal, set "

1" in parameter No.49.

ACD 1

This signal is output when an alarm occurs. When there is no alarm,
respective ordinary signals (RD, INP, SA, ZSP) are output.
Alarm codes and alarm names are listed below.

ACD 2
(Note) Alarm code
CN1

CN1

Alarm
display

Name

12 Pin 11 Pin 10 Pin

0
0

1
0

88888

Watchdog

AL.12

Memory error 1

Clock error

AL.15

Memory error 2

AL.17

Board error

AL.19

Memory error 3

AL.37

Parameter error

AL.8A

Serial communication timeout

AL.8E

Serial communication error

0
1

AL.13

AL.30

Regenerative error

AL.33

Overvoltage

AL.10

Undervoltage

AL.45

Main circuit device

AL.46

Servo motor overheat

AL.50

Overload 1

AL.51

Overload 2

AL.24

Main circuit error

AL.32

Overcurrent

AL.31

Overspeed

AL.35

Command pulse frequency alarm

AL.52

Error excessive

AL.16

Encoder error 1

AL.1A

Monitor combination error

AL.20

Encoder error 2

Note. 0: Pin-VIN off (open)
1: Pin-VIN on (short)

3 - 17

DO-1

Control
mode
P

3. SIGNALS AND WIRING

Signal

Symbol

Connector
pin No.

Encoder Z-phase

CN1-21

pulse
(Open collector)

Functions/applications
Outputs the zero-point signal of the encoder. One pulse is output per servo
motor revolution. OP and LG are connected when the zero-point position is
reached. (Negative logic)

I/O
division

Control
mode
P

DO-2

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
pulse

CN1-15

LAR

CN1-16

(Differential line
driver)
Encoder B-phase
pulse

Outputs pulses per servo motor revolution set in parameter No.27 in the
differential line driver system. In CCW rotation of the servo motor, the
encoder B-phase pulse lags the encoder A-phase pulse by a phase angle
of /2.

CN1-17

LBR

CN1-18

The relationships between rotation direction and phase difference of the Aand B-phase pulses can be changed using parameter No.54.

The same signal as OP is output in the differential line driver system.

DO-2

(Differential line
driver)
Encoder Z-phase

CN1-19

LZR

CN1-20

Analog monitor 1

MO1

CN3-4

Used to output the data set in parameter No.17 to across MO1-LG in terms
of voltage. Resolution 10 bits

Analog
output

Analog monitor 2

MO2

CN3-6

Used to output the data set in parameter No.17 to across MO2-LG in terms
of voltage. Resolution 10 bits

Analog
output

Functions/applications

I/O
division

pulse

DO-2

(Differential line
driver)

(3) Communication
Signal

Symbol

RS-232C I/F

Connector
pin No.

RXD

CN3-1

TXD

CN3-2

Symbol

Connector
pin No.

Control
mode
P

RS-232C communication interface.

(4) Power supply
Signal
Digital I/F power
supply input

VIN

CN1-1

Open collector
power input

OPC

CN1-2

Digital I/F
common

CN1-13

Control common

Functions/applications
Used to input 24VDC for input interface.
Connect the positive terminal of the 24VDC external power supply.
24VDC

When inputting a pulse train in the open collector system, supply this
terminal with the positive ( ) power of 24VDC.
Common terminal for output signals such as ALM and INP.
Separated from LG.

CN1-14

Common terminal for OP, MO1, and MO2.
Pins are connected internally.

Shield

Plate

Connect the external conductor of the shield cable.

3 - 18

I/O
division

Control
mode
P

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.
Pulse train form
Forward rotation pulse
train

Negative logic

Reverse rotation pulse
train

Forward rotation command Reverse rotation command

Parameter No.21
(Command pulse train)

PP
0010
NP

PP
Pulse train

0011

sign

PP
A-phase pulse train
B-phase pulse train

0012

Positive logic

Forward rotation pulse
train
Reverse rotation pulse
train

PP
0000
NP

PP
Pulse train

0001

sign

PP
A-phase pulse train
B-phase pulse train

0002
NP

3 - 19

3. SIGNALS AND WIRING

(b) Connections and waveforms
1) Open collector system
Connect as shown below.
Servo amplifier
External power
supply 24VDC OPC

(Note)

Approx.
1.2k

SG
SD

Note. Pulse train input interface is comprised of a photo coupler.
Therefore, it may be any malfunctions since the current is reduced when connect a resistance
to a pulse train signal line.

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
(1) (a) 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
(transistor)
Reverse rotation
pulse train
(transistor)

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

(OFF)

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

Forward rotation command

3 - 20

Reverse rotation command

3. SIGNALS AND WIRING

2) Differential line driver system
Connect as shown below.
Servo amplifier
Approx.

PP 100
PG
(Note)

Approx.

NP 100
NG

Note. Pulse train input interface is comprised of a photo coupler.
Therefore, it may be any malfunctions since the current is reduced when connect a resistance
to a pulse train signal line.

The explanation assumes that the input waveform has been set to the negative logic and forward and
reverse rotation pulse trains (parameter No.21 has been set to 0010).
For the differential line driver, the waveforms in the table in (1) (a) 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

3 - 21

Reverse rotation command

3. SIGNALS AND WIRING

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

ON
OFF
Yes

Alarm

No
In-position range

Droop pulses
In position (INP)

ON
OFF

(3) Ready (RD)
Servo-on (SON)

Alarm

Ready (RD)

ON
OFF
Yes
No
ON

80ms or less

10ms or less

OFF

(4) Electronic gear switching
The combination of CM1-VIN and CM2-VIN 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 numerator 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 numerator

CM2

CM1

Parameter No.3

Parameter No.69

Parameter No.70

Parameter No.71

Note. 0: CM1/CM2-VIN off(open)
1: CM1/CM2-VIN on(short)

3 - 22

3. SIGNALS AND WIRING

(5) Torque limit

CAUTION

Releasing the torque limit during servo lock may cause the servo motor to
suddenly rotate according to the position deviation from the instructed position.

(a) Torque limit and 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 torque is shown below.

Torque

Max. torque

0
0

100
Torque limit value [%]

(b) Torque limit value selection
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 parameter No.76, the parameter No.28 value is made valid.
(Note) External input signals
TL1
0
1

Torque limit value made valid
Internal torque limit value 1 (parameter No.28)
Parameter No.76 Parameter No.28: Parameter No.28
Parameter No.76 Parameter No.28: Parameter No.76

Note. 0: TL/TL1-VIN off (open)
1: TL/TL1-VIN on (short)

3 - 23

3. SIGNALS AND WIRING

3.4.2 Internal speed control mode
(1) Speed setting
(a) Speed command and speed
The servo motor is run at the speeds set in the parameters.

Forward rotation (CCW)

Reverse rotation (CW)

The following table indicates the rotation direction according to forward rotation start (ST1) and reverse
rotation start (ST2) combination.
(Note 1) External input signals

(Note 2) Rotation direction

ST2

ST1

Internal speed commands

Stop (Servo lock)

CCW

Stop (Servo lock)

Note 1. 0: ST1/ST2-VIN off (open)
1: ST1/ST2-VIN on (short)
2. Releasing the torque limit during servo lock may cause the servo motor to suddenly rotate according to the position
deviation from the instructed position.

The forward rotation start (ST1) and reverse rotation start (ST2) can be assigned to any pins of the
connector CN1 using parameters No.43 to 48.
Generally, make connection as shown below.
Servo amplifier
ST1
ST2
VIN
SD

3 - 24

3. SIGNALS AND WIRING

(b) Speed selection 1 (SP1), speed selection 2 (SP2), speed selection 3 (SP3) and speed command value
By making speed selection 1 (SP1), speed selection 2 (SP2) and speed selection 3 (SP3) usable by
setting of parameter No.43 to 47, you can choose the speed command values of internal speed
commands 1 to 7.
(Note) External input signals

Speed command value

SP3

SP2

SP1

Internal speed command 1 (parameter No.8)

Internal speed command 2 (parameter No.9)

Internal speed command 3 (parameter No.10)

Internal speed command 4 (parameter No.72)

Internal speed command 5 (parameter No.73)

Internal speed command 6 (parameter No.74)

Internal speed command 7 (parameter No.75)

Note. 0: SP1/SP2/SP3-VIN off (open)
1: SP1/SP2/SP3-VIN 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-VIN are connected when the servo motor speed nearly reaches the speed set to the internal speed
command.
Internal speed
command 1

Set speed selection

Start (ST1,ST2)

ON
OFF

Servo motor speed

Speed reached (SA)

ON
OFF

(3) Torque limit
As in section 3.4.1 (5).

3 - 25

Internal speed
command 2

3. SIGNALS AND WIRING

3.4.3 Position/internal speed control change mode
Set "0001" in parameter No.0 to switch to the position/internal speed control change mode.
(1) Control change (LOP)
Use control change (LOP) to switch between the position control mode and the internal speed control mode
from an external contact. Relationships between LOP-VIN status and control modes are indicated below.
(Note) LOP

Servo control mode

Position control mode

Speed control mode

Note. 0: LOP-VIN off (open)
1: LOP-VIN 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 LOP 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
control mode

Servo motor speed

Internal speed
control mode

Position
control mode

Zero speed
level

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

(Note)

Note. When Zero speed detection (ZSP) is not on, control cannot be
changed if Control change (LOP) is switched on-off.
If Zero speed detection (ZSP) switches on after that, control cannot
be changed.

(2) Torque limit in position control mode
As in section 3.4.1 (5).

3 - 26

3. SIGNALS AND WIRING

(3) Internal 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) the forward
rotation start (ST1) and reverse rotation start (ST2) are as in section 3.4.2 (1) (a).
Generally, make connection as shown below.
Servo amplifier
SP2
VIN
SD

(b) Speed selection 2 (SP2) and speed command value
Use speed selection 2 (SP2) to select between the speed set by the internal speed command 1 and the
speed set by the Internal speed command 2 as indicated in the following table.
(Note) External input signals
SP1

Speed command value

Internal speed command 1 (parameter No.8)

Internal speed command 2 (parameter No.9)

Note. 0: SP1-VIN off (open)
1: SP1-VIN 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).

3 - 27

3. SIGNALS AND WIRING

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

CAUTION

As soon as an alarm occurs, turn off Servo-on (SON) and power off the power
supply.
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 power supply in the external sequence. To reset the alarm, switch the power supply from
off to on, press the "SET" button on the current alarm screen, or turn the reset (RES) from off to on. However,
the alarm cannot be reset unless its cause is removed.
(Note)
Power supply

ON
OFF
Base circuit
ON
OFF
Valid
Dynamic brake
Invalid
Servo-on
(SON)
Ready
(RD)
Trouble
(ALM)
Reset
(RES)

ON
OFF
ON
OFF
ON
OFF
ON
OFF

Power off

Brake operation

Power on

Brake operation

2s
50ms or more

Alarm occurs.

60ms or more

Remove cause of trouble.
Note. Shut off the power as soon as an alarm occurs.

(1) Overcurrent, overload 1 or overload 2
If operation is repeated by switching 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 error
If operation is repeated by switching power off, then on to reset the regenerative (AL.30) alarm after
its occurrence, the external regenerative resistor will generate heat, resulting in an accident.
(3) Instantaneous power failure
Undervoltage (AL.10) occurs when the input power is in either of the following statuses.
A power failure of the control circuit power supply continues for 60ms or longer, then the power
restores.
During the servo-on status, the bus voltage dropped to 200VDC.
(4) In position control mode
When an alarm occurs, the home position is lost. When resuming operation after deactivating the
alarm, make a home position return.

3 - 28

3. SIGNALS AND WIRING

3.6 Interfaces
3.6.1 Common line
The following diagram shows the power supply and its common line.
CN1

CN1
ALM, etc.

VIN

External
power
supply
24VDC

DO-1

SON, etc.

DI-1
SG
(Note)

OPC
PG NG
PP NP

< Isolated >

OP
LG
LA etc.

Differential line
driver output
35mA max.

LAR
etc.

LG
SD
MO1
MO2

CN3 Analog monitor output

LG
SD

SD
TXD
RXD
MR

Servo motor

RS-232C
CN2

Servo motor encoder

MRR
LG

SD
Ground

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

OPC
PG

3 - 29

3. SIGNALS AND WIRING

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 section
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.
Servo amplifier

VIN

SON, etc.

R: Approx. 4.7k

External power
supply 24VDC
200mA or more

(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 resistor (R) for a lamp load. (Rated current: 40mA or less, maximum current: 50mA or less,
inrush current: 100mA or less)
(a) Inductive load
Servo amplifier

VIN
(Note)
External
power supply
24VDC 10%

ALM,
etc.
Load
SG

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

Note. If the voltage drop (maximum of 2.6V) interferes with the relay operation, apply high voltage (up to 26.4V) from external
source.

3 - 30

3. SIGNALS AND WIRING

(b) Lamp load
Servo amplifier

VIN
ALM,
etc.
R

(Note)
External
power supply
24VDC 10%

Note. If the voltage drop (maximum of 2.6V) interferes with the relay operation, apply high voltage (up to 26.4V) from external
source.

(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
Servo amplifier

Max. input pulse
frequency 200kpps

OPC

External power
supply 24VDC

Approx. 1.2k

2m (78.74in)
or less
PP, NP

(Note)
SG
SD

Note. Pulse train input interface is comprised of a photo coupler.
Therefore, it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line.

2) Conditions of the input pulse
tc
PP

tHL

tLH tHL 0.2 s
tc 2 s
tF 3 s

0.9
0.1
tc

tLH

3 - 31

3. SIGNALS AND WIRING

(b) Differential line driver system
1) Interface
Servo amplifier
Max. input pulse
frequency 500kpps

10m or less

PP(NP)
(Note)

Approx. 100
PG(NG)
SD

Am26LS31 or equivalent
VOH: 2.5V
VOL: 0.5V

Note. Pulse train input interface is comprised of a photo coupler.
Therefore, it may be any malfunctions since the current is reduced when connect a resistance
to a pulse train signal line.

2) Conditions of the input pulse
tc
PP PG

tHL

tLH tHL 0.1 s
tc 1 s
tF 3 s

0.9
0.1
tc

tLH

NP NG

(4) Encoder pulse output
(a) Open collector system
Interface
Max. output current : 35mA
Servo amplifier

Servo amplifier

3 - 32

5 to 24VDC

Photocoupler

3. SIGNALS AND WIRING

(b) Differential line driver system
1) Interface
Max. output current: 35mA
Servo amplifier

Servo amplifier

LA
(LB, LZ)

Am26LS32 or equivalent

LA
(LB, LZ)

100

150
LAR
(LBR, LZR)

LAR
(LBR, LZR)
LG
SD

2) Output pulse
Servo motor CCW rotation
LA
LAR

Time cycle (T) is determined by the settings
of parameter No.27 and 54.

LB
LBR

LZ
LZR
400 s or more
OP

(5) Analog output
Output voltage 10V
Max. 1mA
Max. output current
Resolution: 10bit
Servo amplifier

MO1
(MO2)
Output voltage: 10V
Max. Output current: 1mA
Resolution: 10 bits or equivalent

3 - 33

High-speed photocoupler

3. SIGNALS AND WIRING

3.7 Input power supply circuit
Always connect a magnetic contactor between the main circuit power supply and
L1, L2, and L3 of the servo amplifier, and configure the wiring to be able to shut
down the power supply on the side of the servo amplifier’s power supply. If a
magnetic contactor is not connected, continuous flow of a large current may cause
a fire when the servo amplifier malfunctions.

CAUTION

Use the trouble (ALM) to switch power off. Otherwise, a regenerative transistor
fault or the like may overheat the regenerative resistor, causing a fire.
For main circuit power supply of servo amplifier, check the model of servo amplifier
and input the correct voltage. If a voltage exceeding the upper limit shown in the
servo amplifier input voltage specification is input, the servo amplifier malfunctions.
POINT
The power supply connector (CNP1) is optional. Purchase it without fail.

3.7.1 Connection example
Wire the power supply and main circuit as shown below so that the servo-on (SON) turns off as soon as alarm
occurrence is detected and power is shut off.
A circuit breaker (MCCB) must be used with the input cables of the power supply.
(1) For 3-phase 200 to 230VAC power supply
Emergency
stop
(Note 2) OFF

ON
RA

SK
MCCB

MC (Note 3)

3-phase
200 to 230 VAC

CNP1 Servo amplifier
L1
L2
L3

(Note 1)

P
D
C

Emergency stop (Note 2)
Servo-on

EMG
SON
VIN
VIN
ALM

External
power
Trouble supply
24VDC

Note 1. To use the built-in regenerative resistor, be sure to connect across P and D of the power supply connector (CNP1).
2. Configure the circuit to shut off the main circuit power supply by an external sequence simultaneously with the emergency
stop turning OFF.
3. Be sure to use a magnetic contactor with an operation delay time of 80ms or less. The operation delay time is the time
interval between current being applied to the coil until closure of contacts.

3 - 34

3. SIGNALS AND WIRING

(2) For 1-phase 230VAC power supply
Emergency
stop
(Note 2) OFF

ON
RA

SK
MCCB

MC (Note 3) CNP1
Servo amplifier
L1

1-phase 230VAC

L2
L3
P

(Note 1)

D
C
EMG

Emergency stop (Note 2)
Servo-on

SON
VIN
VIN
ALM

External
power
Trouble supply
24VDC

3.7.2 Terminals
Refer to section 11.1 (4) for the signal arrangement.
Connected terminal
(Application)

Symbol

Description
Supply L1, L2 and L3 with the following power.
For 1-phase 230VAC, connect the power supply to L1, L2 and L3 open.
Servo amplifier
Power supply

Power supply

Servo motor

Regenerative option

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

MR-E-100A-QW003/
MR-E-200A-QW003

L1 L2 L3
L1 L2

U
V
W

Connect to the servo motor power terminals (U, V, W). During power-on, do not open
or close the motor power line. Otherwise, a malfunction or faulty may occur.

To use the built-in regenerative resistor of the servo amplifier, connect the wiring across
P-D of the power supply connector (CNP1).
When using the regenerative option, always remove the wiring from across P-D and
connect the regenerative option across P-C.
Refer to section 13.1.1 for details.

C
D

Protective earth (PE)

MR-E-10A-QW003 to
MR-E-70A-QW003

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

3 - 35

3. SIGNALS AND WIRING

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
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) The servo amplifier can accept the servo-on (SON) 2s or more after the power supply is switched on.
Therefore, when SON is switched on simultaneously with the power supply, the base circuit will switch
on in about 1 to 2s, and the ready (RD) will switch on in further about 20ms, making the servo amplifier
ready to operate. (Refer to paragraph (2) in this section.)
3) When the reset (RES) is switched on, the base circuit is shut off and the servo motor shaft coasts.
(2) Timing chart
SON accepted
2s or longer

power supply

ON
OFF

Base circuit

ON
OFF

Servo-on
(SON)

ON
OFF

Reset
(RES)

ON
OFF

Ready
(RD)

ON
OFF

(1 to 2s)

10ms

60ms

20ms

10ms

20ms

10ms

Power-on timing chart

(3) Emergency stop

CAUTION

Provide an external emergency stop circuit to ensure that operation can be
stopped and power switched off immediately.

Make up a circuit which shuts off power as soon as EMG-VIN are opened at an emergency stop. To ensure
safety, always install an external emergency stop switch across EMG-VIN. By disconnecting EMG-VIN, 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.
The servo amplifier life may be shortened.
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.

VIN
External power
supply 24VDC

Emergency stop

EMG
SG

3 - 36

3. SIGNALS AND WIRING

3.8 Servo motor with electromagnetic brake
3.8.1 Precautions
Configure an electromagnetic brake circuit so that it is activated also by an external
EMG stop switch.
Contacts must be open when
an trouble (ALM) and when an
electromagnetic brake interlock
(MBR) turns off.

Contacts must be open with
the EMG stop switch.

Servo motor
RA
24VDC

CAUTION
Electromagnetic brake

The electromagnetic brake is provided for holding purpose and must not be used
for ordinary braking.
Before performing the operation, be sure to confirm that the electromagnetic brake
operates properly.
Do not use the 24VDC interface power supply for the electromagnetic brake.
Always use the power supply designed exclusively for the electromagnetic brake.
Otherwise, a fault may occur.
POINT
Refer to HF-KN/HF-SN Servo Motor Instruction Manual for specifications such
as the power supply capacity and operation delay time of the electromagnetic
brake.
Refer to HF-KN/HF-SN Servo Motor Instruction Manual for wiring diagrams.
Note the following when the servo motor equipped with electromagnetic brake is used.
1) Set "
1 " in parameter No.1 to make the electromagnetic brake interlock (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 (RES) is on, the base circuit is shut off. When using the servo motor with a vertical
shaft, use the electromagnetic brake interlock (MBR).
5) Switch off the servo-on signal after the servo motor has stopped.
3.8.2 Setting
1) Set "
1 " in parameter No.1 to make the electromagnetic brake interlock (MBR) valid.
2) Using parameter No.33 (electromagnetic brake sequence output), set a delay time (Tb) at servo-off from
electromagnetic brake operation to base circuit shut-off as in the timing chart shown in section 3.9.3.

3 - 37

3. SIGNALS AND WIRING

3.8.3 Timing charts
(1) 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 Delay time (Tb)
to about the same as the electromagnetic brake operation delay time to prevent a drop.
Coasting
0 r/min

Servo motor speed

(60ms)
Base circuit

ON
OFF

Electromagnetic
brake (MBR)
Servo-on(SON)

(80ms)

Invalid(ON)

Electromagnetic brake
operation delay time

Valid(OFF)
ON
OFF

(2) Emergency stop (EMG) ON/OFF

Servo motor speed
(10ms)
Base circuit

Dynamic brake
Dynamic brake
Electromagnetic brake
Electromagnetic brake
Electromagnetic brake release
(180ms)

ON
OFF

Electromagnetic
brake interlock (MBR)

Invalid (ON)
Valid (OFF)

(180ms)
Electromagnetic brake
operation delay time

Invalid (ON)
Emergency stop (EMG)
Valid (OFF)

3 - 38

3. SIGNALS AND WIRING

(3) Alarm occurrence
Dynamic brake
Dynamic brake
Electromagnetic brake

Servo motor speed

Electromagnetic brake
(10ms)

Base circuit

ON
OFF

Invalid(ON)
Electromagnetic
brake interlock (MBR)
Valid(OFF)

Electromagnetic brake
operation delay time

No(ON)
Trouble (ALM)

Yes(OFF)

(4) Power off
(10ms)
(Note)
15 to 100ms

Servo motor speed

Dynamic brake
Dynamic brake
Electromagnetic brake
Electromagnetic brake

ON
Base circuit
OFF
Invalid(ON)
Electromagnetic
brake interlock(MBR) Valid(OFF)
Electromagnetic brake
operation delay time
(Note 2)

No(ON)
Trouble (ALM)
Yes(OFF)
ON
Power
OFF
Note. Changes with the operating status.

3 - 39

3. SIGNALS AND WIRING

3.9 Grounding
Ground the servo amplifier and servo motor securely.

WARNING

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

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

MCCB

Servo amplifier

CN2

(Note)
Power supply

Line filter

L1
Encoder
L2
L3
U

Programmable
controllers

CN1

Protective earth(PE)

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

Outer
box

Note. For 1-phase 230VAC, connect the power supply to L1, L2 and leave L3 open. Refer to section 1.3 for the power supply
specification.

3 - 40

3. SIGNALS AND WIRING

3.10 Servo amplifier connectors (CNP1, CNP2) wiring method (When MR-ECPN1-B and MR-ECPN2-B of an
option are used.)
POINT
For the wire sizes used for wiring, refer to Table 13.1 1), 2) and 3) of section
13.2.1.
(1) Termination of the cables
Solid wire: After the insulator has been stripped, the cable can be used as it is.

8 to 9 mm

Twisted wire: Use the cable after stripping the insulator 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.

3 - 41

3. SIGNALS AND WIRING

(2) Inserting the cable into the connector
(a) Applicable flat-blade screwdriver dimensions
Always use the screwdriver shown here to do the work.
[Unit: mm]
(22)

0.6

(R0.3)

3 to 3.5

(R0.3)

(b) When using the flat-blade screwdriver - part 1

1) Insert the screwdriver into the square hole.
Insert it along the top of the square hole to insert it smoothly.

2) If inserted properly, the screwdriver is held.

3) With the screwdriver held, insert the cable in the direction
of arrow. (Insert the cable as far as it will go.)

4) Releasing the screwdriver connects the cable.

3 - 42

3. SIGNALS AND WIRING

1) Insert the screwdriver into the
square window at top of the
connector.

2) Push the screwdriver in the
direction of arrow.

4) Releasing the screwdriver connects the cable.

3 - 43

3) With the screwdriver pushed, insert the cable in the
direction of arrow. (Insert the cable as far as it will go.)

3. SIGNALS AND WIRING

3.11 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

Insulator

Core
Insulator
External conductor
Pull back the external conductor to cover the insulator

Strip the insulator
Screw

Cable

Screw
Ground plate

3 - 44

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) 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) of the servo motor.
(d) The earth terminal of the servo motor is connected to the PE terminal of the servo amplifier.
(e) When using the regenerative option, the lead has been removed from across D-P of the servo amplifier
built-in regenerative resistor, and twisted cables are used for its wiring.
(f) When stroke end limit switches are used, the signals across LSP-VIN and LSN-VIN are on during
operation.
(g) 24VDC or higher voltages are not applied to the pins of connectors CN1.
(h) SD and SG of connectors CN1 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.

4- 1

4. OPERATION

4.2 Startup

WARNING

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

CAUTION

Before starting operation, check the parameters. Some machines may perform
unexpected operation.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands
and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor,
servo motor, etc. since they may be hot while power is on or for some time after
power-off. Their temperatures may be high and you may get burnt or a parts may
damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can
cause injury.

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
1) Switch off the servo-on (SON).
2) When power is switched on, the display shows "C (Cumulative feedback pulses)", and in two second
later, shows data.
(2) Test operation 1
Confirm servo motor operation by operating JOG of test operation mode at lowest speed possible. (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 section 6.5 for the setting method.
Parameter No.

Name

Setting
3

Description

Control mode, regenerative
option selection

Position control mode
MR-RB12 regenerative option is used.
02
Input filter 3.555ms (initial value)
Electromagnetic brake interlock (MBR) is not used.

Function selection 1

Auto tuning

Electronic gear numerator (CMX)

Electronic gear numerator

Electronic gear denominator (CDV)

Electronic gear denominator

5
Middle response (initial value) is selected.
Auto tuning mode 1 is selected.

Turn the power off after setting parameters No.0 and 1. Then switch power on again to make the set
parameter values valid.

4- 2

4. OPERATION

(4) Servo-on
Switch the servo-on in the following procedure.
1) Switch on power supply.
2) Switch on the servo-on (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 lowest speed
possible 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 3.8 for the servo motor equipped with electromagnetic brake. Note that the stop pattern of
forward rotation stroke end (LSP), reverse rotation stroke end (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 (servo emergency stop warning) occurs.
(d) Forward rotation stroke end (LSP), reverse rotation stroke end (LSN) OFF
The droop pulse value is erased and the servo motor is stopped and servo-locked. It can be run in the
opposite direction.

4- 3

4. OPERATION

4.2.3 Internal speed control mode
(1) Power on
1) Switch off the servo-on (SON).
2) When 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 section 6.5 for the setting method.
Parameter No.

Name

Setting
0

Description

Control mode, regenerative option
selection

Function selection 1

Auto tuning

Internal speed command 1

1000

Internal speed command 1

1500

Set 1500r/min.

Internal speed command 1

2000

Set 2000r/min.

Acceleration time constant

1000

Set 1000ms.

Deceleration time constant

500

Set 500ms.

S-pattern acceleration/deceleration
time constant

Internal speed control mode
Regenerative option is not used.
12
Input filter 3.555ms (initial value)
Electromagnetic brake interlock (MBR) is used.
1

5
Middle response (initial value) is selected.
Auto tuning mode 1 is selected.

Set 1000r/min.

Not used

4- 4

4. OPERATION

(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)
(6) Stop
In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor.
Refer to section 3.8 for the servo motor equipped with electromagnetic brake. Note that simultaneous ON
or simultaneous OFF of forward rotation stroke end (LSP), reverse rotation stroke end (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 (servo emergency stop warning) occurs.
(d) Forward rotation stroke end (LSP), reverse rotation stroke end (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 deceleration to a stop at the deceleration time constant
of zero.

4- 5

4. OPERATION

MEMO

4- 6

5. PARAMETERS
5. PARAMETERS

CAUTION

Never adjust or change the parameter values extremely as it will make operation
instable.
If fixed values are written in the digits of a parameter, do not change these values.
Do not change parameters for manufacturer setting.

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.
This 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 .
Parameter No.19 setting

Operation

0000

Reference

(initial value)
000A
000B
000C
000E
100B
100C
100E

Basic parameters

Expansion parameters 1

Expansion parameters 2

No.0 to 19

No.20 to 49

No.50 to 84

Write
Reference

No.19 only

Write

No.19 only

Reference
Write
Reference
Write
Reference
Write
Reference
Write

No.19 only

Reference
Write

No.19 only

Reference
Write

No.19 only

5- 1

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.
The symbols in the control mode column of the table indicate the following modes.
P: Position control mode
S: Internal speed control mode
(1) Item list

Basic parameters

No. Symbol

Name

Control

Initial

mode

value

*STY

Control mode, regenerative option selection

P S

(Note 1)

*OP1

Function selection 1

P S

0002

ATU

Auto tuning

P S

0105

CMX

Electronic gear numerator

CDV

Electronic gear denominator

Unit

INP

In-position range

100

pulse

PG1

Position loop gain 1

rad/s

PST

SC1

Internal speed command 1

100

r/min

SC2

Internal speed command 2

500

r/min

SC3

Internal speed command 3

1000

r/min

STA

Acceleration time constant

STB

Deceleration time constant

STC

S-pattern acceleration/deceleration time constant

*SNO

Station number setting

P S

*BPS

Serial communication function selection, alarm history clear

P S

0000

MOD

Analog monitor output

P S

0100

*DMD

Status display selection

P S

0000

*BLK

Parameter write inhibit

P S

0000

Position command acceleration/deceleration time constant
(Position smoothing)

For manufacturer setting

5- 2

station

Customer
setting

Expansion parameters 1

5. PARAMETERS

No.

Symbol

Name

*OP2

Function selection 2

*OP3

Function selection 3 (Command pulse selection)

*OP4

Function selection 4

FFC

Feed forward gain

ZSP

Zero speed detection

Control

Initial

mode

value

P S

0000

P S

0000

P S

For manufacturer setting

100

*ENR

TL1

Encoder output pulses

P S

4000

Internal torque limit 1

P S

100

For manufacturer setting

pulse
/rev

0
0

MO1

Analog monitor 1 offset

P S

MO2

Analog monitor 2 offset

P S

MBR

Electromagnetic brake sequence output

P S

100

GD2

setting

r/min

Customer

Unit

Ratio of load inertia moment to servo motor inertia moment

P S

ms
Multiplier
1

( 10 )

PG2

Position loop gain 2

rad/s

VG1

Speed loop gain 1

P S

177

rad/s

VG2

Speed loop gain 2

P S

817

rad/s
ms

VIC

Speed integral compensation

P S

VDC

Speed differential compensation

P S

980

P S

0000

40
41

For manufacturer setting
*DIA

Input signal automatic ON selection

*DI1

Input signal selection 1

P S

0002

*DI2

Input signal selection 2 (CN1-4)

P S

0111

*DI3

Input signal selection 3 (CN1-3)

P S

0882

*DI4

Input signal selection 4 (CN1-5)

P S

0995

*DI5

Input signal selection 5 (CN1-6)

P S

0000

*DI6

Input signal selection 6 (CN1-7)

P S

0000

*LSPN

LSP/LSN input terminals selection

P S

0403

*DO1

Output signal selection 1

P S

0000

5- 3

5. PARAMETERS

No.

Symbol

50
51

Control

Initial

mode

value

For manufacturer setting
Function selection 6

*OP8

Function selection 8

P S
P S

*OP9

Function selection 9

P S

0000

*OPA

Function selection A

0000

SIC

For manufacturer setting

Customer

Unit

setting

0000

*OP6

Expansion parameters 2

Name

0000
0000

Serial communication time-out selection

P S

For manufacturer setting

0000

NH1

Machine resonance suppression filter 1

P S

0000

NH2

Machine resonance suppression filter 2

P S

0000

LPF

Low-pass filter/adaptive vibration suppression control

P S

0000

GD2B

Ratio of load inertia moment to Servo motor inertia moment 2

P S

PG2B

Position control gain 2 changing ratio

100

VG2B

Speed control gain 2 changing ratio

P S

100

VICB

Speed integral compensation changing ratio

P S

100

*CDP

Gain changing selection

P S

0000

CDS

Gain changing condition

P S

(Note 2)

CDT

Gain changing time constant

P S

For manufacturer setting

Multiplier
1

( 10 )

CMX2

Command pulse multiplying factor numerator 2

CMX3

Command pulse multiplying factor numerator 3

CMX4

Command pulse multiplying factor numerator 4

SC4

Internal speed command 4

200

r/min

SC5

Internal speed command 5

300

r/min

SC6

Internal speed command 6

500

r/min

SC7

Internal speed command 7

800

r/min

TL2

Internal torque limit 2

P S

100

For manufacturer setting

100

10000

100

0000

Note 1. Depends on the capacity of the servo amplifier.
2. Depends on the parameter No.65 setting.

5- 4

5. PARAMETERS

(2) Details list
Class

No.

Symbol

*STY

Name and function

Initial
value

Unit

Setting

Control

range

mode

P S

Control mode, regenerative option selection

100W

Refer to

Used to select the control mode and regenerative option.

: 0000

name
and

Select the control mode.
0: Position
1: Position and internal speed
2: Internal speed
Motor series selection
0: HF-KN (J)
1: HF-SN J
Selection of regenerative option
0: Regenerative option is not used
For the servo amplifier of 200W or
lower, regenerative resistor is not used.
For the servo amplifier of 400W or
higher, built-in regenerative resistor is
used.
2: MR-RB032
3: MR-RB12
4: MR-RB32
5: MR-RB30
6: MR-RB50 (Cooling fan is required)

200W

function

: 1000

column.

400W
: 2000
750W
: 4000
1kW
: 5010
2kW
: 6010

Basic parameters

Motor capacity selection
0: 100W
1: 200W
2: 400W
3: 500W
4: 750W
5: 1kW
6: 1.5kW
7: 2kW
POINT
Wrong setting may cause the regenerative option to burn.
If the regenerative option selected is not for use with the servo
amplifier, parameter error (AL.37) occurs.
1

*OP1

Function selection 1

0002

Used to select the input signal filter, the function of pin CN1-12.

Refer to
name
and

0 0

function
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]
CN1-12 function selection
0: Zero Speed detection signal
1: Electromagnetic brake interlock (MBR)

5- 5

column.

P S

5. PARAMETERS

Class

No.

Symbol

ATU

Name and function
Auto tuning

Initial
value
0105

Unit

Setting

Control

range

mode

Refer to

P S

Used to selection the response level, etc. for execution of auto tuning.

name

Refer to chapter 7.

and

function

column.
Auto tuning response level setting
Set
value

Response
level
Low
response

Basic parameters

Machine resonance
frequency guideline
1
15Hz
2
20Hz
25Hz
3
4
30Hz
35Hz
5
6
45Hz
55Hz
7
Middle
8
70Hz
response
85Hz
9
105Hz
A
B
130Hz
160Hz
C
D
200Hz
High
240Hz
E
response
F
300Hz
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.
Gain adjustment mode selection
(For more information, refer to section 7.1.1.)
Set
Description
Gain adjustment mode
value
Interpolation
mode
Fixes
position
control gain 1
0
(parameter No.6).

CMX

1
2

Auto tuning mode 1
Auto tuning mode 2

Ordinary auto tuning.
Fixes the load inertia moment
ratio set in parameter No.34.
Response level setting can be
changed.

3
4

Manual mode 1
Manual mode 2

Simple manual adjustment.
Manual adjustment of all gains.

Electronic gear numerator

Used to set the electronic gear numerator value.
For the setting, refer to section 5.2.1.
CDV

Setting "0" automatically sets the resolution of the servo motor connected.
4

0
1

Electronic gear denominator

65535
1

Used to set the electronic gear denominator value.
For the setting, refer to section 5.2.1.

1
to
65535

5- 6

5. PARAMETERS

Initial

No.

Symbol

Name and function

INP

PG1

PST

In-position range
Used to set the in-position signal (INP) output range in the command pulse
increments prior to electronic gear calculation.
Position loop gain 1
Used to set the gain of position loop.
Increase the gain to improve track ability in response to the position
command.
When auto turning mode 1,2 is selected, the result of auto turning is
automatically used.
Position command acceleration/deceleration time constant
(position smoothing)
Used to set the time constant of a low-pass filter in response to the 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.

value

Unit

Setting

Control

range

mode

0
to
10000
4
to
2000

100

pulse

red/s

0
to
20000

100

r/min

0 to
instantaneous
permissible
speed

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

Class

Example: When a command is given from a synchronizing detector,
synchronous operation can be started smoothly if started during line
operation.

Synchronizing
detector

Start

Without time
constant setting
Servo motor
speed

Start
8

SC1

Servo motor
Servo amplifier

With time
constant setting

ON
OFF

Internal speed command 1
Used to set speed 1 of internal speed commands.

5- 7

5. PARAMETERS

Class

No.

Symbol

Name and function

SC2

Internal speed command 2
Used to set speed 2 of internal speed commands.

SC3

Internal speed command 3
Used to set speed 3 of internal speed commands.

STA

Acceleration time constant
Used to set the acceleration time required to reach the rated speed from
0r/min in response to the internal speed commands 1 to 7.

Speed

STB

STC

1000

r/min

Setting Control
range
mode
0 to
S
instantaneous
permissible
speed
0 to
S
instantaneous
permissible
speed
0
S
to
20000

Time
Parameter
No.11 setting

Parameter
No.12 setting

For 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.
Deceleration time constant
Used to set the deceleration time required to reach 0r/min from the rated
speed in response to the internal speed commands 1 to 7.

S-pattern acceleration/deceleration time constant

Used to smooth start/stop of the servo motor.
Set the time of the arc part for S-pattern acceleration/deceleration.
Speed command

0r/min
STC

Time
STA

STC

STC STB STC

STA: Acceleration time constant (parameter No.11)
STB: Deceleration time constant (parameter No.12)
STC: S-pattern acceleration/deceleration time constant
(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.
During acceleration: 100[ms]

Limited to 100[ms] since
2000000
100[ms] 200[ms].
20000
200[ms] as set since

During deceleration: 200[ms]

2000000
5000

400[ms] 200[ms].

5- 8

0
to

Speed
Servo motor

Basic parameters

r/min

Unit

If the preset speed command is
lower than the rated speed,
acceleration/deceleration time
will be shorter.

Rated
speed

Zero
speed

Initial
value
500

1000

5. PARAMETERS

Class

No.

Symbol

Name and function
For manufacturer setting

Initial
value

Unit

Setting

Control

range

mode

P S

Do not change this value by any means.
15

*SNO

Station number setting

station

Used to specify the station number for serial communication.

Always set one station to one axis of servo amplifier. If one station number

is set to two or more stations, normal communication cannot be made.
16

*BPS

Serial communication function selection, alarm history clear

0000

Refer to

Used to select the serial communication baud rate, select various

name

communication conditions, and clear the alarm history.

and

P S

function

column.
Serial baud rate selection
0: 9600 [bps]
1: 19200[bps]
2: 38400[bps]
3: 57600[bps]

Basic parameters

Alarm history clear
0: Invalid (not cleared)
1: Valid (cleared)
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).
Serial communication response delay time
0: Invalid
1: Valid, reply sent after delay time of 800 s or more
17

MOD

0100

Analog monitor output
Used to selection the signal provided to the analog monitor (MO1) analog
monitor (MO2) output. (Refer to section 5.2.2.)

Setting Analog monitor 2 (MO2) Analog monitor 1 (MO1)
0

Servo motor speed ( 8V/max. speed)

Torque ( 8V/max. torque)

Servo motor speed ( 8V/max. speed)

Torque ( 8V/max. torque)

Current command ( 8V/max. current command)

Command pulse frequency ( 10V/500kpulse/s)

Droop pulses ( 10V/128 pulses)

Droop pulses ( 10V/2048 pulses)

Droop pulses ( 10V/8192 pulses)

Droop pulses ( 10V/32768 pulses)

Droop pulses ( 10V/131072 pulses)

Bus voltage ( 8V/400V)

5- 9

Refer to
name
and
function
column.

P S

5. PARAMETERS

Class

No.

Symbol

*DMD

Initial

Name and function

value

Status display selection

0000

Used to select the status display shown at power-on.

Unit

Setting

Control

range

mode

Refer to

P S

name
and

0 0

function
column.

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
7: Regenerative load ratio
8: Effective load ratio
9: Peak load ratio
A: Instantaneous torque
B: Within one-revolution position low
C: Within one-revolution position high
D: Load inertia moment ratio
E: Bus voltage
Status display at power-on in
corresponding control mode
0: Depends on the control mode.

Basic parameters

Control mode
Position
Position/
internal speed
Internal speed

Status display at power-on
Cumulative feedback pulses
Cumulative feedback pulses/
servo motor speed
Servo motor speed

1: Depends on the first digit setting of this parameter.
19

*BLK

Parameter write inhibit
Used to select the reference and write ranges of the parameters.
Operation can be performed for the parameters marked .
Set
value
0000
(Initial
value)
000A
000B
000C
000E
100B
100C
100E

Operation

Basic
parameters
No.0 to 19

Expansion
parameters 1
No.20 to 49

Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write

No.19 only
No.19 only

No.19 only
No.19 only
No.19 only

5 - 10

Expansion
parameters 2
No.50 to 84

0000

Refer to
name
and
function
column.

P S

5. PARAMETERS

Class

No.
20

Symbol
*OP2

Name and function
Function selection 2
Used to select restart after instantaneous power failure,
servo lock at a stop in internal speed control mode, and slight vibration
suppression control.

Initial
value
0000

Unit

Setting

Control

range

mode

Refer to
name
and
function
column.

Restart after instantaneous
power failure
If the power supply voltage has
returned to normal after an
undervoltage status caused by the
reduction of the input power supply
voltage in the speed control mode,
the servo motor can be restarted by
merely turning on the start signal
without resetting the alarm.
0: Invalid (Undervoltage alarm
(AL.10) occurs.)
1: Valid

Expansion parameters 1

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

*OP3

Slight vibration suppression control
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

P S

Encoder cable communication system selection
0: Two-wire type
1: Four-wire type
Incorrect setting will result in an encoder alarm 1
(AL.16) or encoder alarm 2 (AL.20).

P S

Function selection 3 (Command pulse selection)
Used to select the input form of the pulse train input signal.
(Refer to section 3.4.1.)

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

5 - 11

0000

Refer to
name
and
function
column.

5. PARAMETERS

Class

No.

Symbol

*OP4

Name and function

Initial
value

Unit

0000

Function selection 4

Setting
range

Control
mode

Refer to

P S

name
and
function
column.

Used to select stop processing at forward rotation stroke end (LSP)
reverse rotation stroke end (LSN) off and choose TLC/VLC output.

0 0 0

Expansion parameters 1

How to make a stop when forward
rotation stroke end (LSP)
reverse rotation stroke end (LSN)
is OFF. (Refer to section 5.2.3.)
0: Sudden stop
1: Slow stop
23

FFC

ZSP

25
26
27

Feed forward gain
Set the feed forward gain. When the setting is 100 , the droop pulses
during operation at constant speed are nearly zero. However, sudden
acceleration/deceleration will increase the overshoot. As a guideline, when
the feed forward gain setting is 100 , set 1s or more as the acceleration
time constant up to the rated speed.
Zero speed
Used to set the output range of the zero speed detection (ZSP).
For manufacturer setting
Do not change this value by any means.

*ENR

10000
8

r/min

0
to
10000

P S

pulse/
rev

1
to
65535

P S

Encoder output pulses
Used to set the encoder pulses (A-phase or B-phase) output by the servo
amplifier.
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 designation 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.
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 A B-phase pulses
output are as indicated below.
5600
A B-phase output pulses
1400[pulse]
4
For output division ratio setting
" in parameter No.54.
Set "1
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 A B-phase pulses output
are as indicated below.
A B-phase output pulses

0
to
100

1
4

313[pulse]

5 - 12

100
4000

5. PARAMETERS

Class

No.

Symbol

Name and function

TL1

Internal torque limit 1
Set this parameter to limit servo motor torque on the assumption that the
maximum torque is 100[ ].
When 0 is set, torque is not produced.

Initial
value
100

Unit

Setting
range
0
to
100

Control
mode
P S

(Note)
External
input
Torque limit value made valid
signals
TL1
0
Internal torque limit value 1 (parameter No.28)
1
Parameter No.76 Parameter No.28: Parameter No.28
Parameter No.76 Parameter No.28: Parameter No.76

Expansion parameters 1

Note. 0: TL1-VIN off (open)
1: TL1-VIN 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))
For manufacturer setting
Do not change this value by any means.

29
30
31

MO1

MO2

MBR

GD2

PG2

VG1

VG2

VIC

VDC

Analog monitor 1 offset
Used to set the offset voltage of the analog monitor 1 (MO1).
Analog monitor 2 offset
Used to set the offset voltage of the analog monitor 2 (MO2).
Electromagnetic brake sequence output
Used to set the delay time (Tb) between electronic brake interlock (MBR)
and the base drive circuit is shut-off.
Ratio of load inertia moment to servo motor inertia moment
Used to set the ratio of the load inertia moment to the servo motor shaft
inertia moment. When auto tuning mode 1 and interpolation mode is
selected, the result of auto tuning is automatically used.
(Refer to section 7.1.1)
In this case, it varies between 0 and 1000.
Position loop gain 2
Used to set the gain of the position loop.
Set this parameter to increase the position response to level load
disturbance. Higher setting increases the response level but is liable to
generate vibration and/or noise.
When auto tuning mode 1 2 and interpolation mode is selected, the result
of auto tuning is automatically used.
Speed loop gain 1
Normally this parameter setting need not be changed.
Higher setting increases the response level but is liable to generate
vibration and/or noise.
When auto tuning mode 1 2, manual mode and interpolation mode is
selected, the result of auto tuning is automatically used.
Speed loop gain 2
Set this parameter when vibration occurs on machines of low rigidity or
large backlash. Higher setting increases the response level but is liable to
generate vibration and/or noise.
When auto tuning mode 1 2 and interpolation mode is selected, the result
of auto tuning is automatically used.
Speed integral compensation
Used to set the integral time constant of the speed loop.
Higher setting increases the response level but is liable to generate
vibration and/or noise.
When auto tuning mode 1 2 and interpolation mode is selected, the result
of auto tuning is automatically used.
Speed differential compensation

0
0
0
100

Made valid when the proportion control (PC) is switched on.

5 - 13

P S
P S
P S

P S

rad/s

1
to
1000

177

rad/s

20
to
8000

P S

817

rad/s

20
to
20000

P S

1
to
1000

P S

980

Used to set the differential compensation.

999
to 999
999
mV
to 999
ms
0
to
1000
0
Multito
plier
( 10 1) 3000
mV

to
1000

5. PARAMETERS

Class

No.

Symbol

Name and function
For manufacturer setting

Initial
value

Unit

Setting

Control

range

mode

Refer to

P S

Do not change this value by any means.
41

*DIA

0000

Input signal automatic ON selection
Used to set automatic servo-on (SON) forward rotation stroke end

name

(LSP) reverse rotation stroke end (LSN).

and
function

column.
Servo-on (SON) input selection
0: Switched on/off by external input.
1: Switched on automatically in servo
amplifier.
(No need of external wiring)

P S

Expansion parameters 1

Forward rotation stroke end (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 (LSN)
input selection
0: Switched on/off by external input.
1: Switched on automatically in servo
amplifier.
(No need of external wiring)
42

*DI1

0002

Input signal selection 1

Refer to

Used to assign the control mode changing signal input pins and to set the

name

clear (CR).

and
function

0 0

column.
Control change (LOP) input pin assignment
Used to set the control mode change signal
input connector pins. Note that this parameter is
made valid when parameter No.0 is set to
select the position/internal speed change mode.
Set value

Connector pin No.

CN1-4

CN1-3

CN1-5

CN1-6

CN1-7

P/S

If forward rotation stroke end (LSP) or reverse
rotation stroke end (LSN) is assigned to any pin
with parameter No.48, this setting is invalid.
Clear (CR) selection
0: Droop pulses are cleared on the leading edge.
1: While turning on, droop pulses are always
cleared.

5 - 14

5. PARAMETERS

Class

No.

Symbol

*DI2

Name and function

0111

Input signal selection 2 (CN1-4)

Unit

Setting
range

Control
mode

Refer to

P S

Allows any input signal to be assigned to CN1-pin 4.

name

Note that the setting digit and assigned signal differ according to the control

and

mode.

function

0 1

column.

Position
control mode
Internal speed
control mode

Input signals of
CN1-pin 4
selected.

Signals that may be assigned in each control mode are indicated below by
their symbols.
Setting of any other signal will be invalid.
Set value

(Note) Control mode
P

0
Expansion parameters 1

Initial
value

SON

RES

4
5
6

SP1

SP2

ST1

ST2
SP3

A
B

CM1

CM2

TL1

CDP

F
Note. P: Position control mode
S: Internal speed control mode
This parameter is unavailable when parameter No.42 is set to assign the
control change (LOP) to CN1-pin 4.
This parameter is unavailable when parameter No.48 is set to assign the
Forward rotation stroke end (LSP) and Reverse rotation stroke end (LSN)
to be assigned to CN1-pin 4.

5 - 15

5. PARAMETERS

Class

No.

Symbol

*DI3

Name and function
Input signal selection 3 (CN1-3)

Initial
value

Setting
range

Control
mode

0882

Refer to
name
and
function
column.

P S

0995

Refer to
name
and
function
column.

P S

0000

Refer to
name
and
function
column.

P S

Allows any input signal to be assigned to CN1-pin 3.
The assignable signals and setting method are the same as in input signal
selection 2 (parameter No.43).

0 0
Position
control mode
Internal speed
control mode

Unit

Input signals of
CN1-pin 3
selected.

This parameter is unavailable when parameter No.42 is set to assign the
control change (LOP) to CN1-pin 3.
This parameter is unavailable when parameter No.48 is set to assign the
Forward rotation stroke end (LSP) and Reverse rotation stroke end (LSN) to
be assigned to CN1-pin 3.
*DI4

Expansion parameters 1

Input signal selection 4 (CN1-5)
Allows any input signal to be assigned to CN1-pin 5.
The assignable signals and setting method are the same as in input signal
selection 2 (parameter No.43).

0 9
Position
control mode
Internal speed
control mode

Input signals of
CN1-pin 5
selected.

This parameter is unavailable when parameter No.42 is set to assign the
control change (LOP) to CN1-pin 5.
This parameter is unavailable when parameter No.48 is set to assign the
Forward rotation stroke end (LSP) and Reverse rotation stroke end (LSN) to
be assigned to CN1-pin 5
46

*DI5

Input signal selection 5 (CN1-6)
Allows any input signal to be assigned to CN1-pin 6.
The assignable signals and setting method are the same as in input signal
selection 2 (parameter No.43).

0 0
Position
control mode
Internal speed
control mode

Input signals of
CN1-pin 6
selected.

This parameter is unavailable when parameter No.42 is set to assign the
control change (LOP) to CN1-pin 6.
This parameter is unavailable when parameter No.48 is set to assign the
Reverse rotation stroke end (LSN) to be assigned to CN1-pin 6.

5 - 16

5. PARAMETERS

Class

No.

Symbol

*DI6

Name and function
Input signal selection 6 (CN1-7)
Allows any input signal to be assigned to CN1-pin 7.
The assignable signals and setting method are the same as in input signal
selection 2 (parameter No.43).

Initial
value

Setting
range

Control
mode

0000

Refer to
name
and
function
column.

P S

0403

Refer to

P S

0 0
Position
control mode
Internal speed
control mode

Expansion parameters 1

Input signals of
CN1-pin 7
selected.

This parameter is unavailable when parameter No.42 is set to assign the
control change signal (LOP) to CN1-pin 7.
This parameter is unavailable when parameter No.48 is set to assign the
Forward rotation stroke end (LSP) to be assigned to CN1-pin 7.
*LSPN LSP/LSN input terminal selection
Select the pins where the forward rotation stroke end (LSP) and reverse
rotation stroke end (LSN) will be assigned. If the signals have already been
assigned using parameter No.42 to 47, this parameter setting has
preference.
However, if the forward rotation stroke end (LSP) is assigned at pin 6 of
CN1 (default setting), the setting of parameter No.46 takes priority.
Similarly, if the reverse rotation stroke end (LSN) is assigned at pin 7 of
CN1 (default setting), the setting of parameter No.47 takes priority. If the
forward rotation stroke end (LSP) and reverse rotation stroke end (LSN) are
assigned at the same pin, the forward rotation stroke end (LSP) takes
priority while the reverse rotation stroke end (LSN) is disabled.

0
Select the pin where the forward rotation stroke
end (LSP) will be assigned.
Set value
0
1
2
3
4
5

Unit

Connector pin No.
CN1-5
CN1-4
CN1-6
CN1-7
CN1-3

Select the pin where the reverse rotation stroke
end (LSN) will be assigned. The settings are the
same as those of the first digit.

5 - 17

name
and
function
column.

5. PARAMETERS

Class

No.

Symbol

*DO1

Initial

Name and function

value
0000

Output signal selection 1

Setting

Control

range

mode

Refer to

P S

Used to select the connector pins to output the alarm code and warning

name

(WNG).

and
function

0 0

column.
Setting of alarm code output
Set value
0

Connector pins
CN1-10

CN1-11

CN1-12

INP or SA

ZSP

Alarm code is output at alarm occurrence.

(Note) Alarm code
Alarm
CN1 CN1 CN1
display
pin 10 pin 11 pin 12

Expansion parameters 1

Unit

Name

88888

Watchdog

AL.12

Memory error 1

AL.13

Clock error

AL.15

Memory error 2

AL.17

Board error 2

AL.19

Memory error 3

AL.37

Parameter error

AL.8A

Serial communication time-out error

AL.8E

Serial communication error

AL.30

Regenerative error

AL.33

Overvoltage

AL.10

Undervoltage

AL.45

Main circuit device overheat

AL.46

Servo motor overheat

AL.50

Overload 1

AL.51

Overload 2

AL.24

Main circuit

AL.32

Overcurrent

AL.31

Overspeed

AL.35

Command pulse frequency error

AL.52

Error excessive

AL.16

Encoder error 1

AL.1A

Motor combination error

AL.20

Encoder error 2

Note. 0: Pin-VIN off (open)
1: Pin-VIN on (short)
Setting of warning (WNG) output
Select the connector pin to output warning. The old signal
before selection will be unavailable.
Set value
0
1
2
3
4

Connector pin No.
Not output.
CN1-11
CN1-9
CN1-10
CN1-12

5 - 18

5. PARAMETERS

Class

No.

Symbol

Initial

Name and function

value

For manufacturer setting

Unit

Setting

Control

range

mode

Refer to
name
and
function
column.

P S

0000

Do not change this value by any means.
51

*OP6

0000

Function selection 6
Used to select the operation to be performed when the reset (RES)
switches on.

0 0
Operation to be performed when the
reset (RES) switches on
0: Base circuit shut off
1: Base circuit not shut off

52
53

*OP8

For manufacturer setting
Do not change this value by any means.

0000

Function selection 8
Used to select the protocol of serial communication.

0000

Refer to
name
and
function
column.

P S

0000

Refer to
name
and
function
column.

P S

Expansion parameters 2

Protocol checksum selection
0: Yes (checksum added)
1: No (checksum not added)
Protocol checksum selection
0: With station numbers
1: No station numbers
54

*OP9

Function selection 9
Use to select the command pulse rotation direction, encoder output pulse
direction and encoder pulse output setting.

0
Servo motor rotation direction changing
Changes the servo motor rotation
direction for the input pulse train.
Set value

Servo motor rotation direction
At forward rotation
At reverse rotation
pulse input
pulse input

CCW

Encoder pulse output phase changing
Changes the phases of A B-phase encoder pulses output .
Servo motor rotation direction

Set value
0

CCW

A-phase

B-phase

A-phase

B-phase

Encoder output pulse setting selection (refer to parameter No.27)
0: Output pulse setting
1: Division ratio setting

5 - 19

5. PARAMETERS

Class

No.

Symbol

*OPA

Initial
value

Name and function
Function selection A
Used to select the position command acceleration/deceleration time
constant (parameter No.7) control system.

0 0

Unit

0000

Setting
range

Control
mode

Refer to

name
and
function

column.

Position command acceleration/deceleration
time constant control
0: Primary delay
1: Linear acceleration/deceleration
56

SIC

Serial communication time-out selection

P S

Used to set the communication protocol time-out period in [s].
s

When you set "0", time-out check is not made.
57

For manufacturer setting

1 to 60

Do not change this value by any means.
58

NH1

Machine resonance suppression filter 1

0000

Refer to

Used to selection the machine resonance suppression filter.

name

(Refer to section 8.2.)

and

P S

function

column.

Expansion parameters 2

Notch frequency selection
Set "00" when you have set adaptive vibration
suppression control to be "valid" or "held"
(parameter No.60: 1
or 2
).
Setting
Setting
Setting
Setting
Frequency
Frequency
Frequency
Frequency
value
value
value
value

Invalid

562.5

281.3

187.5

4500

500

264.7

180

2250

450

250

173.1

1500

409.1

236.8

166.7

1125

375

225

160.1

900

346.2

214.3

155.2

750

321.4

204.5

150

642.9

300

195.7

145.2

Notch depth selection

NH2

Setting
value

Depth

Gain

Deep

40dB

14dB

2
3

Shallow

8dB
4dB

0000

Machine resonance suppression filter 2
Used to set the machine resonance suppression filter.

Refer to
name
and

function
column.
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

5 - 20

P S

5. PARAMETERS

Class

No.

Symbol

LPF

Name and function
Low-pass filter/adaptive vibration suppression control

Initial
value

Unit

0000

Setting

Control

range

mode

Refer to

P S

Used to selection the low-pass filter and adaptive vibration suppression

name

control. (Refer to chapter 8.)

and
function

column.
Low-pass filter selection
0: Valid (Automatic adjustment)
1: Invalid
VG2 setting 10
When you choose "valid",
2 (1 GD2 setting 0.1) [Hz]
bandwidth filter is set automatically.

Expansion parameters 2

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
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 selection
Used to set the sensitivity of machine resonance detection.
0: Normal
1: Large sensitivity

GD2B

Ratio of load inertia moment to servo motor inertia moment 2

Used to set the ratio of load inertia moment to servo motor inertia moment
when gain changing is valid.
62

PG2B

Position control gain 2 changing ratio

100

Used to set the ratio of changing the position control gain 2 when gain

Multi-

plier

( 10 1)

3000
10

P S

changing is valid.

200

Made valid when auto tuning is invalid.
63

VG2B

Speed control gain 2 changing ratio

100

Used to set the ratio of changing the speed control gain 2 when gain

P S

changing is valid.

200

Made valid when auto tuning is invalid.
64

VICB

Speed integral compensation changing ratio
Used to set the ratio of changing the speed integral compensation when
gain changing is valid. Made valid when auto tuning is invalid.

5 - 21

100

50
to
1000

P S

5. PARAMETERS

Class

No.

Symbol

*CDP

Name and function

Initial
value

Unit

0000

Gain changing selection
Used to select the gain changing condition. (Refer to section 8.5.)

0 0 0

Setting

Control

range

mode

Refer to
name
and
function
column.

P S

Expansion parameters 2

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) 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
Used to set the value of gain changing condition (command frequency,
droop pulses, servo motor speed) selected in parameter No.65.The set
value unit changes with the changing condition item. (Refer to section 8.5.)

kpps
pulse
r/min

10
to
9999

P S

CDT

Gain changing time constant
Used to set the time constant at which the gains will change in response to
the conditions set in parameters No.65 and 66.
(Refer to section 8.5.)

0
to
100

P S

For manufacturer setting
Do not change this value by any means.

68
69

CMX2

Command pulse multiplying factor numerator 2
Used to set the multiplier for the command pulse.
Setting "0" automatically sets the connected motor resolution.

0 1
to
65535

CMX3

Command pulse multiplying factor numerator 3
Used to set the multiplier for the command pulse.
Setting "0" automatically sets the connected motor resolution.

0 1
to
65535

CMX4

Command pulse multiplying factor numerator 4
Used to set the multiplier for the command pulse.
Setting "0" automatically sets the connected motor resolution.

0 1
to
65535

SC4

0 to
instantaneous
permissible
speed

Internal speed command 4
Used to set speed 4 of internal speed commands.

5 - 22

200

r/min

5. PARAMETERS

Expansion parameters 2

Class

Initial
value

Unit

Internal speed command 5
Used to set speed 5 of internal speed commands.

300

r/min

SC6

Internal speed command 6
Used to set speed 6 of internal speed commands.

500

r/min

SC7

Internal speed command 7
Used to set speed 7 of internal speed commands.

800

r/min

TL2

Internal torque limit 2
Set this parameter to limit servo motor torque on the assumption that the
maximum torque is 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).

100

No.

Symbol

SC5

77
78

Name and function

For manufacturer setting
Do not change this value by any means.

100
10000

100

0000

5 - 23

Setting Control
range
mode
0 to
S
instantaneous
permissible
speed
0 to
S
instantaneous
permissible
speed
0 to
S
instantaneous
permissible
speed
0
to
100

P S

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
50.
The guideline of the electronic gear setting range is 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.
Always set the electronic gear with servo off state to prevent unexpected
operation due to improper setting.

CMX
CDV

Input pulse train

The machine can be moved at any multiplication factor to input pulses.

Parameter No.3
Parameter No.4

Motor
Deviation
counter

CMX
CDV

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 : Ball screw lead [mm]
1/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]
(1) For motion in increments of 10 m per pulse
n
1/n Z1/Z2
1/2

Machine specifications
Ball screw lead Pb 10 [mm]
Reduction ratio: 1/n 1/2
Z1: Number of gear cogs on servo motor side
Z2: Number of gear cogs on load side
Servo motor resolution: Pt 131072 [pulses/rev]

CMX
CDV

Pt
S

Pt
1/n Pb

10 10

131072
1/2 10

Hence, set 32768 to CMX and 125 to CDV.

5 - 24

Z2
Pb 10[mm]
Z1

Servo motor
131072 [pulse/rev]

262144
1000

32768
125

5. PARAMETERS

(2) 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: 1/n 1/18
Servo motor resolution: Pt 131072 [pulses/rev]

CMX
CDV

0.01

131072
4/64 360

Timing belt : 4/64

65536
······················································································· (5.1)
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
CDV

65536
1125

26214.4
450

26214
450

Hence, set 26214 to CMX and 450 to CDV.
POINT
When "0" is set to parameter No.3 (CMX), CMX is automatically set to the
servo motor resolution. Therefore, in the case of Expression (5.2), setting 0 to
CMX and 2250 to CDX concludes in the following expression:
CMX/CDV=131072/2250, and electric gear can be set without the necessity to
reduce the fraction to the lowest term.
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 the following:
36000

26214
450

1
131072

4
360
64

359.995

Therefore, indexing cannot be done in the same position on the table.

5 - 25

5. PARAMETERS

(3) Instructions for reduction
The calculated value before reduction must be as near as possible to the calculated value after reduction.
In the case of (2) 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.

65536
1125

CMX
CDV

58.25422 ··················································································································· (5.2)

The result of reduction to provide no fraction for CMX is as follows.

65536
1125

CMX
CDV

32768
562.5

32768
563

58.20249 ···················································································· (5.3)

The result of reduction to provide no fraction for CDV is as follows.

65536
1125

CMX
CDV

26214.4
450

26214
450

58.25333 ·················································································· (5.4)

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 (2) in this section are CMX 26214, CDV 450.
5.2.2 Analog monitor
The servo status can be output to two channels in terms of voltage.
(1) Setting
Change the following digits of parameter No.17.
Parameter No.17

0
Analog monitor 1 (MO1) output selection
(Signal output to across MO1-LG)
Analog monitor 2 (MO2) 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

Used to set the offset voltage for the analog monitor 1 (MO1) output.

Used to set the offset voltage for the analog monitor 2 (MO2) output.

5 - 26

Setting range [mV]
999 to 999

5. PARAMETERS

(2) Set content
The servo amplifier is factory-set to output the servo motor speed to Analog monitor 1 (MO1) and the
torque to Analog monitor 2 (MO2). The setting can be changed as listed below by changing the parameter
No.17 value.
Refer to (3) for the measurement point.
Setting
0

Output item
Servo motor speed

Description
8[V]

Setting

CCW direction

Output item
Droop pulses
(Note 1)
( 10V/128pulse)

Max. speed

Description
10[V]

128[pulse]
0

0 Max. speed

CW direction

Torque (Note 2)

8[V]

8[V]
Driving in CCW direction

Droop pulses
(Note 1)
( 10V/2048pulse)

10[V]

0 2048[pulse]

8[V]

10[V]

CW direction

Servo motor speed

8
CW
direction 8[V]

CCW direction

2048[pulse]

0 Max. torque

128[pulse]

10[V]

CW direction

Max. torque

Driving in CW direction

CCW direction

CCW
direction

Droop pulses
(Note 1)
( 10V/8192pulse)

10[V]

CCW direction

8192[pulse]
0 8192[pulse]

Max. speed

0 Max. speed
10[V]

CW direction

Torque (Note 2)

9
Driving in
CW direction 8[V]

Driving in
CCW direction

Droop pulses
(Note 1)
( 10V/32768pulse)

10[V]

CCW direction

32768[pulse]
0 32768[pulse]

Max. torque

0 Max. torque
10[V]

CW direction

Current command

8[V]

CCW direction

Max. command
current

Droop pulses
(Note 1)
( 10V/131072pulse)

10[V]

131072[pulse]
0

0 Max. command
current

CW direction

Command pulse
frequency

10[V]

8[V]

CW direction

CCW direction

131072[pulse]

10[V]

Bus voltage
8[V]

500kpps
0

CW direction

10[V]

5 - 27

400[V]

Command
pulse

Command
pulse frequency
Droop pulse

Position
control

Speed
command

5 - 28
Servo motor speed

Differential

Speed
control

Current
command

Torque

Current
control

Encoder

M Servo motor

Position feedback

Current feedback

PWM

Current
encoder

Bus voltage

5. PARAMETERS

Note 1. Encoder pulse unit.
2. 8V is outputted at the maximum torque.
However, when parameter No.28 76 are set to limit torque, 8V is outputted at the torque highly limited.

(3) Analog monitor block diagram

5. PARAMETERS

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
OFF. A slow stop can be made by changing the parameter No.22 value.
Parameter No.22 setting
0
(initial value)

Stopping method
Sudden stop
Position control mode
Internal speed control mode

: Motor stops with droop pulses cleared.
: Motor stops at deceleration time constant of zero.

Slow stop
Position control mode

: The motor is decelerated to a stop in accordance with the
parameter No.7 value.
: The motor is decelerated to a stop in accordance with the
parameter No.12 value.

1
Internal speed control mode

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)

5 - 29

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

Command

: Input position command

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

t
Time

(3t)

(2) For trapezoidal input
(3t)
t

: Input position command
Command

: Position command after filtering
for linear acceleration/deceleration
: Position command after
filtering for primary delay
t

t
(3t)

5 - 30

Time

: Position command acceleration/
deceleration time constant
(parameter No.7)

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
Status display

Diagnosis

Alarm

Basic
parameters

Expansion
parameters 1

Expansion
parameters 2

(Note)
Cumulative feedback
pulses [pulse]

Sequence

Current alarm

Parameter No.0

Parameter No.20

Parameter No.50

Servo motor speed
[r/min]

External I/O
signal display

Last alarm

Parameter No.1

Parameter No.21

Parameter No.51

Droop pulses
[pulse]

Output (DO) signal
forced output

Second alarm in past

Cumulative command
pulses [pulse]

Test operation mode
Jog feed

Third alarm in past

Command pulse
frequency [kpps]

Test operation mode
Positioning operation

Fourth alarm in past

Parameter No.18

Parameter No.48

Parameter No.83

Test operation mode
Motor-less operation

Fifth alarm in past

Parameter No.19

Parameter No.49

Parameter No.84

Test operation mode
Machine analyzer operation

Sixth alarm in past

Regenerative load
ratio [%]

Software version low

Parameter error No.

Effective load ratio
[%]

Software version high

Peak load ratio
[%]

Manufacturer setting
screen

Instantaneous torque
[%]

Motor series ID

Within one-revolution
position low [pulse]

Motor type ID

Within one-revolution
position, high [100 pulses]

Encoder ID

DOWN

Load inertia moment
ratio [Multiplier ( 1)]

Bus voltage [V]

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

6- 1

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.
The servo amplifier display shows the lower five digits of 16 data items such as the servo motor speed.
6.2.1 Display examples
The following table lists display examples.
Item

Displayed data

Status

Servo amplifier display

Forward rotation at 3000r/min
Servo motor
speed
Reverse rotation at 3000r/min
Reverse rotation is indicated by "
Load inertia
moment

15.5 times

11252pulse

Multi-revolution
counter
12566pulse

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

6- 2

6. DISPLAY AND OPERATION

6.2.2 Status display list
The following table lists the servo statuses that may be shown.
Name

Symbol

Unit

Description

Cumulative feedback
pulses

pulse

Servo motor speed

r/min

Feedback pulses from the servo motor encoder are counted and displayed.
The value in excess of 99999 is counted, bus 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.
Reverse rotation is indicated by the lit decimal points in the upper four
digits.
The servo motor speed is displayed.
The value rounded off is displayed in 0.1r/min.

Droop pulses

pulse

Cumulative command
pulses

pulse

Command pulse
frequency

kpps

Regenerative load ratio

The ratio of regenerative power to permissible regenerative power is
displayed in .

Effective load ratio

Peak load ratio

Instantaneous torque

Within one-revolution
position low

Cy1

The continuous effective load torque is displayed.
The effective value in the past 15 seconds is displayed relative to the rated
torque of 100 .
The maximum torque generated during acceleration/deceleration, etc.
The highest value in the past 15 seconds is displayed relative to the rated
torque of 100 .
Torque that occurred instantaneously is displayed.
The value of the torque that occurred is displayed in real time relative to the
rate torque of 100 .
Position within one revolution is displayed in encoder pulses.
The value returns to "0" when it exceeds the maximum number of pulses.
The value is incremented in the CCW direction of rotation.

pulse

The number of droop pulses in the deviation counter is displayed. When
the servo motor is rotating in the reverse direction, the decimal points in the
upper four digits are lit.
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.
The position command input pulses are counted and displayed.
As the value displayed is not yet multiplied by the electronic gear
(CMX/CDV), it may not match the indication of the cumulative 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.
The frequency of the position command input pulses is displayed.
The value displayed is not multiplied by the electronic gear (CMX/CDV).

6- 3

Display
range
99999
to
99999

5400
to
5400
99999
to
99999

99999
to
99999

800
to
800
0
to
100
0
to
300
0
to
400
0
to
400
0
to
99999

6. DISPLAY AND OPERATION

Name

Symbol

Unit

Within one-revolution
position high

Cy2

100
pulse

Load inertia moment
ratio

Bus voltage

Description
The within one-revolution position is displayed in 100 pulse increments of
the encoder.
The value returns to 0 when it exceeds the maximum number of pulses.
The value is incremented in the CCW direction of rotation.

Multiplier The estimated ratio of the load inertia moment to the servo motor shaft
inertia moment is displayed.
( 1)
V

The voltage (across P-N) of the main circuit converter is displayed.

Display
range
0
to
1310
0.0
to
300.0
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/
internal speed

Cumulative feedback pulses/servo motor speed

Internal speed

Servo motor speed

6- 4

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.

External I/O signal display

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

Output (DO) signal forced
output

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

Refer to section 6.6.

Jog feed

Test
operation
mode

Positioning
operation

Motor-less
operation
Machine
analyzer
operation

Jog operation can be performed when there is no command from the
external command device.
For details, refer to section 6.8.2.
The MR Configurator (servo configuration software) is required for
positioning operation. This operation cannot be performed from the
operation section of the servo amplifier.
Positioning operation can be performed once when there is no
command from the external command device.
Without connection of the servo motor, the servo amplifier provides
output signals and displays the status as if the servo motor is running
actually in response to the external input signal.
For details, refer to section 6.8.4.
Merely connecting the servo amplifier allows the resonance point of the
mechanical system to be measured.
The MR Configurator (servo configuration software) 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.

Manufacturer setting
screen

Screen for manufacturer setting. When this screen is being displayed,
do not press any other buttons than "UP" and "DOWN" button.

Motor series ID

Press the "SET" button to show the motor series ID of the servo motor
currently connected.

Motor type ID

Press the "SET" button to show the motor type ID of the servo motor
currently connected.

Encoder ID

Press the "SET" button to show the encoder ID of the servo motor
currently connected.

6- 5

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 No.
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) Even during alarm occurrence, the other screen can be viewed by pressing the button in the operation
area. At this time, the decimal point in the fourth digit remains flickering.
(3) For any alarm, remove its cause and clear it in any of the following methods (for clearable alarms, refer to
section 10.2.1).
(a) Switch power OFF, then ON.
(b) Press the "SET" button on the current alarm screen.
(c) Turn on the reset (RES).
(4) Use parameter No.16 to clear the alarm history.
(5) Pressing "SET" button 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 the "UP" or "DOWN" button to display the next alarm in the history.
6- 6

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 Internal speed control mode.
Using the "MODE" button, show the basic parameter screen.
The parameter number is displayed.
Press

DOWN

to change the number.

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: Internal 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.

6- 7

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
CN1
8

CN1 CN1
7
6

CN1 CN1
5
3

CN1
4

Input signals
Always lit
Output signals

CN1
21

CN1
9

CN1 CN1
10
12

CN1
11

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.
CN1

Input/Output

(Note 2) Signal abbreviation

Pin No.

(Note 1) I/O

RES

ST1

43 to 47

SON

43 to 47

ST2

43 to 47

LSP

43 to 48

LSN

43 to 48

EMG

Related parameter No.

ALM

INP

ZSP

Note 1. I: Input signal, O: Output signal
2. P: Position control mode, S: Internal speed control mode
3. CN1B-4 and CN1A-18 output signals are the same.

6- 8

6. DISPLAY AND OPERATION

(3) Default signal indications
(a) Position control mode
EMG (CN 1-8) Emergency stop
LSN (CN 1-7) Reverse rotation stroke end
LSP (CN 1-6) Forward rotation stroke end
CR (CN 1-5) Clear
RES (CN 1-3) Reset
SON (CN 1-4) Servo-on
Input signals

Lit: ON
Extinguished: OFF

Output signals

RD (CN 1-11) Ready
INP (CN 1-10) In position
ZSP (CN 1-12) Zero speed detection
ALM (CN 1-9) Trouble
OP (CN 1-21) Encoder Z-phase pulse

(b) Internal speed control mode
EMG (CN 1-8) Emergency stop
LSN (CN 1-7) Reverse rotation stroke end
LSP (CN 1-6) Forward rotation stroke end
ST2 (CN 1-5) Reverse rotation start
ST1 (CN 1-3) Forward rotation start
SON (CN 1-4) Servo-on
Input signals
Output signals

Lit: ON
Extinguished: OFF
RD (CN 1-11) Ready
SA (CN 1-10) Limiting speed
ZSP (CN 1-12) Zero speed detection
ALM (CN 1-9) Trouble
OP (CN 1-21) Encoder Z-phase pulse

6- 9

6. DISPLAY AND OPERATION

6.7 Output signal (DO) forced output
POINT
When the servo system is used in a vertical lift application, turning on the
electromagnetic brake interlock (MBR) after assigning it to pin CN1-12 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.
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.

CN1
12

CN1
9

CN1
12

CN1
10

CN1
11

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
external I/O signal display.
(Lit: ON, extinguished: OFF)
Press MODE once.
The segment above CN1-pin 10 is lit.

Press UP once.

CN1-pin 10 is switched on.
(CN1-pin 10-VIN conduct.)
Press DOWN once.
CN1-pin 10 is switched off.

Press SET for more than seconds.

6 - 10

6. DISPLAY AND OPERATION

6.8 Test operation mode

CAUTION

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.
Always use the servo motor alone.
If any operational fault has occurred, stop operation using the emergency stop
(EMG) signal.
POINT
The MR Configurator (servo configuration software) is required to perform
positioning operation.
Test operation cannot be performed if the servo-on (SON) is not turned OFF.

6.8.1 Mode change
After power-on, change the display to the diagnostic screen using the "MODE" button. Choose jog
operation/motor-less operation in the following procedure.

Press UP three times.

Press UP five times.

Press SET for more than 2s.

When this screen
appears, jog feed can
be performed.
(Refer to section 6.8.2)
Flickers in the test operation mode.

6 - 11

Press SET for more than 2s.

When this screen is displayed,
motor-less operation can be
performed.
(Refer to section 6.8.4)

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-VIN to start jog operation 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 MR
Configurator (servo configuration software), you can change the operation conditions. The initial conditions
and setting ranges for operation are listed below.
Initial setting

Setting range

Speed [r/min]

Item

200

0 to instantaneous permissible speed

Acceleration/deceleration time constant [ms]

1000

0 to 50000

How to use the buttons is explained below.
Button
"UP"
"DOWN"

Description
Press to start CCW rotation.
Release to stop.
Press to start CW rotation.
Release to stop.

If the communication cable is disconnected during jog operation performed by using the MR Configurator
(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.

6 - 12

6. DISPLAY AND OPERATION

6.8.3 Positioning operation
POINT
The MR Configurator (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-VIN to start positioning operation to use the internal power supply.
Click the "Forward" or "Reverse" button on the MR Configurator (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 MR Configurator (servo configuration software). The initial conditions and setting ranges
for operation are listed below.
Item

Initial setting

Travel distance [pulse]

Setting range

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 buttons is explained below.
Button

Description

"Forward"

Click to start positioning operation CCW.

"Reverse"

Click to start positioning operation CW.

"Pause"

Click during operation to make a temporary stop. Pressing the "Pause" button again erases the
remaining distance.
To resume operation, click the button that was clicked 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.

6 - 13

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-VIN, 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.
Change the display to the status display screen by pressing the "MODE" button. (Refer to section 6.1.)
The status display screen can be changed by pressing the "UP" or the "DOWN" button. (Refer to section
6.2.)
(3) Termination of motor-less operation
To terminate the motor-less operation, switch power off.

6 - 14

7. GENERAL GAIN ADJUSTMENT

7. GENERAL GAIN ADJUSTMENT
POINT
For the gain adjustment, check that the machine operates below the maximum
torque of the servo motor. If the machine operates beyond the maximum torque
of the servo motor, the machine may perform unexpected operation such as the
machine vibration. Make the gain adjustment with a safety margin considering
characteristic differences of each machine. Generated torque during operation
must be the 90 maximum torque or less of the servo motor.
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
Gain adjustment mode
Auto tuning mode 1

Parameter No.2

Estimation of load inertia

Automatically set

setting

moment ratio

parameters

010

Always estimated

(initial value)

Manually set parameters

PG1 (parameter No.6)

Response level setting of

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.34

PG1 (parameter No.6)

GD2 (parameter No.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)

7- 1

7. GENERAL GAIN ADJUSTMENT

(2) Adjustment sequence and mode usage
START
Usage
Interpolation
made for 2 or more
axes?

Yes

Used when you want to match
the position gain (PG1)

Interpolation mode

between 2 or more axes.
Normally not used for other

Operation

purposes.
Allows adjustment by merely

Auto tuning mode 1

changing the response level
setting.

Operation

First use this mode to make
adjustment.

Yes

OK?

Used when the conditions of
auto tuning mode 1 are not

Yes

Auto tuning mode 2

met and the load inertia
moment ratio could not be
estimated properly, for

Operation
Yes

example.

OK?

This mode permits adjustment

easily with three gains if you
were not satisfied with auto

Manual mode 1

tuning results.

Operation
Yes

OK?
You can adjust all gains

manually when you want to do

Manual mode 2

fast settling or the like.

END

7.1.2 Adjustment using MR Configurator (servo configuration software)
This section gives the functions and adjustment that may be performed by using the servo amplifier with the
MR Configurator (servo configuration software) which operates on a personal computer.
Function

Description

Adjustment

Machine analyzer

With the machine and servo motor coupled,
the characteristic of the mechanical system
can be measured by giving a random
vibration command from the personal
computer to the servo and measuring the
machine response.

Gain search

Executing gain search under to-and-fro
positioning command measures settling
characteristic while simultaneously
changing gains, and automatically searches
for gains which make settling time shortest.
Response at positioning settling of a
machine can be simulated from machine
analyzer results on personal computer.

Machine simulation

7- 2

You can grasp the machine resonance frequency and
determine the notch frequency of the machine resonance
suppression filter.
You can automatically set the optimum gains in response
to the machine characteristic. This simple adjustment is
suitable for a machine which has large machine
resonance and does not require much settling time.
You can automatically set gains which make positioning
settling time shortest.

You can optimize gain adjustment and command pattern
on personal computer.

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

PG1

Position control gain 1

Name

GD2

Ratio of load inertia moment to servo motor inertia moment

PG2

Position control gain 2

VG1

Speed control gain 1

VG2

Speed control gain 2

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 2000r/min is the acceleration/deceleration time constant of 5s or
less.
Speed is 150r/min or higher.
The load to motor inertia moment ratio is 100 times or less.
The acceleration/deceleration torque is 10 or more of the rated torque.
Under operating conditions which will impose sudden disturbance torque during
acceleration/deceleration or on a machine which is extremely loose, auto tuning
may not function properly, either. In such cases, use the auto tuning mode 2 or
manual mode 1,2 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 (parameter No.34).
The following parameters are automatically adjusted in the auto tuning mode 2.
Parameter No.

Abbreviation

PG1

Name
Position control gain 1

PG2

Position control gain 2

VG1

Speed control gain 1

VG2

Speed control gain 2

VIC

Speed integral compensation

7- 3

7. GENERAL GAIN ADJUSTMENT

7.2.2 Auto tuning mode basis
The block diagram of real-time auto tuning is shown below.
Load inertia
moment

Automatic setting
Command

Encoder

Control gains
PG1,VG1
PG2,VG2,VIC

Current
control

Servo
motor

Current feedback

Set 0 or 1 to turn on.

Gain
table

Switch

Load inertia
moment ratio
estimation section

Position/speed
feedback

Speed feedback

Parameter No. 34
Load inertia moment
ratio estimation value

Parameter No. 2

Gain adjustment
mode selection

Real-time auto
tuning section

First digit
Response level
setting

When a servo 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 servo motor. The results of
estimation are written to parameter No.34 (the ratio of load inertia moment to servo motor). These results can
be confirmed on the status display screen of the MR Configurator (servo configuration software) section.
If the value of the load inertia moment ratio is already known or if estimation cannot be made properly, chose
the "auto tuning mode 2" (parameter No.2: 2
) to stop the estimation of the load inertia moment ratio
(Switch in above diagram turned off), and set the load inertia moment ratio (parameter No.34) manually.
From the preset load inertia moment ratio (parameter No.34) value and response level (The first digit of
parameter No.2), the optimum control gains are automatically set on the basis of the internal gain tale.
The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since power-on. At
power-on, auto tuning is performed with the value of each 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: 2
) and set the correct load inertia
moment ratio in parameter No.34.
When any of the auto tuning mode 1, auto tuning mode 2 and manual mode 1
settings is changed to the manual mode 2 setting, the current control gains and
load inertia moment ratio estimation value are saved in the EEP-ROM.

7- 4

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.

Auto tuning adjustment

Acceleration/deceleration repeated

Yes

Load inertia moment ratio
estimation value stable?
No
Auto tuning
conditions not satisfied.
(Estimation of load inertia
moment ratio is difficult)

Yes
Choose the auto tuning mode 2
(parameter No.2: 020 ) and set
the load inertia moment ratio
(parameter No.34) manually.

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

Acceleration/deceleration repeated

Requested
performance satisfied?

Yes
END
To manual mode

7- 5

7. GENERAL GAIN ADJUSTMENT

7.2.4 Response level setting in auto tuning mode
Set the response (The first digit of parameter No.2) of the whole servo system. As the response level setting is
increased, the track ability and settling time for a command decreases, but a too high response level will
generate vibration. Hence, make setting until desired response is obtained within the vibration-free range.
If the response level setting cannot be increased up to the desired response because of machine resonance
beyond 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 8.2, 8.3 for adaptive vibration suppression
control and machine resonance suppression filter.
Parameter No.2

Response level setting
Gain adjustment mode selection
Machine characteristic
Response level setting

Machine rigidity

Machine resonance
frequency guideline

Low

15Hz

20Hz

25Hz

30Hz

35Hz

45Hz

55Hz

Guideline of corresponding machine

Large conveyor

Middle

85Hz

105Hz

130Hz

160Hz

200Hz

240Hz
High

General machine
tool conveyor

70Hz

Arm robot

300Hz

7- 6

Precision
working
machine
Inserter
Mounter
Bonder

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

GD2

Automatic setting

PG2
VG1

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 8.2, 8.3.)
(1) For speed control
(a) Parameters
The following parameters are used for gain adjustment.
Parameter No.

Abbreviation

Name

GD2

Ratio of load inertia moment to servo motor inertia moment

VG2

Speed control gain 2

VIC

Speed integral compensation

(b) Adjustment procedure
Step
1
2
3

Operation

Description

Set an estimated value to the ratio of load inertia moment to servo motor
inertia moment (parameter No.34).
Increase the speed control gain 2 (parameter No.37) within the vibrationand unusual noise-free range, and return slightly if vibration takes place.
Decrease the speed integral compensation (parameter No.38) within the
vibration-free range, and return slightly if vibration takes place.
If the gains cannot be increased due to mechanical system resonance or
the like and the desired response cannot be achieved, response may be
increased by suppressing resonance with adaptive vibration suppression
control or machine resonance suppression filter and then executing steps 2
and 3.

7- 7

Increase the speed control gain.
Decrease the time constant of the speed
integral compensation.
Suppression of machine resonance.
Refer to section 8.2, 8.3.

7. GENERAL GAIN ADJUSTMENT

(c)Adjustment description
1) Speed control gain 2 (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.

Speed loop response
frequency(Hz)

Speed control gain 2 setting
ratio of load inertia moment to servo 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, 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
Speed control gain 2 setting/(1 ratio of load inertia moment to
servo motor inertia moment setting

Speed integral compensation
setting(ms)

0.1)

(2) For position control
(a) Parameters
The following parameters are used for gain adjustment.
Parameter No.

Abbreviation

Name

PG1

GD2

Position control gain 1
Ratio of load inertia moment to servo motor inertia moment

VG2

Speed control gain 2

VIC

Speed integral compensation

(b) Adjustment procedure
Step
1

Operation

Description

Set an estimated value to the ratio of load inertia moment to servo motor
inertia moment (parameter No.34).

Set a slightly smaller value to the position control gain 1 (parameter No.6).

Increase the speed control gain 2 (parameter No.37) within the vibrationand unusual noise-free range, and return slightly if vibration takes place.

Increase the speed control gain.

Decrease the speed integral compensation (parameter No.38) within the
vibration-free range, and return slightly if vibration takes place.

Decrease the time constant of the speed
integral compensation.

Increase the position control gain 1 (parameter No.6).

Increase the position control gain.
Suppression of machine resonance.
Refer to section 8.2, 8.3.

If the gains cannot be increased due to mechanical system resonance or
the like and the desired response cannot be achieved, response may be
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-adjust
each gain.

Fine adjustment

7- 8

7. GENERAL GAIN ADJUSTMENT

(c) Adjustment description
1) Position control gain 1 (parameter No.6)
This parameter determines the response level of the position control loop. Increasing position control
gain 1 improves track ability to a position command but a too high value will make overshooting liable
to occur at the time of settling.
Position control
gain 1 guideline

Speed control gain 2 setting
ratio of load inertia moment to servo motor inertia moment)

1
1
to
3
5

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.
Speed loop response
frequency(Hz)

Speed control gain 2 setting
ratio of load inertia moment to servo motor inertia moment) 2

3) Speed integral compensation (parameter No.38)
To eliminate stationary deviation against a command, the speed control loop is under proportional
integral control. For the speed integral compensation, set the time constant of this integral control.
Increasing the setting lowers the response level. However, if the load 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.
Speed integral compensation
setting(ms)

2000 to 3000
Speed control gain 2 setting/(1 ratio of load inertia moment to
servo motor inertia moment 2 setting

7- 9

0.1)

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
position control gain 2 and speed control gain 2 which determine command track ability are set manually and
the other parameter for gain adjustment are set automatically.
(1) Parameter
(a) Automatically adjusted parameters
The following parameters are automatically adjusted by auto tuning.
Parameter No.

Abbreviation

34
35
37
38

GD2
PG2
VG2
VIC

Name
Ratio of load inertia moment to servo motor inertia moment
Position control gain 2
Speed control gain 2
Speed integral compensation

(b) Manually adjusted parameters
The following parameters are adjustable manually.
Parameter No.

Abbreviation

6
36

PG1
VG1

Name
Position control gain 1
Speed control gain 1

(2) Adjustment procedure
Step
1
2
3
4
5

Operation
Set 15Hz (parameter No.2: 010 ) as the machine resonance frequency of
response in the auto tuning mode 1.
During operation, increase the response level setting (parameter No.2), and
return the setting if vibration occurs.
Check the values of position control gain 1 (parameter No.6) and speed
control gain 1 (parameter No.36).
Set the interpolation mode (parameter No.2: 000 ).
Using the position control gain 1 value checked in step 3 as the guideline of
the upper limit, set in PG1 the value identical to the position loop gain of the
axis to be interpolated.
Using the speed control gain 1 value checked in step 3 as the guideline of
the upper limit, look at the rotation status and set in speed control gain 1 the
value three or more times greater than the position control gain 1 setting.
Looking at the interpolation characteristic and rotation status, fine-adjust the
gains and response level setting.

Description
Select the auto tuning mode 1.
Adjustment in auto tuning mode 1.
Check the upper setting limits.
Select the interpolation mode.
Set position control gain 1.

Set speed control gain 1.

Fine adjustment.

(3) Adjustment description
(a) Position control gain 1 (parameter No.6)
This parameter determines the response level of the position control loop. Increasing position control
gain 1 improves track ability 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)
60
Droop pulse value (pulse)
Position control gain 1 setting
(b) Speed control gain 1 (parameter No.36)
Set the response level of the speed loop of the model. Make setting using the following expression as a
guideline.
Position control gain 1 setting 3
Speed control gain 1 setting
7 - 10

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.
If a mechanical system has a natural resonance level 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 Function block diagram
Speed
control
00

Machine resonance
suppression filter 1

Parameter
No.58

Parameter
No.60

Parameter
No.59
00

except

Parameter Current
No.60 command

Machine resonance
suppression filter 2

Low-pass
filter

Servo
motor

except

Encoder

Adaptive vibration
suppression control

8.2 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
system
response
level

Machine resonance point

Frequency

Notch
depth
Notch frequency

8- 1

Frequency

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
level

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)
Set the notch frequency and notch depth of the machine resonance suppression filter 1 (parameter
No.58)
When you have made adaptive vibration suppression control selection (parameter No.60) "valid" or
"held", make the machine resonance suppression filter 1 invalid (parameter No.58: 0000).
Parameter No.58

Notch frequency
Setting
Setting
Setting
Setting
Frequency
Frequency
Frequency
Frequency
value
value
value
value

Invalid

562.5

281.3

187.5

4500

500

264.7

180

2250

450

250

173.1

1500

409.1

236.8

166.7

1125

375

225

160.1

900

346.2

214.3

155.2

750

321.4

204.5

150

642.9

300

195.7

145.2

Notch depth
Setting
value

Depth (Gain)

Deep (

(

40dB)
14dB)

(

8dB)

Shallow(

4dB)

8- 2

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 MR Configurator (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 machine resonance suppression filter 2 (parameter No.59) is the same as that of
machine resonance suppression filter 1 (parameter No.58). However, the machine resonance
suppression filter 2 can be set independently of whether adaptive vibration suppression control is valid
or invalid.
8.3 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
Mechanical
system
response
level

Mechanical
system
response
Frequency level

Notch
depth

Machine resonance point

Frequency

Notch frequency
When machine resonance is large and frequency is low

Notch frequency
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
2
) to fix the
suppression control to be "held" (parameter No.60:
characteristics of the adaptive vibration suppression control filter.
8- 3

8. SPECIAL ADJUSTMENT FUNCTIONS

(2) Parameters
Set the adaptive vibration suppression control (parameter No.60).
Parameter No.60

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 selection
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).
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.
8.4 Low-pass filter
(1) Function
When a ball screw or the like is used, resonance of high frequency may occur as the response level of the
servo system is increased. To prevent this, the low-pass filter is 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.
Speed control gain 2 setting 10
Filter frequency(Hz)
(1 Ratio of load inertia moment to servo motor inertia moment setting 0.1)
2
(2) Parameter
Set the low-pass filter (parameter No.60.)
Parameter No.60

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

initial value

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

8- 4

8. SPECIAL ADJUSTMENT FUNCTIONS

8.5 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 input signal to change gains during operation.
8.5.1 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 input 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).
8.5.2 Function block diagram
The valid control gains PG2, VG2, VIC and GD2 of the actual loop are changed according to the conditions
selected by gain changing selection CDP (parameter No.65) and gain changing condition CDS (parameter
No.66).
CDP
Parameter No.65
External input
signal CDP
Command pulse
frequency
Droop pulses
Changing

Model speed
Comparator
CDS
Parameter No.66
GD2
Parameter No.34
GD2B
Parameter No.61

Valid
GD2 value

PG2
Parameter No.35
PG2

PG2B
100

Valid
PG2 value

VG2
Parameter No.37
VG2

VG2B
100

Valid
VG2 value

VIC
Parameter No.38
VIC

VICB
100

8- 5

Valid
VIC value

8. SPECIAL ADJUSTMENT FUNCTIONS

8.5.3 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

No.

ation

Name

Unit

Description

PG1

Position control gain 1

rad/s

Position and speed gains of a model used to set the response

VG1

Speed control gain 1

rad/s

level to a command. Always valid.

GD2

Ratio of load inertia moment to

Multiplier Control parameters before changing.

servo motor inertia moment

( 10 )

PG2

Position control gain 2

rad/s

VG2

Speed control gain 2

rad/s

VIC

Speed integral compensation

GD2B

PG2B

VG2B

VICB

CDP

Ratio of load inertia moment to

Multiplier Used to set the ratio of load inertia moment to servo motor inertia

servo motor inertia moment 2

( 10 ) moment after changing.

Position control gain 2 changing

Used to set the ratio ( ) of the after-changing position control

ratio

gain 2 to position control gain 2.

Speed control gain 2 changing

Used to set the ratio ( ) of the after-changing speed control gain

ratio

2 to speed control gain 2.

Speed integral compensation

Used to set the ratio ( ) of the after-changing speed integral

changing ratio

compensation to speed integral compensation.

Gain changing selection

Used to select the changing condition.
kpps

CDS

Gain changing condition

CDT

Gain changing time constant

Used to set the changing condition values.

pulse
r/min
ms

You can set the filter time constant for a gain change at changing.

8- 6

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
ratio of load inertia moment to servo motor inertia moment, position control gain 2, speed control gain 2 and
speed integral compensation 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 ratio of load inertia moment to servo motor inertia
moment (parameter No.34).
(3) Position control gain 2 changing ratio (parameter No.62), speed control gain 2 changing ratio (parameter
No.63), speed integral compensation changing ratio (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 position control gain 2 100, speed control gain 2 2000, speed integral
compensation 20 and position control gain 2 changing ratio 180 , speed control gain 2 changing ratio
150 and speed integral compensation changing ratio 80 , the after-changing values are as follows.
Position control gain 2 Position control gain 2
Position control gain 2 changing ratio /100 180rad/s
Speed control gain 2 Speed control gain 2
Speed control gain 2 changing ratio /100 3000rad/s
Speed integral compensation changing
Speed integral compensation Speed integral compensation
ratio /100 16ms
(4) Gain changing selection (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) can
be assigned to the pins using parameters No.43 to 48.
Parameter No.65

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 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 (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

kpps

Droop pulses

pulse

Servo motor speed

r/min

(6) Gain changing time constant (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.
8- 7

8. SPECIAL ADJUSTMENT FUNCTIONS

8.5.4 Gain changing procedure
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
rad/s

PG1

Position control gain 1

100

VG1

Speed control gain 1

1000

GD2

Ratio of load inertia moment to

servo motor inertia moment

rad/s
Multiplier
1

( 10 )

PG2

Position control gain 2

120

rad/s

VG2

Speed control gain 2

3000

rad/s

VIC

Speed integral compensation
Ratio of load inertia moment to

GD2B

PG2B

VG2B

VICB

CDP

Gain changing selection

CDT

Gain changing time constant

servo motor inertia moment 2

20
100

Position control gain 2 changing

ratio
Speed integral compensation
changing ratio

( 10 )

ratio
Speed control gain 2 changing

ms
Multiplier

133
250
0001
(Changed by ON/OFF of
pin CN1-10)
100

(b) Changing timing chart
OFF

Gain changing
(CDP)

Change of
each gain

ON
After-changing gain

Before-changing gain
CDT 100ms

Position control gain 1

100

Speed control gain 1

1000

Ratio of load inertia moment
to servo motor inertia moment

OFF

10.0

4.0

Position control gain 2

120

Speed control gain 2

3000

4000

3000

Speed integral compensation

8- 8

8. SPECIAL ADJUSTMENT FUNCTIONS

(2) When you choose changing by droop pulses
(a) Setting
Parameter No.

Abbreviation

Setting

Unit

PG1

Position control gain 1

100

rad/s

VG1

Speed control gain 1

1000

rad/s

GD2

Ratio of load inertia moment to
servo motor inertia moment

Multiplier
1
( 10 )

Name

PG2

Position control gain 2

120

rad/s

VG2

Speed control gain 2

3000

rad/s

VIC

Speed integral compensation

100

Multiplier
1
( 10 )

GD2B

Ratio of load inertia moment to
servo motor inertia moment 2

PG2B

Position control gain 2 changing
ratio

VG2B

Speed control gain 2 changing
ratio

133

VICB

Speed integral compensation
changing ratio

250

CDP

Gain changing selection

CDS

Gain changing condition

pulse

CDT

Gain changing time constant

100

0003
(Changed by droop pulses)

(b) Changing timing chart
Command pulse

Droop pulses [pulses] 0

Droop pulses

CDS
CDS

After-changing gain

Change of each gain

Before-changing gain
CDT 100ms

Position control gain 1

100

Speed control gain 1

1000

Ratio of load inertia moment
to servo motor inertia moment

4.0

10.0

4.0

10.0

Position control gain 2

120

Speed control gain 2

3000

4000

3000

4000

Speed integral compensation

8- 9

8. SPECIAL ADJUSTMENT FUNCTIONS

MEMO

8 - 10

9. INSPECTION

WARNING

Before starting maintenance and/or inspection, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Otherwise, an electric shock may
occur. In addition, always confirm from the front of the servo amplifier whether the
charge lamp is off or not.
Due to risk of electric shock, only qualified personnel should attempt inspection.
For repair and parts replacement, please contact your local sales office.

CAUTION

Do not perform insulation resistance test on the servo amplifier as damage may
result.
Do not disassemble and/or repair the equipment on customer side.

(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.
(c) Check the servo motor bearings, brake section, etc. for unusual noise.
(d) Check the cables and the like for scratches and cracks. Perform periodic inspection according to
operating conditions.
(e) Check the servo motor shaft and coupling for misalignment.
(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 local sales office.
Part name

Life guideline

Smoothing capacitor

10 years

Cooling fan

10,000 to 30,000 hours (2 to 3 years)

Relay

Number of power-on and number of
emergency stop times: 100,000 times

Bearings

20,000 to 30,000 hours

Encoder

20,000 to 30,000 hours

Oil seal

5,000 hours

(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 when the cumulative number of power-on and emergency stop times is 100,000, which depends on
the power supply capacity.

9- 1

9. INSPECTION

(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
cooling 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.
(d) Bearings
When the servo motor is run at rated speed under rated load, change the bearings in 20,000 to 30,000
hours as a guideline. This differs on the operating conditions. The bearings must also be changed if
unusual noise or vibration is found during inspection.
(e) Oil seal, V ring
Must be changed in 5,000 hours of operation at rated speed as a guideline. This differs on the operating
conditions. These parts must also be changed if oil leakage, etc. is found during inspection.

9- 2

10. TROUBLESHOOTING

10. TROUBLESHOOTING
10.1 Trouble at start-up

CAUTION

Excessive adjustment or change of parameter setting must not be made as it will
make operation instable.
POINT
Using the optional MR Configurator (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.
1

Start-up sequence
Power on (Note)

Fault

Investigation

Possible cause

Seven-segment

Not improved if connectors

1. Power supply voltage fault
2. Servo amplifier is faulty.

LED is not lit.

CN1, CN2 and CN3 are

Seven-segment

disconnected.

LED flickers.

Improved when connectors

Power supply of CNP1 cabling

CN1 is disconnected.

is shorted.

Improved when connector

1. Power supply of encoder

CN2 is disconnected.

Reference

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

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

Section 6.6

not servo-locked
(is free).

the servo amplifier is ready
to operate.
2. Check the external I/O

1. Servo-on signal is not input.
(Wiring mistake)
2. 24VDC power is not supplied
to COM.

signal indication to see if
the servo-on (SON) signal
is ON.
3

Enter input

Servo motor does not Check cumulative command

command.

rotate.

1. Wiring mistake

Section 6.2

(a) For open collector pulse

pulses.

(Test operation)

train input, 24VDC power
is not supplied to OPC.
(b) LSP/LSN-VIN are not
connected.
2. No pulses is input.
Servo motor run in

1. Mistake in wiring to controller.

reverse direction.

2. Mistake in setting of
parameter No.54.

10 - 1

Chapter 5

10. TROUBLESHOOTING

No.
4

Start-up sequence
Gain adjustment

Fault

Investigation

Rotation ripples

Make gain adjustment in the

(speed fluctuations)

following procedure.

are large at low

1. Increase the auto tuning

speed.

Possible cause

Reference

Gain adjustment fault

Chapter 7

Gain adjustment fault

Chapter 7

response level.
2. Repeat acceleration and
deceleration several times
to complete auto tuning.

Large load inertia

If the servo motor may be run

moment causes the

with safety, repeat

servo motor shaft to

acceleration and deceleration

oscillate side to side.

several times to complete auto
tuning.

Cyclic operation

Position shift occurs.

Confirm the cumulative

Pulse counting error, etc.

(2) of this

command pulses, cumulative

due to noise.

section

feedback pulses and actual
servo motor position.
Note. Switch power on again after making sure that the charge lamp has turned off completely.

10 - 2

10. TROUBLESHOOTING

(2) How to find the cause of position shift
Positioning unit

Servo amplifier

(a) Output pulse
counter

Electronic gear (parameters No.3, 4)

Q
(A)
(C) Servo-on (SON), forward
rotation stroke end
(LSP), reverse rotation
stroke end (LSN) input

Machine
Servo motor

CMX

CDV

(d) Machine stop
position M
(B)

(b) Cumulative command
pulses
C

Encoder

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 miss-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.
CMX
C
2) When P
CDV
During operation, the servo-on signal (SON) or forward rotation stroke end (LSP), reverse rotation
stroke end (LSN) 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).
M
3) When C
Mechanical slip occurred between the servo motor and machine. (Cause B)

10 - 3

10. TROUBLESHOOTING

10.1.2 Internal speed control mode
No.
1

Start-up sequence
Power on (Note)

Fault
Seven-segment
LED is not lit.
Seven-segment
LED flickers.

Investigation
Not improved if connectors
CN1, CN2 and CN3 are
disconnected.

Possible cause

Reference

1. Power supply voltage fault
2. Servo amplifier is faulty.

Improved when connectors

Power supply of CN1 cabling is

CN1 is disconnected.

shorted.

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

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
(is free).

the servo amplifier is ready
to operate.
2. Check the external I/O

(Wiring mistake)
2. 24VDC power is not supplied
to COM.

signal indication to see if the
servo-on (SON) signal is
ON.
3

Switch on forward
rotation start (ST1) or
reverse rotation start

Servo motor does not Call the external I/O signal
LSP, LSN, ST1 or ST2 is off.
rotate.
display and check the ON/OFF
status of the input signal.

(ST2).

Set value is 0.
Check the internal speed
commands 1 to 7
(parameters No.8 to 10 72 to
75).

Section 6.6

Section 5.1.2
(1)

Check the internal torque limit
1 (parameter No.28).

Torque limit level is too low as
compared to the load torque.

Make gain adjustment in the
following procedure.
1. Increase the auto tuning
response level.
2. Repeat acceleration and
deceleration several times
to complete auto tuning.

Gain adjustment fault

Chapter 7

If the servo motor may be run Gain adjustment fault
with safety, repeat
acceleration and deceleration
several times to complete auto
tuning.
Note. Switch power on again after making sure that the charge lamp has turned off completely.

Chapter 7

Gain adjustment

Rotation ripples
(speed fluctuations)
are large at low
speed.

Large load inertia
moment causes the
servo motor shaft to
oscillate side to side.

10 - 4

10. TROUBLESHOOTING

10.2 When alarm or warning has occurred
POINT
As soon as an alarm occurs, turn off Servo-on (SON) and power off the power
supply.
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. When an alarm occurs, the
current circuit between ALM and VIN opens.
Set "
1" in parameter No.49 to output the alarm code in ON/OFF status across the corresponding pin
and VIN. Warnings (AL.96 to AL.E9) 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 (CN1-12: ZSP, CN111: RD, CN1-10: INP or SA) are output.
in the alarm
After its cause has been removed, the alarm can be deactivated in any of the methods marked
deactivation column.

Warnings

Alarms

(Note 2) Alarm code

Alarm deactivation

Display

CN1-10
pin

CN1-11
pin

CN1-12
pin

AL.10
AL.12
AL.13
AL.15
AL.16
AL.17
AL.19
AL.1A
AL.20
AL.24
AL.30
AL.31
AL.32
AL.33
AL.35
AL.37
AL.45
AL.46
AL.50
AL.51
AL.52
AL.8A
AL.8E
88888
AL.E0

0
0
0
0
1
0
0
1
1
0
0
0
0
0
0
0
1
1
1
1
0
0
0
0

1
0
0
0
0
0
0
0
1
0
1
1
0
1
1
0
1
1
1
1
1
0
0
0

0
0
0
0
1
0
0
1
0
1
0
1
1
0
1
0
0
0
0
0
1
0
0
0

Name

Power
OFF ON

Undervoltage
Memory error 1
Clock error
Memory error 2
Encoder error 1
Board error
Memory error 3
Motor combination error
Encoder error 2
Main circuit error
Regenerative error
Overspeed
Overcurrent
Overvoltage
Command pulse frequency error
Parameter error
Main circuit device overheat
Servo motor overheat
Overload 1
Overload 2
Error excessive
Serial communication time-out error
Serial communication error
Watchdog
Excessive regenerative warning

AL.E1

Overload warning

AL.E6

Servo emergency stop warning

Alarm
reset
(RES)
signal

(Note 1)

(Note 1)
(Note 1)
(Note 1)
(Note 1)

Removing the cause of occurrence
deactivates the alarm automatically.

AL.E9
Undervoltage warning
Note 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence.
2. 0: off
1: on

10 - 5

Press
"SET" on
current
alarm
screen.

10. TROUBLESHOOTING

10.2.2 Remedies for alarms

CAUTION

When any alarm has occurred, eliminate its cause, ensure safety, then reset the
alarm, and restart operation. Otherwise, injury may occur.
As soon as an alarm occurs, turn off Servo-on (SON) and power off the power
supply.
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 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 press the "SET"
button on the current alarm screen 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
servo motor. 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. Use the
optional MR Configurator (servo configuration software) to refer to the cause of the alarm.
Display
AL.10

Name
Undervoltage

Definition
Power supply
voltage dropped to
160VAC or less.

Cause
1. Power supply voltage is low.

Action
Check the power supply.

2. There was an instantaneous control
power failure of 60ms or longer.
3. Shortage of power supply capacity
caused the power supply voltage to
drop at start, etc.
4. The bus voltage dropped to
200VDC.

AL.12

Memory error 1

RAM, memory fault

AL.13

Clock error

Printed board fault

AL.15

Memory error 2

EEP-ROM fault

5. Faulty parts in the servo amplifier

Change the servo amplifier.

Faulty parts in the servo amplifier

Change the servo amplifier.

1. Faulty parts in the servo amplifier

Change the servo amplifier.

2. The number of write times to EEPROM exceeded 100,000.
AL.16

AL.17

AL.19

Encoder error 1

Board error

Memory error 3

Communication error 1. Encoder connector (CN2)
occurred between
disconnected.
encoder and servo
2. Encoder fault
amplifier.
3. Encoder cable faulty
(Wire breakage or shorted)

Change the servo motor.

CPU/parts fault

Change the servo amplifier.

1. Faulty parts in the servo amplifier
The output terminals 2. The wiring of U, V, W is
U, V, W of the servo
disconnected or not connected.
amplifier and the
input terminals U, V,
W of the servo motor
are not connected.
ROM memory fault
Faulty parts in the servo amplifier

10 - 6

Connect correctly.

Repair or change cable.

Correctly connect the output terminals U, V,
W of the servo amplifier and the input
terminals U, V, W of the servo motor.

Change the servo amplifier.

10. TROUBLESHOOTING

Display
AL.1A

AL.20

AL.24

AL.30

Name
Motor
combination
error
Encoder error 2

Main circuit
error

Regenerative
error

Definition
Wrong combination
of servo amplifier
and servo motor.
Communication error
occurred between
encoder and servo
amplifier.
Ground fault
occurred at the
servo motor powers
(U,V and W phases)
of the servo
amplifier.

Permissible
regenerative power
of the built-in
regenerative resistor
or regenerative
option is exceeded.

Regenerative
transistor fault

Cause
Wrong combination of servo amplifier
and servo motor connected.

Action
Use correct combination.

1. Encoder connector (CN2)
disconnected.

Connect correctly.

2. Encoder fault
3. Encoder cable faulty
(Wire breakage or shorted)
1. Power input wires and servo motor
power wires are in contact at main
circuit terminal block (TE1).
2. Insulators of servo motor power
cables deteriorated, resulting in
ground fault.
3. Main circuit of servo amplifier failed.
Checking method
Alarm (AL.24) occurs if the servo
is switched on after disconnecting
the U, V, W power cables from
the servo amplifier.

Change the servo motor.
Repair or change the cable.

1. Wrong setting of parameter No.0
2. Built-in regenerative resistor or
regenerative option is not
connected.
3. High-duty operation or continuous
regenerative operation caused the
permissible regenerative power of
the regenerative option to be
exceeded.
Checking method
Call the status display and check
the regenerative load ratio.

Set correctly.
Connect correctly.

4. Power supply voltage is abnormal.
MR-E- A-QW003: 260VAC or
more
5. Built-in regenerative resistor or
regenerative option faulty.

Check the power supply.

6. Regenerative transistor faulty.
Checking method
1) The regenerative option has
overheated abnormally.
2) Alarm (AL.30) occurs even after
removal of the built-in
regenerative resistor or
regenerative option.

10 - 7

Connect correctly.

Change the cable.

Change the servo amplifier.

1. Reduce the frequency of positioning.
2. Use the regenerative option of larger
capacity.
3. Reduce the load.

Change servo amplifier or regenerative
option.
Change the servo amplifier.

10. TROUBLESHOOTING

Display
AL.31

Name
Overspeed

Definition
Speed has
exceeded the
instantaneous
permissible speed.

Cause
1. Input command pulse frequency

Action
Set command pulses correctly.

exceeded the permissible
instantaneous speed frequency.
2. Small acceleration/deceleration time
constant caused overshoot to be
large.
3. Servo system is instable to cause
overshoot.

Increase acceleration/deceleration time
constant.
1. Re-set servo gain to proper value.
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)

AL.32

AL.33

Overcurrent

Overvoltage

Current that flew is
higher than the
permissible current
of the servo
amplifier. (When the
alarm (AL.32)
occurs, switch the
power OFF and then
ON to reset the
alarm. Then, turn on
the servo-on. When
the alarm (AL.32)
still occurs at the
time, the transistor
(IPM
IGBT) of the servo
amplifier may be at
fault. Do not switch
the power OFF/ON
repeatedly; check
the transistor
according to the
cause 2 checking
method.)
Converter bus
voltage exceeded
400VDC.

5. Encoder faulty.

Change the servo motor.

1. Short occurred in servo amplifier

Correct the wiring.

output phases U, V and W.
2. Transistor (IPM) of the servo
amplifier faulty.

Change the servo 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
amplifier output phases U, V and W.

Correct the wiring.

4. External noise caused the
overcurrent detection circuit to
misoperate.

Take noise suppression measures.

1. Regenerative option is not used.

Use the regenerative option.

2. Though the regenerative option is
used, the parameter No.0 setting is
"
0 (not used)".

Make correct setting.

3. Lead of built-in regenerative resistor
or regenerative option is open or
disconnected.

1. Change the lead.
2. Connect correctly.

4. Regenerative transistor faulty.

Change the servo amplifier.

1. For wire breakage of built-in regenerative
5. Wire breakage of built-in
resistor, change the servo amplifier.
regenerative resistor or regenerative
option
2. For wire breakage of regenerative option,
change the regenerative option.
6. Capacity of built-in regenerative
resistor or regenerative option is
insufficient.

Add regenerative option or increase
capacity.

7. Power supply voltage high.

Check the power supply.

10 - 8

10. TROUBLESHOOTING

Display
AL.35

AL.37

AL.45

AL.46

AL.50

Name

Definition

Cause

Input pulse
Command
pulse frequency frequency of the
command pulse is
error
too high.

1. Pulse frequency of the command
pulse is too high.

Parameter error Parameter setting is
wrong.

2. Noise entered command pulses.

Take action against noise.

3. Command device failure

Change the command device.

1. Servo amplifier fault caused the
parameter setting to be rewritten.

Change the servo amplifier.

2. Regenerative option or servo motor
not used with servo amplifier was
selected in parameter No.0.

Set parameter No.0 correctly.

3. The number of write times to EEPROM exceeded 100,000 due to
parameter write, etc.

Change the servo amplifier.

1. Servo amplifier faulty.

Change the servo amplifier.

2. The power supply was turned on
and off continuously by overloaded
status.

The drive method is reviewed.

3. Air cooling fan of servo amplifier
stops.

1. Exchange the cooling fan or the servo
amplifier.
2. Reduce ambient temperature.

Servo motor
temperature rise
actuated the thermal
sensor.

1. Ambient temperature of servo motor
is over 40 (104 ).

Review environment so that ambient
temperature is 0 to 40 (104 ).

2. Servo motor is overloaded.

1. Reduce load.
2. Review operation pattern.
3. Use servo motor that provides larger
output.

3. Thermal sensor in encoder is faulty.

Change the servo motor.

Load exceeded
overload protection
characteristic of
servo amplifier.

1. Servo amplifier is used in excess
of its continuous output current.

1. Reduce load.
2. Review operation pattern.
3. Use servo motor that provides larger
output.

2. Servo system is instable and
hunting.

1. Repeat acceleration/
deceleration to execute auto tuning.
2. Change auto tuning response setting.
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.
Servo amplifier's output terminals U,
V, W do not match servo motor's
input terminals U, V, W.

Connect correctly.

5. Encoder faulty.

Change the servo motor.

Main circuit
Main circuit device
device overheat overheat

Servo motor
overheat

Overload 1

Action
Change the command pulse frequency to a
proper value.

Checking method
When the servo motor shaft is
rotated with the servo off, the
cumulative feedback pulses do
not vary in proportion to the
rotary angle of the shaft but the
indication skips or returns
midway.

10 - 9

10. TROUBLESHOOTING

Display
AL.51

Name
Overload 2

Definition

Cause

Machine collision or 1. Machine struck something.
the like caused max.
output current to flow 2. Wrong connection of servo motor.
successively for
Servo amplifier's output terminals U,
several seconds.
V, W do not match servo motor's
Servo motor locked:
input terminals U, V, W.
1s or more 3. Servo system is instable and
During rotation:
hunting.
2.5s or more

4. Encoder faulty.

Action
1. Review operation pattern.
2. Install limit switches.
Connect correctly.

1. Repeat acceleration/deceleration to
execute auto tuning.
2. Change auto tuning response setting.
3. Set auto tuning to OFF and make gain
adjustment manually.
Change the servo motor.

AL.52

AL.8A

AL.8E

88888

Error excessive

Serial
communication
time-out error

Serial
communication
error

Watchdog

The difference
between the model
position and the
actual servo motor
position exceeds 2.5
rotations. (Refer to
the function block
diagram in section
1.2)

RS-232C or RS-422
communication
stopped for longer
than the time set in
parameter No.56.
Serial
communication error
occurred between
servo amplifier and
communication
device (e.g. personal
computer).
CPU, parts faulty

1. Acceleration/deceleration time
constant is too small.

Increase the acceleration/deceleration
time constant.

2. Torque limit value (parameter
No.28) is too small.

Increase the torque limit value.

3. Motor cannot be started due to
torque shortage caused by power
supply voltage drop.

1. Review the power supply capacity.
2. Use servo motor which provides larger
output.

4. Position control gain 1 (parameter
No.6) value is small.

Increase set value and adjust to ensure
proper operation.

5. Servo motor shaft was rotated by
external force.

1. When torque is limited, increase the 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.
Servo amplifier's output terminals U,
V, W do not match servo motor's
input terminals U, V, W.

Connect correctly.

1. Communication cable breakage.

Repair or change communication cable.

2. Communication cycle longer than
parameter No.56 setting.

Set correct value in parameter.

3. Wrong protocol.

Correct protocol.

1. Communication cable fault
(Open cable or short circuit)

Repair or change the cable.

2. Communication device (e.g.
personal computer) faulty

Change the communication device (e.g.
personal computer).

Fault of parts in servo amplifier

Change the servo amplifier.

10 - 10

10. TROUBLESHOOTING

10.2.3 Remedies for warnings
POINT
When any of the following alarms has occurred, do not resume operation by
switching power of the servo amplifier OFF/ON repeatedly. The servo amplifier
and servo motor may become faulty. If the power of the servo amplifier is
switched OFF/ON during the alarms, allow more than 30 minutes for cooling
before resuming operation.
Excessive regenerative warning (AL.E0)
Overload warning 1 (AL.E1)
If AL.E6 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. Use the optional MR Configurator (servo
configuration software) to refer to the cause of the warning.
Display

Name

AL.E0 Excessive
regenerative
warning

Definition
There is a possibility that
regenerative power may
exceed permissible
regenerative power of
built-in regenerative
resistor or regenerative
option.

Cause

Action

Regenerative power increased to 85 or
more of permissible regenerative power of
built-in regenerative resistor or regenerative
option.
Checking method
Call the status display and check
regenerative load ratio.

1. Reduce frequency of
positioning.
2. Change regenerative option for
the one with larger capacity.
3. Reduce load.

AL.E1 Overload warning There is a possibility that
overload alarm 1 or 2 may
occur.

Load increased to 85 or more of overload Refer to AL.50, AL.51.
alarm 1 or 2 occurrence level.

AL.E6 Servo emergency EMG-VIN are open.
stop warning

External emergency stop was made valid.
(EMG-VIN opened.)

AL.E9 Undervoltage
warning

Cause, checking method
Refer to AL.50, 51.

Ensure safety and deactivate
emergency stop.
Check the power supply.

This alarm occurs when
the servo motor speed
decreases to or below
50r/min with the bus
voltage dropping.

10 - 11

10. TROUBLESHOOTING

MEMO

10 - 12

11. OUTLINE DIMENSION DRAWINGS

11. OUTLINE DIMENSION DRAWINGS
11.1 Servo amplifiers
(1) MR-E-10A-QW003 MR-E-20A-QW003
[Unit: mm]

Approx.70

135

156

168

Mass: 0.7 [kg] (1.54 [lb])

Terminal signal layout

PE terminals

CNP2
U
V
W

CNP1
P
C

Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])

D
L1
L2
L3

11 - 1

Mounting Screw
Screw Size: M5
Tightening torque: 3.24 [N m]
(28.676 [lb in])

11. OUTLINE DIMENSION DRAWINGS

(2) MR-E-40A-QW003
[Unit: mm]

Approx.70

135

168

156

Mass: 1.1 [kg] (2.43 [lb])

Terminal signal layout

PE terminals

CNP2
U
V
W

CNP1
P
Terminal screw: M4
Tightening torque: 1.2 [N m] (10 .6 [lb in])

C
D
L1
L2
L3

11 - 2

Mounting Screw
Screw Size: M5
Tightening torque: 3.24 [N m]
(28.676 [lb in])

11. OUTLINE DIMENSION DRAWINGS

(3) MR-E-70A-QW003 MR-E-100A-QW003
[Unit: mm]

190

Approx. 70

156

159

168

Mass: 1.7 [kg] (3.75 [lb])

Terminal signal layout
PE terminals

CNP2
U
V
W

CNP1
P
C

Terminal screw: M4
Tightening torque: 1.2 [N m] (10.6 [lb in])

D
L1
L2
L3

11 - 3

Mounting Screw
Screw Size: M5
Tightening torque: 3.24 [N m]
(28.676 [lb in])

11. OUTLINE DIMENSION DRAWINGS

(4) MR-E-200A-QW003
[Unit: mm]

195

Approx. 70

156

168

Exhaust

Cooling fan
air intake
78

Mass: 2.0 [kg] (4.41 [lb])

Terminal signal layout
CNP1

PE terminals
L1
L2
L3
P
C

Terminal screw: M4
Tightening torque: 1.2 [N m]
(10.6 [lb in])

CNP2
U
V
W

11 - 4

Mounting Screw
Screw Size: M5
Tightening torque: 3.24 [N m]
(28.676 [lb in])

11. OUTLINE DIMENSION DRAWINGS

11.2 Connectors
(1) Miniature delta ribbon (MDR) system (3M)
(a) One-touch lock type
[Unit: mm]

39.0
23.8

Logo etc, are indicated here.

12.7

Each type of dimension

Connector

Shell kit

10126-3000PE

10326-52F0-008

25.8

37.2

14.0

10.0

12.0

(b) Jack screw M2.6 type
This is not available as option.
[Unit: mm]

5.2

39.0
23.8

Logo etc, are indicated here.

12.7

Connector

Shell kit

10126-3000PE

10326-52A0-008

Each type of dimension
A

25.8

37.2

14.0

10.0

12.0

27.4

11 - 5

11. OUTLINE DIMENSION DRAWINGS

(2) CN2 Connector (Molex)
Connector set

: 54599-1019
[Unit: mm]

22.7

12.5

(3) CN3 Connector (Marushin electric mfg)
Connector: MP371/6
[Unit: mm]

8.95

14.8

44.5

5
5
3

6
4
1

11 - 6

11. OUTLINE DIMENSION DRAWINGS

(4) CNP1 CNP2 Connector (Molex)
(a) Crimping type
[Unit: mm]
Variable dimensions
Number of
[mm] ([in])
Connector
poles
A
B
Circuit number indication

Application

51240-0300

17.8

CNP2
(1kW or less)

51240-0600

32.8

CNP1
(1kW or less)

Crimping tool: 57349-5300 (Molex)

(A)
(B)
5
Pitch

8.5

0.5

11.4

2.5

15.3

[Unit: mm]
Variable dimensions
Connector

Circuit number indication

[mm] ([in])

11.4

8.5

0.5

7.5
Pitch

15.3

11 - 7

poles

Application

51241-0300

22.8

CNP2 (2kW)

51241-0600

45.3

37.5

CNP1 (2kW)

Crimping tool: 57349-5300 (Molex)

A
(B)
3.75

Number of

11. OUTLINE DIMENSION DRAWINGS

(b) Insertion type
[Unit: mm]
Variable dimensions
[mm]

Connector

Housing

Number of
poles

54927-0310

16.5

54927-0610

31.5

Housing cover

Application
CNP2
(1kW or less)
CNP1
(1kW or less)

A
(B)
5
Pitch

26.5
18

8.5

1.5

14.3

[Unit: mm]
Variable dimensions
Number of
Connector
[mm]
poles
A
B
Housing

Housing cover

A
(B)
7.5

7.5
Pitch

26.5
8.5

1.5

14.3

11 - 8

Application

54928-0310

21.5

22.5

CNP2
(2kW)

54928-0610

37.5

CNP1
(2kW)

12. CHARACTERISTICS

12. CHARACTERISTICS
12.1 Overload protection characteristics
An electronic thermal relay is built in the servo amplifier to protect the servo motor, servo amplifier, and servo
motor power cable from overloads. Overload 1 (AL.50) occurs if overload operation performed is above the
electronic thermal relay protection curve shown in any of Figs 12.1, Overload 2 (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.
1000

1000
During rotation

During rotation
100
Operation time[s]

Operation time[s]

100

During servo lock

During servo lock
10

0.1

150
200
100
(Note) Load ratio [%]

250

300

a. MR-E-10A-QW003 to MR-E-100A-QW003

150
200
100
(Note) Load ratio [%]

250

300

b. MR-E-200A-QW003

Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop
status (servo lock status) or in a 30r/min or less low-speed operation status, the servo amplifier may fail even when the electronic
thermal relay protection is not activated.

Fig 12.1 Electronic thermal relay protection 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
Servo amplifier
MR-E-10A-QW003
MR-E-20A-QW003
MR-E-40A-QW003
MR-E-70A-QW003
MR-E-100A-QW003
MR-E-200A-QW003

Servo motor
HF-KN13(J)
HF-KN23(J)
HF-KN43(J)
HF-SN52J
HF-KN73J
HF-SN102J
HF-SN152J
HF-SN202J

(Note 1)
Power supply
capacity [kVA]
0.3
0.5
0.9
1.0
1.3
1.7
2.5
3.5

(Note 2)
Servo amplifier-generated heat [W]
At rated torque
With servo off
25
25
35
40
50
50
90
90

15
15
15
15
15
15
20
20

Area required for
heat dissipation
2
[m ]
0.5
0.5
0.7
0.8
1.0
1.0
1.8
1.8

Note 1. Note that the power supply capacity will vary according to the power supply impedance. This value assumes that the power factor
improving reactor is not used.
2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by the
regenerative option, refer to section 13.1.1.

12 - 1

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 (104 ).
(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
....................................................................................................................................................(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 cooling 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. 12.2 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.

12 - 2

12. CHARACTERISTICS

12.3 Dynamic brake characteristics
POINT
Dynamic brake operates at occurrence of alarm, servo emergency stop
warning (AL.E6) and when power is turned off. Do not use dynamic brake to
stop in a normal operation as it is the function to stop in emergency.
Maximum usage time of dynamic brake for a machine operating under
recommended load inertia moment ratio is 1000 times while decelerating
from rated speed to a stop with frequency of once in 10 minutes.
Be sure to make emergency stop (EMG) valid after servo motor stops when
using emergency stop (EMG) frequently in other than emergency.
Fig. 12.3 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. 12.4)
ON
OFF

Emergency stop(EMG)

Dynamic brake time constant

V0
Machine speed

Time

Fig. 12.3 Dynamic brake operation diagram
JL
V0
te
1
............................................................................................................................(12.2)
60
JM
: Maximum coasting distance................................................................................................................[mm]
: Machine rapid feed rate................................................................................................................[mm/min]
: Servo motor inertial moment .......................................................................................... [kg cm2][oz in2]
: Load inertia moment converted into equivalent value on servo motor shaft ................ [kg cm2][oz in2]
: Dynamic brake time constant.................................................................................................................. [s]
: Delay time of control section ................................................................................................................... [s]
(There is internal relay delay time of about 30ms.)

Lmax

Lmax
Vo
JM
JL
te

23
43

053

5
13

0
0

[ms]

100
80

Time constant

[ms]

Time constant

102
52

40
20
0
0

500 1000 1500 2000 2500 3000 3500 4000 4500

500

Speed [r/min]

1000

1500

2000

Speed [r/min]

b. HF-SN J

a. HF-KN (J)
Fig. 12.4 Dynamic brake time constant
12 - 3

202
152

2500

3000

12. CHARACTERISTICS

Use the dynamic brake under the load inertia moment ratio 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-E-10A-QW003 to MR-E-200A-QW003

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
5 107

1 107
5 106

a : Long flex life encoder cable
Long flex life motor power cable
Long flex life motor brake cable

1 106

b : Standard encoder cable
Standard motor power cable
Standard motor brake cable

Flexing life [times]

5 105

1 105
5 104

1 104

5 103

1 103
4

70 100

200

Flexing radius [mm]

12.5 Inrush currents at power-on of main circuit and control circuit
The following table indicates the inrush currents (reference value) that will flow when the maximum permissible
voltage (253VAC) is applied at the power supply capacity of 2500kVA and the wiring length of 1m.
Servo amplifier

Inrush currents (A0-p)
Main circuit power supply (L1, L2, L3)

MR-E-10A-QW003
MR-E-20A-QW003

50A (Attenuated to approx. 10A in 10ms)

MR-E-40A-QW003
MR-E-70A-QW003
MR-E-100A-QW003
MR-E-200A-QW003

70A (Attenuated to approx. 20A in 10ms)
110A (Attenuated to approx. 20A in 10ms)

Since large inrush currents flow in the power supplies, always use circuit breakers and magnetic contactors.
(Refer to section 13.2.2.)
When circuit protectors are used, it is recommended to use the inertia delay type that will not be tripped by an
inrush current.
12 - 4

13. OPTIONS AND AUXILIARY EQUIPMENT
13. OPTIONS AND AUXILIARY EQUIPMENT

WARNING

Before connecting any option or peripheral equipment, turn off the power and wait
for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock
may occur. In addition, always confirm from the front of the servo amplifier whether
the charge lamp is off or not.

CAUTION

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

13.1 Options
13.1.1 Regenerative options

CAUTION

The specified combinations of regenerative options and servo amplifiers may only
be used. Otherwise, a fire may occur.

(1) Combination and regenerative power
The power values in the table are resistor-generated regenerative powers and not rated powers.
Permissible regenerative power [W]
Servo amplifier

Built-in regenerative

MR-RB032

MR-RB12

MR-RB32

MR-RB30

resistor

[40 ]

[13 ]

MR-E-10A-QW003

(Note)
MR-RB50
[13 ]

MR-E-20A-QW003

100

MR-E-40A-QW003

100

MR-E-70A-QW003

100

300

MR-E-100A-QW003

100

300

MR-E-200A-QW003

100

300

500

Note. Always install a cooling fan.

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

Friction
torque
TF

Servo motor speed

tf(1 cycle)
No
Up

( )

Time

Down
t1
Tpsa1

Generated torque

Unbalance torque

(a) Regenerative energy calculation
Use the following table to calculate the regenerative energy.

Tpsa2

Tpsd1

Tpsd2

1)
(Driving)
2)

5)
6)

3)
(Regenerative)

( )

13 - 1

13. OPTIONS AND AUXILIARY EQUIPMENT

Formulas for calculating torque and energy in operation
Regenerative power
1)

4), 8)

Torque applied to servo motor [N m]
(JL JM) N0
1
TU
TF
Tpsa1
9.55 104

TF
(JL JM) N0
9.55 104

Energy [J]

E1
E2

1
Tpsd1

TU
(JL JM) N0
4
9.55 10

E3
E4

1
Tpsa2

TU TF
(JL JM) N0
9.55 104

E5
E6

1
Tpsd2

0.1047
2

N0 T1 Tpsa1

0.1047 N0 T2 t1
0.1047
N0 T3 Tpsd1
2
0 (No regeneration)
0.1047
N0 T5 Tpsa2
2
0.1047 N0 T6 t3
0.1047
N0 T7 Tpsd2
2

From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative energies.
(b) Losses of servo motor and servo amplifier in regenerative mode
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-E-10A-QW003

MR-E-20A-QW003

9
9

MR-E-40A-QW003

MR-E-70A-QW003

MR-E-100A-QW003

MR-E-200A-QW003

Inverse efficiency ( )

Capacitor charging (Ec)

: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 torque, allow for about 10 .
:Energy charged into the electrolytic capacitor in the servo amplifier.

Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the
inverse efficiency to calculate the energy consumed by the regenerative option.
ER [J]
Es Ec
Calculate the power consumption of the regenerative option on the basis of single-cycle operation period tf [s]
to select the necessary regenerative option.
PR [W] ER/tf
(3) Connection of the regenerative option
Set parameter No.2 according to the option to be used.
Parameter No.0

Selection of regenerative option
0: Regenerative option is not used

For the servo amplifier of 200W or lower,
lower, regenerative resistor is not used.
For the servo amplifier of 400W or higher,
built-in regenerative resistor is used.
2: MR-RB032
3: MR-RB12
4: MR-RB32
5: MR-RB30
6: MR-RB50 (Cooling fan is required)

13 - 2

13. OPTIONS AND AUXILIARY EQUIPMENT

(4) Connection of the regenerative option
POINT
When using the MR-RB50, cooling by a cooling fan is required. Please obtain
a cooling fan at your discretion.
The regenerative option will cause a temperature rise of 100 relative to the ambient temperature. 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 option body. Always use twisted cables of
max. 5m length for connection with the servo amplifier.
Always remove the wiring from across P-D and fit the regenerative option across P-C.
The G3 and G4 terminals act as a thermal sensor. G3-G4 are disconnected when the regenerative option
overheats abnormally.
Servo amplifier

Always remove the lead from across P-D.
Regenerative option

G3
(Note 2)

5m max.

(Note 1)
Cooling fan
3
Note 1. When using the MR-RB50, forcibly cool it with a cooling fan (92 92, minimum air flow: 1.0m ).
2. Make up a sequence which will switch off the magnetic contactor when abnormal heating occurs.
G3-G4 contact specifications
Maximum voltage: 120V AC/DC
Maximum current: 0.5A/4.8VDC
Maximum capacity: 2.4VA

13 - 3

13. OPTIONS AND AUXILIARY EQUIPMENT

(5) Outline drawing
(a) MR-RB032 MR-RB12
[Unit: mm]

6 mounting hole

Approx. 12

Approx. 6

144

168

156

TE1
Terminal block
G3
G4
P
C

TE1

1.6

Approx. 20

Applicable wire size: 0.2mm2 (AWG24)
to 2.5mm2 (AWG12)
Tightening torque:
0.5 to 0.6 [N m](4 to 5 [lb in])
Mounting screw
Screw size: M5
Tightening torque:
3.24[N m](28.68 [lb in])

LC
Regenerative
option
MR-RB032
MR-RB12

Variable dimensions
Mass
LA
LB
LC
LD [kg] [lb]
30
15
119
99 0.5 1.1
40
15
169 149 1.1 2.4

(b) MR-RB32 MR-RB30
8.5

Cooling fan mounting
screw (2-M4 screw)

[Unit: mm]
Terminal block

101.5
90
100

82.5
318
335

Mounting screw
Screw : M6
Tightening torque: 5.4 [N m](47.79 [lb in])

Air intake
(30)

Regenerative option Mass [kg] (lb)
MR-RB30

8.5

125

150
142
82.5

P
C Terminal screw: M4
G3 Tightening torque: 1.2 [N m] (10.6 [lb in])
G4

MR-RB32

13 - 4

2.9 (6.4)

13. OPTIONS AND AUXILIARY EQUIPMENT

Mounting screw
Screw : M6
Tightening torque: 5.4 [N m](47.79 [lb in])

7 14
slot

350

82.5

[Unit: mm (in)]

P
C Terminal screw: M4
G3 Tightening torque: 1.2 [N m](10.6 [lb in])
G4

12.5

82.5

162.5

Terminal block

2.3
200
217

12.5

133

162.5

Air
intake

7
12

108
120

Approx. 30
8

option

Mass
[kg(lb)]

MR-RB50

5.6 (12.3)

Regenerative

13 - 5

13. OPTIONS AND AUXILIARY EQUIPMENT

13.1.2 Cables and connectors
POINT
The IP rating indicated is the cable's or connector's protection against ingress
of dust and water when the cable or connector is connected to a servo amplifier
or servo motor. If the IP rating of the cable, connector, servo amplifier and
servo motor vary, the overall IP rating depends on the lowest IP rating of all
components.
(1) Cable make-up
The following cables are used for connection with the servo motor and other models. Those indicated by
broken lines in the figure are not options.
Servo amplifier

1), 2)

Operation
panel

CN3
CN1

4)
Analog monitor

CN2
Personal
computer

CNP2
Controller

CNP1

3)
4)
Analog moniter

Power supply

6), 7), 8), 9)
Refer to the HF-KN/HF-SN Servo Motor Instruction Manual for options for
servo motor power supply, electromagnetic brake, and encoder.

Regenerative
option

To 24 V DC power supply
for electromagnetic brake

Servo motor

10), 11), 12), 13)

Power supply
connector

13 - 6

Brake
Encoder
connector connector

13. OPTIONS AND AUXILIARY EQUIPMENT

No.
1)

Product
Control signal
connector set

Model
MR-ECN1
(Unit: 20 pcs/box)
MR-J2CMP2
(Unit: 1 pcs/box)
MR-E3CBL15-P

Description

Connector: MP371/6

Connector: MJ372/6
(Marushin Musen Denki or
equivalent)

Analog monitor,
RS-232C branch
cable

Analog monitor,
RS-232C
connector

MR-ECN3
(Unit: 20 pcs/box)

Communication
cable

QC30R2

Connector: MP371/6
(Mini-DIN 6-pin male)
(Marushin Musen Denki or
equivalent)

Connector: DE-9SF-N
Case: DE-C1-J6-S6
(JAE)

Amplifier power
supply connector
set (Insulation
displacement
type) MR-E-10AQW003 to MR-E100A-QW003
Amplifier power
supply connector
set (Insertion type)
MR-E-10AQW003 to MR-E100A-QW003
Amplifier power
supply connector
set (Insulation
displacement
type) MR-E-200AQW003
Amplifier power
supply connector
set (Insertion type)
MR-E-200AQW003

MR-ECNP1-A
(Unit: 20 pcs/box)

Connector: 51240-0600
(Molex or equivalent)

Terminal: 56125-0128
(Molex or equivalent)

MR-ECNP1-B
(Unit: 20 pcs/box)

Connector: 54927-0610
(Molex or equivalent)

MR-ECNP1-A1
(Unit: 20 pcs/box)

Connector: 54241-0600
(Molex or equivalent)

MR-ECNP1-B1
(Unit: 20 pcs/box)

Connector: 54928-0610
(Molex or equivalent)

MR-ECNP2-A
(Unit: 20 pcs/box)

Connector: 51240-0300
(Molex or equivalent)

MR-ECNP2-B
(Unit: 20 pcs/box)

Connector: 54927-0310
(Molex or equivalent)

10) Motor power
supply connector
(Insulation
displacement
type) MR-E-10AQW003 to MR-E100A-QW003
11) Motor power
supply connector
(Insertion type)
MR-E-10AQW003 to MR-E100A-QW003

Application

Connector: 10126-3000PE
Shell kit: 10326-52F0-008
(3M or equivalent)

Connector: MP371/6
(Marushin Musen Denki or
equivalent)

13 - 7

Analog
monitor, RS232C branch
cable
Analog
monitor, RS232C
connector
For
connection
with PC-AT
compatible
personal
computer
Insulation
displacement
type

Insertion type

Terminal: 56125-0128
(Molex or equivalent)

Insulation
displacement
type

Insertion type

Terminal: 56125-0128
(Molex or equivalent)

Insulation
displacement
type

Insertion type

13. OPTIONS AND AUXILIARY EQUIPMENT

No.

Product

12) Motor power
supply connector
(Insulation
displacement
type) MR-E-200AQW003
13) Motor power
supply connector
(Insertion type)
MR-E-200AQW003

Model
MR-ECNP2-A1
(Unit: 20 pcs/box)

Connector: 54241-0300
(Molex or equivalent)

MR-ECNP2-B1
(Unit: 20 pcs/box)

Connector: 54928-0310
(Molex or equivalent)

Description
Terminal: 56125-0118
(Molex or equivalent)

Application
Insulation
displacement
type

Insertion type

(2) 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.
(a) Model definition
Model: QC30R2 (Cable length 3[m])
(b) Connection diagram for fabrication
MR-CPCATCBL3M
Personal computer side
TXD

RXD
GND
RTS
CTS
DSR
DTR

2
5
7
8
6
4

D-SUB9 pins

Servo amplifier side
Plate
1
3
2

SD
RXD
LG
TXD

Mini DIN 6 pins

When fabricating the cable, refer to the connection diagram in this section. Though this connection
diagram is not the connection diagram of the QC30R2, it is identical in functions.
The following must be observed in fabrication.
1) Always use a shielded, multi-core cable and connect the shield with SD securely.
2) The optional communication cable is 3m long. When the cable is fabricated, its maximum length is
15m in offices of good environment with minimal noise.

13 - 8

13. OPTIONS AND AUXILIARY EQUIPMENT

13.1.3 Analog monitor, RS-232C branch cable (MR-E3CBL15-P)
(1) Usage
The analog monitor, RS-232C branch cable (MR-E3CBL15-P) is designed for use when a personal
computer and analog monitor outputs are used at the same time.
Servo amplifier
Analog monitor, RS-232C branch cable
(MR-E3CBL15-P)

Communication cable
(QC30R2)

CN3

MO2
LG
MO1
LG

(2) Connection diagram
Servo amplifier
RS-232C

Plate
SD
RXD
1
TXD

RXD

2
3

TXD
LG

Plate SD
LG

Analog monitor

MO1

3
4

LG
MO1

MO2

MO2
6
Plate
SD

Plate SD

13 - 9

Analog monitor output 2
Analog monitor output 1

13. OPTIONS AND AUXILIARY EQUIPMENT

13.1.4 MR Configurator (servo configurations software)
The MR Configurator (servo configurations software MRZJW3-SETUP154E, 154C) 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
Model
Communication signal
Baud rate [bps]
System
Monitor
Alarm
Diagnostic
Parameters
Test operation
Advanced function
File operation
Others

Description
154E: English, 154C: Chinese
Conforms to RS-232C.
57600, 38400, 19200, 9600
Station selection, Automatic demo
Display, high speed monitor, trend graph
Minimum resolution changes with the processing speed of the personal computer.
Display, history, amplifier data
Digital I/O, no motor rotation, total power-on time, amplifier version info, motor information, tuning data,
Automatic VC offset display, Axis name setting.
Parameter list, turning, change list, detailed information
Jog operation, positioning operation, Operation w/o motor, Forced output, Demo mode.
Machine analyzer, gain search, machine simulation.
Data read, save, print
Automatic demo, help display

(2) System configuration
(a) Components
To use this MR Configurator (servo configurations software), the following components are required in
addition to the servo amplifier and servo motor.
Model

(Note 1) Description
IBM PC-AT compatible where the English version and Chinese version of Windows® 95, Windows® 98,
Windows® Me, Windows NT® Workstation 4.0, Windows® 2000 Professional, Windows® XP Professional and
Windows® XP Home Edition operates
Processor: Pentium® 133MHz or more (Windows® 95, Windows® 98, Windows NT® Workstation 4.0, Windows®
2000 Professional)
Pentium® 150MHz or more (Windows® Me)
(Note 2)
Pentium® 300MHz or more (Windows® XP Professional, Windows® XP Home Edition)
Personal computer
Memory: 16MB or more (Windows® 95), 24MB or more (Windows® 98)
32MB or more (Windows® Me, Windows NT® Workstation 4.0, Windows® 2000 Professional)
128MB or more (Windows® XP Professional, Windows® XP Home Edition)
Free hard disk space: 60MB or more
Serial port used
Windows® 95, Windows® 98, Windows® Me, Windows NT® Workstation 4.0, Windows® 2000 Professional,
OS
Windows® XP Professional, Windows® XP Home Edition (English version, Chinese version)
One whose resolution is 800 600 or more and that can provide a high color (16 bit) display. Connectable with
Display
the above personal computer.
Keyboard
Connectable with the above personal computer.
Mouse
Connectable with the above personal computer. Note that a serial mouse is not used.
Printer
Connectable with the above personal computer.
Communication
QC30R2
cable
When this cannot be used, refer to section 13.1.2 (3) and fabricate.
Note 1. Windows and Windows NT are the registered trademarks of Microsoft Corporation in the United States and other countries.
Pentium is the registered trademarks of Intel Corporation.
2. On some personal computers, this MR Configurator (servo configurations software) may not run properly.

(b) Configuration diagram
Servo amplifier
Personal computer

Communication cable
CN3
To RS-232C
connector

13 - 10

CN2

Servo motor

13. OPTIONS AND AUXILIARY EQUIPMENT

13.2 Auxiliary equipment
Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/cUL
(CSA) Standard, use the products which conform to the corresponding standard.
13.2.1 Selection example of 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) Power supply lead

2) Motor power supply lead
Servo motor

Servo amplifier

Power supply

W Motor

4) Electromagnetic
brake lead
ElectroB1 magnetic
B2 brake

(Note)
D

Regenerative option

C
Encoder

P
3) Regenerative option lead

Encoder cable (refer to section 13.1.2)

Note. When using the regenerative option, always remove the wiring across D-P.

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.
Refer to section 3.11 for connection with the connector (CNP1, CNP2).
The servo motor side connection method depends on the type and capacity of the servo motor. Refer to
HF-KN/HF-SN Servo Motor Instruction Manual.
To enable the built-in regenerative brake, connect the wiring across D-P. (Refer to section 3.7.2 for the
connection method.)
To comply with the UL/cUL (CSA) Standard, use UL-recognized copper wires rated at 60 (140 ) or more
for wiring.
Table 13.1 Selection example of wires
2

Servo amplifier
MR-E-10A-QW003
MR-E-20A-QW003
MR-E-40A-QW003
MR-E-70A-QW003
MR-E-100A-QW003
MR-E-200A-QW003

(Note) Wires [mm ]
1) L1 L2 L3

2 (AWG14)

(Note) 2.5 (AWG14)

3) U V W

4) P C D

5) B1 B2

1.25 (AWG16)
2 (AWG14)

1.25 (AWG16)

2 (AWG14)
(Note) 2.5 (AWG14)

Note. Use the heat-resistant PVC cable (rated 105

(221 ) or more), if AWG14 cable is used in ambient temperature 40

more.

13 - 11

(104 ) or

13. OPTIONS AND AUXILIARY EQUIPMENT

(2) Wires for cables
When fabricating a cable, use the wire models given in the following table or equivalent.
Table 13.2 Wires for option cables
Type

Model

Communication
cable

Core size Number
of cores
[mm2]

Length
[mm]

QC30R2

6
(3 pairs)

0.08

Characteristics of one core
Structure
Conductor
Insulation coating
[Wires/mm] resistance [ /mm] ODd [mm] (Note 1)

7/0.127

222

0.38

(Note 2)
Finishing
OD [mm]

Wire model

4.6

UL20276 AWG#28
3pair (BLACK)

Note 1. d is as shown below.

Conductor Insulators
2. Standard OD. Max. OD is about 10

greater.

13.2.2 Circuit breakers, fuses, magnetic contactors
Always use one circuit breaker and one magnetic contactor with one servo amplifier. When using a fuse
instead of the circuit breaker, use the one having the specifications given in this section.
Servo amplifier

Circuit breaker

MR-E-10A-QW003
MR-E-20A-QW003
MR-E-40A-QW003
MR-E-70A-QW003
MR-E-100A-QW003
MR-E-200A-QW003

30A frame 5A
30A frame 5A
30A frame 10A
30A frame 15A
30A frame 15A
30A frame 20A

Class

Fuse
Current [A]
Voltage AC [V]
10
10
15
15
15
15

250

Magnetic contactor
(Note)

S-N10

S-N18

Note. Be sure to use a magnetic contactor with an operation delay time of 80ms or less. The operation delay time is the time interval
between current being applied to the coil until closure of contacts.

13 - 12

13. OPTIONS AND AUXILIARY EQUIPMENT

13.2.3 Power factor improving AC reactors
The power factor improving AC reactor FR-HAL increases the form factor of the servo amplifier's input current
to improve the power factor. It can reduce the power capacity. The input power factor is improved to be about
88 .
When using the power factor improving AC reactors FR-HAL for two or more servo amplifiers, be sure to
connect a power factor improving AC reactor FR-HAL to each servo amplifier. If using one power factor
improving AC reactor FR-HAL for multiple servo amplifiers, enough improvement effect of phase factor cannot
be obtained unless all servo amplifiers are operated.

Servo amplifier
MR-E- A-QW003
MR-E- AG-QW003
MC FR-HAL
R
X
L1
S
Y
L2
T
Z
L3

NFB

Terminal layout
RX SY T Z

Mounting hole for 4-d
(front right side,
varnish removal)(Note1)

3-phase
200 to 230VAC

MAX D

MAX W (Note 3)

Power factor
improving
AC reactor (FR-HAL)

Servo amplifier
MR-E- A-QW003
MR-E- AG-QW003
MC FR-HAL
R
X
L1
S
Y
L2
T
Z
L3

NFB

(Note4)
3-phase
200 to 230VAC

±5

±2

Dimensions [mm]
W

D
(Note 2)

Terminal
screw size

Crimping
terminal

Mass
[kg]

FR-HAL-0.4K

104

2-4

0.6

FR-HAL-0.75K

104

2-4

0.8

FR-HAL-1.5K

104

2-4

1.1

FR-HAL-2.2K

115 (Note 2)

115

2-4

1.5

FR-HAL-3.7K

115 (Note 2)

115

5.5-4

2.2

Note. 1.Use this hole for grounding.
2.Maximum dimension (The dimension varies depending on the bending degree of the I/O line.)
3.W±2 for FR-HAL-0.4K to 1.5K.
4.Connect a 1-phase 200 to 230VAC power supply to L1, L2 and keep L3 open.
Power factor improving
AC reactor (FR-HAL)
FR-HAL-0.4K

Applicable servo amplifier
3-phase power supply

1-phase power supply

MR-E-10A-QW003・MR-E-20A-QW003

FR-HAL-0.75K

MR-E-40A-QW003

MR-E-10A-QW003・MR-E-20A-QW003

FR-HAL-1.5 K

MR-E-70A-QW003

MR-E-40A-QW003

FR-HAL-2.2K

MR-E-100A-QW003

MR-E-70A-QW003

FR-HAL-3.7K

MR-E-200A-QW003

13 - 13

13. OPTIONS AND AUXILIARY EQUIPMENT

13.2.4 Relays
The following relays should be used with the interfaces.
Interface

Selection example

Input signals (interface DI-1) signals

To prevent defective contacts, use a relay for small signal
(twin contacts).
(Ex.) Omron: type G2A, MY

Relay used for digital output signals (interface DO-1)

Small relay with 12VDC or 24VDC of rating 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

Permissible circuit

Surge

Energy

Rated

voltage

immunity

power

[A]

[J]

[W]

DC[V]

500/time

Varistor voltage

limit voltage

(reference

rating (range) V1mA

value)
[A]

0.4

[V]
360

[pF]
300

[V]
220
(198 to 242)

20 s

(Example) ERZV10D221 (Panasonic)
TNR-10V221K (Nippon chemi-con)
Outline drawing [mm] (ERZ-C10DK221)

13.5

4.7 1.0

Vinyl tube

0.8

30.0 or more

Note. 1 time

180

capacity

16.5

140

(Note)

3.0 or less

AC[Vma]

Maximum

13 - 14

Crimping terminal
for M4 screw

13. OPTIONS AND AUXILIARY EQUIPMENT

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 3.9).
(b) Reduction techniques for external noises that cause the servo amplifier to malfunction
If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays
which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction,
the following countermeasures are required.
Provide surge absorbers on the noise sources to suppress noises.
Attach data line filters to the signal cables.
Ground the shields of the encoder connecting cable and the control signal cables with cable clamp
fittings.
Although a surge absorber is built into the servo amplifier, to protect the servo amplifier and other
equipment against large exogenous noise and lightning surge, attaching a varistor to the power input
section of the equipment is recommended.
(c) Techniques for noises radiated by the servo amplifier that cause peripheral 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.

13 - 15

13. OPTIONS AND AUXILIARY EQUIPMENT

Noises produced
by servo amplifier

Noises transmitted
in the air

Noise radiated directly
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
through electric
channels

Noise transmitted through
power supply cable

Route 7)

Noise sneaking from
grounding cable due to
leakage current

Route 8)

7)
7)

1)
Instrument

Receiver

Sensor
power
supply

Servo
amplifier

3)
8)
6)
Sensor

3)
Servo motor

13 - 16

13. OPTIONS AND AUXILIARY EQUIPMENT

Noise transmission route

Suppression techniques

1) 2) 3)

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.
(2) Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
(3) Avoid laying the power lines (Input 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.

4) 5) 6)

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.
(2) Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
(3) Avoid laying the power lines (Input 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 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 (Input cables) of the servo amplifier.
(2) Insert the line noise filter (FR-BSF01) 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 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 and the ESD-SR-250 of NEC Tokin make are available as
data line filters.
As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated
below.
This impedances are reference values and not guaranteed values.

Loop for fixing the
cable band

150

TDK

Product name

100 to 500MHz

10 to 100MHz

[Unit: mm]

Impedance [ ]

Lot number
Outline drawing (ZCAT3035-1330)

13 - 17

13. OPTIONS AND AUXILIARY EQUIPMENT

(b) Surge suppressor
The recommended surge suppressor for installation to an AC relay, AC valve or the like near the servo
amplifier is shown below. Use this product or equivalent.
MC

Relay
Surge suppressor
Surge suppressor
This distance should be short
(within 20cm).

(Ex.) CR-50500
(OKAYA Electric Industries Co., Ltd.)

30 ]

Outline drawing [Unit: mm]
Test voltage AC [V]
Band (clear)

Between terminals:
250

0.5

50
(1/2W)

625VAC 50/60Hz 60s
Between terminal and

Soldered
6

AWG18 Twisted wire

6
300min

1.5

[ F 20 ] [

AC [V]

3.6

(18.5

Rated
voltage

300min

1
(18.5

case: 2,000VAC

5)max.

50/60Hz 60s

Note that a diode should be installed to a DC relay, DC valve or the
like.
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 the
relay or the like

Diode

(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 insulators 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

Strip the cable insulators of
the clamped area.

Earth plate

Cable clamp
(A,B)

cutter

cable

External conductor
Clamp section diagram

13 - 18

13. OPTIONS AND AUXILIARY EQUIPMENT

Outline drawing
[Unit: mm]

Earth plate

Clamp section diagram

2- 5 hole
installation hole

17.5

0.3
0

(Note)M4 screw

0
0.2

0.3

L or less

Note. Screw hole for grounding. Connect it to the earth plate of the control box.
Type

Accessory fittings

Clamp fitting

AERSBAN-DSET

100

clamp A: 2pcs.

AERSBAN-ESET

clamp B: 1pc.

13 - 19

13. OPTIONS AND AUXILIARY EQUIPMENT

(d) Line noise filter (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]

L2 FR-BSF01

W). Pass each of the

Approx. 110
95 0.5

Approx. 22.5

3-phase wires through the line noise filter an equal number of times
in the same direction. For the main power supply, the effect of the
filter rises as the number of passes increases, but generally four
passes would be appropriate. For the motor power supply, passes
must be four times or less. Do not pass the grounding (earth) wire

2- 5

Approx. 65

through the filter, or the effect of the filter will drop. Wind the wires by

passing through the filter to satisfy the required number of passes as
shown in Example 1. If the wires are too thick to wind, use two or
more filters to have the required number of passes as shown in

4.5

Example 2. Place the line noise filters as close to the servo amplifier
as possible for their best performance.

Example 1

MCCB MC

Approx. 65

L3) and of the motor power supply (U

11.25 0.5

Use the line noise filters for wires of the main power supply (L1

Servo amplifier

Power
supply

L1
L2
L3

Line noise
filter
(Number of passes: 4)
Example 2 MCCB MC

Servo amplifier

Power
supply

L1
L2
L3

Line noise
filter

Two filters are used
(Total number of passes: 4)

(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 side only.
Connection diagram

Outline drawing [Unit: mm]

Make the connection cables as short as possible.

Leakage current: 4mA
Red White Blue

When using the FR-BIF with a single-phase power supply, always
insulate the wires that are not used for wiring.
MC

Servo amplifier
L1
L2

Power
supply

29
42

MCCB

Green

About 300

Grounding is always required.

5 hole
4

58
Radio noise
filter FR-BIF

7
44

13 - 20

13. OPTIONS AND AUXILIARY EQUIPMENT

(f) Varistors for input power supply (Recommended)
Varistors are effective to prevent exogenous noise and lightning surge from entering the servo amplifier.
When using a varistor, connect it between each phase of the input power supply of the equipment. For
varistors, the TND20V-431K and TND20V-471K, manufactured by NIPPON CHEMI-CON, are
recommended. For detailed specification and usage of the varistors, refer to the manufacturer catalog.
Maximum rating
Power
supply

Permissible circuit
voltage

Varistor

voltage

Surge current
immunity

Static
Varistor voltage
Maximum limit capacity
rating (range)
Energy Rated pulse
voltage
(reference
V1mA
immunity
power
value)

AC [Vrms]

DC [V]

8/20 s [A]

2ms [J]

100V class TND20V-431K

275

350

10000/1 time

195

200V class TND20V-471K

300

385

7000/2 time

215

[W]

[A]

1.0

100

[V]

[pF]

[V]

710

1300

430(387 to 473)

775

1200

470(423 to 517)
[Unit: mm]

Model

TND20V-431K
TND20V-471K

D
Max.

H
Max.

21.5

24.5

T
Max.

E
1.0

6.4

3.3

6.6

3.5

(Note) L
min.
20

Note. For special purpose items for lead length (L), contact the manufacturer.

13 - 21

d
0.05
0.8

W
1.0
10.0

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) to minimize leakage currents.
Rated sensitivity current

10 {Ig1 Ign Iga K (Ig2 Igm)} [mA]...........(13.1)
K: Constant considering the harmonic contents

Cable

Leakage current breaker
NV

Noise
filter

Ig1 Ign

Ig1:
Ig2:
Ign:
Iga:
Igm:

Servo
amplifier

Iga

Cable

Ig2

Models provided with
harmonic and surge
reduction techniques

NV-SP
NV-SW
NV-CP
NV-CW
NV-L

General models

BV-C1
NFB
NV-L

Igm

Leakage current on the electric channel from the leakage current breaker to the input terminals of the
servo amplifier (Found from Fig. 13.1.)
Leakage current on the electric channel from the output terminals of the servo amplifier to the
servo motor (Found from Fig. 13.1.)
Leakage current when a filter is connected to the input side (4.4mA per one FR-BIF)
Leakage current of the servo amplifier (Found from Table 13.4.)
Leakage current of the servo motor (Found from Table 13.3.)
Table 13.3 Servo motor's

120

Table 13.4 Servo amplifier's

Leakage current

leakage current

[mA]

Mitsubishi
products

Type

100

leakage current

example (Igm)

80
60
40

example (Iga)

Servo motor

Leakage

Servo amplifier

Leakage

output [kW]

current [mA]

capacity [kW]

current [mA]

0.1 to 1.0

0.1

0.1 to 0.6

0.1

1.0 to 2.2

0.2

0.7 to 2.0

0.15

20
0

Table 13.5 Leakage circuit breaker selection example

2 3.5

8 1422 38 80 150
30 60 100
5.5
Cable size[mm2]

Rated sensitivity
Servo amplifier

Fig. 13.1 Leakage current example
(Ig1, Ig2) for CV cable run
in metal conduit

current of leakage
circuit breaker [mA]

MR-E-10A-QW003 to
MR-E-200A-QW003

13 - 22

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 amplifier
MR-E-40A-QW003

Ig1

Iga

M Servo motor
HF-KN43(J)

Ig2

Igm

Use a leakage current breaker generally available.
Find the terms of Equation (13.1) from the diagram.

Ig1

5
1000

0.1 [mA]

Ig2

5
1000

0.1 [mA]

Ign

0 (not used)

Iga

0.1 [mA]

Igm

0.1 [mA]

Insert these values in Equation (13.1).
Ig

10 {0.1 0 0.1 1 (0.1 0.1)}
4.0 [mA]

According to the result of calculation, use a leakage current breaker having the rated sensitivity current (Ig)
of 4.0 [mA] or more. A leakage current breaker having Ig of 15 [mA] is used with the NVSP/SW/CP/CW/HW series.

13 - 23

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.
Some EMC filters are large in leakage current.
(1) Combination with the servo amplifier
Recommended filter

Servo amplifier
MR-E-10A-QW003 to
MR-E-100A-QW003
MR-E-200A-QW003

Mass [kg]([lb])

Model

Leakage current [mA]

SF1252

0.75 (1.65)

SF1253

1.37 (1.65)

(2) Connection example
EMC filter
(Note 1) Power supply

MCCB LINE

Servo amplifier
LOAD

(Note 2)

Note 1. For 1-phase 230VAC power supply, connect the power supply to L1,L2 and leave L3 open.
2. Connect when the power supply has earth.

(3) Outline drawing
[Unit: mm]
SF1252

SF1253
6.0

149.5
L1
L2
L3

6.0

209.5
L1
L2
L3
LINE

LINE
(input side)

LOAD

156.0
140.0

168.0

156.0
140.0
LOAD

LABEL

168.0

LINE

LINE
(input side)

L1'
L2'
L3'

LOAD
(output side)
8.5

L1'
L2'
L3'

16.0

LOAD
(output side)
8.5

42.0

23.0

49.0

13 - 24

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT
POINT
In this chapter, difference of the operation of MR-E- AG-QW003 from that of
MR-E- A-QW003 is described. For description not given in this chapter, refer
to chapters 1 through 13.
14.1 Functions and configuration
14.1.1 Introduction
The analog input MR-E- AG-QW003 Servo Amplifier is based on the MR-E- A-QW003 Servo Amplifier with
capability of speed control and torque control.
(1) 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.
(2) 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 prevent unexpected operation under no load, the speed limit function (external or internal setting) is also
available for application to tension control and the like.

14 - 1

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

14.1.2 Function block diagram
The function block diagram of this servo is shown below.
Regenerative option
(Note 3)
Servo amplifier
(Note 3)
MCCB MC
(Note 2)
Power
supply

Diode
stack

Servo motor

(Note 3)

(Note 1)

Relay

L1
L2

Current
detector

Regenerative
TR
CHARGE
lamp

Dynamic brake
circuit

(Note 4)
Cooling fan

RA
24VDC B1

Control
circuit
power
supply

Electromagnetic
brake

OverCurrent
current
protection detection

Voltage
detection

CN2

(Note 3)
Base amplifier

Detector

Virtual
encoder
Model
speed control
Virtual
motor

Model
torque

Model
speed

Current
control

Actual speed
control

A/D

RS-232C

D/A

I/F
CN1
(Note 3)

CN3
(Note 3)
Analog monitor
(2 channels)

Analog
(2 channels)

D I/O control
Servo On
Start
Failure, etc.

Controller
RS-232C

Note 1. The built-in regenerative resistor is not provided for the MR-E-10AG-QW003/MR-E-20AG-QW003.
2. Single-phase 230VAC power supply can be used for MR-E-70AG-QW003 or servo amplifiers with smaller capacities. Connect the
power cables to L1 and L2 while leaving L3 open. Refer to section 15.1.3 for the power supply specification.
3. The control circuit connectors (CN1, CN2 and CN3) are safely isolated from main circuit terminals (L1, L2, L3, U, V, W, P, C and D).
4. Servo amplifiers MR-E-200AG-QW003 have a cooling fan.

14 - 2

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

14.1.3 Servo amplifier standard specifications
Servo amplifier
MR-E- -QW003

10AG

20AG

40AG

0.7

1.1

2.3

70AG

100AG

200AG

6.0

11.0

Item
Rated voltage

Output

3-phase 170VAC

Rated current

[A]

Power supply

Voltage/frequency

3-phase 200 to 230VAC,

50/60Hz

Rated current

[A]

0.9

50/60Hz

1.5

2.6

3.8

5.0

3-phase 200 to 230VAC: 170 to 253VAC

Permissible voltage fluctuation

Within

Power supply capacity

10.5

3-phase 170 to 253VAC

1-phase 230VAC: 207 to 253VAC

Permissible frequency fluctuation
Inrush current

5.8

3-phase 200 to 230VAC, 50/60Hz or 1-phase 230VAC,

Refer to section 12.2
[A]

Refer to section 12.5

Control system

Sine-wave PWM control, current control system

Dynamic brake

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

Protective functions

relay), encoder error protection, regenerative error protection, undervoltage, instantaneous
power failure protection, overspeed protection, excessive error protection

Speed control mode

Speed control range

Analog speed command 1: 2000, internal speed command 1: 5000

Analog speed command input

0 to
0.01

or less (load fluctuation 0 to 100 )
0

Speed fluctuation ratio

0.2

10VDC/rated speed

(power fluctuation

10 )

or less (ambient temperature 25

(77

50 )),

when using analog speed command
Torque limit

Torque

Set by parameter setting or external analog input (0 to

Analog torque command input

0 to

10VDC/maximum torque)

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-

Structure

Self-cooled, open (IP00)

cooling, open
(IP00)

Ambient
Environment

temperature

Operation
Storage

Ambient

Operation

humidity

Storage

[ ]

0 to 55 (non-freezing)

[ ]

32 to 131 (non-freezing)

[ ]

20 to 65 (non-freezing)

[ ]

4 to 149 (non-freezing)
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 above sea level
2

Vibration resistance
Mass

5.9m/s at 10 to 55Hz (directions of X,Y and Z axes)
[kg]

0.7

1.1

1.7

2.0

[lb]

1.54

2.43

3.75

4.41

14 - 3

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

14.1.4 Model code definition
MR-E -

MR-E-40AG-QW003
or less

AG - QW003

MR-E-70AG-QW003,
MR-E-100AG-QW003

MR-E-200AG-QW003

MR-E super servo amplifier
(Source I/O interface)

Series name

Analog input interface
Rated output
Symbol Rated output [W] Symbol Rated output [W]
10
100
70
750
20
200
100
1000
40
400
200
2000

Rating plate
Rating plate Rating plate

14.1.5 Parts identification
(1) MR-E-100AG-QW003 or less
Name/application
Display
The 5-digit, seven-segment LED shows the servo status
and alarm number.

Reference

Section 14.5

Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.

MODE

DOWN

SET
Used to set data.

MODE

SET

Section 14.5

Used to change the
display or data in each
mode.

CN3
MITSUBISHI
MR-

Used to change the
mode.

CN1

Communication connector (CN3)
Used to connect a command device (RS-232C) and
output analog monitor data.

Section 3.3
Section 13.1.2

CHARGE

CNP1

L3L2L1 D C P

CNP2

WV U

CN2
I/O signal connector (CN1)
Used to connect digital I/O signals.
Encoder connector (CN2)
Connector for connection of the servo motor encoder.

Section 14.2
Section 3.3
Section 13.1.2

Protective earth (PE) terminal (
Fixed part
(MR-E-10AG-QW003 to MR-E-40AG-QW003: 2 places Ground terminal.
MR-E-70AG-QW003 MR-E-100AG-QW003: 3 places)

14 - 4

)

Section 3.7
Section 11.1
Section 3.7
Section 11.1
Section 13.1.1
Section 3.10
Section 11.1

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

(2) MR-E-200AG-QW003
Name/application
Display
The 5-digit, seven-segment LED shows the servo status
and alarm number.

Reference

Section 14.5

Operation section
Used to perform status display, diagnostic, alarm and
parameter setting operations.

MODE

DOWN

SET
Used to set data.

Section 14.5

Cooling fan
Fixed part
(4 places)

Section 3.3
Section 13.1.2

Section 14.2

Section 1.5

Encoder connector (CN2)
Connector for connection of the servo motor encoder.

Section 3.3
Section 13.1.2

Power supply/regenerative connector (CNP1)
Used to connect the input power supply and regenerative
option.

Section 3.7
Section 11.1
Section 13.1.1

Charge lamp
Lit to indicate that the main circuit is charged. While this
lamp is lit, do not reconnect the cables.
Protective earth (PE) terminal (
Ground terminal.

)

Servo motor power connector (CNP2)
Used to connect the servo motor.

14 - 5

Section 3.9
Section 11.1
Section 3.7
Section 11.1

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

14.1.6 Servo system with auxiliary equipment

WARNING

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.

(1) MR-E-100AG-QW003 or less
Options and auxiliary equipment
(Note)
Power supply

Reference

Options and auxiliary equipment

Reference

Circuit breaker

Section 13.2.2

Regenerative option

Section 13.1.1

Magnetic contactor

Section 13.2.2

Cables

Section 13.2.1

MR Configurator
(Servo configuration software)

Section 13.1.4

Power factor improving reactor

Section 13.2.3

Circuit breaker
(MCCB) or fuse
Personal
computer

Servo amplifier

MR Configurator
(Servo configuration software)

SET

MODE

To CN3
CN3
MITSUBISHI
MR-E-

Magnetic
contactor
(MC)

To CN1
Command device

CN1

Power
factor
improving
reactor
(FR-HAL)

To CN2

CNP1

Protective earth

CHARGE

L3 L2 L1 D C P

CNP2

W V U

CN2

To CNP2

L3
L2
L1

Regenerative option

C
P

Servo motor

Note. A 1-phase 230VAC power supply may be used with the servo amplifier of MR-E-70AG-QW003 or less. Connect the power supply to
L1 and L2 terminals and leave L3 open. Refer to section 15.1.3 for the power supply specification.

14 - 6

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

(2) MR-E-200AG-QW003
Options and auxiliary equipment

3-phase 200V
to 230VAC
power supply

Reference

Options and auxiliary equipment

Section 13.2.2

Regenerative option

Section 13.1.1

Magnetic contactor

Section 13.2.2

Cables

Section 13.2.1

Section 13.1.4

Power factor improving reactor

Section 13.2.3

MR Configurator
(Servo configuration software)

Circuit
breaker
(MCCB)
or fuse

Servo amplifier

Magnetic
contactor
(MC)

MODE

SET

EZMoto
in
MITSUBISHI

D C P L3 L2 L1

Power
factor
improving
reactor
(FR-HAL)

Personal
computer

To CN3

CN3

To CN1
CN1

Command device

CNP1

To CN2
CN2

L2
L3

W V U

CHARGE

Reference

Circuit breaker

To CNP2
CNP2

P C
Regenerative option

Servo motor

14 - 7

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

14.2 Signals and wiring
14.2.1 Standard connection example
(1) Speed control mode
Servo amplifier
(Note 7)
CN1
1

VIN

ALM

RA1

ZSP

RA2

RA3

RA4

(Note 2)

Trouble
(Note 5)
Zero speed
Speed reached

10m or less
(Note 7)
CN1
(Note 3, 4) Emergency stop

(Note 4)

EMG

Servo-on

SON

Forward rotation start

ST1

Reverse rotation start

ST2

Forward rotation stroke end

LSP

Reverse rotation stroke end

LSN

VIN

Ready

LZR

LAR

LBR

Plate

Encoder Z-phase pulse
(differential line driver)
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common

Analog speed command
10V/rated speed
Analog torque limit
10V/max. torque

10 to

0 to

(Note 7)
CN1

10V
VC

TLA

Plate

10V

2m or less

(Note 8)
MR Configurator
(Servo configuration
software)

Personal
computer
(Note 6)
Communication cable

(Note 7)
CN3

Encoder Z-phase pulse
(open collector)

(Note 7)
CN3
4

MO1

Analog monitor 1

Control common

MO2

Analog monitor 2

Plate

Control common

2m max.

(Note 1)

14 - 8

(Note 9)
External
power
supply
24VDC

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

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. When starting operation, always connect the emergency stop (EMG) and forward rotation stroke end (LSP), reverse rotation stroke
end (LSN) with VIN. (Normally closed contacts)
5. Trouble (ALM) is connected with VIN in normal alarm-free condition. (Normally closed contacts)
6. When connecting the personal computer together with monitor outputs 1, 2, use the branch cable (MR-E3CBL15-P). (Refer to
section 13.1.3)
7. The pins with the same signal name are connected in the servo amplifier.
8. Use MRZJW3-SETUP 154E or 154C.
9. Externally supply 24VDC 10 , 200mA power for the interface. 200mA is a value applicable when all I/O signals are used.
Reducing the number of I/O points decreases the current capacity. Refer to the current necessary for the interface described in
section 3.6.2. Connect the external 24VDC power supply if the output signals are not used.

14 - 9

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

(2) Torque control mode
Servo amplifier
(Note 7)
CN1
1

VIN

ALM

RA1

ZSP

RA2

RA3

(Note 2)

Trouble
(Note 5)
Zero speed
Ready

10m or less
(Note 7)
CN1
(Note 3, 4) Emergency stop

EMG

Servo-on

SON

LZR

Forward rotation start

RS1

Reverse rotation start

RS2

LAR

VIN

LBR

Plate

(Note 9)
External
power
supply
24VDC

Encoder Z-phase pulse
(differential line driver)
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common

Analog torque command
8V/max. torque
Analog speed limit
0 to 10V/rated speed

8 to

10 to

(Note 7)
CN1

10V

VLA

Plate

2m or less

(Note 8)
MR Configurator
(Servo configuration
software)

Personal
computer
(Note 6)
Communication cable

(Note 7)
CN3

Encoder Z-phase pulse
(open collector)

(Note 7)
CN3
4

MO1

Analog monitor 1

Control common

MO2

Analog monitor 2

Plate

Control common

2m max.

(Note 1)

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. When starting operation, always connect the emergency stop (EMG) with VIN. (Normally closed contacts)
5. Trouble (ALM) is connected with VIN in normal alarm-free condition. (Normally closed contacts)
6. When connecting the personal computer together with monitor outputs 1, 2, use the branch cable (MR-E3CBL15-P). (Refer to
section 13.1.3)
7. The pins with the same signal name are connected in the servo amplifier.
8. Use MRZJW3-SETUP 154E or 154C.
9. Externally supply 24VDC 10 , 200mA power for the interface. 200mA is a value applicable when all I/O signals are used.
Reducing the number of I/O points decreases the current capacity. Refer to the current necessary for the interface described
in section 3.6.2. Connect the external 24VDC power supply if the output signals are not used.

14 - 10

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

14.2.2 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
(Note)

(Note)

External
power
supply
24VDC

CN1

VIN

ST2

RS1

SON

ST1

RS2

EMG EMG

LSP

LSN

Approx. 4.7k

ALM

ZSP

Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k
Approx. 4.7k

CN1

Case

LAR

(Note)

LBR

LZR

CN3

VLA

TLA

MO1

MO2

TXD

RXD

Case

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

14 - 11

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

14.2.3 Connectors and signal arrangements
POINT
The pin configurations of the connectors are as viewed from the cable
connector wiring section.
Refer to the next page for CN1 signal assignment.

(1) Signal arrangement
5

RXD

SET

MODE
CN3
MITSUBISHI
MR-E

CN1

MO2

MO1

TXD

Refer to section 3.3.2
CN2

MRR

MDR

1
P5

10
8

CNP2

WV U

6
4

CNP1

L3L2L1 D C P

2
LG

CN2

5
3

The connector frames are
connected with the earth (PE)
terminal ( ) inside the servo amplifier.
CN1(Speed control mode)

TLA
4
SON
6
LSP
8
EMG
10
SA
12
ZSP

VIN
3
ST1
5
ST2
7
LSN
9
ALM

15
LA
17
LB
19
LZ
21
OP

LG
16
LAR
18
LBR

1
2
TC
4
SON
6

20
LZR
22

11
RD

CN1(Torque control mode)

1
2

RS2
5
RS1

LA
17
LB
19
LZ
21

EMG

9
ALM

ZSP

14 - 12

LG
16
LAR
18
LBR
20
LZR
22

11
12

VIN

14
15

CHARGE

24
25

VLA

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

(2) CN1 signal assignment
The signal assignment of connector changes with the control mode as indicated below.
For the pins which are given parameter No.s in the related parameter column, their signals can be changed
using those parameters.
Connector

Pin No.
1

CN1

(Note 2) I/O Signals in control modes

(Note 1) I/O

S/T

VIN

parameter

TLA

TLA/TC

ST1

ST1/RS2

RS2

No.43 to 48

SON

No.43 to 48

ST2

LOP

RS1

No.43 to 48

LSP

LSP/

LSN

LSN/

EMG

No.43 48
No.43 48

EMG

ALM

No.49

ZSP

No.1, 49

SG
LG

13
14

SA/

No.49

LAR

LBR

LZR

VC/VLA

VLA

22
23
24
25
26
Note 1. I: Input signal, O: Output signal
2. S: Speed control mode, T: Torque control mode, S/T: Speed/torque control switching mode

14 - 13

No.49

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

14.2.4 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
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
POINT
The acceptance delay time of each input signal is less than 10ms.

Signal
Forward rotation

Symbol
LSP

Connector

Functions/Applications

pin No.
CN1-6

stroke end

To start operation, short LSP-VIN and/or LSN-VIN. Open them to bring the

I/O
division
DI-1

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

Reverse rotation

LSN

stroke end

CN1-7

LSP

LSN

Operation
CCW

direction

Note. 0: LSP/LSN-VIN off (open)
1: SP/LSN-VIN 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

LSP

1
Outside torque

limit selection

LSN

Turn TL off to make Internal torque limit 1 (parameter No.28) valid, or turn it

DI-1

on to make Analog torque limit (TLA) valid.
When using this signal, make it usable by making the setting of parameter
No.43 to 48.
For details, refer to, section 15.2.5 (1)(C).

Internal torque
limit selection

TL1

When using this signal, make it usable by making the setting of parameter
No.43 to 48.
(Refer to, section 3.4.1 (5).)

14 - 14

DI-1

Control
mode
S

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Signal
Forward rotation

Symbol
ST1

Connector

Functions/applications

pin No.
CN1-3

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

I/O
division
DI-1

start
(Note) Input signals
ST2
Reverse rotation

ST2

CN1-5

start

Servo motor starting direction

ST1

Stop (servo lock)

CCW

Stop (servo lock)

RS1

CN1-5

selection

Used to select any of the following servo motor torque generation
directions.
(Note) Input signals

Reverse rotation
selection

RS2

CN1-3

ST2

ST1

Torque generation direction
Torque is not generated.
Forward rotation in driving mode/reverse
rotation in regenerative mode
Reverse rotation in driving mode/forward
rotation in regenerative mode
Torque is not generated.

Note. 0: ST1/ST2-VIN off (open)
1: ST1/ST2-VIN on (short)

14 - 15

DI-1

Control
mode
P

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Signal
Speed selection 1

Symbol

Connector

Functions/applications

pin No.

SP1

I/O
division

Control
mode
P

DI-1

Used to select the command speed for operation.
When using SP1 to SP3, make it usable by making the setting of
parameter No.43 to 48.
Speed selection 2

SP2

Speed selection 3

SP3

(Note) Input signals

Speed command

SP3

SP2

SP1

Analog speed command (VC)

Internal speed command 1 (parameter No.8)

Internal speed command 2 (parameter No.9)

Internal speed command 3 (parameter No.10)

Internal speed command 4 (parameter No.72)

Internal speed command 5 (parameter No.73)

Internal speed command 6 (parameter No.74)

Internal speed command 7 (parameter No.75)

DI-1
DI-1

Note. 0: SP1/SP2/SP3-VIN off (open)
1: SP1/SP2/SP3-VIN on (short)

Used to select the command speed for operation.
When using SP1 to SP3, make it usable by making the setting of
parameter No.43 to 48.
(Note) Input signals

Speed limit

SP3

SP2

SP1

Analog speed limit (VLA)

Internal speed limit 1 (parameter No.8)

Internal speed limit 2 (parameter No.9)

Internal speed limit 3 (parameter No.10)

Internal speed limit 4 (parameter No.72)

Internal speed limit 5 (parameter No.73)

Internal speed limit 6 (parameter No.74)

Internal speed limit 7 (parameter No.75)

Note. 0: SP1/SP2/SP3-VIN off (open)
1: SP1/SP2/SP3-VIN on (short)
Control change

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

LOP

DI-1

Refer to
func-

mode.

tions/
applica-

(Note) LOP

Control mode

Position

Speed

tions.

Note. 0: LOP-VIN off (open)
1: LOP-VIN on (short)
Servo-on

SON

Reset

RES

DI-1

Proportion

CN1-4

Same as MR-E- A-QW003. (Refer to section 3.3.2 (1).)

DI-1

control
Emergency stop

EMG

Gain changing

CDP

CN1-8

DI-1
DI-1

14 - 16

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Signal
Analog torque

Symbol
TLA

Connecto
r pin No.
CN1-2

limit

I/O

Functions/applications

division

To use this signal in the speed control mode, set any of parameters No.43
to 48 to make TL available.

Analog
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
Analog torque

10V. (Refer to section 15.2.5 (1)(a).) Resolution:10bit
Analog

Used to control torque in the full servo motor output torque range.

command

Apply 0 to

8VDC across TC-LG. Maximum torque is generated at

8V.

input

(Refer to section 15.2.5 (2)(a).)
The torque at
Analog speed

command

CN1-26

8V input can be changed using parameter No.26.

Apply 0 to

10VDC across VC-LG. Speed set in parameter No.25 is

provided at

10V. (Refer to section 15.2.5 (1)(a).)

Analog
input

Resolution:14bit or equivalent
Analog speed
limit

VLA

Apply 0 to

10VDC across VLA-LG. Speed set in parameter No.25 is

provided at

10V. (Refer to section 15.2.5 (2)(c).)

14 - 17

Analog
input

Control
mode
P

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

(2) Output signals
Control
Signal

Speed reached

Symbol

Connector

Functions/Applications

pin No.

SA turns off when servo on (SON) turns off or the servo motor speed has

I/O
division
DO-1

not reached the preset speed with both forward rotation start (ST1) and
reverse rotation start (ST2) turned off. SA turns on when the servo motor
speed has nearly reached the preset speed. When the preset speed is
30r/min or less, SA always turns on.
Limiting speed

VLC

VLC turns on when speed reaches the value limited using any of the

DO-1

internal speed limits 1 to 7 (parameter No.8 to 10, 72 to 75) or the analog
speed limit (VLA) in the torque control mode. VLC turns off when servo on
(SON) turns off.
Limiting torque

TLC

TLC turns on when the torque generated reaches the value set to the

DO-1

internal torque limit 1 (parameter No.28) or analog torque limit (TLA). TLC
turns off when servo on (SON) turns off.
Trouble

ALM

CN1-9

Same as MR-E- A-QW003. (Refer to section 3.3.2 (2).)

Ready

CN1-11

DO-1

Zero speed

ZSP

CN1-12

DO-1

MBR

[CN1-12]

DO-1

detection
Electromagnetic
brake interlock
Warning

WNG

DO-1

Alarm code

ACD0

DO-1

ACD1
ACD2
Encoder Z-phase

CN1-21

DO-2

pulse
(Open collector)
Encoder A-phase
pulse

CN1-15

LAR

CN1-16

(Differential line
driver)
Encoder B-phase
pulse

CN1-17

LBR

CN1-18

(Differential line
driver)
LZ

CN1-19

LZR

CN1-20

Analog monitor 1

MO1

CN3-4

Analog

Analog monitor 2

MO2

CN3-6

Analog

Encoder Z-phase
pulse
(Differential line
driver)

output
output

14 - 18

mode
S

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

(3) Power
Control
Signal

Digital I/F power

Symbol

Connector
pin No.

VIN

CN1-1

OPC

CN1-2

CN1-13

Control common

CN1-14

Shield

Plate

Functions/Applications

Same as MR-E- A-QW003. (Refer to section 3.3.2 (4).)

supply input
Open collector
power input
Digital I/F
common

14 - 19

I/O
division

mode
S

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

14.2.5 Detailed description of the signals
(1) Speed control mode
(a) Speed setting
1) 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.
In the initial setting, rated speed is 10V. The speed at 10V can be changed using parameter
No.25.
Preset rotation speed
(Value for parameter No.25) [r/min]
Forward rotation (CCW)
Speed [r/min]
10
CW direction

CCW direction
0
10
VC applied voltage [V]
Preset rotation speed
(Value for parameter No.25)
Reverse rotation (CW)

The following table indicates the rotation direction according to forward rotation start (ST1) and
reverse rotation start (ST2) combination.
(Note 1) External input signals

(Note 2) Rotation direction
Analog speed command (VC)

Internal speed
commands

ST2

ST1

Stop
(Servo lock)

CCW

Stop
(No servo lock)

CCW

Stop
(Servo lock)

Polarity

Note 1. 0: off
1: on
2. Releasing the torque limit during servo lock may cause the servo motor to suddenly rotate according to the position
deviation from the instructed position.

10 to

ST1
ST2
VIN
VC
LG
SD

10V

14 - 20

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

2) Speed selection 1 (SP1), speed selection 2 (SP2), speed selection 3 (SP3) and speed command
value by making speed selection 1 (SP1), speed selection 2 (SP2) and speed selection 3 (SP3)
usable by setting of parameter No.43 to 47, you can choose the speed command values of internal
speed commands 1 to 7.
(Note) External input signals

Speed command value

SP3

SP2

SP1

Analog speed command (VC)

Internal speed command 1 (parameter No.8)

Internal speed command 2 (parameter No.9)

Internal speed command 3 (parameter No.10)

Internal speed command 4 (parameter No.72)

Internal speed command 5 (parameter No.73)

Internal speed command 6 (parameter No.74)

Internal speed command 7 (parameter No.75)

Note. 0: SP1/SP2/SP3-VIN off (open)
1: SP1/SP2/SP3-VIN 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.
(b) Speed reached (SA)
SA-VIN are connected when the servo motor speed nearly reaches the speed set to the internal speed
command.
Internal speed
command 1

Set speed selection

Start (ST1,ST2)

ON
OFF

Servo motor speed

Speed reached (SA)

ON
OFF

14 - 21

Internal speed
command 2

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

(c) Torque limit
Releasing the torque limit during servo lock may cause the servo motor to
suddenly rotate according to the position deviation from the instructed position.

CAUTION

1) Torque limit and 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 torque is shown below.

Torque

Max. torque

0
0
100
Torque limit value[ ]

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. Torque limit values will vary about 5 relative to the voltage
depending on products.
At the voltage of less than 0.05V, torque may vary as it may not be limited sufficiently. Therefore, use
this function at the voltage of 0.05V or more.
Servo amplifier

100

TL
0 to
5

10V

VIN
TLA
LG
SD

0
0 0.05
10
TLA application voltage [V]
TLA application voltage vs.
torque limit value

2) Torque limit value selection
Use parameters No.43 through 48 to enable external torque limit (TL) and internal torque limit (TL1).
Torque limit values can be selected as shown in the following table. 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
TL1
TL
0
0
0

Torque limit value made valid
Internal torque limit 1 (parameter No.28)
TLA Parameter No.28: Parameter No.28
TLA Parameter No.28: TLA
Parameter No.76 Parameter No.28: Parameter No.28
Parameter No.76 Parameter No.28: Parameter No.76
TLA Parameter No.76: Parameter No.76
TLA Parameter No.76: TLA

Note.0: off
1: on

14 - 22

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

(2) Torque control mode
(a) Torque command
1) Torque command and torque
A relationship between the applied voltage of the analog torque command (TC) and the torque by the
servo motor is shown below.
The maximum torque is generated at 8V. Note that the torque 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]

CW direction

Max. torque (Note)
Reverse rotation (CW)

Generated torque limit values will vary about 5 relative to the voltage depending on products.
Also the 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
RS2

RS1

Rotation direction
Torque control command (TC)
Polarity

Torque is not generated.
CCW (reverse rotation in
driving mode/forward

CW (forward rotation in driving
mode/reverse rotation in

rotation in regenerative
mode)

Torque is not
generated.

CW (forward rotation in
driving mode/reverse
rotation in regenerative
mode)

Torque is not generated.

regenerative mode)
CCW (reverse rotation in
driving mode/forward rotation
in regenerative mode)
Torque is not generated.

Note. 0: off
1: on

Generally, make connection as shown below.
Servo amplifier

8 to 8V

Polarity
Torque is not generated.

RS1
RS2
VIN
TC
LG
SD

14 - 23

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

2) Analog torque command offset
Using parameter No.30, the offset voltage of
voltage as shown below.

999 to

999mV can be added to the TC applied

Generated torque

Max. torque

Parameter No.30 offset range
999 to 999mV

8( 8)
TC applied voltage [V]

(b) 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 torque is as in (1)(c) of this section.
Note that the analog torque limit (TLA) is unavailable.
(c) Speed limit
1) 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 servo motor speed reaches the speed limit value, torque control may become unstable.
Make the set value more than 100r/min greater than the desired speed limit value.

Rated speed
Speed [r/min]

Forward rotation (CCW)

CCW direction

10
0
10
VLA applied voltage [V]

CW direction

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
RS1
1
0
Note.0: off
1: on

RS2
0
1

Speed limit direction
Analog speed limit (VLA)
Polarity
Polarity
CCW
CW
CW
CCW

14 - 24

Internal speed
commands
CCW
CW

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Generally, make connection as shown below.
Servo amplifier

10 to

RS1
RS2
VIN
VLA
LG
SD

10V

2) 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 analog
speed limit (VLA), as indicated below.
(Note) External input signals

Speed limit value

SP3

SP2

SP1

Analog speed limit (VLA)

Internal speed limit 1 (parameter No.8)

Internal speed limit 2 (parameter No.9)

Internal speed limit 3 (parameter No.10)

Internal speed limit 4 (parameter No.72)

Internal speed limit 5 (parameter No.73)

Internal speed limit 6 (parameter No.74)

Internal speed limit 7 (parameter No.75)

Note.0: off
1: on

When the internal speed limits 1 to 7 are used to command the speed, the speed does not vary with
the ambient temperature.
3) Limiting speed (VLC)
VLC turns on when the servo motor speed reaches the speed limited using any of the internal speed
limits 1 to 7 or the analog speed limit (VLA).

14 - 25

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

(3) Speed/torque control change mode
Set "0003" in parameter No.0 to switch to the speed/torque control change mode.
(a) 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 and control modes are indicated below.
(Note) LOP

Servo control mode

Speed control mode

Torque control mode

Note.0: off
1: on

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

ON
OFF

Servo motor speed
(Note)
Analog torque
command (TC)

10V

Load torque

Forward rotation in driving mode

Note. When the start (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.

(b) Speed setting in speed control mode
Same as (1)(a).
(c) Torque limit in speed control mode
Same as (1)(c).
(d) Speed limit in torque control mode
Same as (2)(c).
(e) Torque control in torque control mode
Same as (2)(a).
(f) Torque limit in torque control mode
Same as (2)(b).

14 - 26

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

14.3 Startup

WARNING

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

CAUTION

Perform pre-operation checks while referring to section 4.1. Connect the servo motor with a machine after
confirming that the servo motor operates properly alone.
Use parameter No.0 to choose the control mode used. After setting, this parameter is made valid by switching
power off, then on.
14.3.1 Speed control mode
(1) Power on
1) Switch off the servo-on (SON).
2) When power is switched on, the display shows "r (servo motor speed)", and in two second later, shows
data.
(2) Test operation
Confirm servo motor operation by operating JOG of test operation mode at lowest speed possible. (Refer to
section 6.8.2.)

14 - 27

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

(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 section 6.5 for the setting method.
Parameter No.

Name

Setting
0

Description

Control mode, regenerative option
selection

Function selection 1

Auto tuning

Internal speed command 1

1000

Internal speed command 1

1500

Set 1500r/min.

Speed control mode
Regenerative option is not used.
12
Input filter 3.555ms (initial value)
Electromagnetic brake interlock (MBR) is used.
1

5
Middle response (initial value) is selected.
Auto tuning mode 1 is selected.
Set 1000r/min.

Internal speed command 1

2000

Set 2000r/min.

Acceleration time constant

1000

Set 1000ms.

Deceleration time constant

500

Set 500ms.

S-pattern acceleration/deceleration
time constant

Not used

Turn the power off to validate changes in parameters No.0 and 1. Then switch power on again to make the
set parameter values valid.
(4) Servo-on
Switch the servo-on in the following procedure.
1) Switch on power supply.
2) Switch on the servo-on (SON).
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 speed as low as possible 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.)
(6) Stop
In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor.
Refer to section 3.8 for the servo motor equipped with electromagnetic brake. Note that simultaneous ON
or simultaneous OFF of forward rotation stroke end (LSP), reverse rotation stroke end (LSN) OFF and
forward rotation start (ST1) or reverse rotation start (ST2) 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.
14 - 28

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

(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 (servo emergency stop warning) occurs.
(d) Forward rotation stroke end (LSP), reverse rotation stroke end (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)
The servo motor is decelerated to a stop.
POINT
A sudden stop indicates deceleration to a stop at the deceleration time constant
of zero.

14 - 29

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

14.3.2 Torque control mode
(1) Power on
1) Switch off the servo-on (SON).
2) When 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 section 6.5 for the setting method.
Parameter No.

Name

Description

Setting
0

Control mode, regenerative option
selection

Function selection 1

Internal speed command 1

1000

Set 1000r/min.

Torque control mode
Regenerative option is not used.
02
Input filter 3.555ms (initial value)
Electromagnetic brake interlock (MBR) is used.

Internal speed command 1

1500

Set 1500r/min.

Internal speed command 1

2000

Set 2000r/min.

Acceleration time constant

1000

Set 1000ms.

Deceleration time constant

500

Set 500ms.

S-pattern acceleration/deceleration
time constant

Torque command time constant

Internal torque limit 1

Not used

2000

Set 2000r/min.

Controlled to 50

output

Turn the power off after setting parameters No.0 and 1. Then switch power on again to make the set
parameter values valid.
(4) Servo-on
Switch the servo-on in the following procedure.
1) Switch on power supply.
2) Switch on the servo-on (SON).
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.

14 - 30

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

(6) Stop
In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor.
Refer to section 3.8 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 (servo emergency stop warning) occurs.
(d) Simultaneous ON or simultaneous OFF of forward rotation selection (RS1) and reverse rotation
selection (RS2)
The servo motor coasts.
POINT
A sudden stop indicates deceleration to a stop at the deceleration time constant
of zero.

14 - 31

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

14.4 Parameters
POINT
Before changing the settings of parameters No.20 through 84, cancel write
protection while referring to section 5.1.1.
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.
The symbols in the control mode column of the table indicate the following modes:
S: Speed control mode
T: Torque control mode
14.4.1 Item list
Class No.

Symbol

Control

Initial

mode

value

*STY

Control mode, regenerative option selection

S T

(Note 1)

*OP1

Function selection 1

S T

0002

ATU

Auto tuning

0105

For manufacturer setting

100
PG1

Position loop gain 1

Internal speed command 1

100

r/min

Internal speed limit 1

100

r/min

Internal speed command 2

500

r/min

Internal speed limit 2

500

r/min

Internal speed command 3

1000

r/min

Internal speed limit 3

1000

r/min

For manufacture setting

SC1

SC2

SC3

Unit

4
6

Basic parameters

Name

rad/s

STA

Acceleration time constant

S T

STB

Deceleration time constant

S T

STC

S-pattern acceleration/deceleration time constant

S T

TQC

Torque command time constant

*SNO

Station number setting

S T

station

*BPS

Serial communication function selection, alarm history clear

S T

0000

MOD

Analog monitor output

S T

0100

*DMD

Status display selection

S T

0000

*BLK

Parameter block

S T

0000

14 - 32

Customer
setting

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Class No.
20

Symbol
*OP2

21
22

*OP4

Expansion parameters 1

Initial

mode

value

S T

0000

ZSP

Function selection 4

S T

0000

S T

r/min

Analog speed command maximum speed

(Note 3)0 (r/min)
(Note 3)0 (r/min)

VCM

Analog speed limit maximum speed

TLC

Analog torque command maximum output

100

*ENR

Encoder output pulses

S T

4000

TL1

Internal torque limit 1

S T

100

VCO

TLO

MO1

Analog monitor 1 offset

MO2

Analog monitor 2 offset

MBR

Electromagnetic brake sequence output

GD2

setting

Zero speed

Customer

Unit

0000

For manufacturer setting

pulse
/rev

Analog speed command offset

(Note 2)

Analog speed limit offset

(Note 2)

Analog torque command offset

S T

100

Analog torque limit offset

Ratio of load inertia moment to servo motor inertia moment

S T

ms
Multiplier
1

( 10 )

PG2

Position loop gain 2

rad/s

VG1

Speed loop gain 1

177

rad/s

VG2

Speed loop gain 2

817

rad/s

VIC

Speed integral compensation

VDC

Speed differential compensation

980

For manufacturer setting

*DIA

Input signal automatic ON selection

*DI1

Input signal selection 1

*DI2

*DI3

0
S T

0000

S/T

0002

Input signal selection 2 (CN1-4)

S T

0111

Input signal selection 3 (CN1-3)

S T

0882

*DI4

Input signal selection 4 (CN1-5)

S T

0995

*DI5

Input signal selection 5 (CN1-6)

S T

0000

*DI6

Input signal selection 6 (CN1-7)

S T

0000

*LSPN

0403

*DO1

50
51

LSP/LSN input terminals selection
Output signal selection 1

S T

For manufacturer setting
*OP6

Expansion parameters 2

Function selection 2

Control

For manufacturer setting

23
24

Name

Function selection 6

S T

For manufacturer setting
*OP8

Function selection 8

S T

*OP9

Function selection 9

S T

For manufacturer setting
SIC

0000
0000

53
55

0000
0000

0000
0000
0000

Serial communication time-out selection

S T

0000

For manufacturer setting

NH1

Machine resonance suppression filter 1

NH2

Machine resonance suppression filter 2

S T

0000

LPF

Low-pass filter/adaptive vibration suppression control

S T

0000

GD2B

Ratio of load inertia moment to Servo motor inertia moment 2

VG2B

Speed control gain 2 changing ratio

100

VICB

Speed integral compensation changing ratio

100

For manufacturer setting

100

14 - 33

Multiplier
1

( 10 )

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Class No.

Symbol

Name

Control

Initial

mode

value

*CDP

Gain changing selection

0000

CDS

Gain changing condition

(Note 2)

CDT

Gain changing time constant

For manufacturer setting

Expansion parameters 2

Unit

SC4

SC5

SC6

SC7

TL2

Internal speed command 4

Internal speed limit 4

Internal speed command 5

Internal speed limit 5

Internal speed command 6

Internal speed limit 6

Internal speed command 7

Internal speed limit 7

Internal torque limit 2

S T

For manufacturer setting

200

r/min

300

r/min

500

r/min

800

r/min

100
100

10000

100

0000

Note 1. Depends on the capacity of the servo amplifier.
2. Depends on the parameter No.65 setting.
3. The setting of "0" provides the rated servo motor speed.

14 - 34

Customer
setting

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

14.4.2 Details list
Class

No.

Symbol

*STY

Name and function
Control mode, regenerative option selection
Used to select the control mode and regenerative option.

Initial
value

100W
: 0000
200W

Basic parameters

Select the control mode.
0: Speed
1: Speed and torque
2: Torque
Motor series selection
0: HF-KN (J)
1: HF-SN J
Selection of regenerative option
0: Regenerative option is not used
For the servo amplifier of 200W or lower,
regenerative resistor is not used.
For the servo amplifier of 400W or higher,
built-in regenerative resistor is used.
2: MR-RB032
3: MR-RB12
4: MR-RB32
5: MR-RB30
6: MR-RB50 (Cooling fan is required)
Motor capacity selection
0: 100W
1: 200W
2: 400W
3: 500W
4: 750W
5: 1kW
6: 1.5kW
7: 2kW

: 1000

Unit

Setting

Control

range

mode

Refer to
name
and
function
column.

S T

Refer to
name
and
function
column.

S T

400W
: 2000
700W
: 4000
1kW
: 5010
2kW
: 6010

POINT
Wrong setting may cause the regenerative option to burn.
If the regenerative option selected is not for use with the servo
amplifier, parameter error (AL.37) occurs.
1

*OP1

0002

Function selection 1
Used to select the input signal filter, the function of pin CN1-12.

0 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]
CN1-12 function selection
0: Zero Speed detection signal
1: Electromagnetic brake interlock (MBR)

14 - 35

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Class

No.

Symbol

ATU

Name and function
Auto tuning
Used to selection the response level, etc. for execution of auto tuning.
Refer to chapter 7.

Initial
value
0105

Unit

Setting
range

Control
mode

Refer to
name
and
function
column.

Auto tuning response level setting

Basic parameters

Set
Response Machine resonance
frequency guideline
value
level
Low
1
15Hz
response
2
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
High
E
240Hz
response
F
300Hz
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.
Gain adjustment mode selection
(For more information, refer to section 7.1.1.)
Set
Gain adjustment mode
Description
value
Interpolation mode
Fixes position control gain 1
0
(parameter No.6).

1
2

Auto tuning mode 1
Auto tuning mode 2

Ordinary auto tuning.
Fixes the load inertia moment
ratio set in parameter No.34.
Response level setting can be
changed.

3
4

Manual mode 1
Manual mode 2

Simple manual adjustment.
Manual adjustment of all gains.

For manufacturer setting
Do not change this value by any means.

1
100

5
6

PG1

Position loop gain 1
Used to set the gain of position loop.
Increase the gain to improve track ability in response to the position
command.
When auto turning mode 1,2 is selected, the result of auto turning is
automatically used.
To use this parameter, set "
1 " to parameter No.20 to validate servo
lock at stop.

For manufacturer setting
Do not change this value by any means.

14 - 36

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Class

No.

Symbol

SC1

Initial
value
100

Name and function
Internal speed command 1
Used to set speed 1 of internal speed commands.
Internal speed limit 1
Used to set speed 1 of internal speed limits.

SC2

Internal speed command 2
Used to set speed 2 of internal speed commands.

500

Internal speed limit 2
Used to set speed 2 of internal speed limits.
10

SC3

1000

Internal speed command 3
Used to set speed 3 of internal speed commands.
Internal speed limit 3
Used to set speed 3 of internal speed limits.

STA

Acceleration time constant
Used to set the acceleration time required to reach the rated speed from
0r/min in response to the analog speed command and internal speed
commands 1 to 7.
If the preset speed command is
lower than the rated speed,
Speed
acceleration/deceleration time
Rated
will be shorter.
speed

Setting Control
range
mode
0 to
r/min
S
instantaneous
permiT
ssible
speed
S
r/min
0 to
instantaneous
permiT
ssible
speed
r/min
0 to
S
instantaneous
permiT
ssible
speed
ms
0
S T
to
20000
Unit

STB

STC

Time
Parameter
Parameter
No.11 setting
No.12 setting
For 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.
Deceleration time constant
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.
S-pattern acceleration/deceleration time constant
Used to smooth start/stop of the servo motor.
Set the time of the arc part for S-pattern acceleration/deceleration.
Speed command
Speed
Servo motor

Basic parameters

Zero
speed

0r/min
STC

Time
STA

STC STB STC

STC

STA: Acceleration time constant (parameter No.11)
STB: Deceleration time constant (parameter No.12)
STC: S-pattern acceleration/deceleration time constant
(parameter No.13)

Limited to 100[ms] since
2000000
100[ms] 200[ms].
20000
200[ms] as set since

During deceleration: 200[ms]

2000000
5000

400[ms] 200[ms].

14 - 37

0
to
1000

S T

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Class

No.

Symbol

TQC

Name and function
Torque command time constant
Used to set the constant of a low-pass filter in response to the torque
command.
Torque command
Torque

Initial
value
0

Unit
ms

Setting
range
0
to
20000

Control
mode
T

S T

After
filtered

TQC

Time

TQC: Torque command time constant

Basic parameters

*SNO

Station number setting

station

Used to specify the station number for serial communication.

Always set one station to one axis of servo amplifier. If one station number

is set to two or more stations, normal communication cannot be made.
16

*BPS

Serial communication function selection, alarm history clear

0000

Refer to

Used to select the serial communication baud rate, select various

name

communication conditions, and clear the alarm history.

and
function

column.
Serial baud rate selection
0: 9600 [bps]
1: 19200[bps]
2: 38400[bps]
3: 57600[bps]
Alarm history clear
0: Invalid (not cleared)
1: Valid (cleared)
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).
Serial communication response delay time
0: Invalid
1: Valid, reply sent after delay time of 800 s or more

14 - 38

S T

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Class

No.

Symbol

MOD

Name and function
Analog monitor output

Initial
value
0100

Unit

Setting

Control

range

mode

Refer to

S T

Used to selection the signal provided to the analog monitor (MO1)

name

analog monitor (MO2) output. (Refer to section 5.2.2)

and

function

column.

Setting Analog monitor 2 (MO2) Analog monitor 1 (MO1)
0

Servo motor speed (

Torque (

8V/max. speed)

8V/max. torque)

Servo motor speed (

Torque (

8V/max. speed)

8V/max. torque)

Current command (

Cannot be used.

8 V/max. current command)

6
7
8
9
A

Basic parameters

*DMD

Bus voltage (

8V/400V)

Status display selection

0000

Used to select the status display shown at power-on.

Refer to
name
and

0 0

function
Selection of status display at
power-on
0: Cumulative feedback pulses
1: Servo motor speed
2: Cannot be used
3: Cannot be used
4: Cannot be used
7: Regenerative load ratio
8: Effective load ratio
9: Peak load ratio
A: Instantaneous torque
B: Within one-revolution position low
C: Within one-revolution position high
D: Load inertia moment ratio
E: Bus voltage
Status display at power-on in
corresponding control mode
0: Depends on the control mode.
Control Mode
Speed
Speed/torque
Torque

Status display at power-on
Servo motor speed
Servo motor speed/
analog torque command voltage
Analog torque command voltage

1: Depends on the first digit setting of this parameter.

14 - 39

column.

S T

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Class

No.

Symbol

*BLK

Initial

Name and function

value

Parameter block

0000

Used to select the reference and write ranges of the parameters.
Operation can be performed for the parameters marked .
Set
value

Basic parameters

0000
(Initial
value)
000A
000B
000C
000E
100B
100C
100E

Operation

Basic
parameters
No.0
to No.19

Expansion
parameters 1
No.20
to No.49

Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write

No.19 only
No.19 only

No.19 only
No.19 only
No.19 only

14 - 40

Expansion
parameters 2
No.50
to No.84

Unit

Setting

Control

range

mode

Refer to

S T

name
and
function
column.

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Class

No.

Symbol

*OP2

Name and function
Function selection 2
Used to select restart after instantaneous power failure,
servo lock at a stop in speed control mode, and slight vibration
suppression control.

Initial
value
0000

Unit

Setting

Control

range

mode

Refer to
name
and
function
column.

Expansion parameters 1

0: Invalid (Undervoltage alarm (AL.10) occurs.)
1: Valid
Stop-time servo lock selection
The shaft can be servo-locked to
remain still at a stop in the internal
speed control mode.
0: Valid
1: Invalid
Slight vibration suppression control
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

S T

Encoder cable communication system selection
0: Two-wire type
1: Four-wire type
Incorrect setting will result in an encoder alarm 1
(AL.16) or encoder alarm 2 (AL.20).
21

For manufacturer setting

0000

Do not change this value by any means.

14 - 41

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Class

No.

Symbol

*OP4

Initial

Name and function

value

Unit

0000

Function selection 4

Setting

Control

range

mode

Refer to

Used to select stop processing at forward rotation stroke end (LSP)

name

reverse rotation stroke end (LSN) off, choose TLC/VLC output and choose
VC/VLA voltage averaging.

and
function
column.

0
How to make a stop when forward
rotation stroke end (LSP)
reverse rotation stroke end (LSN)
is valid. (Refer to section 5.2.3.)
0: Sudden stop
1: Slow stop

TLC/VLC output selection
Select the connector pin at which
Torque Limit (TLC) or Speed Limit
(VLC) is output.
Set value

Connector pin No.

Not output

CN1-11

CN1-9

CN1-10

CN1-12

S T

Expansion parameters 1

VC/VLA voltage averaging
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 fluctuation
in real time. Increase the set value to vary the
speed slower to voltage fluctuation.

23
24

ZSP

VCM

TLC

Set value

Filtering time [ms]

0.444

0.888

1.777

3.555

For manufacturer setting
Do not change this value by any means.
Zero speed
Used to set the output range of the zero speed detection (ZSP).

0
50

Analog speed command maximum speed
Used to set the speed at the maximum input voltage (10V) of the analog
speed command (VC).
Set "0" to select the rated speed of the servo motor connected.

Analog speed limit maximum speed
Used to set the speed at the maximum input voltage (10V) of the analog
speed limit (VLA).
Set "0" to select the rated speed of the servo motor connected.

Analog torque command maximum output
Used to set the output torque at the analog torque command voltage (TC

100

8V) of

8V on the assumption that the maximum torque is 100[

For example, set 50 to output (maximum torque
8V.

14 - 42

50/100) at the TC of

r/min

0
to
10000

S T

r/min

1
to
50000

r/min

1
to
50000

0
to
1000

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Class

No.

Symbol

Name and function

*ENR

Encoder output pulses
Used to set the encoder pulses (A-phase or B-phase) output by the servo
amplifier.
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 designation 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.
The maximum output frequency is 1.3Mpps (after multiplication by 4). Use
this parameter within this range.
For output pulse designation
" (initial value) in parameter No.54.
Set "0
Set the number of pulses per servo motor revolution.
Output pulse set value [pulses/rev]
At the setting of 5600, for example, the actually A B-phase pulses
output 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 A B-phase pulses output
are as indicated below.

Expansion parameters 1

A B-phase output pulses
28

TL1

10000
8

1
4

Setting
range
pulse/
1
rev
to
65535
Unit

Control
mode
S T

313[pulse]

Internal torque limit 1
Set this parameter to limit servo motor torque on the assumption that the
maximum torque is 100[ ].
When 0 is set, torque is not produced.
(Note)
TL
0
1

Initial
value
4000

100

0
to
100

S T

999
to
999

Torque limit
Internal torque limit 1 (Parameter No.28)
Analog torque limit internal torque limit 1
: Analog torque limit
Analog torque limit internal torque limit 1
: Internal torque limit 1

Note. 0 :off
1 :on

VCO

When torque is output in analog monitor output, this set value is the
maximum output voltage ( 8V). (Refer to section 15.2.5 (1)(c).)
Analog speed command offset
Depends
on servo
Used to set the offset voltage of the analog speed command (VC).
For example, if CCW rotation is provided by switching on forward rotation amplifier
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 section 15.5.3.)
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
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 section 15.5.3.)
The initial value is the value provided by the automatic VC offset function
before shipment at the VLA-LG voltage of 0V.

14 - 43

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Expansion parameters 1

Class

No.

Symbol

Name and function

TLO

Analog torque command offset
Used to set the offset voltage of the analog torque command (TC).
Analog torque limit offset
Used to set the offset voltage of the analog torque limit (TLA).
Analog monitor 1 offset
Used to set the offset voltage of the analog monitor 1 (MO1).
Analog monitor 2 offset
Used to set the offset voltage of the analog monitor 2 (MO2).
Electromagnetic brake sequence output
Used to set the delay time (Tb) between electronic brake interlock (MBR)
and the base drive circuit is shut-off.
Ratio of load inertia moment to servo motor inertia moment
Used to set the ratio of the load inertia moment to the servo motor shaft
inertia moment. When auto tuning mode 1 and interpolation mode is
selected, the result of auto tuning is automatically used.
(Refer to section 7.1.1.)
In this case, it varies between 0 and 1000.
Position loop gain 2
Used to set the gain of the position loop.
Set this parameter to increase the position response to level load
disturbance. Higher setting increases the response level but is liable to
generate vibration and/or noise.
When auto tuning mode 1,2 and interpolation mode is selected, the result
of auto tuning is automatically used.
1 " to parameter No.20 to validate servo
To use this parameter, set "
lock at stop.
Speed loop gain 1
Normally this parameter setting need not be changed.
Higher setting increases the response level but is liable to generate
vibration and/or noise.
When auto tuning mode 1 2, manual mode and interpolation mode is
selected, the result of auto tuning is automatically used.
Speed loop gain 2
Set this parameter when vibration occurs on machines of low rigidity or
large backlash. Higher setting increases the response level but is liable to
generate vibration and/or noise.
When auto tuning mode 1 2 and interpolation mode is selected, the
result of auto tuning is automatically used.
Speed integral compensation
Used to set the integral time constant of the speed loop.
Higher setting increases the response level but is liable to generate
vibration and/or noise.
When auto tuning mode 1 2 and interpolation mode is selected, the
result of auto tuning is automatically used.

MO1

MO2

MBR

GD2

PG2

VG1

VG2

VIC

VDC

Initial
value

Unit

100

Multiplier
1
( 10 )

14 - 44

999 to
999
999 to
999
0
to
1000
0
to
3000

S
S T
S T
S T

S T

177

rad/s

20
to
8000

817

rad/s

20
to
20000

1
to
1000

to
1000
0

Do not change this value by any means.

1
to
1000

Made valid when the proportion control (PC) is switched on.
For manufacturer setting

999
to
999

rad/s

Used to set the differential compensation.
40

Control
mode

980

Speed differential compensation

Setting
range

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Class

No.

Symbol

*DIA

Name and function

Initial
value
0000

Input signal automatic ON selection

Unit

Setting

Control

range

mode

Refer to

S T

Used to set automatic servo-on (SON) forward rotation stroke end

name

(LSP) reverse rotation stroke end (LSN).

and
function

column.
Servo-on (SON) input selection
0: Switched on/off by external input.
1: Switched on automatically in servo
amplifier.
(No need of external wiring)

Expansion parameters 1

*DI1

Input signal selection 1

0002

Refer to

Used to assign the control mode changing signal input pins and to set the

name

clear (CR).

and
function

0 0 0

column.
Control change (LOP) input pin
assignment
Used to set the control mode
change signal input connector
pins. Note that this parameter is
made valid when parameter No.0
is set to select internal speed/torque
change mode.
Set value

Connector pin No.

CN1-4

CN1-3

CN1-5

CN1-6

CN1-7

If forward rotation stroke end (LSP) or reverse rotation stroke
end (LSN) is assigned to any pin with parameter No.48, this
parameter cannot be used.

14 - 45

S/T

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Class

No.

Symbol

*DI2

Name and function

0111

Input signal selection 2 (CN1-4)
Allows any input signal to be assigned to CN1-pin 4.
Note that the setting digit and assigned signal differ according to the
control mode.

Speed
Input signals of
control mode
CN1-pin 4
Torque
selected.
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.
Set value

(Note) Control mode
S

SON

RES

SP1

SP2

ST1

RS2

ST2

RS1

SP3

TL1

CDP

0
Expansion parameters 1

Initial
value

B
C

F
Note: P: Position control mode
S: Internal speed control mode
This parameter is unavailable when parameter No.42 is set to assign the
control change (LOP) to CN1-pin 4.
If rotation stroke end (LSP) or reverse rotation stroke end (LSN) is
assigned to pin 4 of CN1 with parameter No.48, this parameter cannot be
used.

14 - 46

Unit

Setting

Control

range

mode

Refer to
name
and
function
column.

S T

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Class

No.

Symbol

Name and function

*DI3

Input signal selection 3 (CN1-3)
Allows any input signal to be assigned to CN1-pin 3.
The assignable signals and setting method are the same as in input signal
selection 2 (parameter No.43).

Expansion parameters 1

*DI4

Torque
control mode

*DI5

Refer to
name
and
function
column.

S T

0995

Refer to
name
and
function
column.

S T

0000

Refer to
name
and
function
column.

S T

Input signals of
CN1-pin 5
selected.

This parameter is unavailable when parameter No.42 is set to assign the
control change (LOP) to CN1-pin 5.
If forward stroke end (LSP) or reverse rotation stroke end (LSN) is
assigned to pin 5 of CN1 with parameter No.48, this parameter cannot be
used.
Input signal selection 5 (CN1-6)
Allows any input signal to be assigned to CN1-pin 6.
The assignable signals and setting method are the same as in input signal
selection 2 (parameter No.43).

0882

5
Speed
control mode

Control
mode

0
Speed
control mode
Torque
control mode

Unit

Input signals of
CN1-pin 3
selected.

This parameter is unavailable when parameter No.42 is set to assign the
control change (LOP) to CN1-pin 3.
If forward rotation stroke end (LSP) or reverse rotation stroke end (LSN) is
assigned to pin 3 of CN1 with parameter No.48, this parameter cannot be
used.
Input signal selection 4 (CN1-5)
Allows any input signal to be assigned to CN1-pin 5.
The assignable signals and setting method are the same as in input signal
selection 2 (parameter No.43).

Setting
range

2
Speed
control mode
Torque
control mode

Initial
value

Input signals of
CN1-pin 6
selected.

This parameter is unavailable when parameter No.42 is set to assign the
control change (LOP) to CN1-pin 6.
If reverse rotation stroke end (LSN) is assigned to pin 6 of CN1 with
parameter No.48, this parameter cannot be used.

14 - 47

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Class

No.

Symbol

Name and function

*DI6

Input signal selection 6 (CN1-7)
Allows any input signal to be assigned to CN1-pin 7.
The assignable signals and setting method are the same as in input signal
selection 2 (parameter No.43).

Torque
control mode

Expansion parameters 1

Control
mode

0000

Refer to
name
and
function
column.

S T

0403

Refer to
name
and
function
column.

0
Select the pin where the forward rotation stroke
end (LSP) will be assigned.
Set value
0
1
2
3
4
5

Unit

Input signals of
CN1-pin 7
selected.

This parameter is unavailable when parameter No.42 is set to assign the
control change signal (LOP) to CN1-pin 7.
If forward rotation stroke end (LSP) is assigned to pin 7 of CN1 with
parameter No.48, this parameter cannot be used.
*LSPN LSP/LSN input terminal selection
Select the pins where the forward rotation stroke end (LSP) and reverse
rotation stroke end (LSN) will be assigned. If the signals have already
been assigned using parameter No.42 to 47, this parameter setting has
preference.
However, if forward rotation stroke end (LSP) is assigned to pin 6 of CN1
(default setting), the setting of parameter No.46 takes priority. Similarly, if
reverse rotation stroke end (LSN) is assigned to pin 7 of CN1 (default
setting), the setting of parameter No .47 takes priority.

Setting
range

0
Speed
control mode

Initial
value

Connector pin No.
CN1-5
CN1-4
CN1-6
CN1-7
CN1-3

Select the pin where the reverse rotation stroke
end (LSN) will be assigned. The settings are the
same as those of the first digit.

14 - 48

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Class

Initial
value

No.

Symbol

Name and function

*DO1

Output signal selection 1
Used to select the connector pins to output the alarm code and warning
(WNG).

0 0
Setting of alarm code output
Set value
0

Connector pins
CN1-10

CN1-11

CN1-12

Alarm code is output at alarm occurrence.

(Note) Alarm code
Alarm
CN1 CN1 CN1
display
pin 10 pin 11 pin 12

Expansion parameters 1

Name

88888

Watchdog

AL.12

Memory error 1

AL.13

Clock error

AL.15

Memory error 2

AL.17

Board error 2

AL.19

Memory error 3

AL.37

Parameter error

AL.8A

Serial communication time-out error

AL.8E

Serial communication error

AL.30

Regenerative error

AL.33

Overvoltage

AL.10

Undervoltage

AL.45

Main circuit device overheat

AL.46

Servo motor overheat

AL.50

Overload 1

AL.51

Overload 2

AL.24

Main circuit

AL.32

Overcurrent

AL.31

Overspeed

AL.16

Encoder error 1

AL.1A

Motor combination error

AL.20

Encoder error 2

Note. 0: Pin-VIN off (open)
1: Pin-VIN 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
CN1-11
2
CN1-9
3
CN1-10
4
CN1-12

14 - 49

0000

Unit

Setting
range

Control
mode

Refer to
name
and
function
column.

S T

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Class

No.

Symbol

50
51

*OP6

Initial
value

Name and function
For manufacturer setting
Do not change this value by any means.

0000

Function selection 6
Used to select the operation to be performed when the reset (RES)
switches on.

0000

Unit

Setting
range

Control
mode

Refer to

S T

name
and
function

0 0

column.

Operation to be performed when the
reset (RES) switches on
0: Base circuit not switched off
1: Base circuit switched off
52

For manufacturer setting

0000

Do not change this value by any means.
53

*OP8

Function selection 8

0000

Refer to
name
and
function
column.

S T

0000

Refer to

S T

Used to select the protocol of serial communication.

Expansion parameters 2

0
Protocol checksum selection
0: Yes (checksum added)
1: No (checksum not added)
Protocol checksum selection
0: With station numbers
1: No station numbers

*OP9

Function selection 9
Use to select the command pulse rotation direction, encoder output pulse
direction and encoder pulse output setting.

name
and
function

0 0

column.

Encoder pulse output phase changing
Changes the phases of A B-phase encoder pulses output .
Servo motor rotation direction

Set value

CCW

A-phase

B-phase

A-phase

B-phase

Encoder output pulse setting selection (refer to parameter No.27)
0: Output pulse designation
1: Division ratio setting
55

For manufacturer setting

0000

Do not change this value by any means.
56

SIC

Serial communication time-out selection

Used to set the communication protocol time-out period in [s].

When you set "0", time-out check is not made.
57

For manufacturer setting

Do not change this value by any means.

14 - 50

0
1 to 60

S T

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Class

No.

Symbol

NH1

Initial

Name and function

value

0000

Machine resonance suppression filter 1

Unit

Setting

Control

range

mode

Refer to

S T

Used to selection the machine resonance suppression filter.

name

(Refer to section 8.2.)

and
function

column.

Notch frequency selection
Set "00" when you have set adaptive vibration
suppression control to be "valid" or "held"
(parameter No.60: 1
or 2
).

Expansion parameters 2

Setting
Setting
Setting
Setting
Frequency
Frequency
Frequency
Frequency
value
value
value
value

Invalid

562.5

281.3

187.5

4500

500

264.7

180

2250

450

250

173.1

1500

409.1

236.8

166.7

1125

375

225

160.1

900

346.2

214.3

155.2

750

321.4

204.5

150

642.9

300

195.7

145.2

Notch depth selection
Setting
value

Depth

Gain

Deep

40dB

14dB

Shallow

8dB
4dB

1
2
3

NH2

0000

Machine resonance suppression filter 2
Used to set the machine resonance suppression filter.

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

14 - 51

Refer to
name
and
function
column.

S T

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Class

No.

Symbol

Name and function

LPF

Low-pass filter/adaptive vibration suppression control
Used to selection the low-pass filter and adaptive vibration suppression
control. (Refer to chapter 8.)

Initial
value

Unit

0000

Setting
range

Control
mode

Refer to

S T

name
and
function

column.

Low-pass filter selection
0: Valid (Automatic adjustment)
1: Invalid
VG2 setting 10
When you choose "valid",
2 (1 GD2 setting 0.1) [Hz]
bandwidth filter is set automatically.

Expansion parameters 2

GD2B

Ratio of load inertia moment to servo motor inertia moment 2
Used to set the ratio of load inertia moment to servo motor inertia moment
when gain changing is valid.

For manufacturer setting
Do not change this value by any means.

100

Multiplier
1
( 10 )

0
to
3000

VG2B

Speed control gain 2 changing ratio
Used to set the ratio of changing the speed control gain 2 when gain
changing is valid.
Made valid when auto tuning is invalid.

100

10
to
200

VICB

Speed integral compensation changing ratio
Used to set the ratio of changing the speed integral compensation when
gain changing is valid. Made valid when auto tuning is invalid.

100

50
to
1000

14 - 52

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Class

No.

Symbol

*CDP

Name and function
Gain changing selection
Used to select the gain changing condition. (Refer to section 8.5.)

Initial
value

Unit

0000

0 0 0

Setting
range

Control
mode

Refer to
name
and
function
column.

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) is ON
2: For manufacturer setting
3: For manufacturer setting
4: Servo motor speed is equal to higher than
parameter No.66 setting
66

CDS

Gain changing condition

Used to set the value of gain changing condition (command frequency,
droop pulses, servo motor speed) selected in parameter No.65. The set
value unit changes with the changing condition item. (Refer to section 8.5.)

Expansion parameters 2

CDT

Gain changing time constant

kpps

pulse

r/min

9999

Used to set the time constant at which the gains will change in response to
the conditions set in parameters No.65 and 66.

to
100

(Refer to section 8.5.)
68

For manufacturer setting

Do not change this value by any means.

SC4

Internal speed command 4

200

r/min

Used to set speed 4 of internal speed commands.
Internal speed limit 4
Used to set speed 4 of internal speed limits.
73

SC5

Internal speed command 5

300

r/min

Used to set speed 5 of internal speed commands.
Internal speed limit 5
Used to set speed 5 of internal speed limits.
74

SC6

Internal speed command 6

500

r/min

Used to set speed 6 of internal speed commands.
Internal speed limit 6
Used to set speed 6 of internal speed limits.
75

SC7

Internal speed command 7

800

Used to set speed 7 of internal speed commands.
Internal speed limit 7
Used to set speed 7 of internal speed limits.

14 - 53

r/min

0 to instantaneous
permissible
speed

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Class

No.

Symbol

TL2

Name and function
Internal torque limit 2

Initial
value
100

Set this parameter to limit servo motor torque on the assumption that the
maximum torque is 100[ ].
Expansion parameters 2

100

Do not change this value by any means.

10000

100

0000

14 - 54

Control
mode

S T

100

When torque is output in analog monitor output, this set value is the
maximum output voltage ( 8V).
For manufacturer setting

Setting
range
to

When 0 is set, torque is not produced.

Unit

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

14.5 Display and operation
POINT
For the alarm mode, parameter mode output signal (DO) forcible output and test
operation mode, refer to chapter 6.
14.5.1 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
Status display

Cumulative feedback
pulses [pulse]

Alarm

Basic
parameters

Expansion
parameters 1

Expansion
parameters 2

Sequence

Current alarm

Parameter No.0

Parameter No.20

Parameter No.50

External I/O
signal display

Last alarm

Parameter No.1

Parameter No.21

Parameter No.51

Output (DO) signal
forced output

Second alarm in past

Test operation mode
Jog feed

Third alarm in past

Diagnosis

(Note)
Servo motor speed
[r/min]

DOWN

Fourth alarm in past

Parameter No.18

Parameter No.48

Parameter No.83

Test operation mode
Motor-less operation

Fifth alarm in past

Parameter No.19

Parameter No.49

Parameter No.84

Test operation mode
Machine analyzer operation

Sixth alarm in past

Regenerative load
ratio [%]

Software version low

Parameter error No.

Effective load ratio
[%]

Software version high

Peak load ratio
[%]

Automatic VC offset

Instantaneous torque
[%]

Motor series ID

Within one-revolution
position low [pulse]

Motor type ID

Within one-revolution
position, high [100 pulse]

Encoder ID

Analog speed command voltage
Analog speed limit voltage [V]

Analog torque limit voltage
Analog torque command voltage
[V]

Load inertia moment
ratio [Multiplier ( 1)]

Bus voltage [V]

Note. The initial status display at power-on depends on the control mode.
Speed control mode: Servo 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.

14 - 55

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

14.5.2 Status display
(1) Status display list
The following table lists the servo statuses that may be shown.
Name

Symbol

Unit

Description

Cumulative feedback
pulses

pulse

Servo motor speed

r/min

Analog speed command
voltage
Analog speed limit
voltage

Analog torque command
voltage
Analog torque limit
voltage

Regenerative load ratio

The ratio of regenerative power to permissible regenerative power is
displayed in .

Effective load ratio

Peak load ratio

Instantaneous torque

Within one-revolution
position low

Cy1

The continuous effective load torque is displayed.
The effective value in the past is seconds is displayed relative to the rated
torque of 100 .
The maximum torque generated during acceleration/deceleration, etc.
The highest value in the past 15 seconds is displayed relative to the rated
torque of 100 .
Torque that occurred instantaneously is displayed.
The value of the torque that occurred is displayed in real time relative to the
rate torque of 100 .
Position within one revolution is displayed in encoder pulses.
The value returns to "0" when it exceeds the maximum number of pulses.
The value is incremented in the CCW direction of rotation.

Within one-revolution
position high

Cy2

(1) Torque control mode
Analog speed limit (VLA) voltage is displayed.
(2) Speed control mode
Analog speed command (VC) voltage is displayed.
(1) Speed control mode
Analog torque limit (TLA) voltage is displayed.
(2) Torque control mode
Analog torque command (TLA) voltage is displayed.

pulse

100
pulse

Display
range
99999
to
99999

5400
to
5400
10.00
to
10.00
0
to
10V
8.0
to
8.0
0
to
100
0
to
300
0
to
400
0
to
400
0
to
99999

The within one-revolution position is displayed in 100 pulse increments of
the encoder.

The value returns to "0" when it exceeds the maximum number of pulses.

1310

The value is incremented in the CCW direction of rotation.
Load inertia moment ratio

Multiplier The estimated ratio of the load inertia moment to the servo motor shaft
inertia moment is displayed.
( 1)

0.0
to
300.0

Bus voltage

The voltage (across P-N) of the main circuit converter is displayed.

0
to
450

14 - 56

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

(2) 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

Speed

Servo motor speed

Speed/torque

Servo motor speed/analog torque command voltage

Torque

Analog torque command voltage

14 - 57

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

14.5.3 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.

External I/O signal display

Output (DO) signal forced
output

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

Refer to section 15.5.4.

Jog feed

Jog operation can be performed when there is no command from the
external command device.
For details, refer to section 6.8.2.
Screen for manufacturer setting. When this screen is being displayed,
do not press any other buttons than "UP" and "DOWN".

Test
operation
mode

Motor-less
operation

Machine
analyzer
operation

Without connection of the servo motor, the servo amplifier provides
output signals and displays the status as if the servo motor is running
actually in response to the external input signal.
For details, refer to section 6.8.4.
Merely connecting the servo amplifier allows the resonance point of the
mechanical system to be measured.
The MR Configurator (servo configuration software) is required for
machine analyzer operation.
Gain search cannot be used.

Software version low

Indicates the version of the software.

Software version high

Indicates the system number of the software.

Automatic VC offset

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 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.

14 - 58

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

Name

Display

Description

Motor series ID

Press the "SET" button to show the motor series ID of the servo motor
currently connected.

Motor type ID

Press the "SET" button to show the motor type ID of the servo motor
currently connected.

Encoder ID

Press the "SET" button to show the encoder ID of the servo motor
currently connected.

14 - 59

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

14.5.4 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
CN1
8

CN1 CN1
7
6

CN1 CN1
5
3

CN1
4

Input signals
Always lit
Output signals

CN1
21

CN1 CN1
10
12

CN1
9

CN1
11

Lit: ON
Extinguished: OFF

Input/Output

(Note 2) Signal abbreviation

Pin No.

(Note 1) I/O

ST1

RS2

43 to 47

SON

43 to 47

RS1

ST2

LSP

LSN

EMG

EMG
ALM

Related parameter No.

43 to 47
43 to 48
43 to 48

ALM

ZSP

Note 1. I: Input signal, O: Output signal
2. S: Speed control mode, T: Torque control mode.
3. CN1B-4 and CN1A-18 output signals are the same.

14 - 60

49
49

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

(3) Default signal indications
(a) Speed control mode
EMG (CN 1-8) Emergency stop
LSN (CN 1-7) Reverse rotation stroke end
LSP (CN 1-6) Forward rotation stroke end
ST2 (CN 1-5) Reverse rotation start
ST1 (CN 1-3) Forward rotation start
SON (CN 1-4) Servo-on
Input signals
Output signals

Lit: ON
Extinguished: OFF
RD (CN 1-11) Ready
SA (CN 1-10) Limiting speed
ZSP (CN 1-12) Zero speed detection
ALM (CN 1-9) Trouble
OP (CN 1-21) Encoder Z-phase pulse

(b) Torque control mode
EMG (CN 1-8) Emergency stop
(CN 1-7)
(CN 1-6)
RS1 (CN 1-5) Forward rotation selection
RS2 (CN 1-3) Reverse rotation selection
SON (CN 1-4) Servo-on
Input signals

Lit: ON
Extinguished: OFF

Output signals

RD (CN 1-11) Ready
(CN 1-10)
ZSP (CN 1-12) Zero speed detection
ALM (CN 1-9) Trouble
OP (CN 1-21) Encoder Z-phase pulse

14 - 61

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

14.6 Troubleshooting
14.6.1 Trouble at start-up
The following faults may occur at start-up. If any of such faults occurs, take the corresponding action.
(1) Speed control mode
No.
1

Start-up sequence
Power on (Note)

Fault
7-segment LED is
not lit.
7-segment LED
flickers.

Switch on servo-on
(SON).

Switch on forward
rotation start (ST1) or
reverse rotation start
(ST2).

Gain adjustment

Alarm occurs.
Alarm occurs.
Servo motor shaft is
not servo-locked
(is free).

Servo motor does not
rotate.

Rotation ripples
(speed fluctuations)
are large at low
speed.

Large load inertia
moment causes the
servo motor shaft to
oscillate side to side.

Investigation
Not improved if connectors
CN1, CN2 and CN3 are
disconnected.
Improved when connectors
CN1 is disconnected.
Improved when connector
CN2 is disconnected.

Possible cause

Power supply of CN1 cabling is
shorted.
1. Power supply of encoder
cabling is shorted.
2. Encoder is faulty.
Improved when connector
Power supply of CN3 cabling is
CN3 is disconnected.
shorted.
Refer to section 10.2 and remove cause.
Refer to section 10.2 and remove cause.
1. Check the display to see if
1. Servo-on (SON) is not input.
the servo amplifier is ready
(Wiring mistake)
to operate.
2. 24VDC power is not supplied
to COM.
2. Check the external I/O
signal indication to see if the
servo-on (SON) is ON.
Call the status display and
Analog speed command is 0V.
check the input voltage of the
analog speed command (VC).
Call the external I/O signal
LSP, LSN, ST1 or ST2 is off.
display and check the ON/OFF
status of the input signal.
Check the internal speed
Set value is 0.
commands 1 to 7
(parameters No.8 to 10 72 to
75).
Check the internal torque limit Torque limit level is too low as
1 (parameter No.28).
compared to the load torque.
When the analog torque limit
Torque limit level is too low as
(TLA) is usable, check the
compared to the load torque.
input voltage on the status
display.
Make gain adjustment in the
Gain adjustment fault
following procedure.
1. Increase the auto tuning
response level.
2. Repeat acceleration and
deceleration several times
to complete auto tuning.
If the servo motor may be run Gain adjustment fault
with safety, repeat acceleration
and deceleration several times
to complete auto tuning.

Note. Switch power on again after making sure that the change lamp has turned off completely.

14 - 62

Reference

1. Power supply voltage fault
2. Servo amplifier is faulty.

Section 10.2
Section 10.2
Section 6.6

Section 6.2

Section 6.6

Section
5.1.2 (1)

Chapter 7

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

(2) Torque control mode
No.
1

Start-up sequence
Power on (Note)

Fault

Investigation

Possible cause

7-segment LED is

Not improved if connectors

1. Power supply voltage fault

not lit.

CN1, CN2 and CN3 are

2. Servo amplifier is faulty.

7-segment LED

disconnected.

flickers.

Improved when connectors

Power supply of CN1 cabling is

CN1 is disconnected.

shorted.

Improved when connector

1. Power supply of encoder

CN2 is disconnected.

Reference

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

Switch on servo-on

Alarm occurs.

Refer to section 10.2 and remove cause.

Section 10.2

(SON).

Servo motor shaft is

Call the external I/O signal

Section 6.6

free.

display and check the ON/OFF
status of the input signal.

1. Servo-on (SON) is not input.
(Wiring mistake)
2. 24VDC power is not supplied
to COM.

Switch on forward

Servo motor does not

Call the status display and

rotation start (RS1) or

rotate.

check the analog torque

reverse rotation start

command (TC).

(RS2).

Call the external I/O signal

Analog torque command is 0V.

Section 6.2

RS1 or RS2 is off.

Section 6.6

display and check the ON/OFF
status of the input signal.
Check the internal speed limits Set value is 0.

Section

1 to 7

5.1.2 (1)

(parameters No.8 to 10 72 to
75).
Check the analog torque

Torque command level is too low

command maximum output

as compared to the load torque.

(parameter No.26) value.
Check the internal torque limit

Set value is 0.

1 (parameter No.28).
Note. Switch power on again after making sure that the change lamp has turned off completely.

14 - 63

14. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

14.6.2 Alarms and warning list
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.
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. When an alarm occurs, the
current circuit between ALM and VIN opens.
Set "
1" in parameter No.49 to output the alarm code in ON/OFF status across the corresponding pin
and VIN. Warnings (AL.E0 to AL.E9) 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 (CN1-12: ZSP, CN111: RD, CN1-10: SA) are output.
After its cause has been removed, the alarm can be deactivated in any of the methods marked
in the alarm
deactivation column.
(Note 2) Alarm code
Display

CN1-10
pin

CN1-11
pin

Name

CN1-12
pin

Alarm deactivation
Press
"SET" on Alarm reset
Power
(RES)
current
OFF ON
signal
alarm
screen.

Warnings

Alarms

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
0
1
Encoder error 1
AL.17
0
0
0
Board error
AL.19
0
0
0
Memory error 3
AL.1A
1
0
1
Motor combination error
AL.20
1
1
0
Encoder error 2
AL.24
0
0
1
Main circuit error
AL.30
0
1
0
Regenerative error
(Note 1)
(Note 1)
(Note 1)
AL.31
0
1
1
Overspeed
AL.32
0
0
1
Overcurrent
AL.33
0
1
0
Overvoltage
AL.37
0
0
0
Parameter error
AL.45
1
1
0
Main circuit device overheat
AL.46
1
1
0
Servo motor overheat
AL.50
1
1
0
Overload 1
(Note 1)
(Note 1)
(Note 1)
AL.51
1
1
0
Overload 2
(Note 1)
(Note 1)
(Note 1)
AL.8A
0
0
0
Serial communication time-out error
AL.8E
0
0
0
Serial communication error
88888
0
0
0
Watchdog
AL.E0
Excessive regenerative warning
Removing the cause of occurrence
AL.E1
Overload warning
deactivates the alarm
AL.E6
Servo emergency stop warning
automatically.
AL.E9
Undervoltage warning
Note 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence.
2. 0: off
1: on

14 - 64

APPENDIX

App. 1 COMPLIANCE WITH CE MARKING
App. 1.1 What is CE marking?
The CE marking is mandatory and must be affixed to specific products placed on the European Union. When a
product conforms to the requirements, the CE marking must be affixed to the product. The CE marking also
applies to machines and equipment incorporating servos.
(1) EMC directive
The EMC directive applies to the servo units alone. This servo is designed to comply with the EMC
directive. The EMC directive also applies the 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.
(2) Low voltage directive
The low voltage directive applies also to servo units alone. This servo is designed to comply with the low
voltage directive.
App. 1.2 For compliance
Be sure to perform an appearance inspection of every unit before installation. In addition, have a final
performance inspection on the entire machine/system, and keep the inspection record.
(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which standard product.
Servo amplifier
: MR-E- A-QW003, MR-E- AG-QW003
Servo motor series : HF-KN (J), HF-SN J
(2) Structure
The control circuit provide safe separation to the main circuit in the servo amplifier.
Control box

Reinforced insulating type

No-fise
breaker
NFB

App. - 1

Magnetic
contactor
MC

24VDC
power
supply
Servo motor
Servo
amplifier

APPENDIX

(3) Environment
(a) Operate the servo amplifier at or above pollution degree 2 set forth in IEC/EN 60664-1. For this
purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust,
dirt, etc. (IP54).
(b) Environment
Environment

Conditions
[ ]

0 to 55

[ ]

32 to 131

In storage,

[ ]

20 to 65

In transportation

[ ]

4 to 149

In operation

(Note)
Ambient
Temperature
Ambient Humidity
Maximum Altitude

In operation, In storage, In
transportation

RH or less

In operation, In storage

1000m or less

In transportation

10000m or less

Note. Ambient temperature is the internal temperature of the control box.

(4) Power supply
(a) This servo amplifier can be supplied from star-connected supply with earthed neutral point of
overvoltage category II set forth in IEC/EN 60664-1.
(b) For the interface power supply, use a 24VDC power supply with reinforced insulation on I/O terminals.
(5) Grounding
(a) To prevent an electric shock, the protective earth (PE) terminal (marked
be connected to the protective earth (PE) of the control box.

) of the servo amplifier must

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

PE terminals

(c) If an earth leakage circuit breaker is used, always earth the protective earth (PE) terminal of the servo
amplifier to prevent an electric shock.
(6) Wiring and installation
(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.
Insulating tube
Cable
Crimping terminal

App. - 2

APPENDIX

(b) Use the servo motor side power connector which complies with the IEC/EN Standard.
The IEC/EN Standard-compliant power connector sets are available from us as options.
(c) The servo amplifier must be installed in the metal cabinet (control box).
(7) Peripheral devices, options
(a) Use the circuit breaker and magnetic contactor models which are EN/IEC Standard-compliant products
given this Servo Amplifier Instruction Manual.
Use a type B (Note) breaker. When it is not used, provide insulation between the servo amplifier and
other device by double insulation or reinforced insulation, or install a transformer between the main
power supply and servo amplifier.
Note. Type A: AC and pulse detectable
Type B: Both AC and DC detectable

(b) The sizes of the wires given this Servo Amplifier Instruction Manual meet the following conditions. For
use in any other conditions, follow Table 5 and Annex C of IEC/EN 60204-1.
Ambient temperature: 40 (104 )
Sheath
: PVC (polyvinyl chloride)
Installation on wall surface or open table tray
(c) Use the EMC filter for noise reduction.
(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).

App. - 3

APPENDIX

App. 2 COMPLIANCE WITH UL/cUL STANDARD
This servo amplifier complies with UL 508C, and CSA C22.2 No.14 standard.
(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which standard product.
Servo motors

Servo amplifier

HF-KN (J)

MR-E-10A-QW003

MR-E-20A-QW003

MR-E-40A-QW003

MR-E-70A-QW003

MR-E-100A-QW003

HF-SN J

52
102

MR-E-200A-QW003

152

202

(2) Installation
The MR-E- A-QW003 series and MR-E- AG-QW003 series have been approved as the products which
have been installed in the electrical enclosure.
The minimum enclosure size is based on 150 of each MR-E combination.
And also, design the enclosure so that the ambient temperature in the enclosure is 55 (131 ) or less,
refer to the spec manual.
The servo amplifier must be installed in the metal cabinet (control box).
(3) Short circuit rating (SCCR: Short Circuit Current Rating)
Suitable For Use In A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical Amperes,
500 Volts Maximum.
(4) Flange
Mount the servo motor on a flange which has the following size or produces an equivalent or higher heat
dissipation effect.
Servo motor

Flange size

HF-KN (J)

250 250

13 23

250 250

300 300

550 550

HF-SN J
52 to 152
202

(5) Capacitor discharge time
The capacitor discharge time is as follows. To ensure safety, do not touch the charging section for 15
minutes after power-off.
Servo amplifier

Discharge time [min]

MR-E-10A-QW003
MR-E-10AG-QW003
MR-E-20A-QW003

MR-E-20AG-QW003
MR-E-40A-QW003
MR-E-40AG-QW003
MR-E-70A-QW003 to MR-E-200A-QW003
MR-E-70AG-QW003 to MR-E-200AG-QW003

App. - 4

2
3

APPENDIX

(6) 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. It is
recommended to use an unbalanced torque-generated machine, such as a vertical motion shaft, so that
unbalanced torque is not more than 70 of the rated torque.
Servo amplifier MR-E series have each solid-state servo motor overload protection. (The motor full load
current is 115 rated current.)
1000

1000
During rotation

During rotation
100
Operation time[s]

Operation time[s]

100

During servo lock

During servo lock
10

0.1

150
200
100
(Note) Load ratio [%]

250

300

150
200
100
(Note) Load ratio [%]

250

300

a. MR-E-10A-QW003 to MR-E-100A-QW003
b. MR-E-200A-QW003
Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high
frequency in a servo motor stop status (servo lock status) or in a 30r/min or less low-speed operation
status, the servo amplifier may fail even when the electronic thermal relay protection is not activated.
(7) Selection example of wires
To comply with the UL/cUL Standard, use UL-approved copper wires rated at 60/75
wiring.

(140/167 ) for

Servo amplifier
MR-E-10A-QW003
MR-E-20A-QW003
MR-E-40A-QW003
MR-E-70A-QW003
MR-E-100A-QW003
MR-E-200A-QW003

(Note) Wires [mm ]
1) L1 L2 L3

2 (AWG14)

(Note) 2.5 (AWG14)

3) U V W

5) B1 B2

1.25 (AWG16)
2 (AWG14)

1.25 (AWG16)

2 (AWG14)
(Note) 2.5 (AWG14)

Note. Use the heat-resistant PVC cable (rated temperature 105
temperature 40

4) P C D

(104 ) or more.

App. - 5

(221 ) or more), if AWG14 cable is used in ambient

APPENDIX

(8) About wiring protection
For installation in United States, branch circuit protection must be provided, in accordance with the
National Electrical Code and any applicable local codes and per the table below.
For installation in Canada, branch circuit protection must be provided, in accordance with the Canada
Electrical Code and any applicable provincial codes and per the table below.
Use the molded-case circuit breaker or a Class T fuse indicated in the table below.
Servo amplifier

Circuit breaker

MR-E-10A-QW003
MR-E-20A-QW003
MR-E-40A-QW003
MR-E-70A-QW003
MR-E-100A-QW003
MR-E-200A-QW003

30A frame 5A
30A frame 5A
30A frame 10A
30A frame 15A
30A frame 15A
30A frame 20A

Class

Fuse
Current [A]
Voltage AC [V]
10
10
15
15
15
15

250

(10) Connection example
Magnet
contactor
Servo amplifier
L1, L2, L3

CNP1
CN3
CN1
CN2
CNP2

Command device
Encoder cable

U, V, W

Servo motor

Cabinet side
Machine side
Encoder

App. - 6

S-N10

S-N18

(9) Options, peripheral devices
Use the UL/cUL Standard-compliant products.

Fuse or
MCCB

Magnetic contactor
(note)

REVISIONS
*The manual number is given on the bottom left of the back cover.
Print data

*Manual number

Revision

May 2008

SH(NA)030075-A

First edition

Oct. 2012

SH(NA)030075-B

The chapter of servo motor
is deleted.
Front cover

Description of HF-KN/HF-SN motor is added.

1. To prevent electric

The sentences are added.

shock, note the following
2. To prevent fire, note the

The sentences are added.

following
4. Additional instructions (1) The sentences are added, and the table is changed.
Transportation and
installation
4. Additional instructions (2) The diagram is changed.
Wiring
4. Additional instructions (5) The sentences are changed, and the diagram is
Corrective actions

changed.

COMPLIANCE WITH CE

The title is changed, and descriptions of the

MARKING

compliance with CE marking are moved to APPENDIX.

COMPLIANCE WITH

The title is changed, and descriptions of the

UL/cUL STANDARD

compliance with UL/cUL standard are moved to
APPENDIX.

HF-KN/HF-SN Servo Motor Instruction Manual is
added.

Added.

Section 1.2

The diagram is changed.

Section 1.3

The table is changed.

Section 1.5 (1)

The rating plate is changed.

Section 1.6

Description of HF-KN/HF-SN motor is added, and the
model name of servo motor in the table is changed.

Section 1.8 (1)

The diagram is changed.

Section 1.8 (2)

The diagram is changed.

Chapter 2

WARNING is added, and the sentences are added to
CAUTION.

Section 2.1

The table is changed.

Section 2.4 (2)

The sentences are changed.

Chapter 3

The sentences are added to WARNING.

Section 3.1

The sentences of POINT are changed.

Section 3.1.1 (1)

The diagram is changed.

Section 3.1.1 (2)

The diagram is changed.

Section 3.1.1 (3)

The diagram is changed.

Section 3.1.2

The diagram is changed.

Section 3.3.2

The table is changed.

Section 3.4.3

The sentences are partially changed.

Section 3.6.2 (5)

The diagram is changed.

Section 3.7

The sentences are added to CAUTION.

Section 3.7.1 (1)

Note 2 and 3 are added.

Print data

*Manual number

Oct. 2012

SH(NA)030075-B

Revision
Section 3.7.1 (2)

Note 2 and 3 are added.

Section 3.8

The former section 3.8 is deleted, and section 3.9 is
raised to section 3.8.

Section 3.8.1

The sentences are added and changed for CAUTION,
the diagram is changed, and the sentences of POINT
are changed.

Section 4.2.2 (3)

The table is changed.

Chapter 5

The sentences are added to CAUTION.

Section 5.1.2 (2)

The servo motor series name of Parameter No. 0 is
changed.

Section 5.2.1

The number in POINT is changed.

Section 5.2.1 (1)

The calculation details are changed.

Section 5.2.1 (2)

The calculation details are changed, and POINT is
added.

Section 5.2.1 (3)

Newly added.

Section 5.2.2

The sentences are partially changed.

Section 6.8.1

The sentences are changed, and the explanation is
added to the diagram.

Section 6.8.4 (2)

The sentences are changed.

Chapter 7

POINT is added.

Section 7.3.2 (1) (b)

The table is changed.

Section 8.5.4 (2) (b)

The diagram is changed.

Chapter 9

The sentences of WARNING are changed, and POINT
is changed to CAUTION.

Chapter 9 (2)

The table is changed.

Section 10.1.1 (1)

The table is changed.

Section 10.1.2

The table is changed.

Section 11.1 (4)

The diagram is changed.

Section 12.2 (1)

The model name of servo motor in the table is
changed.

Section 12.3

POINT is added, and the diagram is changed.

Section 13.1.1 (2)

The sentences are partially changed.

Section 13.1.1 (5) (a)

The diagram is changed, and terminal screw is
changed to applicable wire size.

Section 13.1.1 (5) (b)

The diagram is changed.

Section 13.1.1 (5) (c)

The diagram is changed.

Section 13.1.2

The sentences of POINT are changed.

Section 13.1.2 (1)

The diagram is changed, and the table is changed.

Section 13.1.2 (2)

The former section 13.1.2(2) is deleted, and section
13.1.2(3) is raised to section 13.1.2(2).

Section 13.1.2 (4)

Deleted.

Section 13.1.2 (5)

Deleted.

Section 13.2.1 (2)

The table is changed.

Section 13.2.2

The sentences are added.

Section 13.2.3

The sentences are added, the diagram is changed, the
table is changed, and Note 1, 2, 3, and 4 are added.

Section 13.2.6 (2) (a)

The model name of data line filter is changed.

Print data

*Manual number

Oct. 2012

SH(NA)030075-B

Revision
Section 13.2.6 (2) (b)

The diagram is changed, and the table is changed.

Section 13.2.6 (2) (d)

The diagram is changed.

Section 13.2.7 (2)

The model name of servo motor in the diagram is
changed.

Chapter 14

The former chapter 14 is deleted, and chapter 15 is
raised to chapter 14.

Section 14.1.2

The diagram is changed.

Section 14.1.3

The table is changed.

Section 14.1.6 (1)

The diagram is changed.

Section 14.1.6 (2)

The diagram is changed.

Section 14.2.1 (1)

The diagram is changed.

Section 14.2.1 (2)

The diagram is changed.

Section 14.4.2

The servo motor series name of Parameter No.0 is
changed.

Section 14.6.1 (1)

The table is changed.

Section 14.6.1 (2)

The table is changed.

Appendix 1

Appendix 1 is changed to COMPLIANCE WITH CE
MARKING.

Appendix 2

Appendix 2 is changed to COMPLIANCE WITH
UL/cUL STANDARD.

Warranty

Added.

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses.
Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may
occur as a result of using the contents noted in this manual.
© 2012 MITSUBISHI ELECTRIC CORPORATION

Warranty
1. Warranty period and coverage
We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product"
arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you
purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site
repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial
run that may be required after a defective unit are repaired or replaced.
[Term]
The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or
eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product
cannot exceed beyond the original warranty period before any repair work.
[Limitations]
(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.
It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not
be charged if we are responsible for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and
conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label
affixed to the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;
(i)
a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your
hardware or software problem
(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval
(iii)
(iv)
(v)

a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a
safety device required by applicable laws and has any function or structure considered to be indispensable according to a
common sense in the industry
a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly
maintained and replaced
any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)

(vi)

a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of
voltage, and acts of God, including without limitation earthquake, lightning and natural disasters
(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment
of the Product from our company
(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for

2. Term of warranty after the stop of production
(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The
announcement of the stop of production for each model can be seen in our Sales and Service, etc.
(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.
3. Service in overseas countries
Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the
repair work may differ depending on each FA Center. Please ask your local FA center for details.
4. Exclusion of responsibility for compensation against loss of opportunity, secondary loss, etc.
Whether under or after the term of warranty, we assume no responsibility for any damages arisen from causes for which we are not
responsible, any losses of opportunity and/or profit incurred by you due to a failure of the Product, any damages, secondary
damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company,
any damages to products other than the Product, and also compensation for any replacement work, readjustment, start-up test run
of local machines and the Product and any other operations conducted by you.
5. Change of Product specifications
Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Application and use of the Product
(1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any
failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external
system to General-Purpose AC Servo when any failure or malfunction occurs.
(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries.
Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of
electric power companies, and also which require a special quality assurance system, including applications for railway companies
and government or public offices are not recommended, and we assume no responsibility for any failure caused by these
applications when used
In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments,
railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety
machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used.
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific
application. Please contact us for consultation.

SH(NA)030075-B

MR-E- A-QW003/MR-E- AG-QW003

General-Purpose AC Servo
EZMOTION MR-E Super
General-Purpose Interface
MODEL

Instruction Manual B

MODEL

MR-E-A/AG-QW003
INSTRUCTIONMANUAL

MODEL
CODE

1CW705

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

SH (NA) 030075-B (1210) MEE

Printed in Japan

This Instruction Manual uses recycled paper.
Specifications subject to change without notice.

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Subject                         : MR-E-A-QW003, MR-E-AG-QW003
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