3.

SIGNALS AND WIRING

3.2 I/O signal connection example

3.2.1 Position control mode

(1) Sink I/O interface

(Note 4) Servo amplifier
24 V DC (Note 7) (Note 4)
Positioning module CN1 24 V DC
QD75D (Note 7)
CN1 47 DOCOM (Note 2)
DICOM 20 48 ALM RA1 Malfunction
CLEARCOM 14 DOCOM 46 (Note 6)
CLEAR 13 CR 41 23 ZSP RA2 Zero speed
detection (Note 12)
RDYCOM 12 25 TLC RA3 Limiting torque
READY 11 RD 49
PULSE F+ 15 PP 10 24 INP RA4 In-position
PULSE F- 16 PG 11
10 m or less
PULSE R+ 17 NP 35
PULSE R- 18 NG 36 4 LA Encoder A-phase pulse
(differential line driver)
PG0 9 LZ 8 5 LAR (Note 16)
PG0 COM 10 LZR 9 6 LB Encoder B-phase pulse
(differential line driver)
(Note 11) LG 3 7 LBR
SD Plate Control common
34 LG Control common
10 m or less (Note 8)
33 OP Encoder Z-phase pulse
Plate SD (open collector)
10 m or less 2 m or less
(Note 13) (Note 7)
Main circuit power supply CN1
(Note 3, 5) Forced stop 2 EM2 42
Servo-on SON 15 (Note 7)
Reset RES 19 CN6
Proportion control PC 17 3 MO1 Analog monitor 1
External torque limit DC ± 10 V
selection
TL 18 1 LG
DC ± 10 V
Forward rotation LSP 43 2 MO2 Analog monitor 2
(Note 5) stroke end
Reverse rotation (Note 4) 24 V DC LSN 44
stroke end 2 m or less
DICOM 21
Upper limit setting
P15R 1
Analog torque limit
+10 V/maximum torque TLA 27
LG 28
SD Plate
Personal 2 m or less
(Note 9) computer
MR Configurator2 (Note 10)
USB cable CN5
(option)
+
CN8
(Note 12)
Short-circuit connector (Note 1)
(Packed with the servo amplifier)

3 - 11
3. SIGNALS AND WIRING

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the
protective earth (PE) of the cabinet.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output
signals, disabling EM2 (Forced stop 2) and other protective circuits.
3. The forced stop switch (normally closed contact) must be installed.
4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity is up to 500 mA. 500 mA is the value applicable
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section
3.9.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided
between input signal and output signal for convenience. However, they can be configured by one.
5. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation
stroke end). (Normally closed contact)
6. ALM (Malfunction) turns on in normal alarm-free condition. When this signal (normally closed contact) is switched off (at
occurrence of an alarm), the output of the programmable controller should be stopped by the sequence program.
7. The pins with the same signal name are connected in the servo amplifier.
8. This length applies to the command pulse train input in the differential line driver type. It is 2 m or less in the open-collector
type.
9. Use SW1DNC-MRC2-J. (Refer to section 11.7.) The RS-422 communication function is used with servo amplifiers with
software version A3 or later.
10. Personal computers can also be connected via the CN3 connector, enabling RS-422 communication. Note that using the USB
communication function (CN5 connector) prevents the RS-422 communication function (CN3 connector) from being used, and
vice versa. They cannot be used together.
Personal
computer RS-232C/RS-422 conversion cable Servo amplifier
recommended cable: interface cable
DSV-CABV CN3
(Diatrend)

To RS-232C connector

11. This connection is not required for QD75D. However, to enhance noise immunity, it is recommended to connect LG of servo
amplifier and control common depending on the positioning module.
12. When not using the STO function, attach the short-circuit connector came with a servo amplifier.
13. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier.
14. Plus and minus of the power of source interface are the opposite of those of sink interface.
15. CLEAR and CLEARCOM of source interface are interchanged to sink interface.
16. When a command cable for connection with the controller side malfunctions due to disconnection or noise, a position
mismatch can occur. To avoid position mismatch, it is recommended that Encoder A-phase pulse and Encoder B-phase pulse
be checked.

3 - 12
3. SIGNALS AND WIRING

(2) Source I/O interface

POINT
For notes, refer to (1) in this section.

(Note 4, 14) Servo amplifier

24 V DC (Note 7) (Note 4, 14)
Positioning module CN1 24 V DC
QD75D (Note 7) 47 DOCOM
CN1 (Note 2)
DICOM 20 48 ALM RA1 Malfunction
CLEAR 13 DOCOM 46 (Note 6)
(Note 15)
CLEARCOM 14 CR 41 23 ZSP RA2 Zero speed
detection
RDYCOM 12 25 TLC RA3 Limiting torque
READY 11 RD 49
PULSE F+ 15 PP 10 24 INP RA4 In-position
PULSE F- 16 PG 11
10 m or less
PULSE R+ 17 NP 35
PULSE R- 18 NG 36 4 LA Encoder A-phase pulse
(differential line driver)
PG0 9 LZ 8 5 LAR
PG0 COM 10 LZR 9 6 LB Encoder B-phase pulse
(differential line driver)
(Note 11) LG 3 7 LBR
SD Plate Control common
34 LG Control common
10 m or less (Note 8)
33 OP Encoder Z-phase pulse
Plate SD (open collector)
10 m or less 2 m or less
(Note 13) (Note 7)
Main circuit power supply CN1
(Note 3, 5) Forced stop 2 EM2 42
Servo-on SON 15
(Note 7)
Reset RES 19 CN6
Proportion control PC 17 3 MO1 Analog monitor 1
External torque limit DC ± 10 V
selection
TL 18 1 LG
DC ± 10 V
Forward rotation LSP 43 2 MO2 Analog monitor 2
(Note 5) stroke end
Reverse rotation (Note 4, 14) 24 V DC
LSN 44
stroke end 2 m or less
DICOM 21
Upper limit setting
P15R 1
Analog torque limit
+10 V/maximum torque TLA 27
LG 28
SD Plate
Personal 2 m or less
(Note 9) computer
MR Configurator2 (Note 10)
USB cable CN5
(option)
+
CN8
(Note 12)
Short-circuit connector (Note 1)
(Packed with the servo amplifier)

3 - 13
3. SIGNALS AND WIRING

3.2.2 Speed control mode

(1) Sink I/O interface

Servo amplifier
(Note 7) (Note 4)
CN1 24 V DC
46 DOCOM

47 DOCOM
(Note 2)
10 m or less
(Note 13) (Note 7) 48 ALM RA1 Malfunction
Main circuit power supply CN1 (Note 6)
(Note 3, 5) Forced stop 2 EM2 42 23 ZSP RA2 Zero speed
detection
Servo-on SON 15 25 TLC RA3 Limiting torque
Reset RES 19
Speed selection 1 SP1 41 24 SA RA4 Speed reached
Speed selection 2 SP2 16 49 RD RA5 Ready
Forward rotation start ST1 17
Reverse rotation start ST2 18 10 m or less
Forward rotation LSP 43
(Note 5) stroke end 8 LZ Encoder Z-phase pulse
Reverse rotation LSN 44
stroke end 9 LZR ((differential line driver)
DICOM 20
(Note 4) 4 LA Encoder A-phase pulse
DICOM 21
24 V DC 5 LAR ((differential line driver)
Upper limit setting 6 LB Encoder B-phase pulse
P15R 1 (differential line driver)
(Note 11) Analog speed command 7 LBR
VC 2
±10 V/rated speed Control common
LG 28
Upper limit setting 34 LG
(Note 8) Analog torque limit TLA 27 33 OP Encoder Z-phase pulse
+10 V/maximum torque Plate SD (open collector)
SD Plate
Personal 2 m or less
(Note 9) 2 m or less
computer
MR Configurator2 (Note 10) (Note 7)
USB cable CN5 CN6
(option) 3 MO1 Analog monitor 1
DC ± 10 V
+ 1 LG
DC ± 10 V
2 MO2 Analog monitor 2
CN8 2 m or less
(Note 12)
Short-circuit connector
(Packed with the servo amplifier) (Note 1)

3 - 14
3. SIGNALS AND WIRING

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the
protective earth (PE) of the cabinet.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output
signals, disabling EM2 (Forced stop 2) and other protective circuits.
3. The forced stop switch (normally closed contact) must be installed.
4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity is up to 500 mA. 500 mA is the value applicable
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section
3.9.2 (1) that gives the current value necessary for the interface. The 24 V DC power supply can be used both for input signals
and output signals.
5. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation
stroke end). (Normally closed contact)
6. ALM (Malfunction) turns on in normal alarm-free condition. (Normally closed contact)
7. The pins with the same signal name are connected in the servo amplifier.
8. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03] to [Pr. PD22]. (Refer to section 3.6.1
(5).)
9. Use SW1DNC-MRC2-J. (Refer to section 11.7.) The RS-422 communication function is used with servo amplifiers with
software version A3 or later.
10. Personal computers can also be connected via the CN3 connector, enabling RS-422 communication. Note that using the USB
communication function (CN5 connector) prevents the RS-422 communication function (CN3 connector) from being used, and
vice versa. They cannot be used together.
Personal
computer RS-232C/RS-422 conversion cable Servo amplifier
recommended cable: interface cable
DSV-CABV CN3
(Diatrend)

To RS-232C connector

11. Use an external power supply when inputting a negative voltage.

12. When not using the STO function, attach the short-circuit connector came with a servo amplifier.
13. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier.
14. Plus and minus of the power of source interface are the opposite of those of sink interface.

3 - 15
3. SIGNALS AND WIRING

(2) Source I/O interface

POINT
For notes, refer to (1) in this section.

Servo amplifier
(Note 7) (Note 4, 14)
CN1 24 V DC
46 DOCOM

47 DOCOM
(Note 2)
10 m or less
(Note 13) (Note 7) 48 ALM RA1 Malfunction
Main circuit power supply CN1 (Note 6)
(Note 3, 5) Forced stop 2 EM2 42 23 ZSP RA2 Zero speed
detection
Servo-on SON 15 25 TLC RA3 Limiting torque
Reset RES 19
Speed selection 1 SP1 41 24 SA RA4 Speed reached
Speed selection 2 SP2 16 49 RD RA5 Ready
Forward rotation start ST1 17
Reverse rotation start ST2 18 10 m or less
Forward rotation LSP 43
(Note 5) stroke end 8 LZ Encoder Z-phase pulse
Reverse rotation LSN 44 (differential line driver)
stroke end 9 LZR
DICOM 20
4 LA Encoder A-phase pulse
(Note 4, 14) DICOM 21
24 V DC 5 LAR (differential line driver)
Upper limit setting 6 LB Encoder B-phase pulse
P15R 1 (differential line driver)
(Note 11) Analog speed command 7 LBR
VC 2
±10 V/rated speed Control common
LG 28
Upper limit setting 34 LG
(Note 8) Analog torque limit TLA 27 33 OP Encoder Z-phase pulse
+10 V/maximum torque Plate SD (open collector)
SD Plate
Personal 2 m or less
(Note 9) 2 m or less
computer
MR Configurator2 (Note 10) (Note 7)
USB cable CN5 CN6
(option) 3 MO1 Analog monitor 1
DC ± 10 V
+ 1 LG
DC ± 10
1 V
2 MO2 Analog monitor 2
CN8 2 m or less
(Note 12)
Short-circuit connector
(Packed with the servo amplifier) (Note 1)

3 - 16
3. SIGNALS AND WIRING

3.2.3 Torque control mode

POINT
EM2 has the same function as EM1 in the torque control mode.

(1) For sink I/O interface

Servo amplifier
(Note 6) (Note 4)
CN1 24 V DC
46 DOCOM

47 DOCOM
(Note 2)
10 m or less
(Note 11) (Note 6) 48 ALM RA1 Malfunction
Main circuit power supply CN1 (Note 5)
(Note 3) Forced stop 2 EM2 42 23 ZSP RA2 Zero speed
detection
Servo-on SON 15 25 VLC RA3 Limiting speed
Reset RES 19
Speed selection 1 SP1 41 49 RD RA4 Ready
Speed selection 2 SP2 16
10 m or less
Forward rotation selection RS1 18
Reverse rotation selection RS2 17 8 LZ Encoder Z-phase pulse
DICOM 20 9 LZR (differential line driver)
(Note 4) DICOM 21 4 LA Encoder A-phase pulse
24 V DC (differential line driver)
5 LAR
Upper limit setting
P15R 1 6 LB Encoder B-phase pulse
Analog torque command TC 27 7 LBR (differential line driver)
±8 V/maximum torque
LG 28 Control common
Upper limit setting
34 LG
(Note 9) Analog speed limit VLA 2
33 OP Encoder Z-phase pulse
0 to ±10 V/rated speed (open collector)
SD Plate Plate SD
Personal 2 m or less 2 m or less
(Note 7) computer
MR Configurator2 (Note 8) (Note 6)
USB cable CN5 CN6
(option) 3 MO1 Analog monitor 1
+ DC ± 10 V
1 LG
DC ± 10 V
2 MO2 Analog monitor 2
CN8
(Note 10) 2 m or less
Short-circuit connector
(Packed with the servo amplifier)
(Note 1)

3 - 17
3. SIGNALS AND WIRING

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the
protective earth (PE) of the cabinet.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output
signals, disabling EM2 (Forced stop 2) and other protective circuits.
3. The forced stop switch (normally closed contact) must be installed.
4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity is up to 500 mA. 500 mA is the value applicable
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section
3.9.2 (1) that gives the current value necessary for the interface. The 24 V DC power supply can be used both for input signals
and output signals.
5. ALM (Malfunction) turns on in normal alarm-free condition. (Normally closed contact)
6. The pins with the same signal name are connected in the servo amplifier.
7. Use SW1DNC-MRC2-J. (Refer to section 11.7.) The RS-422 communication function is used with servo amplifiers with
software version A3 or later.
8. Personal computers can also be connected via the CN3 connector, enabling RS-422 communication. Note that using the USB
communication function (CN5 connector) prevents the RS-422 communication function (CN3 connector) from being used, and
vice versa. They cannot be used together.
Personal
computer RS-232C/RS-422 conversion cable Servo amplifier
recommended cable: interface cable
DSV-CABV
(Diatrend) CN3

To RS-232C connector

9. Use an external power supply when inputting a negative voltage.

10. When not using the STO function, attach the short-circuit connector came with a servo amplifier.
11. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier.
12 Plus and minus of the power of source interface are the opposite of those of sink interface.

3 - 18
3. SIGNALS AND WIRING

(2) For source I/O interface

POINT
For notes, refer to (1) in this section.

Servo amplifier
(Note 6) (Note 4, 12)
CN1 24 V DC
46 DOCOM

47 DOCOM
(Note 2)
10 m or less
(Note 11) (Note 6) 48 ALM RA1 Malfunction
Main circuit power supply CN1 (Note 5)
(Note 3) Forced stop 2 EM2 42 23 ZSP RA2 Zero speed
detection
Servo-on SON 15 25 VLC RA3 Limiting speed
Reset RES 19
Speed selection 1 SP1 41 49 RD RA4 Ready
Speed selection 2 SP2 16
10 m or less
Forward rotation selection RS1 18
Reverse rotation selection RS2 17 8 LZ Encoder Z-phase pulse
DICOM 20 9 LZR (differential line driver)
(Note 4, 12) DICOM 21 4 LA Encoder A-phase pulse
24 V DC (differential line driver)
5 LAR
Upper limit setting
P15R 1 6 LB Encoder B-phase pulse
Analog torque command TC 27 7 LBR (differential line driver)
±8 V/maximum torque
LG 28 Control common
Upper limit setting
34 LG
(Note 9) Analog speed limit VLA 2
33 OP Encoder Z-phase pulse
0 to ±10 V/rated speed (open collector)
SD Plate Plate SD
Personal 2 m or less 2 m or less
(Note 7) computer
MR Configurator2 (Note 8) (Note 6)
USB cable CN5 CN6
(option) 3 MO1 Analog monitor 1
+ DC ± 10 V
1 LG
DC ± 10 V
2 MO2 Analog monitor 2
CN8
(Note 10) 2 m or less
Short-circuit connector
(Packed with the servo amplifier)
(Note 1)

3 - 19
3. SIGNALS AND WIRING

3.3 Explanation of power supply system

3.3.1 Signal explanations

POINT
For the layout of connector and terminal block, refer to chapter 9 DIMENSIONS.

Connection target
Symbol Description
(application)
Supply the following power to L1, L2, and L3. For 1-phase 200 V AC to 240 V AC, connect the
power supply to L1 and L3. Leave L2 open.

Servo amplifier MR-J4-10A(-RJ) to MR-J4-100A(-RJ) to MR-J4-60A4(-RJ) to

Power MR-J4-70A(-RJ) MR-J4-22KA(-RJ) MR-J4-22KA4(-RJ)
Main circuit power 3-phase 200 V AC to 240
L1/L2/L3 L1/L2/L3
supply V AC, 50 Hz/60 Hz
1-phase 200 V AC to 240
L1/L3
V AC, 50 Hz/60 Hz
3-phase 380 V AC to 480
L1/L2/L3
V AC, 50 Hz/60 Hz

When not using the power factor improving DC reactor, connect P3 and P4(factory-wired).
Power factor
When using the power factor improving DC reactor, disconnect P3 and P4, and connect the
P3/P4 improving
power factor improving DC reactor to P3 and P4.
DC reactor
Refer to section 11.11 for details.
(1) 200 V class
1) MR-J4-500A(-RJ) or less
When using a servo amplifier built-in regenerative resistor, connect P+ and D (factory-
wired).
When using a regenerative option, disconnect P+ and D, and connect the regenerative
option to P+ and C.
2) MR-J4-700A(-RJ) to MR-J4-22KA(-RJ)
MR-J4-700A(-RJ) to MR-J4-22KA(-RJ) do not have D.
When using a servo amplifier built-in regenerative resistor, connect P+ and C (factory-
wired).
When using a regenerative option, disconnect wires of P+ and C for the built-in
regenerative resistor. And then connect wires of the regenerative option to P+ and C.
P+/C/D Regenerative option (2) 400 V class
1) MR-J4-350A4(-RJ) or less
When using a servo amplifier built-in regenerative resistor, connect P+ and D. (factory-
wired)
When using a regenerative option, disconnect P+ and D, and connect the regenerative
option to P+ and C.
2) MR-J4-500A4(-RJ) to MR-J4-22KA4(-RJ)
MR-J4-500A4(-RJ) to MR-J4-22KA4(-RJ) do not have D.
When using a servo amplifier built-in regenerative resistor, connect P+ and C. (factory-
wired)
When using a regenerative option, disconnect wires of P+ and C for the built-in
regenerative resistor. And then connect wires of the regenerative option to P+ and C.
Refer to section 11.2 to 11.5 for details.
Supply the following power to L11 and L21.

Servo amplifier MR-J4-10A(-RJ) to MR-J4-60A4(-RJ) to

Control circuit power Power MR-J4-22KA(-RJ) MR-J4-22KA4(-RJ)
L11/L21
supply
1-phase 200 V AC to 240 V AC L11/L21
1-phase 380 V AC to 480 V AC L11/L21

3 - 20
3. SIGNALS AND WIRING

Connection target
Symbol Description
(application)
Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V,
Servo motor
U/V/W and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a
power output
malfunction.
Power regeneration This terminal is used for a power regeneration converter, power regeneration common
converter converter and brake unit.
N- Power regeneration Refer to section 11.3 to 11.5 for details.
common converter
Brake unit
Connect it to the grounding terminal of the servo motor and to the protective earth (PE) of the
Protective earth (PE)
cabinet for grounding.

3.3.2 Power-on sequence

POINT
The voltage of analog monitor output, output signal, etc. may be unstable at
power-on.

(1) Power-on procedure

1) Always use a magnetic contactor for the main circuit power supply wiring (3-phase: L1, L2, and
L3, 1-phase: L1 and L3) as shown in above section 3.1. Configure up an external sequence to
switch off the magnetic contactor as soon as an alarm occurs.

2) Switch on the control circuit power supply (L11 and L21) simultaneously with the main circuit
power supply or before switching on the main circuit power supply. If the main circuit power
supply is not on, the display shows the corresponding warning. However, by switching on the
main circuit power supply, the warning disappears and the servo amplifier will operate properly.

3) The servo amplifier receives the SON (Servo-on) 2.5 s to 3.5 s after the main circuit power supply
is switched on. Therefore, when SON (Servo-on) is switched on simultaneously with the main
circuit power supply, the base circuit will switch on in about 2.5 s to 3.5 s, and the RD (Ready) will
switch on in further about 5 ms, making the servo amplifier ready to operate. (Refer to (2) of this
section.)

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

(2) Timing chart

SON (Servo-on) accepted
(Note)
(2.5 s to 3.5 s)
Main circuit power supply ON
Control circuit OFF
ON
Base circuit
OFF
10 ms 10 ms 95 ms
ON
SON (Servo-on)
OFF 95 ms
ON
RES (Reset)
OFF
5 ms 10 ms 5 ms 10 ms 5 ms 10 ms
ON
RD (Ready)
OFF

ALM No alarm (ON)

(Malfunction) Alarm (OFF) 2.5 s to 3.5 s

Note. The time will be longer during the magnetic pole detection of a linear servo motor and direct drive motor.

3 - 21
3. SIGNALS AND WIRING

3.3.3 Wiring CNP1, CNP2, and CNP3

POINT
For the wire sizes used for wiring, refer to section 11.9.
MR-J4-500A(-RJ) or more do not have these connectors.

Use the servo amplifier power connector for wiring CNP1, CNP2, and CNP3.

(1) Connector
(a) MR-J4-10A(-RJ) to MR-J4-100A(-RJ)
Servo amplifier

CNP1

CNP2

CNP3

Table 3.1 Connector and applicable wire

Applicable wire Stripped Manufa
Connector Receptacle assembly Open tool
Size Insulator OD length [mm] cturer
CNP1 06JFAT-SAXGDK-H7.5
CNP2 05JFAT-SAXGDK-H5.0 AWG18 to 14 3.9 mm or shorter 9 J-FAT-OT JST
CNP3 03JFAT-SAXGDK-H7.5

(b) MR-J4-200A(-RJ)/MR-J4-350A(-RJ)
MR-J4-200A(-RJ) MR-J4-350A(-RJ)
Servo amplifier Servo amplifier

CNP1 CNP1

CNP2 CNP3

CNP3 CNP2

Table 3.2 Connector and applicable wire

Applicable wire Stripped Manufa
Connector Receptacle assembly Open tool
Size Insulator OD length [mm] cturer
CNP1 06JFAT-SAXGFK-XL
AWG16 to 10 4.7 mm or shorter 11.5
CNP3 03JFAT-SAXGFK-XL J-FAT-OT-EXL JST
CNP2 05JFAT-SAXGDK-H5.0 AWG18 to 14 3.9 mm or shorter 9

3 - 22
3. SIGNALS AND WIRING

(c) MR-J4-60A4(-RJ) to MR-J4-350A4(-RJ)

Servo amplifier

(Note)

CNP1

CNP2

CNP3

Note. A pin for preventing improper connection is inserted to N- of CNP1 connector.

Table 3.3 Connector and applicable wire

Applicable wire Stripped Manufa
Connector Receptacle assembly Open tool
Size Insulator OD length [mm] cturer
CNP1 06JFAT-SAXGDK-HT10.5
CNP2 05JFAT-SAXGDK-HT7.5 AWG 16 to 14 3.9 mm or shorter 10 J-FAT-OT-XL JST
CNP3 03JFAT-SAXGDK-HT10.5

3 - 23
3. SIGNALS AND WIRING

(2) Cable connection procedure

(a) Fabrication on cable insulator
Refer to table 3.1 to 3.3 for stripped length of cable insulator. The appropriate stripped length of
cables depends on their type, etc. Set the length considering their status.
Insulator Core

Stripped length

Twist strands lightly and straighten them as follows.

Loose and bent strands Twist and straighten

the strands.

You can also use a ferrule to connect with the connectors. The following shows references to select
ferrules according to wire sizes.
Ferrule model (Phoenix Contact) Crimp terminal
Servo amplifier Wire size
For one For two (Phoenix Contact)
MR-J4-10A(-RJ) AWG16 AI1.5-10BK AI-TWIN2×1.5-10BK
to
AWG14 AI2.5-10BU
MR-J4-100A(-RJ)
MR-J4-200A(-RJ) AWG16 AI1.5-10BK AI-TWIN2×1.5-10BK
to AWG14 AI2.5-10BU AI-TWIN2×2.5-10BU CRIMPFOX-ZA3
MR-J4-350A(-RJ) AWG12 AI4-10GY
MR-J4-60A4(-RJ) AWG 16 AI1.5-10BK AI-TWIN2×1.5-10BK
to
AWG 14 AI2.5-10BU
MR-J4-350A4(-RJ)

(b) Inserting wire

Insert the open tool as follows and push down it to open the spring. While the open tool is pushed
down, insert the stripped wire into the wire insertion hole. Check the insertion depth so that the wire
insulator does not get caught by the spring.
Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely connected.
The following shows a connection example of the CNP3 connector for MR-J4-200A(-RJ) and MR-J4-
350A(-RJ).

1) Push down the open tool.

3) Release the open tool to fix the wire.

2) Insert the wire.

3 - 24
3. SIGNALS AND WIRING

3.4 Connectors and pin assignment

POINT
The pin assignment of the connectors are as viewed from the cable connector
wiring section.
For the STO I/O signal connector (CN8), refer to chapter 13.
For the CN1 connector, securely connect the external conductive portion of the
shielded cable to the ground plate and fix it to the connector shell.
Screw

Cable

Screw
Ground plate

3 - 25
3. SIGNALS AND WIRING

The servo amplifier front view shown is that of the MR-J4-20A-RJ or less. Refer to chapter 9 DIMENSIONS
for the appearances and connector layouts of the other servo amplifiers.
CN5 (USB connector) CN6
refer to section 11.7.
3
MO1

2
MO2

1
LG

CN3 (RS-422 connector)

refer to chapter 14. CN1
CN8
For the STO I/O signal connector,
refer to section 11.13.
1 26
2 27
3 28
(Note 2) CN2 4 29
5 30
2 6 10 6 31
LG 4 THM2 8
MRR MXR 7 32
1 5 9 8 33
P5 3 THM1 7 BAT
MR MX 9 34
10 35
The 3M make connector is shown. 11 36
12 37
13 38
(Note 1, 2) CN2L 14 39
(For using serial encoder)
15 40
2 6 10 CN4 16 41
LG 4 8 (Battery connector)
MRR2 MXR2 refer to section 11.8. 17 42
1 5 9 18 43
The frames of the CN1 connectors
P5 3 7 BAT
are connected to the protective earth 19 44
MR2 MX2
terminal in the servo amplifier. 20 45

(Note 1, 2) CN2L 21 46
(for using A/B/Z-phase pulse encoder) 22 47
23 48
2 6 10 24 49
LG 4 PBR 8 PSEL
PAR PZR 25 50
1 5 9
P5 3 PB 7
PA PZ

Note 1. The MR-J4-_A_-RJ servo amplifiers have CN2L connectors. This CN2L is a connector of 3M.
When using any other connector, refer to each servo motor instruction manual.
2. Refer to table 1.1 for connections of external encoders.

The device assignment of the CN1 connector pins changes depending on the control mode. For the pins
which are given parameters in the related parameter column, their devices will be changed using those
parameters.

3 - 26
3. SIGNALS AND WIRING

(Note 1) (Note 2) I/O signals in control modes

Pin No. Related parameter
I/O P P/S S S/T T T/P
1 P15R P15R P15R P15R P15R P15R
2 I -/VC VC VC/VLA VLA VLA/-
3 LG LG LG LG LG LG
4 O LA LA LA LA LA LA
5 O LAR LAR LAR LAR LAR LAR
6 O LB LB LB LB LB LB
7 O LBR LBR LBR LBR LBR LBR
8 O LZ LZ LZ LZ LZ LZ
9 O LZR LZR LZR LZR LZR LZR
10 I PP PP/- -/PP
11 I PG PG/- -/PG
12 OPC OPC/- -/OPC
13
14
15 I SON SON SON SON SON SON Pr. PD03/Pr. PD04
16 I -/SP2 SP2 SP2/SP2 SP2 SP2/- Pr. PD05/Pr. PD06
17 I PC PC/ST1 ST1 ST1/RS2 RS2 RS2/PC Pr. PD07/Pr. PD08
18 I TL TL/ST2 ST2 ST2/RS1 RS1 RS1/TL Pr. PD09/Pr. PD10
19 I RES RES RES RES RES RES Pr. PD11/Pr. PD12
20 DICOM DICOM DICOM DICOM DICOM DICOM
21 DICOM DICOM DICOM DICOM DICOM DICOM
22 O INP INP/SA SA SA/- -/INP Pr. PD23
23 O ZSP ZSP ZSP ZSP ZSP ZSP Pr. PD24
24 O INP INP/SA SA SA/- -/INP Pr. PD25
25 O TLC TLC TLC TLC/VLC VLC VLC/TLC Pr. PD26
26
(Note 3) (Note 3) (Note 3)
27 I TLA TC TC/TLA
TLA TLA TLA/TC
28 LG LG LG LG LG LG
29
30 LG LG LG LG LG LG
31
32
33 O OP OP OP OP OP OP
34 LG LG LG LG LG LG
35 I NP NP/- -/NP
36 I NG NG/- -/NG
37
38
39
40
41 I CR CR/SP1 SP1 SP1/SP1 SP1 SP1/CR Pr. PD13/Pr. PD14
42 I EM2 EM2 EM2 EM2 EM2 EM2
43 I LSP LSP LSP LSP/- -/LSP Pr. PD17/Pr. PD18
44 I LSN LSN LSN LSN/- -/LSN Pr. PD19/Pr. PD20
45 I LOP LOP LOP LOP LOP LOP Pr. PD21/Pr. PD22
46 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM
47 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM
48 O ALM ALM ALM ALM ALM ALM
49 O RD RD RD RD RD RD Pr. PD28
50

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

2. P: Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control change
mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode
3. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03] to [Pr. PD22].

3 - 27
3. SIGNALS AND WIRING

3.5 Signal (device) explanations

For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.9.2. In the control mode
field of the table
P: Position control mode, S: Speed control mode, T: Torque control mode
: devices used with initial setting status, : devices used by setting [Pr. PA04] and [Pr. PD03] to [Pr.
PD28]
The pin numbers in the connector pin No. column are those in the initial status.

(1) I/O device

(a) Input device
Control
Connector I/O
Device Symbol Function and application mode
pin No. division
P S T
Forced stop 2 EM2 CN1-42 Turn off EM2 (open between commons) to decelerate the servo motor to a DI-1
stop with commands.
Turn EM2 on (short between commons) in the forced stop state to reset
that state.
The following shows the setting of [Pr. PA04].

[Pr. PA04] Deceleration method

EM2/EM1
setting EM2 or EM1 is off Alarm occurred
MBR (Electromagnetic MBR (Electromagnetic
brake interlock) turns brake interlock) turns
0___ EM1
off without the forced off without the forced
stop deceleration. stop deceleration.
MBR (Electromagnetic MBR (Electromagnetic
brake interlock) turns brake interlock) turns
2___ EM2
off after the forced off after the forced
stop deceleration. stop deceleration.

EM2 and EM1 are mutually exclusive.

EM2 has the same function as EM1 in the torque control mode.
Forced stop 1 EM1 (CN1-42) When using EM1, set [Pr. PA04] to "0 _ _ _" to enable EM1. DI-1
Turn EM1 off (open between commons) to bring the motor to a forced stop
state. The base circuit is shut off, the dynamic brake is operated and
decelerate the servo motor to a stop.
Turn EM1 on (short between commons) in the forced stop state to reset
that state.
Servo-on SON CN1-15 Turn SON on to power on the base circuit and make the servo amplifier DI-1
ready to operate. (servo-on status)
Turn it off to shut off the base circuit and coast the servo motor.
Set "_ _ _ 4" in [Pr. PD01] to switch this signal on (keep terminals
connected) automatically in the servo amplifier.
Reset RES CN1-19 Turn on RES for more than 50 ms to reset the alarm. DI-1
Some alarms cannot be deactivated by RES (Reset). Refer to section 8.1.
Turning RES on in an alarm-free status shuts off the base circuit. The base
circuit is not shut off when " _ _ 1 _ " is set in [Pr. PD30].
This device is not designed to make a stop. Do not turn it on during
operation.

3 - 28
3. SIGNALS AND WIRING

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
P S T
Forward rotation LSP CN1-43 To start operation, turn on LSP and LSN. Turn it off to bring the motor to a DI-1
stroke end sudden stop and make it servo-locked.
Setting [Pr. PD30] to " _ _ _ 1" will enable a slow stop.

Reverse rotation LSN CN1-44 (Note) Input device Operation

stroke end CCW CW
LSP LSN
direction direction
1 1
0 1
1 0
0 0
Note. 0: Off
1: On
Set [Pr. PD01] as indicated below to switch on the signals (keep terminals
connected) automatically in the servo amplifier.

Status
[Pr. PD01]
LSP LSN
Automatic
_4__
on
Automatic
_8__
on
Automatic Automatic
_C__
on on

When LSP or LSN turns off, [AL. 99 Stroke limit warning] occurs, and WNG
(Warning) turns on. When using WNG, enable it by the setting of [Pr.
PD23] to [Pr. PD28].
In the torque control mode, this device cannot be used during normal
operation. It can be used during the magnetic pole detection in the linear
servo motor control mode and the DD motor control mode. Also, when the
magnetic pole detection in the torque control mode is completed, this
signal will be disabled.
External torque TL CN1-18 Turning off TL will enable [Pr. PA11 Forward torque limit] and [Pr. PA12 DI-1
limit selection Reverse torque limit], and turning on it will enable TLA (Analog torque
limit). For details, refer to section 3.6.1 (5).
Internal torque TL1 To select [Pr. PC35 Internal torque limit 2], enable TL1 with [Pr. PD03] to DI-1
limit selection [Pr. PD22]. For details, refer to section 3.6.1 (5).
Forward rotation ST1 CN1-17 This is used to start the servo motor. DI-1
start The following shows the directions.

(Note) Input device

Servo motor starting direction
ST2 ST1
0 0 Stop (servo-lock)
0 1 CCW
1 0 CW
1 1 Stop (servo-lock)
Note. 0: Off
1: On
Reverse rotation ST2 CN1-18 If both ST1 and ST2 are switched on or off during operation, the servo
start motor will be decelerated to a stop according to the [Pr. PC02] setting and
servo-locked.
When " _ _ _1" is set in [Pr. PC23], the servo motor is not servo-locked
after deceleration to a stop.

3 - 29
3. SIGNALS AND WIRING

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
P S T
Forward rotation RS1 CN1-18 This is used to select a servo motor torque generation directions. DI-1
selection The following shows the torque generation directions.

(Note) Input device

Torque generation direction
RS2 RS1
0 0 Torque is not generated.
Reverse rotation RS2 CN1-17 Forward rotation in power
selection 0 1 running mode/reverse rotation
in regenerative mode
Reverse rotation in power
1 0 running mode/forward rotation
in regenerative mode
1 1 Torque is not generated.
Note. 0: Off
1: On
Speed selection SP1 CN1-41 1. For speed control mode DI-1
1 This is used to select the command speed for operation.

Speed selection SP2 CN1-16 DI-1

(Note) Input device
2 Speed command
SP3 SP2 SP1
Speed selection SP3 DI-1
0 0 0 VC (Analog speed command)
3
Pr. PC05 Internal speed
0 0 1
command 1
Pr. PC06 Internal speed
0 1 0
command 2
Pr. PC07 Internal speed
0 1 1
command 3
Pr. PC08 Internal speed
1 0 0
command 4
Pr. PC09 Internal speed
1 0 1
command 5
Pr. PC10 Internal speed
1 1 0
command 6
Pr. PC11 Internal speed
1 1 1
command 7
Note. 0: Off
1: On
2. For the torque control mode
This is used to select the limit speed for operation.

(Note) Input device

Speed limit
SP3 SP2 SP1
0 0 0 VLA (Analog speed limit)
0 0 1 Pr. PC05 Internal speed limit 1
0 1 0 Pr. PC06 Internal speed limit 2
0 1 1 Pr. PC07 Internal speed limit 3
1 0 0 Pr. PC08 Internal speed limit 4
1 0 1 Pr. PC09 Internal speed limit 5
1 1 0 Pr. PC10 Internal speed limit 6
1 1 1 Pr. PC11 Internal speed limit 7
Note. 0: Off
1: On

3 - 30
3. SIGNALS AND WIRING

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
P S T
Proportion control PC CN1-17 Turn PC on to switch the speed amplifier from the proportional integral type DI-1
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 PC (Proportion control) upon positioning
completion will suppress the unnecessary torque generated to compensate
for a position shift.
When the shaft is to be locked for a long time, switch on the PC
(Proportion control) and TL (External torque limit selection) at the same
time to make the torque less than the rated by TLA (Analog torque limit).
Clear CR CN1-41 Turn CR on to clear the position control counter droop pulses on its leading DI-1
edge. The pulse width should be 10 ms or longer.
The delay amount set in [Pr. PB03 Position command
acceleration/deceleration time constant] is also cleared. When " _ _ _1 " is
set to [Pr. PD32], the pulses are always cleared while CR is on.
Electronic gear CM1 The combination of CM1 and CM2 enables you to select four different DI-1
selection 1 electronic gear numerators set in the parameters.
CM1 and CM2 cannot be used in the absolute position detection system.

(Note) Input device

Electronic gear numerator
CM2 CM1
0 0 Pr. PA06
Electronic gear CM2 DI-1
0 1 Pr. PC32
selection 2
1 0 Pr. PC33
1 1 Pr. PC34
Note. 0: Off
1: On
Gain switching CDP Turn on CDP to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56] DI-1
to [Pr. PB60] as the load to motor inertia ratio and gain values.

3 - 31
3. SIGNALS AND WIRING

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
P S T
Control switching LOP CN1-45 «Position/speed control change mode» DI-1 Refer to
This is used to select the control mode in the position/speed control Function
switching mode. and
application
.
(Note) Control
LOP mode
0 Position
1 Speed
Note. 0: Off
1: On

«Speed/torque control change mode»

This is used to select the control mode in the speed/torque control
switching mode.

(Note) Control
LOP mode
0 Speed
1 Torque
Note. 0: Off
1: On

«Torque/position control change mode»

This is used to select the control mode in the torque/position control
switching mode.

(Note) Control
LOP mode
0 Torque
1 Position
Note. 0: Off
1: On

Second STAB2 The device allows selection of the acceleration/deceleration time constant DI-1
acceleration/dec at servo motor rotation in the speed control mode or torque control mode.
eleration The s-pattern acceleration/deceleration time constant is always uniform.
selection
(Note) Acceleration/deceleration time
STAB2 constant
0 Pr. PC01 Acceleration time
constant
Pr. PC02 Deceleration time
constant
1 Pr. PC30 Acceleration time
constant 2
Pr. PC31 Deceleration time
constant 2
Note. 0: Off
1: On

3 - 32
3. SIGNALS AND WIRING

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
P S T
ABS transfer ABSM CN1-17 This is an ABS transfer mode request device. DI-1
mode When "_ _ _ 1" is set in [Pr. PA03] and absolute position detection system
by DIO is selected, CN1-17 pin will become ABSM. (Refer to chapter 12.)
ABS request ABSR CN1-18 This is an ABS request device. DI-1
When "_ _ _ 1" is set in [Pr. PA03] and absolute position detection system
by DIO is selected, CN1-18 pin will become ABSR. (Refer to chapter 12.)
Fully closed loop CLD This is used when the semi closed loop control/fully closed loop control DI-1
selection switching is enabled with [Pr. PE01].
Turn off CLD to select the semi closed loop control, and turn on CLD to
select the fully closed loop control.
Motor-side/load- MECR Turn on MECR to clear the motor-side/load-side position deviation counter DI-1
side position to zero.
deviation counter - It operates during the fully closed loop control.
clear - It does not affect the position control droop pulses.
- Turning on this device during the semi closed loop control does not affect
the operation.
- Turning on this device while the fully closed loop control error detection
function is disabled in [Pr. PE03] does not affect the operation.

(b) Output device

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
P S T
Malfunction ALM CN1-48 When an alarm occurs, ALM will turn off. DO-1
When an alarm does not occur, ALM will turn on after 2.5 s to 3.5 s after
power-on.
When [Pr. PD34] is "_ _ 1 _", an alarming or warning will turn off ALM.
Dynamic DB When using the signal, enable it by setting [Pr. PD23] to [Pr. PD26] and DO-1
brake interlock [Pr. PD28]. DB turns off when the dynamic brake needs to operate. When
using the external dynamic brake on the servo amplifier of 11 kW or more,
this device is required. (Refer to section 11.17.)
For the servo amplifier of 7 kW or less, it is not necessary to use this
device.
Ready RD CN1-49 Enabling servo-on to make the servo amplifier ready to operate will turn on DO-1
RD.
In-position INP CN1-22 When the number of droop pulses is in the preset in-position range, INP DO-1
CN1-24 will turn on. The in-position range can be changed using [Pr. PA10]. When
the in-position range is increased, INP may be on during low-speed
rotation.
INP turns on when servo-on turns on.
Speed reached SA When the servo motor speed reaches the following range, SA will turn on. DO-1
Set speed ± ((Set speed × 0.05) + 20) r/min
When the preset speed is 20 r/min or less, SA always turns on.
SA does not turn on even when the SON (Servo-on) is turned off or the
servo motor speed by the external force reaches the preset speed while
both ST1 (Forward rotation start) and ST2 (reverse rotation start) are off.
Limiting speed VLC CN1-25 VLC turns on when speed reaches a value limited with any of [Pr. PC05 DO-1
Internal speed limit 1] to [Pr. PC11 Internal speed limit 7] or VLA (Analog
speed limit).
This turns off when SON (Servo-on) turns off.
Limiting torque TLC TLC turns on when a generated torque reaches a value set with any of [Pr. DO-1
PA11 Forward torque limit], [Pr. PA12 Reverse torque limit], or TLA
(Analog torque limit).

3 - 33
3. SIGNALS AND WIRING

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
P S T
Zero speed ZSP CN1-23 ZSP turns on when the servo motor speed is zero speed (50r/min) or less. DO-1
detection Zero speed can be changed with [Pr. PC17].

OFF level 1)
Forward 70 r/min 3)
rotation 2) 20 r/min
direction ON level (Hysteresis width)
50 r/min
[Pr. PC17]
Servo motor 0 r/min
speed
[Pr. PC17]
Reverse ON level
rotation -50 r/min
20 r/min
direction OFF level (Hysteresis width)
-70 r/min 4)
ZSP ON
(Zero speed OFF
detection)

ZSP will turn on when the servo motor is decelerated to 50 r/min (at 1)),
and will turn off when the servo motor is accelerated to 70 r/min again (at
2)).
ZSP will turn on when the servo motor is decelerated again to 50 r/min (at
3)), and will turn off when the servo motor speed has reached -70 r/min (at
4)).
The range from the point when the servo motor speed has reached on
level, and ZSP turns on, to the point when it is accelerated again and has
reached off level is called hysteresis width.
Hysteresis width is 20 r/min for this servo amplifier.
Electromagnetic MBR When using the device, set operation delay time of the electromagnetic DO-1
brake interlock brake in [Pr. PC16].
When a servo-off status or alarm occurs, MBR will turn off.
Warning WNG When warning has occurred, WNG turns on. When a warning is not DO-1
occurring, turning on the power will turn off WNG after 2.5 s to 3.5 s.
Battery warning BWNG BWNG turns on when [AL. 92 Battery cable disconnection warning] or [AL. DO-1
9F Battery warning] has occurred. When the battery warning is not
occurring, turning on the power will turn off BWNG after 2.5 s to 3.5 s.
Alarm code ACD0 (CN1-24) To use these signals, set " _ _ _ 1" in [Pr. PD34]. DI-1
This signal is outputted when an alarm occurs.
When an alarm is not occurring, respective ordinary signals are outputted.
ACD1 (CN1-23) For details of the alarm codes, refer to chapter 8.
When "Enabled (absolute position detection system by DIO) (_ _ _ 1)" is
selected in [Pr. PA03] and when MBR, DB, or ALM is assigned to CN1-22
ACD2 (CN1-22)
pin, CN1-23 pin, or CN1-24 pin, selecting alarm code output will generate
[AL. Parameter error].
Variable gain CDPS CDPS turns on during gain switching. DO-1
selection
Absolute position ABSV ABSV turns on when the absolute position is undetermined. DO-1
undetermined
ABS ABSB0 (CN1-22) This is used to output ABS transmission data bit 0. When "Enabled DO-1
transmission (absolute position detection system by DIO) (_ _ _ 1)" is selected in [Pr.
data bit 0 PA03], the CN1-22 pin will become ABSB0 only during ABS transfer mode.
(Refer to chapter 12.)
ABS ABSB1 (CN1-23) This is used to output ABS transmission data bit 1. When "Enabled DO-1
transmission (absolute position detection system by DIO) (_ _ _ 1)" is selected in [Pr.
data bit 1 PA03], the CN1-23 pin will become ABSB1 only during ABS transfer mode.
(Refer to chapter 12.)
ABS ABST (CN1-25) This is used to output ABS transmission data ready. When "Enabled DO-1
transmission (absolute position detection system by DIO) (_ _ _ 1)" is selected in [Pr.
data ready PA03], CN1-25 pin will become ABST only during ABS transfer mode.
(Refer to chapter 12.)

3 - 34
3. SIGNALS AND WIRING

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
P S T
During tough MTTR MTTR turns on when the instantaneous power failure tough drive operates DO-1
drive while the tough drive function selection is enabled with [Pr. PA20].
During fully CLDS CLDS turns on during fully closed loop control. DO-1
closed loop
control

(2) Input signal

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
P S T
Analog torque TLA CN1-27 To use the signal in the speed control mode, enable TL (External torque Analog
limit limit selection) with [Pr. PD23] to [Pr. PD28]. input
When TLA is enabled, torque is limited in the full servo motor output torque
range. Apply 0 V to +10 V DC between TLA and LG. Connect the positive
terminal of the power supply to TLA. The maximum torque is generated at
+10 V. (Refer to section 3.6.1 (5).)
If a value equal to or larger than the maximum torque is inputted to TLA,
the value is clamped at the maximum torque.
Resolution: 10 bits
Analog torque TC This is used to control torque in the full servo motor output torque range. Analog
command Apply 0 V to ±8 V DC between TC and LG. The maximum torque is input
generated at ±8 V. (Refer to section 3.6.3 (1).) The speed at ±8 V can be
changed with [Pr. PC13].
If a value equal to or larger than the maximum torque is inputted to TC, the
value is clamped at the maximum torque.
Analog speed VC CN1-2 Apply 0 V to ±10 V DC between VC and LG. Speed set in [Pr. PC12] is Analog
command provided at ±10 V. (Refer to section 3.6.2 (1).) input
If a value equal to or larger than the permissible speed is inputted to VC,
the value is clamped at the permissible speed.
Resolution: 14 bits or equivalent
Analog speed VLA Apply 0 V to ±10 V DC between VLA and LG. Speed set in [Pr. PC12] is Analog
limit provided at ±10 V. (Refer to section 3.6.3 (3).) input
If a value equal to or larger than the permissible speed is inputted to VLA,
the value is clamped at the permissible speed.
Forward rotation PP CN1-10 This is used to enter a command pulse train. DI-2
pulse train NP CN1-35 For open-collector type
Reverse rotation PG CN1-11 The maximum input frequency is 200 kpulses/s. For A-phase/B-phase
pulse train NG CN1-36 pulse train, 200 kpulses/s will be the frequency after multiplication by
four.
Input the forward rotation pulse train between PP and DOCOM.
Input the reverse rotation pulse train between NP and DOCOM.
For differential receiver type (max. input frequency: 4 Mpulses/s)
The maximum input frequency is 4 Mpulses/s. For A-phase/B-phase
pulse train, 4 Mpulses/s will be the frequency after multiplication by four.
Input the forward rotation pulse train between PG and PP.
Input the reverse rotation pulse train between NG and NP.
The command input pulse train form, pulse train logic, and command input
pulse train filter are changed in [Pr. PA13].
When the command pulse train is over 1 Mpulse/s and lower than 4
Mpulse/s, set [Pr. PA13] to "_ 0 _ _".

3 - 35
3. SIGNALS AND WIRING

(3) Output signal

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
P S T
Encoder A- LA CN1-4 The encoder output pulses set in [Pr. PA15] are outputted in the differential DO-2
phase pulse LAR CN1-5 line driver type.
(differential line In CCW rotation of the servo motor, the encoder B-phase pulse lags the
driver) encoder A-phase pulse by a phase angle of π/2.
Encoder B- LB CN1-6 The relation between rotation direction and phase difference of the A-
phase pulse LBR CN1-7 phase and B-phase pulses can be changed with [Pr. PC19].
(differential line
driver)
Encoder Z- LZ CN1-8 The encoder zero-point signal is outputted in the differential line driver DO-2
phase pulse LZR CN1-9 type. One pulse is outputted per servo motor revolution. This turns on
(differential line when the zero-point position is reached. (negative logic)
driver) The minimum pulse width is about 400 μs. For home position return using
this pulse, set the creep speed to 100 r/min. or less.
Encoder Z- OP CN1-33 The encoder zero-point signal is outputted in the open-collector type. DO-2
phase pulse
(open-collector)
Analog monitor 1 MO1 CN6-3 This is used to output the data set in [Pr. PC14] to between MO1 and LG in Analog
terms of voltage. output
Resolution: 10 bits or equivalent
Analog monitor 2 MO2 CN6-2 This signal outputs the data set in [Pr. PC15] to between MO2 and LG in Analog
terms of voltage. output
Resolution: 10 bits or equivalent

(4) Communication
Control
Connector I/O
Device Symbol Function and application mode
pin No. division
P S T
RS-422 I/F SDP CN3-5 These are terminals for RS-422 communication.
SDN CN3-4
RDP CN3-3
RDN CN3-6

(5) Power supply

Control
Connector I/O
Device Symbol Function and application mode
pin No. division
P S T
Digital I/F DICOM CN1-20 Input 24 V DC (24 V DC ± 10% 500 mA) to I/O interface. The power supply
power supply CN1-21 capacity changes depending on the number of I/O interface points to be
input used.
For sink interface, connect + of 24 V DC external power supply.
For source interface, connect - of 24 V DC external power supply.
Open-collector OPC CN1-12 When inputting a pulse train in the open-collector type, supply this terminal
power input with the positive (+) power of 24 V DC.
Digital I/F DOCOM CN1-46 Common terminal of input signal such as EM2 of the servo amplifier. This
common CN1-47 is separated from LG.
For sink interface, connect - of 24 V DC external power supply.
For source interface, connect + of 24 V DC external power supply.
15 V DC power P15R CN1-1 This outputs 15 V DC to between P15R and LG. This is available as power
supply for TC, TLA, VC, or VLA. Permissible current: 30 mA
Control common LG CN1-3 This is a common terminal for TLA, TC, VC, VLA, FPA, FPB, OP ,MO1,
CN1-28 MO2, and P15R. Pins are connected internally.
CN1-30
CN1-34
CN3-1
CN3-7
CN6-1
Shield SD Plate Connect the external conductive portion of the shielded cable.

3 - 36
3. SIGNALS AND WIRING

3.6 Detailed explanation of signals

3.6.1 Position control mode

POINT
Adjust the logic of a positioning module and command pulse as follows.
Q series/L series positioning module
Command pulse logic setting
Signal type MR-J4-_A_(-RJ) servo
Q series/L series positioning
amplifier
module Pr. 23 setting
[Pr. PA13] setting
Positive logic Positive logic (_ _ 0 _)
Open-collector type
Negative logic Negative logic (_ _ 1 _)
Positive logic (Note) Negative logic (_ _ 1 _)
Differential line driver type
Negative logic (Note) Positive logic (_ _ 0 _)

Note. For Q series and L series, the logic means N-side waveform. Therefore, reverse the input
pulse logic of the servo amplifier.

F series positioning module

Command pulse logic setting
Signal type MR-J4-_A_(-RJ) servo
F series positioning module
amplifier
(fixed)
[Pr. PA13] setting
Open-collector
Negative logic Negative logic (_ _ 1 _)
Differential line driver

(1) Pulse train input

(a) Input pulse waveform selection
You can input command pulses in any of three different forms, and can choose positive or negative
logic. Set the command pulse train form in [Pr. PA13]. Refer to section 5.2.1 for details.

(b) Connection and waveform

1) Open-collector type
Connect as follows.
Servo amplifier

24 V DC OPC

DOCOM
Approx.
PP 1.2 kΩ
Approx.
NP 1.2 kΩ
(Note)

SD

Note. Pulse train input interface is comprised of a photocoupler.

If a resistor is connected to the pulse train signal line, it may malfunction due to
reduction in current.

3 - 37
3. SIGNALS AND WIRING

The following section explains about the case where the negative logic and the forward/reverse
rotation pulse trains are set to "_ _ 1 0" in [Pr. PA13].

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

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

Forward rotation command Reverse rotation command

2) Differential line driver type

Connect as follows.
Servo amplifier
Approximately
PP 100Ω

PG

(Note) Approximately
NP 100Ω

NG

SD

Note. Pulse train input interface is comprised of a photocoupler.

If a resistor is connected to the pulse train signal line, it may malfunction due to
reduction in current.

The following section explains about the case where the negative logic and the forward/reverse
rotation pulse trains are set to "_ _ 1 0" in [Pr. PA13]. The waveforms of PP, PG, NP, and NG are
based on LG.
Forward rotation
pulse train

PP

PG

Reverse rotation
pulse train

NP

NG

Forward rotation Reverse rotation

3 - 38
3. SIGNALS AND WIRING

(2) INP (In-position)

INP turns on when the number of droop pulses in the deviation counter falls within the preset in-position
range ([Pr. PA10]). INP may turn on continuously during a low-speed operation with a large value set as
the in-position range.
ON
SON (Servo-on)
OFF

Alarm
Alarm
No alarm

In-position range
Droop pulses

ON
INP (In-position)
OFF

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

Alarm
Alarm
No alarm 100 ms
or shorter 10 ms or shorter 10 ms or shorter
ON
RD (Ready)
OFF

(4) Electronic gear switching

The combination of CM1 and CM2 enables you to select 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 a
shock occurs at switching, use the position smoothing ([Pr. PB03]) to relieve the shock.
(Note) Input device
Electronic gear numerator
CM2 CM1
0 0 Pr. PA06
0 1 Pr. PC32
1 0 Pr. PC33
1 1 Pr. PC34

Note. 0: Off
1: On

3 - 39
3. SIGNALS AND WIRING

(5) Torque limit

If the torque limit is canceled during servo-lock, the servo motor may suddenly
CAUTION rotate according to position deviation in respect to the command position.

(a) Torque limit and torque

By setting [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], torque
is always limited to the maximum value during operation. A relation between the limit value and
servo motor torque is as follows.
Maximum
CW direction torque CCW direction

Torque

100 0 100 [%]

Torque limit value Torque limit value
in [Pr. PA12] in [Pr. PA11]

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

Maximum Servo amplifier

torque
TL
24 V DC
(Note)
Torque

DICOM
±5% P15R
2 kΩ 2 kΩ TLA
LG
0 Japan resistor SD
0 0.05
TLA applied voltage [V] RRS10 or equivalent

TLA applied voltage vs. torque limit value Connection example

Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.

(b) Torque limit value selection

The following shows how to select a torque limit using TL (External torque limit selection) from [Pr.
PA11 Forward torque limit] or [Pr. PA12 Reverse torque limit] and TLA (Analog torque limit).
When TL1 (Internal torque limit selection) is enabled with [Pr. PD03] to [Pr. PD22], you can select
[Pr. PC35 Internal torque limit 2].
However, if [Pr. PA11] and [Pr. PA12] value is less than the limit value selected by TL/TL1, [Pr.
PA11] and [Pr. PA12] value will be enabled.

3 - 40
3. SIGNALS AND WIRING

(Note) Input device Enabled torque limit value

Limit value status CCW power running/CW CW power running/CCW
TL1 TL
regeneration regeneration
0 0 Pr. PA11 Pr .PA12
Pr. PA11
TLA > Pr. PA11 Pr. PA12
Pr. PA12
0 1
Pr. PA11
TLA < TLA TLA
Pr. PA12
Pr. PA11
Pr. PC35 > Pr. PA11 Pr. PA12
Pr. PA12
1 0
Pr. PA11
Pr. PC35 < Pr. PC35 Pr. PC35
Pr. PA12
TLA > Pr. PC35 Pr. PC35 Pr. PC35
1 1
TLA < Pr. PC35 TLA TLA

Note. 0: Off
1: On

(c) TLC (Limiting torque)

TLC turns on when the servo motor torque reaches the torque limited using the forward rotation
torque limit, reverse rotation torque limit or analog torque limit.

3 - 41
3. SIGNALS AND WIRING

3.6.2 Speed control mode

(1) Speed setting

(a) Speed command and speed
The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage
of VC (Analog speed command). A relation between VC (Analog speed command) applied voltage
and the servo motor speed is as follows.
Rated speed is achieved at ±10 V with initial setting. The speed at ±10 V can be changed with [Pr.
PC12].

Rated speed [r/min]

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

The following table indicates the rotation direction according to ST1 (Forward rotation start) and ST2
(Reverse rotation start) combination.
(Note 1) Input device (Note 2) Rotation direction
VC (Analog speed command)
ST2 ST1 Internal speed command
Polarity: + 0V Polarity: -
Stop Stop Stop Stop
0 0
(servo-lock) (servo-lock) (servo-lock) (servo-lock)
0 1 CCW Stop CW CCW
1 0 CW (no servo-lock) CCW CW
Stop Stop Stop Stop
1 1
(servo-lock) (servo-lock) (servo-lock) (servo-lock)

Note 1. 0: Off
1: On
2. If the torque limit is canceled during servo-lock, the servo motor may suddenly rotate according to position deviation in respect
to the command position.

Normally, connect as follows.

Servo amplifier

ST1
(Note)
24 V DC ST2
DICOM

P15R
2 kΩ 2 kΩ VC
LG
Japan resistor SD
RRS10 or equivalent

Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.

3 - 42
3. SIGNALS AND WIRING

(b) SP1 (Speed selection 1), SP2 (Speed selection 2), and speed command value
Select any of the speed settings by the internal speed commands 1 to 3 and by VC (Analog speed
command) using SP1 (Speed selection 1) and SP2 (Speed selection 2) as follows.
(Note) Input device
Speed command value
SP2 SP1
0 0 VC (Analog speed command)
0 1 Pr. PC05 Internal speed command 1
1 0 Pr. PC06 Internal speed command 2
1 1 Pr. PC07 Internal speed command 3

Note. 0: Off
1: On

To select VC (Analog speed command) and a speed command value of internal speed commands 1
to 7, enable SP3 (Speed selection 3) with [Pr. PD03] to [Pr. PD22].
(Note) Input device
Speed command value
SP3 SP2 SP1
0 0 0 VC (Analog speed command)
0 0 1 Pr. PC05 Internal speed command 1
0 1 0 Pr. PC06 Internal speed command 2
0 1 1 Pr. PC07 Internal speed command 3
1 0 0 Pr. PC08 Internal speed command 4
1 0 1 Pr. PC09 Internal speed command 5
1 1 0 Pr. PC10 Internal speed command 6
1 1 1 Pr. PC11 Internal speed command 7

Note. 0: Off
1: On

You can change the speed during rotation. To accelerate/decelerate, set acceleration/deceleration
time constant in [Pr. PC01] or [Pr. PC02].
When the internal speed commands are used to command a speed, the speed does not vary with
the ambient temperature.

(2) SA (Speed reached)

SA turns on when the servo motor speed has nearly reached the speed set to the internal speed
command or analog speed command.
Internal speed
Set speed selection Internal speed command 2
command 1

ST1 or ST2 ON
OFF

Servo motor speed

SA (Speed reached) ON
OFF

(3) Torque limit

As in section 3.6.1 (5)

3 - 43
3. SIGNALS AND WIRING

3.6.3 Torque control mode

(1) Torque limit

(a) Torque command and torque
The following shows a relation between the applied voltage of TC (Analog torque command) and the
torque by the servo motor.
The maximum torque is generated at ±8 V. The speed at ±8 V can be changed with [Pr. PC13].

CCW direction Forward rotation

Maximum torque (CCW)
Torque
-8 -0.05
+0.05 +8
TC applied voltage [V]

Maximum torque
CW direction
Reverse rotation
(CW)

Generated torque command values will vary about 5% relative to the voltage depending on products.
The torque may vary if the voltage is low (-0.05 V to 0.05 V) 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 RS1 (Forward rotation
selection) and RS2 (Reverse rotation selection) when TC (Analog torque command) is used.
(Note) Input device Rotation direction
TC (Analog torque command)
RS2 RS1
Polarity: + 0V Polarity: -
0 0 Torque is not generated. Torque is not generated.
CCW CW
(Forward rotation in (Reverse rotation in
0 1 power running power running
mode/reverse rotation in mode/forward rotation in
regenerative mode) regenerative mode)
Torque is not generated.
CW CCW
(Reverse rotation in (Forward rotation in
1 0 power running power running
mode/forward rotation in mode/reverse rotation in
regenerative mode) regenerative mode)
1 1 Torque is not generated. Torque is not generated.

Note. 0: Off
1: On

Normally, connect as follows.

Servo amplifier

RS1
(Note)
24 V DC RS2
DICOM
TC
-8 V to 8 V
LG
SD

Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.

3 - 44
3. SIGNALS AND WIRING

(b) Analog torque command offset

Using [Pr. PC38], the offset voltage of -9999 mV to 9999 mV can be added to the TC applied voltage
as follows.

Maximum torque

Torque

[Pr. PC38]
offset range
-9999 mV to 9999 mV
0 8 (-8)
TC applied voltage [V]

(2) Torque limit

By setting [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], torque is
always limited to the maximum value during operation. A relation between limit value and servo motor
torque is as in section 3.6.1 (5).
Note that TLA (Analog torque limit) is unavailable.

(3) Speed limit

(a) Speed limit value and speed
The speed is limited to the values set with [Pr. PC05 Internal speed limit 0] to [Pr. PC11 Internal
speed limit 7] or the value set in the applied voltage of VLA (Analog speed limit). A relation between
VLA (Analog speed limit) applied voltage and the servo motor speed is as follows.
When the servo motor speed reaches the speed limit value, torque control may become unstable.
Make the set value more than 100 r/min greater than the desired speed limit value.

Rated speed [r/min]

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

The following table indicates the limit direction according to RS1 (Forward rotation selection) and
RS2 (Reverse rotation selection) combination.
(Note) Input device Speed limit direction
VLA (Analog speed limit)
RS1 RS2 Internal speed command
Polarity: + Polarity: -
1 0 CCW CW CCW
0 1 CW CCW CW

Note. 0: Off
1: On

3 - 45
3. SIGNALS AND WIRING

Normally, connect as follows.

Servo amplifier

SP1
(Note)
24 V DC
SP2
DICOM

P15R
2 kΩ VLA
2 kΩ
LG
Japan resistor SD
RRS10 or equivalent

Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.

(b) Speed limit value selection

Select any of the speed settings by the internal speed limits 1 to 7 and by VLA (Analog speed limit)
using SP1 (Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3) as follows.
(Note) Input device
Speed limit
SP3 SP2 SP1
0 0 0 VLA (Analog speed limit)
0 0 1 Pr. PC05 Internal speed limit 1
0 1 0 Pr. PC06 Internal speed limit 2
0 1 1 Pr. PC07 Internal speed limit 3
1 0 0 Pr. PC08 Internal speed limit 4
1 0 1 Pr. PC09 Internal speed limit 5
1 1 0 Pr. PC10 Internal speed limit 6
1 1 1 Pr. PC11 Internal speed limit 7

Note. 0: Off
1: On

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

(c) VLC (Limiting speed)

VLC turns on when the servo motor speed reaches a speed limited with internal speed limits 1 to 7
or analog speed limit.

3 - 46
3. SIGNALS AND WIRING

3.6.4 Position/speed control switching mode

Set " _ _ _ 1" in [Pr. PA01] to switch to the position/speed control switching mode. This function is not
available in the absolute position detection system.

(1) LOP (control switching)

Use LOP (Control switching) to switch between the position control mode and the speed control mode
with an external contact. The following shows a relation between LOP and control modes.
(Note)
Control mode
LOP
0 Position control mode
1 Speed control mode

Note. 0: Off
1: On

You can switch the control mode in the zero speed status. To ensure safety, switch modes after the
servo motor has stopped. When position control mode is switched to speed control mode, droop pulses
will be reset.
If LOP is switched on/off at the speed higher than the zero speed, the control mode cannot be changed
regardless of the speed. The following shows a switching timing chart.
Position control Speed control Position control
mode mode mode

Zero speed
Servo motor speed level

ZSP ON
(Zero speed detection) OFF

LOP ON
(Note) (Note)
(Control switching) OFF

Note. When ZSP is not turned on, the control mode is not switched even if LOP is turned
on/off. After LOP is turned on/off, even if ZSP is turned on, the control mode is not
switched.

(2) Torque limit in position control mode

As in section 3.6.1 (5)

3 - 47
3. SIGNALS AND WIRING

(3) Speed setting in speed control mode

(a) Speed command and speed
The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage
of VC (Analog speed command). The relation between an applied voltage of VC (Analog speed
command) and servo motor speed, and the rotation direction with turning on ST1/ST2 are the same
as section 3.6.2 (1) (a).
Normally, connect as follows.
Servo amplifier

ST1
(Note)
24 V DC ST2
DICOM

P15R
2 kΩ
2 kΩ VC
LG
Japan resistor SD
RRS10 or equivalent

Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.

(b) Speed command value selection

Select any of the speed settings by the internal speed commands 1 to 3 and by VC (Analog speed
command) using SP1 (Speed selection 1) and SP2 (Speed selection 2) as follows.
(Note) Input device
Speed command value
SP2 SP1
0 0 VC (Analog speed command)
0 1 Pr. PC05 Internal speed command 1
1 0 Pr. PC06 Internal speed command 2
1 1 Pr. PC07 Internal speed command 3

Note. 0: Off
1: On

To select VC (Analog speed command) and a speed command value of internal speed commands 1
to 7, enable SP3 (Speed selection 3) with [Pr. PD03] to [Pr. PD22].
(Note) Input device
Speed command value
SP3 SP2 SP1
0 0 0 VC (Analog speed command)
0 0 1 Pr. PC05 Internal speed command 1
0 1 0 Pr. PC06 Internal speed command 2
0 1 1 Pr. PC07 Internal speed command 3
1 0 0 Pr. PC08 Internal speed command 4
1 0 1 Pr. PC09 Internal speed command 5
1 1 0 Pr. PC10 Internal speed command 6
1 1 1 Pr. PC11 Internal speed command 7

Note. 0: Off
1: On

You can change the speed during rotation. Acceleration/deceleration is performed with the setting
values of [Pr. PC01] and [Pr. PC02].
When the internal speed commands 1 to 7 are used to command a speed, the speed does not vary
with the ambient temperature.

3 - 48
3. SIGNALS AND WIRING

(c) SA (Speed reached)

As in section 3.6.2 (2)

3.6.5 Speed/torque control switching mode

Set " _ _ _ 3" in [Pr. PA01] to switch to the speed/torque control switching mode.

(1) LOP (control switching)

Use LOP (Control switching) to switch between the speed control mode and the torque control mode
with an external contact. The following shows a relation between LOP and control modes.
(Note)
Control mode
LOP
0 Speed control mode
1 Torque control mode

Note. 0: Off
1: On

The control mode may be switched at any time. The following shows a switching timing chart.
Speed control Torque control Speed control
mode mode mode

LOP ON
(Control switching) OFF

Servo motor speed

(Note)
Load torque
TC 10V
(Analog torque command) Forward rotation
in driving mode
0

Note. When ST1 (Forward rotation start) and ST2 (Reverse rotation start) are switched off
as soon as a mode is switched to the speed control, the servo motor comes to a stop
according to the deceleration time constant. A shock may occur at switching control
modes.

(2) Speed setting in speed control mode

As in section 3.6.2 (1)

(3) Torque limit in speed control mode

As in section 3.6.1 (5)

(4) Speed limit in torque control mode

(a) Speed limit value and speed
The speed is limited to the limit value of the parameter or the value set in the applied voltage of VLA
(Analog speed limit).
A relation between the VLA (Analog speed limit) applied voltage and the limit value is as in section
3.6.3 (3) (a).

3 - 49
3. SIGNALS AND WIRING

Normally, connect as follows.

Servo amplifier

(Note)
24 V DC
SP1
DICOM

P15R
2 kΩ
2 kΩ VLA
LG
Japan resistor SD
RRS10 or equivalent

Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.

(b) Speed limit value selection

Select any of the speed settings by the internal speed limit 1 and by VLA (Analog speed limit) using
SP1 (Speed selection 1) as follows.
(Note) Input device
Speed command value
SP1
0 VLA (Analog speed limit)
1 Pr. PC05 Internal speed limit 1

Note. 0: Off
1: On

You can change the speed during rotation. To accelerate/decelerate, set acceleration/deceleration
time constant in [Pr. PC01] or [Pr. PC02].
When the internal speed command 1 is used to command a speed, the speed does not vary with the
ambient temperature.

(c) VLC (Limiting speed)

As in section 3.6.3 (3) (c)

(5) Torque control in torque control mode

As in section 3.6.3 (1)

(6) Torque limit in torque control mode

As in section 3.6.3 (2)

3 - 50
3. SIGNALS AND WIRING

3.6.6 Torque/position control switching mode

Set " _ _ _ 5" in [Pr. PA01] to switch to the torque/position control switching mode.

(1) LOP (control switching)

Use LOP (Control switching) to switch between the torque control mode and the position control mode
with an external contact. The following shows a relation between LOP and control modes.
(Note)
Control mode
LOP
0 Torque control mode
1 Position control mode

Note. 0: Off
1: On

You can switch the control mode in the zero speed status. To ensure safety, switch modes after the
servo motor has stopped. When position control mode is switched to torque control mode, droop pulses
will be reset.
If LOP is switched on/off at the speed higher than the zero speed, the control mode cannot be changed
regardless of the speed. The following shows a switching timing chart.
Position control Torque control Position control
mode mode mode

Servo motor speed Zero speed

level

10V
TC
(Analog torque command)
0V

ON
ZSP
(Zero speed detection)
OFF

ON
LOP
(Control switching)
OFF

Note. When ZSP is not turned on, the control mode is not switched even if LOP is turned
on/off. After LOP is turned on/off, even if ZSP is turned on, the control mode is not
switched.

(2) Speed limit in torque control mode

As in section 3.6.3 (3)

(3) Torque control in torque control mode

As in section 3.6.3 (1)

(4) Torque limit in torque control mode

As in section 3.6.3 (2)

(5) Torque limit in position control mode

As in section 3.6.1 (5)

3 - 51
3. SIGNALS AND WIRING

3.7 Forced stop deceleration function

POINT
When alarms not related to the forced stop function occur, control of motor
deceleration can not be guaranteed. (Refer to chapter 8.)
In the torque control mode, the forced stop deceleration function is not available.

3.7.1 Forced stop deceleration function (SS1)

When EM2 is turned off, dynamic brake will start to stop the servo motor after forced stop deceleration.
During this sequence, the display shows [AL. E6 Servo forced stop warning].
During normal operation, do not use EM2 (Forced stop 2) to alternate stop and drive. The the servo amplifier
life may be shortened.

(1) Connection diagram

Servo amplifier

24 V DC
DICOM
(Note)
Forced stop 2 EM2

Note. This diagram shows sink I/O interface. For source I/O interface, refer to section
3.9.3.

3 - 52
3. SIGNALS AND WIRING

(2) Timing chart

POINT
When LSP/LSN is turned on during a forced stop deceleration, the motor will
stop depending on the setting of [Pr. PD30] as follows.
[Pr. PD30] Stop system
___0 Switching to sudden stop
___1 Continuing forced stop deceleration

When EM2 (Forced stop 2) turns off, the motor will decelerate according to [Pr. PC51 Forced stop
deceleration time constant]. Once the motor speed is below [Pr. PC17 Zero speed] after completion of
the deceleration command, base power is cut and the dynamic brake activates.
ON
EM2 (Forced stop 2)
OFF (Enabled)

Dynamic brake
Ordinary Forced stop +
operation deceleration Electromagnetic brake
Rated speed

Servo motor speed

Command Zero speed
([Pr. PC17])
0 r/min
Deceleration time

[Pr. PC51]
Base circuit ON
(Energy supply to
the servo motor) OFF

MBR ON
(Electromagnetic OFF (Enabled)
brake interlock)

3 - 53
3. SIGNALS AND WIRING

3.7.2 Base circuit shut-off delay time function

The base circuit shut-off delay time function is used to prevent vertical axis from dropping at a forced stop
(EM2 goes off) or alarm occurrence due to delay time of the electromagnetic brake. Use [Pr. PC16] to set
the delay time between completion of EM2 (Forced stop 2) or activation of MBR (Electromagnetic brake
interlock) due to an alarm occurrence, and shut-off of the base circuit.

(1) Timing chart

ON When EM2 (Forced stop 2) turns off or an
EM2 (Forced stop 2)
OFF (Enabled) alarm occurs during driving, the servo motor
will decelerate based on the deceleration
time constant. MBR (Electromagnetic brake
interlock) will turn off, and then after the
Servo motor speed delay time set in [Pr. PC16], the servo
amplifier will be base circuit shut-off status.
0 r/min

Base circuit ON
(Energy supply to
the servo motor) OFF
[Pr. PC16]
MBR ON
(Electromagnetic
brake interlock) OFF (Enabled)

(2) Adjustment
While the servo motor is stopped, turn off EM2 (Forced stop 2), adjust the base circuit shut-off delay
time in [Pr. PC16], and set the value to approximately 1.5 times of the smallest delay time in which the
servo motor shaft does not freefall.

3 - 54
3. SIGNALS AND WIRING

3.7.3 Vertical axis freefall prevention function

The vertical axis freefall prevention function avoids machine damage by pulling up the shaft slightly like the
following case.
When the servo motor is used for operating vertical axis, the servo motor electromagnetic brake and the
base circuit shut-off delay time function avoid dropping axis at forced stop. However, those functions may
not avoid dropping axis a few μm due to the backlash of the servo motor electromagnetic brake.
The vertical axis freefall prevention function is enabled with the following conditions.
Other than "0" is set to [Pr. PC54 Vertical axis freefall prevention compensation amount].
The servo motor speed decelerates lower than the value of zero speed by turning off EM2 (Forced stop
2) or by an alarm occurrence.
The base circuit shut-off delay time function is enabled.
EM2 (Forced stop 2) turned off or an alarm occurred while the servo motor speed is zero speed or less.

(1) Timing chart

ON
EM2 (Forced stop 2)
OFF (Enabled)

Position Travel distance

Base circuit ON
(Energy supply to
the servo motor) OFF
MBR ON Set the base circuit shut-off delay time. ([Pr. PC16])
(Electromagnetic
brake interlock) OFF (Enabled)

Actual operation of Disabled

electromagnetic brake Enabled

(2) Adjustment
Set the freefall prevention compensation amount in [Pr. PC54].
While the servo motor is stopped, turn off the EM2 (Forced stop 2). Adjust the base circuit shut-off
delay time in [Pr. PC16] in accordance with the travel distance ([Pr. PC54). Adjust it considering the
freefall prevention compensation amount by checking the servo motor speed, torque ripple, etc.

3.7.4 Residual risks of the forced stop function (EM2)

(1) The forced stop function is not available for alarms that activate the dynamic brake when the alarms
occur.

(2) When an alarm that activates the dynamic brake during forced stop deceleration occurs, the braking
distance until the servo motor stops will be longer than that of normal forced stop deceleration without
the dynamic brake.

(3) If STO is turned off during forced stop deceleration, [AL.63 STO timing error] will occur.

3 - 55
3. SIGNALS AND WIRING

3.8 Alarm occurrence timing chart

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

POINT
In the torque control mode, the forced stop deceleration function is not available.

To deactivate an alarm, cycle the control circuit power, push the "SET" button in the current alarm window,
or cycle the RES (Reset) However, the alarm cannot be deactivated unless its cause is removed.

3.8.1 When you use the forced stop deceleration function

POINT
To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].

(1) When the forced stop deceleration function is enabled

Alarm occurrence
(Note)
Model speed command 0
and equal to or less than
Servo motor speed zero speed

0 r/min
Controller command is ignored.

Base circuit ON
(Energy supply to
the servo motor) OFF

Servo amplifier
display No alarm Alarm No.

MBR ON
(Electromagnetic
brake interlock) OFF

ON (no alarm)
ALM (Malfunction)
OFF (alarm)

Note. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration
of the servo motor.

3 - 56
3. SIGNALS AND WIRING

(2) When the forced stop deceleration function is not enabled

Alarm occurrence

Braking by the dynamic brake

Dynamic brake
+ Braking by the electromagnetic brake
Servo motor speed

0 r/min

Base circuit ON
(Energy supply to
the servo motor) OFF

Servo amplifier
display No alarm Alarm No.
Operation delay time of the electromagnetic brake
MBR ON
(Electromagnetic
brake interlock) OFF

ON (no alarm)
ALM (Malfunction)
OFF (alarm)

3.8.2 When you do not use the forced stop deceleration function

POINT
To disable the function, set "0 _ _ _" in [Pr. PA04].

The operation status during an alarm is the same as section 3.8.1 (2).

3 - 57
3. SIGNALS AND WIRING

3.9 Interfaces

3.9.1 Internal connection diagram

POINT
Refer to section 13.3.1 for the CN8 connector.

Servo amplifier
(Note 1)
(Note 5)
CN1 P S T 24 V DC
(Note 1)
Approx. 46 DOCOM
P S T CN1 6.2 kΩ
SON SON SON 15 47 DOCOM
SP2 SP2 16
22 INP SA RA
PC ST1 RS2 17
TL ST2 RS1 18 23 ZSP ZSP ZSP
RES RES RES 19 (Note 3)
(Note 3) 24 INP SA
CR SP1 SP1 41
EM2 42 25 TLC TLC TLC
LSP LSP 43
Approx. 48 ALM
LSN LSN 44 6.2 kΩ
LOP LOP LOP 45 49 RD RD RD RA
(Note 5) OPC 12
24 V DC Isolated
DICOM 20 (Note 1)
DICOM 21 Approx. Approx. CN1 P S T
(Note 2) 100 Ω 1.2 kΩ
PP 10 4 LA
PG 11 Approx. Approx. 5 LAR
100 Ω 1.2 kΩ
NP 35 Differential line
6 LB driver output
NG 36 7 LBR (35 mA or less)
8 LZ
9 LZR
33 OP Open-collector
(Note 1) output
34 LG
P S T CN1 (Note 1)
VC VLA 2 CN3 P S T
RS-422
5 SDP
TLA TLA TC 27 4 SDN
15 V DC 3 RDP
P15R 1 6 RDN
1 LG
LG 3 7 LG
LG 28
(Note 1)
LG 30
CN6 P S T Analog monitor
SD Case
3 MO1

2 MO2 ±10 V DC
±10 V DC
(Note 1) 1 LG
P S T CN5 (Note 1) Servo motor
D- 2 CN2 P S T Encoder
USB D+ 3 7 MX
GND 5 8 MXR
3 MR
4 MRR
2 LG
E
M

External encoder
(Note 4, 6) CN2L P S T Encoder
7 MX2
8 MXR2
3 MR2
4 MRR2
2 LG

3 - 58
3. SIGNALS AND WIRING

Note 1. P: Position control mode, S: Speed control mode, T: Torque control mode
2. This is for the differential line driver pulse train input. For the open-collector pulse train input, connect as follows.

DOCOM 46
24 V DC OPC 12
DICOM 20
DOCOM 47
PP 10
PG 11
NP 35
NG 36

3. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.
4. This is for MR-J4-_A_RJ servo amplifier. The MR-J4-_A_ servo amplifier does not have the CN2L connector.
5. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one.
6. Refer to table 1.1 for connections of external encoders.

3.9.2 Detailed explanation of interfaces

This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in
section 3.5. Refer to this section and make connection with the external device.

(1) Digital input interface DI-1

This is an input circuit whose photocoupler cathode side is the input terminal. Transmit signals from sink
(open-collector) type transistor output, relay switch, etc. The following is a connection diagram for sink
input. Refer to section 3.9.3 for source input.
For transistor Servo amplifier
Approximately EM2,
5 mA etc.
Approximately
6.2 kΩ
Switch
TR
DICOM
VCES 1.0 V 24 V DC ± 10%
ICEO 100 µA 500 mA

(2) Digital output interface DO-1

This is a circuit in which the collector side of the output transistor is the output terminal. When the output
transistor is turned on, the current flows from the collector terminal.
A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush
current suppressing resistor (R) for a lamp load.
(Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A
maximum of 2.6 V voltage drop occurs in the servo amplifier.
The following shows a connection diagram for sink output. Refer to section 3.9.3 for source output.
Servo amplifier

If polarity of diode is
reversed, servo amplifier
ALM Load will malfunction.
etc.

DOCOM
(Note) 24 V DC ± 10%
500 mA

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

3 - 59
3. SIGNALS AND WIRING

(3) Pulse train input interface DI-2

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

(a) Differential line driver type

1) Interface
Servo amplifier

Max. input pulse

frequency 4 Mpulses/s
10 m or less (Note 2)
PP (NP)
Approximalely
(Note 1) 100 Ω
PG (NG)

Am26LS31 or equivalent SD
VOH: 2.5 V
VOL: 0.5 V

Note 1. Pulse train input interface is comprised of a photocoupler.

If a resistor is connected to the pulse train signal line, it may malfunction due to
reduction in current.
2. When the input pulse frequency is 4 Mpulses/s, set [Pr. PA13] to "_ 0 _ _".

2) Input pulse condition

tc tHL
tLH = tHL < 50 ns
0.9 tc > 75 ns
PP PG tF > 3 µs
0.1

tc tLH
tF

NP NG

(b) Open-collector type

1) Interface
Servo amplifier
Max. input pulse
24 V DC frequency 200 kpulses/s
OPC
Approximately
1.2 kΩ
2 m or less
(Note)
PP, NP

DOCOM

SD

Note. Pulse train input interface is comprised of a photocoupler.

If a resistor is connected to the pulse train signal line, it may malfunction due to
reduction in current.

3 - 60
3. SIGNALS AND WIRING

2) Input pulse condition

tc tHL
tLH = tHL < 0.2 s
0.9 tc > 2 s
PP tF > 3 s
0.1

tc tLH
tF

NP

(4) Encoder output pulse DO-2

(a) Open-collector type
Interface
Maximum sink current: 35 mA
5 V DC to 24 V DC

Servo amplifier Servo amplifier

OP OP

Photocoupler
LG LG

SD SD

(b) Differential line driver type

1) Interface
Maximum output current: 35 mA
Servo amplifier Servo amplifier
LA LA
(LB, LZ) Am26LS32 or equivalent (LB, LZ) 100 Ω

150 Ω

LAR LAR High-speed photocoupler

(LBR, LZR) (LBR, LZR)

LG
SD SD

3 - 61
3. SIGNALS AND WIRING

2) Output pulse
Servo motor CCW rotation
LA Time cycle (T) is determined by the settings of
[Pr. PA15] and [Pr. PC19].
LAR T
LB

LBR
/2
LZ
LZR
400 s or more
OP

(5) Analog input

Input impedance
10 kΩ to 12 kΩ
Servo amplifier
+15 V DC
P15R
Upper limit setting
2 kΩ VC etc.
2 kΩ
Approx.
LG 10 kΩ

SD

(6) Analog output

Servo amplifier

MO1
(MO2)
Output voltage: ±10 V (Note)
Maximum output current: 1 mA
LG Resolution: 10 bits or equivalent

Note. Output voltage range varies depending on the monitored signal.

3 - 62
3. SIGNALS AND WIRING

3.9.3 Source I/O interfaces

In this servo amplifier, source type I/O interfaces can be used.

(1) Digital input interface DI-1

This is an input circuit whose photocoupler anode side is the input terminal. Transmit signals using
source (open-collector) type transistor output, relay switch, etc.
Servo amplifier
For transistor
EM2
etc.
Approximately
6.2 kΩ
TR Switch

DICOM
Approximately 24 V DC ± 10%
5 mA 500 mA
VCES 1.0 V
ICEO 100 µA

(2) Digital output interface DO-1

This is a circuit in which the emitter side of the output transistor is the output terminal. When the output
transistor is turned on, the current flows from the output terminal to a load.
A maximum of 2.6 V voltage drop occurs in the servo amplifier.
Servo amplifier

If polarity of diode is
reversed, servo amplifier
ALM will malfunction.
Load
etc.

DOCOM
(Note) 24 V DC ± 10%
500 mA

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

3 - 63
3. SIGNALS AND WIRING

3.10 Servo motor with an electromagnetic brake

3.10.1 Safety precautions

Configure an electromagnetic brake circuit so that it is activated also by an

external EMG stop switch.
Contacts must be opened when ALM (Malfunction) Contacts must be opened with the
or MBR (Electromagnetic brake interlock) turns off. EMG stop switch.

Servo motor
RA

B U 24 V DC

CAUTION Electromagnetic brake

The electromagnetic brake is provided for holding purpose and must not be used
for ordinary braking.
Before operating the servo motor, be sure to confirm that the electromagnetic
brake operates properly.
Do not use the 24 V DC interface power supply for the electromagnetic brake.
Always use the power supply designed exclusively for the electromagnetic brake.
Otherwise, it may cause a malfunction.

POINT
Refer to "Servo Motor Instruction Manual (Vol. 3)" for specifications such as the
power supply capacity and operation delay time of the electromagnetic brake.
Refer to "Servo Motor Instruction Manual (Vol. 3)" for the selection of a surge
absorber for the electromagnetic brake.

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

1) The brake will operate when the power (24 V DC) turns off.

2) The status is base circuit shut-off during RES (Reset) on. When you use the motor in vertical axis
system, use MBR (Electromagnetic brake interlock).

3) Turn off SON (Servo-on) after the servo motor stopped.

(1) Connection diagram

Servo amplifier

(Note 2) MBR ALM Servo motor

24 V DC RA1 (Malfaunction) B1
DOCOM
(Note 1)
24 V DC U B
MBR RA1

B2

Note 1. Create the circuit in order to shut off by interlocking with the emergency stop switch.
2. Do not use the 24 V DC interface power supply for the electromagnetic brake.

3 - 64
3. SIGNALS AND WIRING

(2) Setting
(a) Enable MBR (Electromagnetic brake interlock) with [Pr. PD23] to [Pr. PD26] and [Pr. PD28].
(b) In [Pr. PC16 Electromagnetic brake sequence output], set a delay time (Tb) from MBR
(Electromagnetic brake interlock) off to base circuit shut-off at a servo-off as in the timing chart in
section 3.10.2 (1).

3.10.2 Timing chart

(1) When you use the forced stop deceleration function

POINT
To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04].

(a) SON (Servo-on) on/off

When SON (Servo-on) is turned off, the servo lock will be released after Tb [ms], and the servo
motor will coast. If the electromagnetic brake is enabled during servo-lock, the brake life may be
shorter. Therefore, set Tb about 1.5 times of the minimum delay time where the moving part will not
drop down for a vertical axis system, etc.
Tb [Pr. PC16 Electromagnetic brake sequence output]

Coasting
Servo motor speed 0 r/min

Approx. 95 ms
ON
Base circuit
OFF
Approx. 95 ms Operation delay time of
MBR ON the electromagnetic brake
(Electromagnetic (Note 1)
brake interlock) OFF

Servo-on command ON
(from controller) OFF

Ready-on command ON
(from controller) OFF
(Note 3)

Operation command
(from controller) 0 r/min

Electromagnetic Release
brake Activate Release delay time and external relay, etc. (Note 2)

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake has been activated.
2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of
external circuit relay. For the release delay time of electromagnetic brake, refer to "Servo Motor Instruction Manual (Vol. 3)".
3. Give a position command after the electromagnetic brake is released.
4. This is in position control mode.

3 - 65
3. SIGNALS AND WIRING

(b) Forced stop 2 on/off

POINT
In the torque control mode, the forced stop deceleration function is not available.

(Note 2)
Model speed command 0
and equal to or less than
Servo motor speed zero speed

0 r/min

Base circuit ON
(Energy supply to
the servo motor) OFF

ON
EM2 (Forced stop 2)
OFF
MBR ON
(Electromagnetic (Note 1)
brake interlock) OFF

ON (no alarm)
ALM (Malfunction)
OFF (alarm)

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake has been activated.
2. The model speed command is a speed command generated in the servo amplifier for forced stop
deceleration of the servo motor.

(c) Alarm occurrence

The operation status during an alarm is the same as section 3.8.

(d) Both main and control circuit power supplies off

Dynamic brake
Dynamic brake
Approx. 10 ms + Electromagnetic brake
Servo motor speed
Electromagnetic brake
0 r/min
(Note 1)
ON
Base circuit
OFF

MBR ON
(Electromagnetic (Note 2)
brake interlock) OFF
Operation delay time of
No alarm the electromagnetic brake
Alarm
[AL.10 Undervoltage] Alarm

Main circuit ON
Control circuit Power supply OFF

Note 1. Variable according to the operation status.

2. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake has been activated.

3 - 66
3. SIGNALS AND WIRING

(e) Main circuit power supply off during control circuit power supply on

POINT
In the torque control mode, the forced stop deceleration function is not available.

Forced stop deceleration

Dynamic brake
The time until a voltage Dynamic brake
Servo motor speed drop is detected. + Electromagnetic brake
Electromagnetic brake
0 r/min
Approx. 10 ms
Main circuit ON
power supply OFF (Note 2)

Base circuit ON
(Energy supply to
the servo motor) OFF

MBR ON
(Electromagnetic (Note 1)
brake interlock) OFF
Operation delay time of
the electromagnetic brake
ALM (Malfunction) ON (no alarm)
OFF (alarm)

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake has been activated.
2. Variable according to the operation status.

(2) When you do not use the forced stop deceleration function

POINT
To disable the function, set "0 _ _ _" in [Pr. PA04].

(a) SON (Servo-on) on/off

It is the same as (1) (a) in this section.

(b) EM1 (Forced stop 1) on/off

Dynamic brake
Dynamic brake
+ Electromagnetic brake Electromagnetic brake
Servo motor speed has released.
Electromagnetic brake
0 r/min
Approx. 10 ms Approx. 210 ms
ON
Base circuit
OFF
Operation delay time Approx. 210 ms
MBR ON of the electromagnetic
(Electromagnetic (Note) brake
brake interlock) OFF

Disabled (ON)
EM1 (Forced stop)
Enabled (OFF)

Note. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake has been activated.

3 - 67
3. SIGNALS AND WIRING

(c) Alarm occurrence

The operation status during an alarm is the same as section 3.8.

(d) Both main and control circuit power supplies off

It is the same as (1) (d) of this section.

(e) Main circuit power supply off during control circuit power supply on
Dynamic brake
Dynamic brake
Approx. 10 ms + Electromagnetic brake
Servo motor speed
Electromagnetic brake
0 r/min
(Note 1)
ON
Base circuit
OFF

MBR ON
(Electromagnetic (Note 2)
brake interlock) OFF
Operation delay time of
No alarm the electromagnetic brake
Alarm
[AL.10 Undervoltage] Alarm

Main circuit ON
power supply OFF

Note 1. Variable according to the operation status.

2. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake has been activated.

3 - 68
3. SIGNALS AND WIRING

3.11 Grounding

Ground the servo amplifier and servo motor securely.

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

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

Cabinet
Servo amplifier Servo motor
CN2
MCCB MC
L1
Line filter

(Note) Encoder
Power L2
supply
L3
L11
L21 U U
V V M
W W
CN1
Programmable

Ensure to connect the

wire to the PE terminal
of the servo amplifier.
Do not connect the wire
directly to the grounding
of the cabinet.

Outer
Protective earth (PE) box

Note. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power
supply specifications, refer to section 1.3.

3 - 69
3. SIGNALS AND WIRING

MEMO

3 - 70
4. STARTUP

4. STARTUP

Do not operate the switches with wet hands. Otherwise, it may cause an electric
WARNING shock.

Before starting operation, check the parameters. Improper settings may cause
some machines to operate unexpectedly.
The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot
while power is on or for some time after power-off. Take safety measures, e.g.
CAUTION provide covers, to prevent accidental contact of hands and parts (cables, etc.)
with them.
During operation, never touch the rotor of the servo motor. Otherwise, it may
cause injury.

POINT
When you use a linear servo motor, replace the following left words to the right
words.
Load to motor inertia ratio → Load to motor mass ratio
Torque → Thrust
(Servo motor) speed → (Linear servo motor) speed

4- 1
4. STARTUP

4.1 Switching power on for the first time

When switching power on for the first time, follow this section to make a startup.

4.1.1 Startup procedure

Wiring check Check whether the servo amplifier and servo motor are wired correctly using
visual inspection, DO forced output function (section 4.5.8), etc. (Refer to
section 4.1.2.)

Surrounding environment check Check the surrounding environment of the servo amplifier and servo motor.
(Refer to section 4.1.3.)

Parameter setting Set the parameters as necessary, such as the used operation mode and
regenerative option selection. (Refer to chapter 5, and sections 4.2.4, 4.3.4,
and 4.4.4.)

Test operation of the servo motor For the test operation, with the servo motor disconnected from the machine
alone in test operation mode
and operated at the speed as low as possible, check whether the servo
motor rotates correctly. (Refer to sections 4.2.3, 4.3.3, and 4.4.3.)

Test operation of the servo motor For the test operation with the servo motor disconnected from the machine
alone by commands
and operated at the speed as low as possible, give commands to the servo
amplifier and check whether the servo motor rotates correctly.

Test operation with the servo motor After connecting the servo motor with the machine, check machine motions
and machine connected
with sending operation commands from the controller.

Gain adjustment Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)

Actual operation

Stop Stop giving commands and stop operation. Other conditions that stops the
servo motor are mentioned in sections 4.2.2, 4.3.2, and 4.4.2.

4- 2
4. STARTUP

4.1.2 Wiring check

(1) Power supply system wiring

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

(a) Power supply system wiring

The power supplied to the power input terminals (L1, L2, L3, L11, and L21) of the servo amplifier
should satisfy the defined specifications. (Refer to section 1.3.)

(b) Connection of servo amplifier and servo motor

1) The servo amplifier power output (U, V, and W) should match in phase with the servo motor
power input terminals (U, V, and W).
Servo amplifier Servo motor
U
U
V
V M
W
W

2) The power supplied to the servo amplifier should not be connected to the power outputs (U, V,
and W). To do so will fail the connected servo amplifier and servo motor.

Servo amplifier Servo motor

U
L1 U
V
L2 V M
W
L3 W

3) The grounding terminal of the servo motor is connected to the PE terminal of the servo amplifier.
Servo amplifier Servo motor

4) The CN2 connector of the servo amplifier should be connected to the encoder of the servo motor
securely using the encoder cable.

5) Between P3 and P4 should be connected.

Servo amplifier

P3

P4

4- 3