Servo Motor

MITSUBISHI
AC Servo Training Manual
Mitsubishi Electric
Asean Factory Automation Center
CONTENTS
1. FUNDAMENTALS OF AC SERVO CONTROL

1.1 Definition of servo
- - - - - - - - - - - - 1-1
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-1
1.2 Positioning and the performance of AC Servo - - - - - - - - - - - - - - - 1.3
1-2
About MELSERVO - - - - - - - - - - - - - - - - - - - - - - - - - - - -
1-6
1.3.1
The road map of MELSERVO - - - - - - - - - - - - - - - - - - - -
1-6
1.3.2
Positioning of a product
1-7
1.3.3
General-purpose Servo amplifier specification comparison table
1.3.4
1.4
- - - - - - - - - - - - - - - - - - - - - - -
The model series and the feature of a servo motor
- - - - 1-7
- - - - - - - - - - 1-8
Structure of AC Servo - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10
1.4.1
The principle of operation of Servo amplifier - - - - - - - - - - - - - - 1-10
1.4.2
The characteristic and principle of operation of AC servo motor - - - - 1-17
1.4.3
The function and principle of encoder operation - - - - - - - - - - - - - 1-20
2.
Positioning control Using AC Servo - - - - - - - - - - - - - - - - - - 2-1

2.1
Positioning Method and Stopping Accuracy - - - - - - - - - - - - - - - - - - 2-1
2.1.1 Types of Positioning
- - - - - - - - - - - - - - - - - - - - - - - - - - -
2-1
2.1.2 Positioning control and stopping accuracy for speed control methods - - - 2-3
2.1.3
2.2
Types of position control - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
Fundamentals of Positioning Control - - - - - - - - - - - - - - - - - - - - -
2-6
2.2.1
Position detection and number of pulses per motor revolution - - - - - - 2-6
2.2.2
Theory of servo positioning control
2.3
- - - - - - - - - - - - - - - - - -
2-6
Positioning Accuracy - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
2-9
2.3.1
Feed distance per pulse
- - - - - - - - - - - - - - - - - - - - - - - - -
2-9
2.3.2
Concept of overall accuracy for machine and electrical accuracy - - - - - 2-9
2.4
Motor Rotational Speed at the Maximum Machine Speed - - - - - - - - - -
2-11
2.5
Command Pulse - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
2-12
2.5.1
Electronic gear function - - - - - - - - - - - - - - - - - - - - - - - - -
2-12
2.5.2
Maximum pulse frequency - - - - - - - - - - - - - - - - - - - - - - - -
2-18
2.6
Speed Pattern and Setting time - - - - - - - - - - - - - - - - - - - - - - - - 2-19
2.6.1 Speed Pattern and performance of droop - - - - - - - - - - - - - - - - - - 2-19

2.6.2
2.7
3.
Setting Time (ts)
- - - - - - - - - - - - - - - - - - - - - - - - - - - -
2-20
Relationship Between Moment of Load Inertia and Position Loop Gain(kp) - - 2-21
2.7.1
Moment of load inertia - - - - - - - - - - - - - - - - - - - - - - - - -
2-21
2.7.2
Real-time auto tuning - - - - - - - - - - - - - - - - - - - - - - - - - -
2-22
Positioning Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-1

3.1
Classification of Positioning Controllers and Typical Miscellaneous Functions

- - - - - - - - - - - - - - - - - - - - - - - - -
3-1
3.1.1
The function of positioning controller - - - - - - - - - - - - - - - - - -
3-1
3.1.2
The function of Servo amplifier - - - - - - - - - - - - - - - - - - - - - -
3-1
- i -
3.2
A classification and composition of positioning controller - - - - - - - - -
3-1
3.3
Setting data of positioning controller - - - - - - - - - - - - - - - - - - -
3-6
3.3.1
Basic parameter - - - - - - - - - - - - - - - - - - - - - - - - - - -
3-6
3.3.2
The basic parameter for a starting point return
3.3.3
Positioning data - - - - - - - - - - - - - - - - - - - - - - - - - - - -
3-7
3.4
Position instruction interface - - - - - - - - - - - - - - - - - - - - - - - -
3-9
3.5
The foundations of the positioning control by positioning Controller - - -
3-11
- - - - - - - - - - - - 3-6
3.5.1
The machine move direction and the servo motor rotation direction - - 3-11
3.5.2
The type of home position return - - - - - - - - - - - - - - - - - -
3-12
4. MELSERVO J2S Performance and Functions - - - - - - - - - - - - 4-1

4.1
Basic Performance and Functions - - - - - - - - - - - - - - - - - - - - - -
4-1
4.2 Composition with peripheral equipment - - - - - - - - - - - - - - - - - - - -
4-2
4.3
4-5
Installation and Operation - - - - - - - - - - - - - - - - - - - - - - - - -
4.3.1 Operation flow from installation to operation start - - - - - - - - - - - -
4-5
4.3.2 Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
4-6
4.3.3 Wiring and sequence- - - - - - - - - - - - - - - - - - - - - - - - - - -
4-14
4.3.4 Standard connection diagram - - - - - - - - - - - - - - - - - - - - - - -
4-19
4.3.5 Power supply turned on - - - - - - - - - - - - - - - - - - - - - - - - -
4-31
4.3.6 Display and operation function - - - - - - - - - - - - - - - - - - - - - -
4-34
4.3.7 Parameter
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
4-42
4.3.8 Parameter setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
4-53
4.3.9 Checking the I/O signal - - - - - - - - - - - - - - - - - - - - - - - - -
4-54
4.3.10 Manual operation - - - - - - - - - - - - - - - - - - - - - - - - - - - -
4-57
4.3.11 Home position return - - - - - - - - - - - - - - - - - - - - - - - - - -
4-57
4.3.12 Automatic operation
- - - - - - - - - - - - - - - - - - - - - - - - - -
4-57
- - - - - - - - - - - - - - - - - - - - - - - - - - - - -
4-58
4.3.14 The operation procedure in each operation mode (conclusion) - - - - -
4-62
4.3.15 The function convenient for starting and diagnosis- - - - - - - - - - -
4-65
4.3.13 Test operation
5. MELSERVO H Performance and Functions - - - - - - - - - - -
5-1
5.1
I/O Terminal Function - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-1
5.2
Parameter function - - - - - - - - - - - - - - - - - - - - - - - - - - - -
5-3
5.3
Display and Diagnosis Functions - - - - - - - - - - - - - - - - - - - - -
5-12
5.3.1
MR-PRU01A Parameter unit- - - - - - - - - - - - - - - - - - - - - -
5-12
5.3.2
Monitor
5-14
5.4
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
Setup and operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
5-16
5.4.1
H/W Setting
5.4.2
Power ON- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
5.4.3
Parameter setup- - - - - - - - - - - - - - - - - - - - - - - - - - - -
5-16
5.4.4
Checking the I/O single- - - - - - - - - - - - - - - - - - - - - - - -
5-19
- ii -
5-16
5-16
6.
Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
6-1
6.1 Provisional selection of motor capacity - - - - - - - - - - - - - - - - -
6-1
6.1.1 Moment of load inertia ( JL ) - - - - - - - - - - - - - - - - - - 6.1.2
Load torque ( TL ) - - - - - - - - - - - - - - - - - - - - - - - - -
6.1.3
Formulae to calculate moment of load inertia and load torque
6-1
6-1
- -
6-2
6.2
Reduction Ratio - - - - - - - - - - - - - - - - - - - - - - - - - - - -
6-4
6.3
Operation Patterns and Required Motor Torque - - - - - - - - - - - -
6-5
6.3.1
Acceleration torque ( Ta ) - - - - - - - - - - - - - - - - - - - - -
6-5
6.3.2
Deceleration torque ( Td ) - - - - - - - - - - - - - - - - - - - - -
6-5
6.3.3
Driving pattern - - - - - - - - - - - - - - - - - - - - - - - - - - -
6.3.4
Determining motor capacity- - - - - - - - - - - - - - - - - - - - - -
6.4
7.
6-6
6-7
Example of Capacity Selection Procedure - - - - - - - - - - - - - - -
6-9
The measure against a noise, leak current, harmonics - - - - - - 7-1

7.1
The measure against a noise - - - - - - - - - - - - - - - - - - - - - - -
7.2
Leak current
7.3
Harmonics
7-1
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
7-3
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
7-5
7.3.1
A basic wave and harmonics
7.3.2
The characteristic of a rectification circuit and generating harmonics - - 7-6
7.3.3
The measure against harmonics - - - - - - - - - - - - - - - - - - - -
8.
- - - - - - - - - - - - - - - - - - -
7-5
7-6
Maintenance and check - - - - - - - - - - - - - - - - - - - - - - - - - 8-1
8.1
Maintenance and check
- - - - - - - - - - - - - - - - - - - - - - - - - -
8-1
8.1.1
Notes at the time of maintenance and check - - - - - - - - - - - - -
8-1
8.1.2
Item of inspection - - - - - - - - - - - - - - - - - - - - - - - - - - -
8-1
8.1.3
Part exchange - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
8-5
8.1.4
Troubleshooting
8-7
8.1.5
Remedies for warning
8.1.6
The cause investigation method at the time of position gap generating- - 8-14
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
8-13
APPENDICES
APP.1.
Symbols for the specifications - - - - - - - - - - - - - - - - - - - - App-1
App.2.
Type of Drive System - - - - - - - - - - - - - - - - - - - - - - - -
App-2
App.3.
Example Application- - - - - - - - - - - - - - - - - - - - - - - - -
App-6
APP.4.
Positioning Controller performance comparison
- iii -
- - - - - - - - - -
App-9

1.1
Fundamentals of AC servo control

Definition of Servo
For the purpose of the Japanese Industrial Standards, a servomechanism
is defined as a control system designed to track a target that changes
unpredictably, with the position, bearing, orientation, etc., of a physical
object as the control quantity. When the target value (position, speed,
etc.) is input to the servomechanism from the command section, the
servomechanism detects the current value, and continually executes
control to reduce the difference between the current value and target
value.
The elements that comprise a servomechanism are called servo elements.
And in the case of Mitsubishis MELSERVO-J2S AC servo, these
elements are the drive amplifier (AC servo amplifier), the motor (AC
servomotor), and the detector. The configuration of this servomechanism
is shown in Fig. 1.1.
Fig. 1.1 Configuration of a Servomechanism
1-1

1.2
General Characteristics of Servo

As implied in the foregoing section of a servomechanism, the basic
function and performance requirement of a servomotor is to track a
continually changing target quickly in response to speed/position control.
To enable a servomotor to fulfill this requirement, it must be designed
with greater consideration given to the moment of inertia of the rotor (also
called GD2), and electrical responsibility, than is necessary for a general
purpose motor. The reason for this is to ensure that the servomotor can
respond to sudden changes in the voltage and current from the servo
amplifier. The servo amplifier that drives the servomotor must also be
capable of quickly and accurately transmitting the speed and position
control commands to the servomotor.
With these points in mind, the following gives a comparison between the
typical characteristics obtained when using a servomotor in combination
with a servo amplifier and the characteristics of a motor driven by a
general purpose inverter (a widely used type of variable speed controller)
(1) Comparison of characteristics of a servomotor and general purpose
inverter
The characteristics of a motor are
commonly assessed by looking at
its speed-torque characteristics.
Fig 1.2 compares a servomotor and
a general purpose motor used in
combination with general purpose
inverter on this basis. The superior
qualities of the servomotor are
clear from this figure.
It has three main advantages:
(a) The motor have a wide speed
control range
(b) It maintains a constant output
torque from high speeds (the
rated speed) to low speeds (the
stalling speed).
(c) It has a high maximum torque.
Note: Since the motors maximum
torque is high but its moment of
inertia is low, it is capable of
sudden acceleration and
deceleration
When selecting a servomotor, the function and performance of the

machine concerned must always be considered in the light of the
points explained above.
1-2

Some actual figures for servomotor characteristics are presented below to
add some details to our explanation.
Table 1.1 Main Servomotor Characteristics
Specification
Descriptions
Item
Speed control range
1 : 1000 to 5000
(1 : 10)
Output torque
characteristics
No torque drop in low

speed operation
Maximum torque
Approx. 300%
(150%)
Can be used down to 1/1000th of the rated speed

without any concern of reduced rotational
stability or reduced torque
A constant output torque is maintained
throughout the speed control range, whether at
the continuous output torque or maximum
torque.
In other words, the motor can be used safely over
the entire speed range even with rated torque
load.
An instantaneous maximum torque of
approximately 300% of the rated torque can be
obtained.
This enables the motor to accelerate and
decelerate suddenly, which means that it can be
for high frequency positioning
Note: The figures in parentheses are typical specifications for a general purpose inverter.
(2) Application of AC servomotors
The main characteristics of servomotors have been described. In
addition, servomotors become capable of a function that is beyond
other variable speed controllers when used in combination with servo
amplifiers: the positioning function.
The positioning function is described in detail in Chapter 2; here
typical servomotor applications made possible by the characteristics
described in section (1) on the previous page and the positioning
function are explained.
(a) Machines that require positioning
Using the AC servomechanism in combination with specialized
positioning controller (see chapter 6) enables accurate positioning
with good reproducibility.
A general purpose Mitsubishi AC servomechanism is capable of a
positioning resolution of 120000 to 4000 divisions per motor axis
revolution, which is sufficient to achieve positioning in units of
1um with machine travel in the range 24 to 8 m/min.
Example application:
Machine tools, wood working machines, conveyors, packaging
machines, inserter/mounters, feeder, cutters and specialized
machinery.
1-3

(b) Machines that requires a wide range of speed variation
The AC servomotor has a speed control range of 1:1000, and
features highly accurate speed control, with a coefficient of speed
fluctuation of no greater than 0.03%. It also features constant
output torque, a characteristics not featured by other variable speed
motors. Because of these characteristics, it is used for control of
production lines and other applications where highly accurate
variable speed drive is required.
Example Applications:
Printing presses, paper processing machines, film manufacturing
line, wire making machines, winding machines, feed mechanisms
of specialized machines, conveyors, main shafts of
winding/unwinding machines, and wood working machines.
(c) High frequency positioning
Positioning is performed as explained in (a) on the previous page.
The maximum torque of the AC servomotor is 300% of the rate
torque and a motor, when it is unloaded, can follow the
acceleration and deceleration from the stopped state to the rated
speed in a mere several tens of milliseconds, which means it can
drive positioning operations at frequencies of 100 times per
minutes and higher. Another important characteristic of the AC
servomotor is that it has no parts that make mechanical contact, in
contrast to other positioning mechanism (clutch, brake, DC motors,
etc.); this makes it maintenance-free and means that it is not
greatly influenced by the ambient temperature.
Example applications:
Press feeder, bad-making machine, sheet cutting machine,
loader/unloaders, filling machine, packaging machines, conveyors.
(d) Torque control
Since recent digital servomotors feature torque control in addition
to conventional functions such as speed control and position
control, they can be used for applications that involve tension
control, such as winding/unwinding machines.
1-4

(3) Other characteristics, Summary
In addition to the speed control range already dealt with, there are
other basic aspects of the performance of a motor- such as
responsibility- that show its speed control characteristics.
Fig 1.3 compares an AC servomotor and general purpose inverter on
the basis of control performance and functions of an inverter and
general purpose AC servo in actual use.
Responsibility
The responsibility is a measure of the speed
of follow-up in response to changes in
commands and disturbance.
It is a guide to the maximum severity of
sudden load fluctuation that can be dealt
with by following commands without
causing any speed fluctuation.
For example, a motor that has a
responsibility of 600 rad/s will be able to
tolerate a load fluctuation of approximately
100Hz with no appreciable influence on
speed.
1-5

1.3
About MELSERVO
1.3.1 The road map of MELSERVO

Demand item introduction is better to better of new technology and the industrial
world that surely reflected technical innovation in the new product for general
purpose AC servo in 1982.
The environment that surrounds Servo now is shifting to the next generation.
MR-J2-Super series raised the function and the performance of the MR-J2
conventional series and conventional compatibility for the performance of a
machine in the maximum output sake to the correspondence to the further high
speed and high precision, shortening of starting time, fullness of diagnosis and a
maintenance, and these demands. The road map of MELSERVO is shown in the
following table.
1-6

1.3.2 Positioning of Product
Positioning of MELSERVO
series is shown in a right
table.
1.3.3
General-purpose Servo amplifier specification comparison table

Model
Item
MR-H- AN / KAN4
MR-H- BN / KBN4
MR-H- CN / KCN4
MR-H TN Series
MR-J2S- A
MR-J2S- B(*)
Series
MR-C A
MR-C A1
Series
MR-J2-03A5
MR-J2-03B5(*)
MR-J2-03C5
Appearance
Feature
Capacity
z Highly performance
zThe variation of a motor is
abundant.
zThose with setup software
(MRZJW3-SETUP61 or
subsequent ones)
zThose with bus joint MR-HBN
zWith a built-in 1 axis
controller (MR-H-ACN)
z Next-generation Servo
z Replacement of MR-J2
zA servomotor is ABSequipped standard.
(MRZJW3-SETUP111 or
subsequent ones)
zReplacement from supertype

z Minimize
zMotor distinction function
(MRZJW3-SETUP61 or
subsequent ones)
z Mini small down size

Servo
zMR-J2 series DC24V
correspondence
(MRZJW3-SETUP61 or
subsequent ones)
z DIN rail attachment is
possible.
z32 axis multi-drops are
possible.
10W-30W
50W-55kW
50W-7kW
With
With
Serial communication
30W-400W
With (however, it removes
with 30W slowdown
machine)
8192/16384 p/rev
INC/ABS
2000/3000
131072 p/rev
INC/ABS
1000/2000/3000
4000 p/rev
INC
3000
8192 p/rev
INC
3000
2000/2500/3000/4500
1200/1500/2500/3000/4500
4500
10W-20W, 5000
30W, 4500
Control mode
Frequency response
300%
Position/ speed / torque
250Hz
300%
Position / speed / torque
550Hz
300%(400%, LESS 10W)

Position/speed (internal 2 speed)
200Hz
300%
Position / speed / torque
250Hz
Control theory
Auto tuning
Personal computer I/F
Model adaptive control

Real time
Standard equipment

Real time
Standard equipment

Real time
Option

Real time
Standard equipment
Gear. Brake
Encoder signal
A position per resolution
Detection system
Rated rotation
Rotation
speed
speed
(r/min)
Max Rotation
speed
Max torque
1-7
With (on sale schedule)


Built-in card option
Speed control range
Available
1:5000
Unavailable
1:5000
Unavailable
-
Unavailable
1:1000
The external power

supply for I/F
Regeneration brake
resistance
Not required
Not required
Required DC24V
Required DC24V
Built-in
Built-in
An external option
Unavailable
Built-in
4-figure display
Parameter unit
2CII (12 bit)
A, B, Z Phase
Built-in
5-figure display
Four-piece setting button
2CII (8 bit)
A, B, Z Phase
Nothing
3-figure display
Nothing
Z phase
Built-in
4-figure display
Nothing
A, B, Z phase
Available
Available
Acquisition (-UE)
Acquisition (-UE)
Available
Available
Acquisition
Available
Unavailable
Acquisition
Acquisition
Available
Available
Acquisition
Acquisition
HC-MF series
HA-FF series
HC-SF series
HC-RF series
HC-UF series
HA-LH K series
HA-LF K series
HC-KFS series
HA-MFS series
HC-SFS series
HC-RFS series
HC-UFS series
HC-PQ series
HC-AQ series
Dynamic brake
Display (main part)
Other setting key
Analog monitor
Pulse part circumference
output
Test mode operation
Motor-less operation
EN correspondence
UL-cUL standard
correspondence
Correspondence
motor
Acquisition
<Note> this data is a thing as of June, 1999.
* : one of the new sale schedule
1.3.4 Model Series and Feature of Servo Motor

In AC Servo MELSERVO-C, J2S, and H- N series, it has had various motors in stock by machine
correspondence.
All the motors of MELSERVO-J2S series are the same sizes as a motor conventionally
in ABS and a 17-bit (130,000 pulses) encoder standard equipment.
Capacity
Super-low inertia small capacity
Micro small capacity
Series name
(W)
HCAQ
10W30W
HC-PQ 30W-400W
The encoder
resolution
pulse/rev
Correspond
ence of
encoder
Rated rotation
speed / maximum
rotation speed
3000/5000r/min
3000/4500r/min
8192
Only INC
4000
Only INC 3000/4500r/min
1-8
Adaptation
Servo
amplifier
type name
Protection
form
MR-J2- 5
IP55
MR-C
IP44
Usage
Small slider
Small actuator
Micro robot
inserter, molding,
bonding
Printed circuit board
hole-open machine
circuit tester
Label Printing
machine
Micro robot
robot tip part Etc.
131072
ABS, INC
3000/4500r/min
MR-J2S
HC-MF 50W-750W
8192
ABS/INC
3000/4500r/min
MR-H-N
3000/4500r/min
MR-J2S
IP44
IP55
(IP65)
3000/4500r/min
MR-H-N
IP44
HC-KFS 50W-400W
Flat type
Low inertia large capacity
low inertia middle

C
i
Middle inertia middle capacity
Low inertia small capacity
HC-KF 50W-400W
Large capacity
IP55
(IP65)
HC-MFS 50W-750W
HA-FF 50W-600W
HC-SFS
0.5kW
-7.0kW
131072
8192
8192
131072
HC-SF
0.5kW
-7.0kW
16384
HC-RFS
1.0kW
-5kW
131072
HC-RF
1.0kW
-5kW
16384
HALHK
11kW
-22kW
16384
HC-UFS
0.1kW
-5kW
131072
HC-UF
0.1kW
-5kW
16384
HALFK
30kW
-55kW
16384
ABS,INC
ABS,INC
ABS,INC
MR-H-N
IP44
(IP65)
MR-J2S
IP65
(IP67)
MR-H-N
IP65
(IP67)
3000/4500r/min
MR-J2S
IP65
(IP67)
3000/4500r/min
MR-H-N
IP65
(IP67)
3000/4000r/min
ABS,INC
ABS,INC
ABS/INC
ABS,INC
1000/1500r/min
1000/1200r/min
2000/3000r/min
2000/2500r/min
2000/2000r/min
3000/3000r/min
ABS/INC
corresponden
2000/2000r/min
ce is
possible.
ABS/INC
ABS,INC
ABS/INC
1-9
MR-H-N
IP44
2000/3000r/min
2000/2500r/min
3000/4500r/min
MR-J2S
IP65
MR-H-N
IP65
2000/2000r/min
MR-H-N4
IP44
LCD, wafer
conveyance
equipment
Food machine
Press machine
small loader
Small robot
small X-Y table
Etc.
Conveyance
machine
exclusive machine
robot
loader
wiring, tension
equipment
X-Y table
examination
machine Etc.
chip box
loader
Quantity frequency
conveyance machine
etc.
Ejection molding
machine
Semiconductor
fabrication machines
and equipment
A lifter, an
automatic
warehouse system
Large-sized
conveyance machine
Press Feeder
press transfer Etc.
Robot
Conveyance
machine
Food machine
Wiring and tension
equipment Etc.
Ejection molding
machine
Semiconductor
fabrication machines
and equipment
Large-sized
conveyance machine
Etc.

1.4
Mechanism of the AC servo
1.4.1 Servo amplifier block diagram and principle of operation
The basic function and principle of operation of a servo amplifier are described
here by reference to the block diagram presented below.
Fig 1.3 Block Diagram of AC Servomotor
1-10

(1) Main Circuit
The basic function of the main circuit is to rectify and smooth a commercial power supply (3-phase,
200 to 230 VAC, 50/60Hz) by means of a converter (diode bridge, capacitor), and supply a 3-phase
current of any voltage and frequency that is subjected to sine wave PWM control by the inverter
(power transistor module)- to the motor to control its speed and torque.
(a) Converter, smoothing capacitor
The commercial power supply is rectified by a diode bridge and then has its ripple reduced by a
smoothing capacitor to generate a low-ripple DC power supply.
(b) Inverter
The inverter generates, from the DC power supply created by the converter and smoothing
capacitor, a current matched to the frequency and load torque at the motors rotational speed.
Fig 1.5 Configuration of the inverter section
1-11
Fig 1.6 Inverter output current

As shown in Fig. 1.7, the direction of rotation and the rotational speed (frequency) of
the motor are determined by the direction of the current and the width of turn on time
in each direction, which depend on the ON/ OFF switching of the transistors in the
inverter section. This type of the control, in which the size of the current is controlled
by the width of turn on time, is called PWM control (pulse width control).
Fig. 1.7 Current Control Using the PWM Method
(c) Regenerative brake

1) Regenerative brake circuit
The regenerative brake operates when the actual rotational speed of the
motor is higher than the speed reference- e.g. during deceleration, during
descent on a vertical axis, or when a braking force is applied to an
unwinding shaft to achieve a braking effect by absorbing (consuming)
the rotational energy of the motor and load in the servo amplifier.
This kind of operation is called regenerative , and servo amplifiers
normally incorporate a regenerative circuit. This regenerative circuit acts
as a load on the motor, and its rate of energy consumption determines the
regenerative braking force. The amount of rotational energy consumed
varies according to the operating condition. When a large amount of
energy has to be consumed, a circuit capable of consuming this energy is
provided outside the servo amplifier.
2) Types of regenerative brake circuit
z Where a small braking capacity is required (the amount of rotational
energy to be consumed is small ), braking is achieved by using the energy
to temporarily charge the smoothing capacitor mentioned previously.
This is called the condenser regenerative method and can be used for
applications up to about 0.4kW.
z In case where a medium braking capacity is required, a method in
which current is passed through resistors and the energy consumed as heat
is adopted; this is called the resistor regenerative methods. The problems
associated with this method include the need to use large resistors if the
amount of energy to be consumed is large, and adverse effects on
surrounding parts due to heat radiating from the resistors.
z In case where a large braking capacity is required, a method in which
energy is returned to the power supply has recently been adopted in order
to avoid the deficiencies of the resistor regenerative method. This is called
the power supply regenerative method and it can be use when the amount
of energy involved exceeds 11kW.
1-12

(d) Dynamic brake
When it stops with the output of inverter parts, such as the time of power cut
off and alarm generating, ( base interception ), a motor serves as a free run,
and time long to a stop may be required, the long overrun may become
large, and it may serve as fault of colliding with a stroke end.
A dynamic brake functions to stop the motor quickly in the event of a base
circuit cut-off by short circuiting the servomotor terminals through an
appropriate resistor and consuming the rotational energy as heat. a dynamic
brake is usually installed separately from the motor and amplifier, but it is
incorporated into some models of servo amplifier. Since a dynamic brake
has no holding power when a mechanical brake if the motor drive motion on
a vertical axis.
1-13

Due to the delay in the control circuit, the motor will rotate with delay on input of
the command pulse to the position control section. The pulses that accumulate
during this delay are held at the deviation counter; these pulses are called droop
pulse. The droop pulses are output to the speed control section as speed
commands.
(2)
Control Circuit
While carrying out operation processing of the amount of control (a
position, speed, current) at high speed and with high precision from an
instruction value (target value) and the present value using a
microcomputer and realizing Servo control with high accuracy by high
response, the monitor of the contents of control and protection of a unit are
performed. The outline of the contents of control is explained below.
(a) Position Control
In a pulse sequence, control of the rotation speed and the direction
of a motor and highly precise positioning are performed.
1-14

(b) Speed Control
The output of a position control part deviation counter is
proportional to instruction speed, and this serves as speed
instructions. A speed instruction part outputs the deviation of speed
instructions and motor speed as current instructions. In addition,
when operating in speed control mode, analog voltage (0-10V) is
inputted from the exterior as speed instructions.
(c) Current Control and 3-phase generating circuits
A current control part controls the current of a motor so that the
inverter of the main circuit is controlled and a motor moves as
position instructions or a speed instruction. In order to achieve this
control, the phases of the 3-phase alternating current are set to
coincide with the magnetic field of the motor(determined by the
positions of the rotors permanent magnets) and a current that
corresponds to the speed deviation is output
1-15

When supplying current to a synchronous motor, the position of the magnetic fields
(magnetic pole positions) must be aligned with the phases.
To achieve this alignment, the motors detector detects the magnetic pole positions and
continually feeds back this information to the servo amplifier. On the basis of this signal,
the servo amplifier generates the reference 3-phase current in the 3- phase generating
circuit. The current control section multiplies the reference 3-phase current by speed
deviation to generate 3 phase current commands and controls the PWM circuit.
Note: Induction type servomotors do not have independent magnetic fields. Accordingly,
magnetic pole position detection is not necessary when they are used.
A PWM system is a system which several times of switching pulses is generated in 1
cycle, and the pulse width is changed, and changes output voltage. The thing of the
number of switching pulses generated in 1 second is called career frequency. In the case
of a PWM system, the motor vibration and the motor noise of a frequency ingredient
proportional to this career frequency occur.
Fig 1.9 Principle of PWM Control (MR-J2S)
1-16

1.4.2
Characteristics and principle of operation of the AC servomotor

(1)
Characteristic
The output torque of the servomotor
is proportional to the current supplied
to it. See Section (3).
Since the servo amplifier continually
detects the motor speed and executes
control to change the amount of
current supplied in accordance with
the speed deviation, the servomotor is
able to produce a constant torque
from low speeds to high speeds. The
torque characteristics of a servomotor
Fig 1.12 Torque characteristics of a
operated in combination with a servo
servomotor (MELSERVO-J Series)
amplifier are shown in the figure to
the right.
(2)
Principle of operation
All motors, whether large or small
operate according to the same
principle: when a current is passed
through a conductor in a magnetic
field, a force whose direction can be
determined by using Flemings lefthand rule- is imparted to the
conducted (see the figure to the right).
The SM type (synchronous) AC
servomotor has permanent magnets as
its rotor and windings through which
the current is made to flow as its
stator; the current passed through the
stator windings is controlled in order
to achieve the required rotor motion
(rotational speed and direction, output
torque).
1-17
Principle by which motor

Torque is generated
Principle of Operation of SM
Type AC Servomotor

The amplifier transistors are switched ON
and OFF so as to supply current to each
motor winding when it is perpendicular to the
magnetic flux from the rotor magnet. The
applied voltage is switched at a frequency of
several kilohertz, and the current is smoothed
by the reactance of the windings and take the
form of a sine wave. The intervals during
which the winding voltage is plus and minus
are known from the magnetic pole position
detection signal which emitted by the
detector connected directly to the motor shaft
Since this system ensures that the magnetic flux and current flow are always
perpendicular to each other, the problem of getting out of step that affects normal
synchronous motors does not occur. The generated torque T, determined by the
following formula:
T = K1 Ia .(1-1)
Is proportional to the winding current, Ia, while the rotational speed, determined
by the following formula:
V - Ia Z (1-2)
N=
K2
Is proportional to the applied voltage, V.
Meaning of symbols:
T: torque; la: current; N: rotational speed; K1K2: constants
V: applied voltage; : magnetic flux; Z: winding resistance
(3)
Principle of the IM (induction motor) type of AC servomotor

The principle of torque generation is the
same for an induction motor as it is for a
synchronous motor. However, as can be seen
from the cross sectional diagram to the right,
the rotor does not incorporate a permanent
magnet which means that separate supply of
current, Ia, and magnetic flux, , (see
equation (1-1) and (1-2)) is impossible. In
this type of motor, current is passed through
the rotor windings and torque is generated by
the current caused to flow in the rotors
grooves due to electromagnetic inductance
Fig. 1.14 Cross section of
and the magnetic flux created by the stator
IM type AC servomotor
winding current.
1-18

Both torque current and magnetic flux current flow in the stator windings.
The relationship between the two is expressed by the following formula:
I1 = Ia + Ib ..(1-3)
I1: Stator winding current
Ib: Magnetic flux current
Ia: Torque current
Note: The equation above represents a vector sum, no an arithmetic sum.
The two currents in an IM type AC servomotor must be controlled

separately; this form of control is called vector control. Vector control
gives an IM type AC servomotor the same torque characteristics as an SM
type AC servomotor.
(4)
Types of servomotor and their characteristics

There are two main type of servomotor AC servomotor and DC
servomotors- but the category of AC servomotor is further divided into the
SM type (synchronous motors) and the IM type (inductance motors).
Table 1.2 indicates the configuration and characteristics of each type of
servomotor.
Table 1.2
Type
SM type AC
servomotors
IM type AC
servomotor
DC
servomotor
Configuration
Advantages
Characteristics
Disadvantages
Maintenance-free
Excellent resistance to adverse
environmental conditions
Large torque is possible
Dynamic braking possible
when power is cut
Light and compact
High power rate
The servo amplifier is somewhat

more complex than that of a DC
motor
A 1:1 correspondence between the
motor and servo amplifier is required
The magnet can become
demagnetized.
Maintenance-free
Excellent resistance to adverse
environmental conditions
High speed/Large torque is
possible
Large capacity combined with
high efficiency
Sturdiness construction
The servo amplifier is somewhat

more complex than that of a DC
motor.
Braking is not possible when the
power is cut off.
Characteristics change with
temperature.
A 1:1 correspondence between the
motor and servo amplifier is required
Maintenance and periodic inspections
are required to ensure proper
commutator circumference.
Debris is created as the brushes wear;
not suitable for clean locations.
Cannot be used at high speed with a
large torque due to the commutator
brushes.
The magnet can become
demagnetized.
Simple construction of the

servo amplifier
Dynamic braking possible
when the power is cut
Low cost (for low capacity
models)
High power rate
1-19

The servomotors growing base on DC motors that is liable to control. However,
with the development of electronic devices, and the microprocessor in particular,
it became possible to execute complex control faster and more cheaply, and the
market shifted to maintenance-free, easily manufactured AC motors; currently,
SM type AC servomotors are used in place of DC motors for most applications
requiring more than 0.4KW. IM type AC motors are sturdy constructed and can
combine large size with high speed. Since their efficiency improves as their
capacity increases, they are mainly used for applications requiring 7.5KW or
more. Due to improvements in their suitability for high-accuracy applications,
their use is increasing in large-scale production lines; an area formerly dominated
by DC motors and vector control inverters. DC servomotors have the advantage
that small capacity models can be produced cheaply, and because of this they
continue to be used mainly for applications requiring less than about 80W. Fig.
1.15 shows the recent development in the use of servomotors.
Capacity
IM type AC servomotor
55
22
11
(kW)
1
0. 1
SM type AC servomotor
DC servomotor
0. 01
1980
1985
1990
1995
2000
Figure 1.15 Recent development in the use of servomotors

1.4.3
Principle of operation of encoder

As explained previously, in servo control the actual value (motor speed, position)
is feedback for comparison with the command value and control is executed to
reduce the deviation between the two.
(1)
Construction of encoders
The construction of the most commonly used type of detectors is shown
below.
1-20

(2)
Function of encoders and the signal types

The three major functions of encoders mounted on servomotors are:
1) Detection of the motor position
2) Detection of the motor speed
3) Detection of the magnetic pole position of the motor (does
not apply to IM type AC servomotors and DC servomotors)
A 2-phase pulse output incrementally as the motor rotates is used for
functions 1) and 2).
For position and speed detection
Several thousand pulses per revolution
(number differs according to the motor)
Used for home position return etc.
1 pulse per revolution
For detecting position magnetic pole
1.4.2.1.1.1 pulse per revolution

2
(not used with IM type AC servomotors

or DC servomotors)
Fig 1.17 Encoder Signals

(3)
Interface for encoder signals

The two types of interface shown below can be used for encoder output
signals. Recently, the differential driver output system, which has the
advantage of reliable signal transmission, has become the more commonly
used.
Waveforms tend to be dulled during
transmission over long distances.
Badly affected by noise.
High frequency transmission is

possible.
Resistive against noise.
1-21

(4)
Absolute position encoders

Fitting absolute position encoders to motors is becoming an increasingly
common practice. The reasons for this include the need to improve timeefficiency (an absolute position detection system makes it unnecessary to
perform a home position return operation after the power has been cut
off). Since an absolute position
detection system must be able to
determine the rotational position
when the power is switched ON, the
encoder has to output another signal
in addition to the increment signals.
(A,B) introduced in (2) above. This
signal is the absolute position signal,
and in case of the encoder shown to
the right it would comprise 7 bits. A
block diagram for an absolute
position system is shown below.
Note: In addition to increment signals (phase A and B), absolute position
detectors feature absolute position detection within single motor revolutions and
a counter that counts the number of motor revolutions and a counter that count
the number of motor revolutions from the home position. Since this information
is stored in memory, once the position has been fixed by performing a home
position return operation the servo amplifier and controller always know the
motor position even if the power is switched OFF.
This means that is only necessary to perform a home position return operation
after switching the power ON once; position and speed control can be continued
without repeatedly performing home position return operations.
Fig 1.20 Block Diagram of Absolute Position System.
1-22
2. POSITIONING CONTROL USING AC SERVO

2.1
2.1.1
Positioning Method and Stopping Accuracy

Types of positioning
There are two types of method for stopping the moving part at a fixed
position within a required accuracy: mechanical methods and electrical
methods. Examples of mechanical methods include use of a stopper
(inverter stopper control and AC servo torque limit are used up until the
point the moving parts makes contact with the stopper). And forced
positioning by trapping the moving part (using a cylinder-actuated
mechanism, for example), but when these methods are used the moving
parts can only be stopped at particular positions. In contrast, the electrical
method makes use of a position sensor that make it easy to stop at any
required position. Electrical positioning can also be divided into a variety
of types depending on the methods used for position detection and control,
but there are two major methods- the speed control method and the
position control method.
(1)
Speed control methods

The motor is not equipped with the position output device but there
is a device for positioning purposes (such as limit switch) installed
in the machine.
(2)
Position control methods

There is no device for position detection in the machine, but the
detector fitted to the servomotor is capable of precise position
control.
These two types of method are compared in Table 2.1.

Table 2.1 Comparisons of Positioning Methods
Method
Limit switch method
Speed Control
Method
type
Description
Schematic Diagram
A limit switch is located at a point past

which the moving part traverses; when the
moving part actuates this switch, the switch
outputs a signal that stops the motor.
Generally, two switches are used; the signal
from the first causes the motor to reduce to
low speed and the signal from the second
switches the motor OFF and causes
application of a brake that stops the moving
part.
Since this method does not require the use of
a positioning controller and involves only
simple control, the necessary equipment can
be installed cheaply.
Guide to stopping accuracy
approx. + 0.5 to 5.0mm (Note)
2-1
Moving part
Limit switch to
Reduce the speed
B IM
Ball screw
INV
Limit switch
For stopping
High speed
Low
speed
Travel distance
IM: Induction
Motor
B: Brake
INV: Inverter
Position
control
Method
Pulse count method
Speed control
Method
type
Pulse
count
method
Description
Schematic Diagram
A pulse generator (pulse encoder) that

detects the position of a revolving shaft is
fitted to the shaft of the motor that drives the
moving parts, and the number of pulses
output by the encoder is counted by a high
speed counter. The number of pulses is
proportional to the distance moved, and
when the counter reaches the set count value
it output a stop signal to stop the moving
part.
When this method is used the system can be
configured without using devices such as
limit switches and the stopping position such
as limit switches and the stopping position
can be changed easily.
(High-speed counter units such as the
Melsec-A series AD61 can be used in such
system)
approx. + 0.5 to 5.0mm (Note)
An AC servomotor whose rotation is
proportional to the number of pulses input is
used.
High speed positioning over distances
proportional to the number of pulses
corresponding to the travel distance to the
servo amplifier of the Ac servomotor.
(Units such as the Melsec-A series 3 axis
positioning unit AD75 can be used in such
systems.)
Command pulse input

Moving part
PLG
INV
PC
IM: Induction
Motor
PLG: Pulse
Generator
High speed
INV: Inverter
Medium
PC: Programmable
speed
controller
Low
speed
Travel distance
AD61
High speed counter
Command pulse input
Moving part
PLG
Ball screw
SM
IM: Induction
Motor
PLG: Pulse
Generator
PC: Programmable
controller
Servo
Amplif
ier
PC
approx. + 0.001 to 0.05mm
Ball screw
IM
AD75
Positioning
control unit
Travel distance
Note: The stopping accuracy indicated are based on a low speed of

between 10 mm/sec and 100 mm/sec.
2-2

2.1.2
Positioning control and stopping accuracy for speed control methods

(1)
Limit switch method
When the part whose motion is driven by the motor is to be
stopped automatically, its position is normally detected by a device
such as a limit switch and the motor is stopped by the signal from
the limit switch (generally, a brake is applied at the same time).
The graph in figure 2.1 plots the speed of the moving part (vertical
axis, mm/sec) against time (Horizontal axis, seconds); the shaded
portion of the graph is therefore the distance move in millimeters.
C
V
Speed V
[mm/sec]
S [mm]
Time
Light load
Heavy load
D [sec]
Fig 2.1 Operation (Speed) pattern
D2
D1
Fig 2.2 Dispersion of overrun distance
The overrun distance after the limit switch has been actuated
corresponds to the area of CDE, and the stopping accuracy is the
dispersion of this area of CDE. The factors that affect the stopping
accuracy (the factors that cause variation in the area of CDE) by
referring to Fig.2.2. They are changes in the stopping time, ED,
(caused by fluctuation in load torque or brake torque), fluctuation
in the speed of the moving part at point C, dispersion in the sensor
operation position at point C, and dispersion in the time delay
between sensor operation and the point at which the motor actually
starts decelerating.
It is of course necessary to keep the dispersion of these
characteristics as low as possible, but the most effective strategy is
to reduce the speed (V). Therefore, if the stopping accuracy when
the moving part is stopped while it is traveling at the normal speed
is unsatisfactory, the most common solution is to install a limit
switch (see Table 2.1) that will reduce its speed to the low speed
before it is stopped. This approach is widely used because it is
convenient and improves accuracy, but its disadvantage is the
longer time required for positioning; a longer time must be allows
because if the period of constant low speed travel (duration of
creep speed) is not made long enough, the speed of the moving
part as it passes the stop limit switch will not be stable due to
factors such as load fluctuation. Another disadvantage is that an
increase in the number of stop positions makes more sensors
necessary.
2-3
(3)
Pulse count method

An improved version of the limit switch method is the pulse count
method. This method allows selection of stop positions without
restriction and allows any number of deceleration points to be
established; this makes time reductions possible for travel over
short distances. The stopping accuracy is no better or worse than
that of the limit switch method, but since the present position of
the moving part is continually monitored it is easy to compensate if
the stop position is over shot. However, the stopping accuracy is
affected by the same factors as listed for the limit switch method
and no improvement can be expected. The method of positioning
using of a servomotor is not subject to the disadvantages described
for the other methods above. As in the pulse count method, the
position of the moving part is continually detected, and it is
stopped within the required accuracy by respected speed control as
it approaches the target position, slowing it from high speed to a
stop without any period of travel at the creep speed. This method
can be called a position control method, in contrast to the speed
control methods described above.
2-4

2.1.3
Types of position control

A servomechanism performs positioning control by continually detecting the
position and feeding back position information. The types of detection method
are shown in Table 2.2. (Note that the open loop method is not a servo control
method but is shown for the purpose of comparison with the closed loop method.)
Fig 2.2 Types of Position Control Method

Type of loop System configuration
Characteristics
Table
Stepping motor
Open loop
Positioning
controller
Servo
amplifier
Reduction gear
Motor shaft
detection
Detection at feed
screw end
Semi-closed loop
encoder
Positioning
controller
Servo
amplifier
Speed
Table
Servomotor
Simple configuration
Fastest response of all system types
Reliable control system
Reduction gear backlash has to be
compensated
Rather complex configuration

(involves a separately installed
detector).
The system is reliable to instability
caused by the reduction gears and feed
screw
Reduction gear backlash doesnt have
to be compensated
Reduction gear
encoder
Positioning
controller
Servo
amplifier
Speed
Position
detector
Table
Servomotor
Reduction gear
Position
detector
encoder
Closed loop
Positioning
controller
Speed
Table
Linear scale
Servomotor
Reduction
gear
There is no feedback so this is not

servomechanism
In the event of an overload the motor
get out of step and stops.
Only small capacity systems can be
configured.
Requires an expensive position

detector.
The system is liable to instability
caused by the reduction gears and the
feed screw, and it is not possible to
increase the speed of response.
Reduction gear backlash doesnt have
to be compensated
Because importance is placed on stability of the control system and ease of use,
MELSERVO AC servomechanisms are configured as semi-closed loop system
with the detector on the motor shaft.
2-5
2.2
Fundamentals of Positioning Control Using AC Servo
The following is an explanation of positioning control when using the pulse command.
2.2.1
Position detection and number of pulse per motor revolution

As explained in Section 2.1.3, MELSERVO series AC servomechanisms are
configured as semi-closed loop in which the motor rotational position (machine
position) is detected by an encoder (detector) that is connected directly to the
motor shaft.
The encoder generates a pulse signal in accordance with the rotation angle of the
motor and this pulse signal is input to the servo amplifier and used for position
control.(for more details on encoders, refer to section 1.3.4)
This feedback pulse becomes the standard that operates for a unit (resolution) of
movement of the machine connected with the motor, and it can perform highly
precise positioning control, so that there are many pulses per motor rotation. In
the case of the servomotor of a model HC-KFS, they are 131072 pulses (it is
expressed as 131072/rev). (Refer to section1.3.4 ).
2.2.2
Theory of servo positioning control
Position controller (AD75 series)
Servo Amplifier
The number of pulses Ap

Movements AI X magnification Am
Setting unit
1/10m
1/105inch
1/105degree
1Pulse
movements per
pulse
Ap <= 65535
AI <= 65535
Am 1, 10, 100,
1000
CMX
CDV
Command
Position
Table
Speed command
Electronic gear
Deviation
counter
Speed
lifi
SM
Ball
X4
Feedback pulse
(131072 p/rev)
PLG
Encoder
In the case of HC-KFS series
Fig. 2.3 Composition of position Servo

Positioning by the servomotor is controlling a motor so that servo amplifiers
takes in the command pulse and the feedback pulse according to motor number of
rotations at a deviation counter and the difference serves as zero, when the
command pulse is inputted from positioning controller.
2-6
For this reason, servomotor can carry out strict positioning by the command pulse.
A motion of the motor axis per command pulse to servo amplifier (machine) is to
the foundations of the positioning control by servo.
(a) The feed distance is proportional to the total number of command
pulse;
(b) The speed of a machine is proportional to the speed of the pulse train
(pulse frequency).
(c) As long as it carries out the completion of positioning in the range of
last 1 pulse and there are no position commands henceforth, it is
holding the position in the state of a servo lock.
(1) Deviation counter and amount of motor rotations
While the counter is counting up the command pulses received from the
position controller, the counter value is simultaneously decremented as the
feedback pulses are returned. When the deviation counter pulses were
large, the speed command is also large, and the motor rotates at high
speed. On approaching the target stopping position the no. of command
pulses decreases; when it reaches zero the output from the deviation
counter drops and the motor speed consequently drops too. When the
deviation counter reaches zero, the speed command value also becomes
zero and the motor stops. In other words, the output from the deviation
counter is automatically controlled so that the no. of feedback pulses(i. e.
the amount of motor rotation) is made to equal to the no. of command
pulse.
For example, for rotating motor HC-KFS of MELSERVO-J2S series of
feedback pulse 131072 p/rev 1/2, it is from positioning controller. It is
necessary to carry out a 65536 pulse input.
(2) Motor rotational speed
By control of a deviation counter, the rotation speed of a motor is
proportional to the speed of pulse train from the rotation angle of a motor
being proportional to the quantity of the pulse train.
For example, if an instruction pulse is carried out in 1 minute in
393.216X3000 rotation X 131072 pulse =393.216X106 pulses and 1
second in order to operate the motor of HC-KFS series by 3000 r/min, it is
necessary to input 393.216X106 / 60= 6553.6X103 pulses (for it to be
expressed as 6553.6kpps) from positioning instruction equipment.
Usually, it inputs using the electronic gear function by the side of
instruction equipment and servo amplifier.
2-7
(3) The completion of positioning, and servo lock

If the output (droop pulse) of a deviation counter becomes zero (i.e., if the
number of command pulses and the number of feedback pulses are in agreement),
it will become the completion of positioning. Then, there is work which is going
to make the rotation correction of the motor in the direction in which the feedback
pulse from the encoder inputs into the deviation counter if a servo motor is turned
by a certain external force, the speed command from a deviation counter come
out, it always collects, and a pulse becomes zero, and it is always going to limit to
the regular position. This function is called the servo lock.
2-8
2.3
2.3.1
Positioning Accuracy
Feed distance per pulse
The feed distance per pulse is the minimum unit which a machine motion. The
feed distance per one pulse as shown in Fig. 2.4 (1), in case a ball screw and a
slowdown machine do not have the machine system becomes like the formula (21). When machine system is except a ball screw, and when a slowdown machine
sticks, in order to calculate the feed distance per one pulse, it thinks on the basis
of feed distance (deltas) of the machine per motor 1 rotation. If the feed distance
per motor 1 rotation of Fig. 2.4 is substituted for S of a formula (2-1), the feed
distance (deltal0) can be calculated per pulse.
S
S
o =
=
(mm/pulse)
-----------(2-1)
P
f0
131072
Where Pf0 is the No. of feedback pulses per motor revolution.

However, the Pf0 values for different motor model are indicated below.
HC-PQ Motor 4000 [pulse/rev] HC-MF motor 8192 [pulse/rev]. HC-SF motor
16384 [pulse/rev].
Fig. 2.4 as following shows examples of mechanical
systems and the corresponding calculation formula.
2.3.2
Concept of overall accuracy for machines and electrical accuracy

The overall accuracy of a machine, , is the mechanical accuracy plus the
electrical accuracy.
The mechanical accuracy is set y the machines manufacturer.
The electrical accuracy depends on the feed distance per pulse - l (mm/pulse)for the machines shaft.
In a Mitsubishi MELSERVO series system, travel is finally stopped to within an
accuracy of +1 output electrical gear pulse (or +l when calculated in terms of
the machine axial motion), and the servo lock is imposed at this point. While the
servo lock is effective, the position is held provided that no command pulses are
input. Therefore, in order to ensure that the electrical accuracy l does not
affect the overall accuracy of the machine , the system is generally set so that
the following condition is satisfied:
l < (1/5 to 1/10) x (2-2)
REMARK
Overall machine accuracy, ,and feed distance per pulse, l
The feed distance per pulse, , can be determined by taking the overall accuracy
of the machine, l into consideration.
2-9
(1) Ball screw(direct connection)
(2) Ball screw( connected via gears)
(3) Rack and pinion
V
Z2
PB
Feed distance
per motor
revolution
PLG
PB
M
Z1
S = PB
S= PB
Z1
= PB
Z2
(4) Roll feed
Drive system
1
n
Z: No. of pinion teeth

(6) Driver by chain and timing belt
I /n
S = PLZ
PT
Z2
Z
PC
I /n
I /n
PL
G
S= D
S = PC Z
n
Z: No.
Z1
G
PL
Feed
distance
per motor
revolution
(5) Chain drive(direct connection)
PL
M
PLG
PL
G
Drive system
V
V
1
n
of sprocket teeth
PL
G
S = PT Z
Z1
1
=Pr Z
Z2
n
Z : No. of pulley teeth
Fig 2.4 Feed Distance per Motor Revolution for Various Mechanical Systems
2-10

2.4
Motor rotation speed at the maximum machine speed

As shown in Fig 2.5, if the mechanical system is driven by a ball screw
through gears, the motors rotational speed N (rpm) for a particular
machine speed, V (mm/min), can be determined using formula (2-3)
below
Motors rotational speed =Machine speed x
1
----------(2-3)
Ball screw lead Reduction ratio
If the ball screw lead is expressed as PB (mm) and the reduction ratio as
1/n, formula (2-3) can be expressed thus:
N = V . n [rpm]
- - - - - (2-4)
PB
If maximum machine speed, Vo is fixed, a high positioning accuracy can
be obtained and the power of the motor can be used effectively by making
the motor rotational speed that corresponds to Vo as close as possible to
the rate rotational speed Nr (rpm) without exceeding it.
V
Table
Ball screw
Z2
Encoder
Servo
Motor
Pa
Z1
Ball screw load Pa [mm]
Feed distance per command pulse l [mm/pulse]
Servo
Amplifier
Reduction ratio
1/n (=Z1/Z2)
Command pulse train
Fig 2.5 Relationship between machine speed and motor speed
2-11

2.5
Command Pulses
In a positioning servomechanism, a number of feedback pulses equal to
the number of pulses input from the positioning controller is returned
during motion, and, when running steadily, the motor operates at a speed
at which the command pulses and feedback pulses balance each other out.
It must be confirmed that there is a consistent relationship between the
smallest command unit for positioning and the feed distance pr pulse (see
section 2.3.1) , and that the pulse frequency at the motors maximum
rotational speed is acceptable for both the position controller and the servo
amplifier.
2.5.1
Electronic gear function

The electronic gear function of MELSERVO-J2S series AC
servomechanisms makes it unnecessary to select a detector that matched to
the mechanical system, and allows flexible positioning. The following is a
description of the electronic gear function.
V
Positioning
controller
Command
pulse
Pc fC lC
(PC0)
Electronic
gear PC1
Command
pulse
magnification
l1
Servomotor
Deviation
counter
SM
Fc1=
Fc. CMX
CDV
CMX/CDV
=1/50 to 20
Feed screw lead, PB
Pfo
*Position feedback pulses
PLG
*1000 P/R
Pro = 1310752P/R
Fig 2.6 Electronic Gear Function

Fig 2.6 is a block diagram for the electronic gear function. A guide to this
function and the associated relational equations is presented below. For
MELSERVO-H series systems, the value of PF0 is either 8192 or 16384
p/rev, depending on the motor used, but the relational equations are the
same as those for the MELSERVO-J2S series.
Meaning of symbols in Fig 2.6
: Number of command pulse [unit = phases]
PC
PC1
: Number of deviation counter input pulses [unit = phases]
: Number of feedback pulses [unit = pulses]
Pf
: Number of feedback pulses per motor revolution [unit = p/rev]
Pf0
PC0
: Number of command pulses per motor revolution [unit = p/rev]
: Command pulse frequency [unit = pps]
fC
fC1
: Deviation counter input command frequency [unit = pps]
l
: Machine travel per feedback pulse [unit = mm/pulse]
lc
: Machine travel per command pulse [unit = mm/pulse]
CMX : Command pulse magnification numerator
CDV : Command pulse magnification denominator
2-12

(1) Relation between electronic gear setting and command pulse
(a) The number of deviation counter input is obtained by multiplying
the number of command pulses by the electronic gear ratio.
PC1 = PC . CMX
CDV
Where,
PC
PC1
CMX
CDV
- - - - - - (2-5)
: Number of command pulse [unit = pulse]

: Number of deviation counter input pulses [unit = pulse]
: Command pulse magnification numerator
: Command pulse magnification denominator
The relationship between PC and PC1 when the electronic gear ratio
(CMX/CDV) is 8 shown in Fig 2.7.
PC
PC1 = Pf
t
Fig 2.7 Input/Output Relationship at the Electronic Gear Setting section
when the gear ratio is 8
(b) The same relationship for pulse frequency:
fC
fC1
fC1 = fC . CMX
- - - - - - - (2-6)
CDV
: Deviation counter input pulse frequency [unit = pps]
(c) Since the electronic gear is configured outside the position control
loop, a resolution (l) of 0.09 degrees on the motor shaft is
always maintained regardless of the value set for the command
pulse magnification.
(d) If the value set for the electronic gear ratio is 1 or less, a single
input command pulse will not be output to the deviation counter.
A pulse will only be output when the number of the input
command pulses multiplied by the magnification factor reaches a
value of 1.
Fig 2.8
Gear ratio is
PC
PC1 = Pf
t
2-13

(e) The setting ranges for the electronic gear ratio, the numerator, and
the denominator are indicated below.
1
CMX
- - - -- -- - - - - (2-7)
< 500
50
CDV
(2) Relationship between the electronic gear ratio setting and the
mechanical system.
(a) The motor shift rotation angle that represents one unit of machine
travel is the angle corresponding to one feedback pulse.
<
PB
l0 =
- - - - - - - - - (2-8)
Pf0
(3) Since one command pulse input to the deviation counter causes a
motor rotation corresponding to one position feedback pulse, it is
possible to set the motor rotational angle per command pulse, which is
equal to machine travel, to any required values by multiplying the
command pulse by the electronic gear ratio; this makes it possible to
set units with no fraction (1 m, 10 m, etc.)
By analogy with formula (2-5), the relationship between the number of
command pulses per motor revolution, PCO, and the number of
feedback pulses per motor revolution, PCO, as follows:
CMX
Pco
= Pf0 -- - - - - - (2-5)
CDV
Formula (2-8) can be re-expressed as follows to obtain the travel per

command pulse:
PB
lo =
-----(2-8)
PC0
Combining these two relationship:

l0 =
PB
PC0
PB
Pf0
CMX
CDV
= l0
CMX
CDV
- - - - - - - (2-9)
Therefore, by setting the electronic gear ration as follows:

CMX
lc
Pf0
CDV
l0
PB
= = lc
-------
(2-11)
The travel per command pulse, lc, can be set to any value,
regardless of any consideration arising from the mechanical system
(Pf0, PB).
2-14

(4) The motor speed is determined by the pulse train frequency (fC1) input
to the deviation counter after the command pulse has been multiplied
by the electronic gear ration (a frequency of 200 kpps is equivalent to
a speed of 300 rpm). Consequently, even if the number of pulses
output from the positioning controller (the command pulse frequency)
is low, the motor can be driven at high speed by making f C1 highly.
Since the deviation counter input pulse frequency (fC1) is in balance
with the feedback pulse frequency (fF) when the motor is running at a
constant speed, the relationship between the motor speed and
electronic gear under this condition can be expressed by formula (211)
fC1 = fC
CMX
CDV
= Pf0
- - - - - - - (2-11)
60
Where,
fC
fC1
: Deviation counter input pulse frequency [unit = pps]
N
: Motor rotational speed [ unit = rpm]
It follows that the electronic gear ratio when the motor is run at a
rotational speed of N with a command pulse frequency of fc can be
obtained using this formula:
CMX
CDV
f C1
fC
1
fC
Pf0
60
- - - - - - ( 2 12)
REMARK
Functions of the electronic gear
(1) Allows the positioning accuracy l0 and the setting resolution lc to be set
independently of each other, making it possible to set units without fractions of lc.
(2) The deviation counter input pulse frequency when the motor is run at the rated
rotational speed is fixed (see equation (2-11)), but it is possible to run the motor at
lower command pulse frequencies.
2-15

Example 2.1
MR-J2S servo Amplifier
AD75 position controller

Positioning
data
Pulse No.(Ap)
Fc
Deviation
counter
CMX
CDV
Amount of movements X
magnification Am
HC-KFS Servomotor
A
SM
Pro
Unit
1/10m
1/105inch
1/105degree
1Pulse
The movements per

one pulse.
Ap 65535
Al 65535
Am =
1 10 100 1000
Ap=
?
?
Al=
Am=
The maximum pulse

command frequency
AD75P
Open collector 200kpps
Differential system 400kpps
Note: The open collector system, it
changes by wiring length. If
exceeded, it will become position
gap and alarm.
The maximum command
Electronic gear
CMX 65535
CDV 65535
CMX/CDV
1/50 500
CMX=
CDV=
?
?
X4
PLG
Sending screw lead

PB=8[mm/rev]
Servomotor
HC-KFS, 3000r/min
131072p/rev
Pf0=131072p/
PB=8mm
Speed=24m/
frequency =200kpps
Question (1) Calculate the amount L0 of machine movements per feedback 1 pulse.
Question (2) How much for the Servo amplifier side electronic gear ratio K in per
command pulse at the time of making the AD75 side electronic gear
into 1/1 and amount L0= 0.1of m[micro-m/pulse]?
Question (3) In K for which it asked with the question (2), a motor is 3000 [r/min].
What is the command pulse frequency (fc) at the time.
Question (4) What is the Servo amplifier side electronic gear ratio K at the time of
command pulse frequency 200kpps?
Question(1)
o =
Formula (2-8)
PB
Pfo
8
131072
0.061 X 10-3 (mm/pulse)

-3
When it considers as 300mm of positioning, it will become 300/0.061x10 =
4918032.787 pulses will come out.

Question(2) Formula (2-10)
CMX
Pfo
131072
1024
K = = c = 0.1X 10-3 X =
CDV
PB
8
625
c at the time of putting in the above-mentioned electronic gear

PB
CMX
8
1024
c = X = X = 0.0001 (mm/pulse)
Pfo
CDV
131072
625
2-16

When it considers as 300mm of positioning, it becomes 300/0.0001= 3 million
pulses come out.
There is the necessity of checking whether maximum command frequency
200kpps of AD75 positioning command equipment being exceeded by the
electronic gear ratio for which it asked above.
Question (3) Formula (2-11)
N
Fc1 = PfoX
60
3000
=131072 X = 6553600 ( PPS)

60
Formula (2-6)
CDV
625
F c = f c 1 = X 6553600 = 4000000 = 4000 (kpps)

CMX
1024
Command pulse frequency can exceed maximum command pulse frequency

200kpps of AD75, and cannot control it. (It asks for the Servo amplifier side
electronic gear at the time of maximum command pulse frequency 200kpps of AD75.)
Question (4) Formula (2-6)
Fc =
CDV
CMX
fc1
CMX
CDV
f c1
fc
6553600
3
200X10
4096
125
The positioning accuracy o at the time of putting in the above-mentioned electronic

gear is checked.
PB
CMX
8
4096
c = X = X = 0.002 (mm/pulse)
Pfo
CDV 131072
125
The conclusion of the example 2.1

The case of 300mm of positioning is considered.
AD75 Position controller
Position
Data
MR-J2s Amplifier
Ap=4000
Al=800XAm=
CMX=4096
CDV=125
Deviati
on
t
HC-KFS Servomotor
A
Pfo
Positioning
Command pulse
150000[pulse]
The maximum command frequency =200kpps
The number of pulses

after a Servo amplifier
electronic gear ratio
(the No. of motor
2-17
X4
PLG
Pf0=131072p/rev
The amount of
positioning movements is 300(mm)
PB=8

2.5.2
The maximum input pulse frequency
The Servo amplifier maximum input frequency becomes settled following condition.
MR-J2S series selects the value of an electronic gear by the formula (2-11) and (2-12) so
that the servomotor can be used to rated rotation speed on the maximum input pulse frequency
(open collector --200kpps, differential receiver --500kpps).
Furthermore, the maximum input pulse frequency of the whole including position
controller turns into the above-mentioned Servo amplifier and the maximum frequency with
which are satisfied of both controller. (The maximum output pulse frequency of positioning
controller is reference in Appx. 4)
Exercise 2.2
(1) How many kpps is the maximum input pulse frequency of the open collector
input of MR- J2S (3000 r/min) series?
(2) When you use the rated rotation speed of MR-J2S below on the maximum
input pulse frequency, what is the range of the electronic gear K of MR-J2S?
(3) How many kpps is the maximum input pulse frequency as MR-J2S and
the AD75 whole in the open collector input?
(1) They are 200kpps.
(2) It is the range of the value K of an electronic gear from formula (2-11), and
(2-12).
3000
3000
f c1 6553.6 X103 32768
3
f c 1 = P f 0 X =131072 X = 6553.6X10 pps 500 >k =
=
60
60
fc 200 X10 3
1000
(3) The max. frequency that is satisfied for both MR-J2S and AD75, is 200kpps.
Exercise 2.3
(1) How many kpps is the maximum input pulse frequency of the differential
driver input of MR-J2S (3000 r/min) series?
(2) When you use the rated rotation speed of MR-J2S below on the maximum
input pulse frequency, what is the range of the electronic gear K of MR-J2S?
(3) How many kpps is the maximum input pulse frequency as MR-J2S and
AD75 whole in the differential driver input?
(1) They are 500kpps.
(2) It is the range of value K of an electronic gear from formula (2-11), and (2-12).
3000
3000
fc1 6553.6X103 32768
3
f c 1 = P f o X =131072 X = 6553.6X10 pps 500 >k = 3 =
60
60
fc 500X10
2500
2-18

(3) The frequency with which are satisfied of both MR-J2S and AD75 is 400kpps.
2.6
A speed pattern and stop setting time
2.6.1 Speed pattern and performance of droop

The droop pulses are the pulses that accumulate in the deviation counter of the servo
amplifier as a result of the display between the No. of command pulses and No. of feedback
pulses received at the deviation counter. The performance of the deviation counter pulses is
shown in Fig2.9.
Command pulses
Pulses frequency
[pps]
(1)
The feedback pulses from the encoder are
(2)
t0
t1 t2
t3
t4 D
Tpsd
c1
(1) Performance between t0 and t2
Feedback Pulses
(actual form of
movement)
displayed in relation to the command pulses

due to the acceleration lag of the servomotor,
t 5 [sec ]
and the droop pulses are generated.
ts
Fig.
K
f c2.9 Speed Pattern and
Droop Pulses
f
= = (pulse)
PG1
PG1
------(2-13)
PG1: Position loop gain.
(2)
Performance between t2 and t3
The command pulses are synchronized with the servomotors rotational speed and the motor runs
with a position lag equivalent to the droop pulses obtained in formula (2-13).
(3)
The system attempts to make up the position lag equivalent to droop pulses obtained in formula
(2-13). If there are still droop pulses remaining at point t4 ( the point at which input of command pulses
finishes), the motor continues to revolve even though no command pulses are being input.
(4)
The motor continues to rotate to clear all the remaining droop pulses. The interval between t4 and
t5 is the setting time required to stop within accuracy 1 pulse.
(5)
Motor operation
Both the rotational speed of the servomotor and the droop pulses change as exponential functions
over time.
Finally, when the droop pulses have reached 1 pulse accuracy limit, the servo lock is applied.
As a result, the No. of command pulses (area ABCD) +1 is equal to the actual feed distance (area
AECF); And, the quantity of pulses that accumulate during acceleration, (1)(area ABEA) is equal to
the reduction in the No. of deviation counter pulses during deceleration, (2) (area CFDC).
2-19

Exercise 2.4
Pulse frequency
[pps]
t0
t1 t2
t3
Referring to the left figure, it can set on the following conditions as

PG 1= 36 [sec-1] collect and ask for Pulse epsilon
Fc1=Kfc =180k,18k,0.9k,72 [pps]
Also calculate the feed length from
the droop pulses(assuming that
o=0.01 [mm/pulse] in each case.)
(Electronic gear ratio k= 1/16)
t
t4
t5
[sec]
Respectively, it is as follows refer to this formula =kfc /PG1 (pulse).

kfc = 180kpps (1318r/min)
180000
= = 5000(pulse), Feed length equivalent 5000X 0.01=50(mm)
36
kfc =18kpps (132r/min)
18000
= =500 (pulse), Feed length equivalent 500 X 0.01=5(mm)
36
kfc = 0.9kpps (6.6r/min)
900
= =25 (pulse), Feed length equivalent 25 X 0.01 = 0.25(mm)
36
kfc = 72pps (0.53r/min)
72
= = 2 (pulse), Feed length equivalent 2X 0.01=0.02(mm)
36
2.6.2 Setting time (ts)

Since it finishes issuing commands, and time until position is completed and expressed a
baton time is decided in this setting time with part mounting machines, such as an inserter and molding, stop setting time is a factor with very important time shortening.
Operation pattern
Command
Pulses
comparison of J2-Super and J2 stop establishment time
Setting time
Droop pulses
Conditions: Servomotor: HC-MFS13

Servo Amplifier: MR-J2S 10A
Load inertia ratio: 3 times
Stop
Setting time
2-20
J2S
0.9 ms
J2
5 ms

(1) The view of stop setting time
Stop setting time can calculate an outline value by the model side position control
gain 1 (PG1) of model adaptive control. However, since the value of the position
control gain 1 receives influence in the situation of a machine, the value of a load
inertia moment, etc. greatly, when sending and stop setting of a high response of high
frequency operation are required, it needs to take correspondence also including the
machine system into consideration.
Stop setting time until it becomes about ten or less
pulses serves as the following formula
10 Pulse
Command
experientially.
ts
3
PG1
(sec)
If it collects in the accuracy that the

machine is demanding and a pulse enters,
even if a servomotor moves, it will consider
that it stopped and the completion signal of
positioning will be outputted.
Stop setting time affects the cycle time at the
time of high frequency positioning.
2.7
Ts
Pr5 (INP) is
set as 10.
Relationship between the machine system and response setup
2.7.1
Response setup
By the conventional control system, the position loop gain and speed loop gain of
Servo need to be adjusted according to each machine condition. Especially, to the
inertia moment ratio of load, or machine rigidity, the relation with each loop of a servo
system needed to be known enough, and adjustment sometimes took time plentifully.
In MELSERVO-H, J2S, and C series, since model adaptive control and real-time auto
tuning are performed, an ideal model part and a real loop part are automatically
adjusted to the optimal gain only by setting an auto tuning response setup as the value
corresponding to the rigidity of a machine.
About an auto tuning response setup, it can set up with a parameter.
Since MR-J2S were summarized into the table below, please make it reference.
2-21
0 pulse

Table 2.3 MR-J2S basic parameter Pr.2
Setting
value
Auto tuning
response
1~3
Low response
4~6
Low-middle
response
7~9
The standard of a machine

What has low machine rigidity? A belt, a chain drive, the large
machine of a backlash, etc.
The rigid level of an average general-purpose machine. A belt, a
chain, a rack & pinion drive, etc. The setting value at the time of
shipment.
Middle response A little high level of machine rigidity. When you want to
improve a response by the ball screw, the rigid high timing belt,
etc.
A~C
Middle-high
response
D~F
High response
The use that machine rigidity is high and positions in high

frequency.
The use, which wants for machine rigidity to be used very high,
and the position to super-high frequency.
Note) machine starts hunting, or a setting value is made small when gear sound is loud.
In raising a performance, it enlarges a setting value, such as shortening stop setting time.
2.7.2
Real-time auto tuning
If an auto tuning response setting value is set as a parameter and a servo motor is
moved, the load inertia moment at that time will be tuned up automatically, and the
gain (a position, speed) of each control loop will be set as the optimal value to the setup response setting value.
At this time, since vibration will occur or it will become unstable if the auto tuning
response setting value over a machine system is not suitable, please improve an auto
tuning setting value again.
The inertia moment result of the tuned-up load can be checked by a state display
monitor's load inertia moment ratio. The recommendation load inertia moment ratio
has restrictions of a response, regeneration energy, a dynamic brake, etc.
Usually, a load inertia moment ratio recommends 30 or fewer times as a standard to a
servo motor. (Each catalog is consulted for details.)
2-22

Although it can set up by real-time auto tuning by most machines, when there is the
necessity of adjusting to a limit, the manual carries out gain adjustment.
<Reference> The method of adjustment of a manual gain

When a load inertia moment is excessive and the tuning with it is not obtained
with a rise-and-fall axis, and when a machine cannot respond by auto tuning
response setup, the manual performs each gain adjustment for the very large
imbalanced load. For details, please refer to the section 6.3.3.
2-23
Memo
2-24
3.
POSITIONING CONTROLLER
3.1 Servo function and positioning controller

Positioning control by AC Servo is performed by the positioning controller and the Servo
amplifier that generate the command pulse sequence sharing a function as follows
respectively.
3.1.1
(1)
(2)
(3)
(4)
The function of positioning controller

The output of the command pulse equivalent to the amount of sending of a machine;
Determination of machine speed (command pulse frequency);
Determination of an operation pattern (at the time of accelerator or decelerator constant);
A theoretical machine position is memorized.
3.1.2 The function of Servo Amplifier

(1)
A pulse sequence is followed from positioning controller, and it is positioning
control to the command position;
(2)
Servo lock function;
(3)
The output function of the positioning completion signal.
3.2
A classification and composition of positioning instruction equipment
Sequencer
Positioning unit
Servo Amplifier
Forward pulse
Output Y
CMX
Sequence
program
Deviation
counter
Servomotor
Speed
command
D/A
A
converter
SM
CDV
Input X
Setting
data
Reverse pulse
Electronic
Gear
X4
PLG
Feedback pulse
Writing and readout of data
Parameter data
positioning data
Zero return data
Peripheral
equipment
Figure 3.1 Composition of a positioning system
a) The deviation counter integrates the pulse sequence taken out from the positioning unit,
this pulse collects, and D/A conversion is carried out, and quantity becomes directcurrent analog voltage, and becomes speed command;
b) The motor rotates by speed command, simultaneously, from PLG, a deviation counter is
returned and covered with a feedback pulse, and a pulse is subtracted;
c) If the pulse sequence, which has come out of the positioning unit, becomes slowdown
command, a deviation counter will collect, a pulse will be lost and a motor will stop.
3-1
3.
Servomotors are being used in an increasingly wide variety of applications and there is a
growing trend to combine them with controllers for supply as systems; these developments
account for the extremely large number of positioning systems for use with servomotors that
are currently being developed and put on the market.
Therefore, the selection of the most suitable positioning controller for a particular
application is as important a factor as the selection of the servomotor in determining the
level of system efficiency, and the performance to cost ratio, that can be achieved.
The following is a discussion of the classification and function of positioning controllers on
the basis of the concept outlined above.
(1)
Position system
A servo position system including positioning controller and Servo amplifier is as follows.
Stand-alone type
MR J2 C
----------
(1 axis controller with built-in amplifier)
MR-HACN
+
FX2N1PG
System
FX1GM
FX series
Note.
Sequencer familiar
About model type
selection, it
refers
to
Appx. 4.
FX10GM
FX2N10GM
FX20GM
+ Servo Amplifier
Servomotor
E20GM
A1SD75P -P3
A1SD75M
A series
Q series
A1SD778M
AD75P -S3
+ Servo Amplifier
Servomotor
AD75M
AD778M
Multi-axis
controller system
Motion
controller
A171SH/ A172SH
A173UH / A273UH
+ Servo Amplifier
Servomotor
(2)
The number of controlled axes
Usually, it says whether how many sets of a servomotor or servo amplifier are
simultaneously controllable by one set of positioning controller. Moreover, it is divided
into a simultaneous control system or an independent control system when it has two or
more numbers of control axes.
1 axis - - - - - A1SD75P1-S3, A1SD75M1, FX-10GM,
Controlled
MR J2 C, MR H CAN;
axes No.
2 axes - - - - - A1SD75P2-S3, A1SD75M2, FX-20GM,
3 axes - - - - - A1SD75P3-S3, A1SD75M3
4 axes - - - - - A171SH
8 axes - - - - - A172SH, A1SD778M, AD778;
32axes - - - - - A1173UH, A273UH;
(3)
Simultaneous control and independent control

3-2
3.
(a) Simultaneous control

In positioning controller with the number of control more than one axis, the function that
enable control of multiple axes simultaneously is called the simultaneous control function.
That is, control of multiple axes is made from the single program, and operation modes
(automatic, manual operation, home position return, etc.), and starting and a stop are
performed simultaneously. It is recently becoming common for controllers with this
function to feature an interpolation control capability.
(b) Independent control
The functions that have the capability to control more than one axis, the function that
enables control of the individual axes independently is called the independent control
function.
That is, control of each axis is made from each program, and operation modes (automatic,
manual operation, home position return, etc.), and starting and a stop control are executed
independently for each axis.
(4) Interpolation control
The interpolation function controls the motion of the multiple axes involved in the control
in relation to each other. The interpolation function includes liner interpolation and
circular interpolation.
(a) Liner interpolation
The multiple axes are controlled so that the start point and end point(target position) are
connected by the shortest path.
In this case, since the generated path is a straight line, the control mode is called liner
interpolation. Usually, two-axis liner interpolation and three-axis liner interpolation are
available.
Y-axis
Y -axis
End point
End point
Start point
Start point
X-axis
Z-axis
(b)
Two-axis linear interpolation
Fig. 3.2
(b)
Three-axis linear interpolation
Axis Motion in Linear Interpolation Control
3-3
X-axis
3.
Applicable
2-axis linear - - - - FX- 20GM, AD75P2-S3, AD75M2, etc;

3-axis liner - - -AD778M, A273UH,
(c)
etc. ( 2-axis is also possible)
Circular interpolation
The multiple axes are controlled so that the start point and end point(target position) are
connected by an arc. Since an infinite number of arcs can be defined if only start and end
points are specified, the radius of the arc, center of the arc and/ or direction of the arc are
specified in a program in addition to the two points so that a specific are can be defined.
End point
CW
Start point
Locus of the center

of the arcs
CCW
Fig. 3.3 Axis Motion in Circular Interpolation Control

Applicable models ----- A273UH, AD75-P2/P3-S3, AD75M2/M3, AD778,FX20GM, Etc.
(5)
Absolutely position detection
An absolutely position detector is installed in a servomotor so that the machine position is

retained in the positioning command device when the power off. This allows automatic
operation to be restarted from the present position without carrying out a home position
return after turn on the power.
The absolute positioning control system consists of a motor equipped with the absolute
position transducer, a compatible Servo amplifier, and a positioning controller.
3-4
3.
Positioning
controller
Servo amplifier
Built-in type Servo amplifier
A273UH
MR-J2B series
MR
- J2 B series
MR - H BN
series
A171SH
A172SH
MR-J2B series
A173UH
AD75M
MR
- J2 B series
MR - H BN series
Encoder
HC-MF
HC-MFS
HA-FF
HC-KFS
HC-SF
HC-SFS
HC-RF
HC-RFS
HC-UF
HC-UFS
HC-MF
A1SD75M
Note 1. Each positioning controller can combine which Servo amplifier.
(6)
The type of positioning program
The program types for each of the device types are summarized below.
Positioning
program
Sequence program ------ A1SD75, AD75, A1SD778M,

AD778;
The command only for positioning----FX- 1GM, FX10GM,
Motion program ----A273UH, A171SH, A172SH, A173UH

(NC language and an exclusive language)
Point of contact (BCD, binary)--- MR-HACN, MR- J2C.
3-5
3.
3.3
Setting data of positioning controller
The setting data of AD75P positioning controller is explained.
3.3.1
Basic parameter
Basic
Parameter
Setting Range
Group No.
Type
Unit
Item
Setting unit
1
Change
among
sequencer
is
mm
0:mm
Number
of
pulses
per
revolution (Ap)
Travel
value per
pulse
Travel value per

revolution(Al)
Pulse output mode
Direction of rotation
Speed control
Acceleration time [ 0]
Deceleration time [ 0]
Starting bais speed
Stepping motor mode
3.3.2
0.1 ~ 6553.5 m
degree
2:degree
pulse
3:pulse
~ 65535 pulse
0.00001 ~
0.65535inch
0.00001 ~
0.65535degree
Initial
Value
3
20000
1 ~65535pulse
20000
1
10
100
1000
Unit
magnification(A
m)
impossible.
Change
among
sequencer
is
possible.
inch
1:inch
0:PLS/SIGN mode
1:CW/CCW mode
2:A-phase/B-phase mode (Magnification of 4)
3:A-phase/B-phase mode (Magnification of 1)
0: Present value increases when forward pulse is output
1: Present value increases when reverse pulse is output
0.001 ~
0.01 ~
0.001 ~
600000.000
6000000.00
600000.000
inch/min
degree/min
/min
1 ~65535ms/1 ~ 8388608ms
1 ~65535ms/1 ~ 8388608ms
0.001 ~
0.01 ~
0.001 ~
600000.000
6000000.00
600000.000
inch/min
degree/min
m/min
0:standard mode
1: Stepping motor mode
0
1~
1000000
pulse/s
200000
1000
1000
1~
1000000
pulse/s
0
0
The basic parameter for a starting point return
Setting range
Unit
Item
Home position return

method
Home
position
direction
return
Zero position address

Home position return speed
Creep speed
Home position return retry
mm
inch
degree
pulse
0:Near-zero point dog method
1:Stopper stop (1) (caused by time-out of the dwell timer)
2:stopper stop(2) (caused by the zero point signal when in contact with stopper
3:Stopper stop (3) (method without near-zero point dog)
4:Count method (1) (zero point signal is used)
5:Count method (2) (zero point signal is not used)
0:Forward direction (address increases)
1:Reverse direction (address decreases)
-214748364.8 ~
-21474.83648 ~
0~
-2147483648 ~
21474.83647inch
359.99999degree
2147483647pulse
214748364.7 m
0.01 ~
0.001 ~
0.001 ~
1~
6000000.00
600000.000
600000.000
1000000
mm/min
inch/min
degree/min
pulse/s
0.01 ~
0.001 ~
0.001 ~
1~
6000000.00
600000.000
600000.000
1000000
mm/min
inch/min
degree/min
pulse/s
0:Home position return is not retried in accordance with the upper/lower limit switch.
1:Home position return is retried in accordance with the upper/lower limit switch.
3-6
Initial
Value
0
0
1
1
0
3.
3.3.3 Positioning data

Setting Range
Unit
Item
mm
Operation pattern
degree
pulse
00 : Positioning end
01 : Continuous positioning control
11 : Continuous locus control
Notation of
peripheral device
ABS linear 1
INC linear 1
Fixed-pitch feed 1
ABS linear 2
INC linear 2
Fixed-pitch feed 2
ABS circular
interpolation
INC circular
interpolation
ABS circular right
Control method
ABS circular left

INC circular right
INC circular left
Forward speed control
Reverse speed control
Forward speed/
position
Reverse speed/
position
Present value
change
JUMP instruction
Acceleration time No.

Deceleration time No.
Positioning
Absolute
address
Incremental
than
Positioning (other
travel value speed/position
inch
Initial
value
00
Description of setting
Linear control of axis 1(ABS)
Linear control of axis 2(INC)
Fixed pitch feed of axis 1
Linear control of axis 2(ABS)
Linear control of axis 2 (INC)
Fixed pitch feed of axis 2
Circular interpolation control by auxiliary
designation(ABS)
Circular interpolation control by auxiliary
designation (INC)
Circular interpolation control by center
designation(ABS, CW)
designation (ABS, CCW)
designation (INC, CW)
designation (INC, CCW)
speed control(forward)
speed control (reverse)
speed/ position switching control (forward)
point
Instruction
code
01H
02H
03H
04H
05H
06H
07H
point
08H
point
09H
point
0AH
point
0BH
point
0CH
0DH
0EH
0FH
speed/ position switching control (Reverse)
10H
Present value change
11H
JUMP instruction
12H
The acceleration time 0-3 is chosen from the inside of a basic parameter [2]
The acceleration time 0-3 is chosen from the inside of a basic parameter [2]
-214748364.8 ~
-21474.83648 ~
0~
-2147483648 ~
21474.83647inch
359.99999degree
2147483647pulse
214748364.7 m
0
0
-214748364.8 ~
214748364.7 m
-21474.83648 ~
21474.83647inch
-21474.83648 ~
-2147483648 ~
21474.83647degree
2147483647pulse
Speed/ position
switching
control
0~
0~
214748364.7 m
21474.83647inch
0~
0~
21474.83647degree
2147483647pulse
ARC.
address
Absolute
The auxiliary
or
central
point
Incremental
-214748364.8 ~
214748364.7 m
-21474.83648 ~
21474.83647inch
switching
control)
Commanded speed
Dwell time
M code
0~
359.99999degree -2147483648 ~
2147483647pulse
-21474.83648 ~
21474.83647degree
0.01 ~6000000.00
0.001 ~600000.000
0.001 ~600000.000
1 ~ 1000000
mm/min
inch/min
degree/min
pulse/s
-1(current speed: the same speed as the previous positioning data no.)
0 ~ 65535ms(the completion signal of positioning turns on this time).
Or it is jump place data No.1-600 at the time of a JUMP command.
0 ~ 32767(Or it is data No.1-10 of Conditions JUMP at the time of a JUMP command.)
3-7
0
0
0
0
0
3.
Example of a positioning data setting
Data
No.
Pattern
Control
method
Acc
[ms]
Dec
[ms]
1
2
3
4
5
6
7
8
9
10
0: End
0: End
0: End
0: End
0: End
0: End
0: End
0: End
0: End
0: End
1:ABSlinear 1
1:ABSlinear1
1:ABSlinear1
1:ABSlinear1
1:ABSlinear1
1:ABSlinear1
0:No axes
0:No axes
0:No axes
0:No axes
0:100
0:100
0:100
0:100
0:100
0:100
0:100
0:100
0:100
0:100
0:100
0:100
0:100
0:100
0:100
0:100
0:100
0:100
0:100
0:100
Address
[m]
50000.0
75000.0
100000.0
150000.0
200000.0
25000.0
0.0
0.0
0.0
0.0
3-8
Comman
d speed
[mm/min]
2000.00
2000.00
2000.00
2000.00
2000.00
2000.00
0.00
0.00
0.00
0.00
Dwell time
[ms ]
M
code
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
3.
3.4
Position command interface
Conventionally, the pulse train was the most common type of position command output
from the position command output from the positioning controller to the servo amplifier.
Recently, as software and digital control have come to be widely adopted, using
microprocessors (CPU) in the control unit, the style of position command is changing; the
ultimate type of control system integrates the positioning controller and the servo amplifier
by connecting of sophisticated and highly accurate positioning systems.
If a pulse train is used as the position command, there are several types of interface. A
summary of the types of position command interface, the corresponding models, and the
features of each type of interface is presented below.
Bus connection ------
[Positioning command equipment]
(SSC network correspondence) A171SH, A172SH, A173SH, A273

AD75M, A1SD75M;
Position command
interface
(Servo amplifier)
MR J2B, MR - HBN
Pulse sequence system -----equipment)

(General-purpose interface)
(positioning control
FX 1GM, FX 10GM, FX-20GM,

AD75P, A1SD75P
(Servo Amplifier) MR J2A, MR J2SA, MR HAN;

Point-of-contact system (Servo amplifier with a built-in
positioning function)
MR J2C, MR - HACN
(The type of pulse train interface)

(a) Forward and reverse pulse train system, and a pulse train and a direction distinction
signal system.
There are a system inputted from a separate terminal by the rotation direction as a method
of specifying the rotation direction of a motor, and a system switched with the rotation
direction distinction signal in a pulse sequence.
Moreover, it becomes 2 phase pulse train system when inputting a direct pulse sequence
from a synchronous encoder.
Phase A
pulse train
Pulse train
Pulse train for
forward rotation
Pulse train for
reverse rotation
Direction
determination sign
Forward/ reverse rotation
pulse train method of rotation
Forward
rotation
Reverse
rotation
Phase B
pulse train
Direction determination
sign method
2phase pulse train method
Fig. 3.4 Command system of rotation direction.

(b)
An open collector system and a differential driver system

3-9
3.
These two kinds exist as hardware of an interface. Although the easy open collector
system was conventionally in use, recently, the differential driver system has become
popular since it can handle high speed pulse trains and improve the noise resistance.
In connection with our company AD75, the differential formula is recommended.
[The example of hardware composition ]
Position
controller
Servo amplifier
Position
controller
Servo amplifier
Equivalent to SN75113
Driver
Receiver
Differential driver type

(Max 10M)
Open-collector type
Fig. 3.5 Example of hardware of pulse sequence
[Pulse train type]
Pulse train
Pulse train
Pulse train
Command
Differential
driver type
Open-collector Type
Fig. 3.6 Pulse sequence form
3 - 10
3.
3.5
The Basic of the Positioning Control Using a positioning controller
3.5.1
The direction of a machine motion and the servo motor rotation direction
The rotation direction of a servomotor has determined the counterclockwise rotation as

right rotation in view of the load side.
Moreover, the positive direction of mechanical motion is usually defined as the direction
in which coordinates value increase.
In order to unite the move direction of a machine, and the rotation direction of a servo
motor, when the rotation direction of a servo motor needs to be changed, the rotation
direction is set up and changed with the parameter of positioning controller etc. Since
normal operation becomes impossible, a change of the rotation direction by exchange of
direction of a servo motor terminal cannot be made.
The change method of this rotation direction is the same even if the model of positioning
controller is different.
Moreover, to check the direction of motor rotation, run the motor by using JOG functions.
Table
Ball Screw
Servomotor
The direction in which the table is moved

by the ball screw when the motor rotates
in the forward direction.
Forward
direction
(CCW)
Home
Position
The direction in which the

coordinate values of the machine
position increase
Fig. 3.7 Rotation direction of servo motor
Fig. 3.8 Example of setting of rotation direction
3 - 11
3.
3.5.2
The type of home position return
(1)
The type of home position return
manual - automatic Zero point

return
Type of home position

return
Type of zero point
Operation
The near-zero point signal OFF ON, it slows down at creep
Near zero point dog

signal
Machine home
speed, and after The near-zero point ON OFF, while stopping
position
an output pulse with the zero signal from Servo amplifier, a clear
(first zero point)
signal is outputted, a deviation counter collects, a pulse is made

into zero, and a home position return is completed.
Machine home
Creep speed is not used but the home position return to the
High-speed home
position
machine starting point only at home position return speed (high-
position return
(first zero point)
speed). The first time needs to define the machine starting point
Automatic Zero
point return
by dog type home position return.

Programming home
Home position return for
programming
position
(second zero point)
The home position return which returns to the program starting

point (standby position) set up with the parameter at home
position return speed.
Dog type home position return, high-speed home position return and home position return for programming.
Dog type home position return
home position return for programming
home position
return speed
High-speed home
position return
Creep speed
Machine home
position return
Near-zero point dog
Home position shift amount
(to be set by parameter)

home position return for programming
Machine home point
(The second home position)
Zero-point signal
3 - 12
(first home position)
3.
(2) The type of the home position return method

There are the following four kinds of the home position return methods.
operation
home position return methods
Dog type
The operation pattern of a home position return
The near-zero point dog signal OFFON, it slows

down at creep speed, and after the near-zero point dog
signal ONOFF, while stopping an output pulse with
the zero signal from Servo amplifier, a clear signal
output is carried out, a deviation counter collects, a
pulse is made into zero, and a starting point return is
completed.
home
Table
feature
Ball screw
Machine home
position
Home
position return
Servomotor
Forward
direction
Home position
return direction
position
return
Stroke end in the

reverse direction
Near-zero
point dog
Stroke end in the

forward direction
Creep speed
Operation pattern
Although cautions are required for the determination of

dog length or an attachment position enough, there is a
point with sufficient unreasonableness not starting a
machine with the sufficient repetition accuracy of a
starting point return etc.
Near-zero point dog

Zero-point signal
Clear signal
operation
Correspondence model: AD75, motion series
Dog type
home
Near-zero dog signal
home
position
Operation
Count type
Feature
position
return(2)
If a Dog signal turns on, while slowing down at The time of the number of zero signal counts (setting value =4)
home position return speed, the count start of the is shown in the following figure.
Creep speed
zero signal is carried out. Shortly after a zero
signal serves as the number of times of a setup, a
Home position return speed
pulse sequence signal output is suspended, a clear
signal is outputted to Servo amplifier, a Operation pattern
Machine home position
servomotor is stopped, and it considers as the
home position.
Feature
return (1)
Cautions are not comparatively needed for the

determination of Dog length or an attachment Zero-point signal
position. However, variation arises at the time of
Clear signal
a count start with the accuracy and starting point
return speed of repetition operation, such as a
switch used for detection of dog point. Since
repetition accuracy of a home position return is
Correspondence model: FX series
worsened by this, cautions are required.
If a Dog signal turns on, it will slow down at
creep speed from home position return speed.
Continuation starting of the home position return
on near-dog signal ON and a home position
return can also be performed. After the amount
part movement of movements specified from
near-dog signal ON, if the first zero signal is
detected, a pulse signal output will be suspended
immediately and a clear signal will be outputted
to Servo amplifier. And a servomotor is stopped
and it considers as the home position.
V
Home position
return speed
The amount of movements after

near-dog signal ON
Creep speed
t
The amount of movements after near-dog signal ON
(Move distance is set up with a parameter.)
near-zero dog signal should take
sufficient distance from the present

position.
on
determination of dog length or an attachment
Near-zero dog off
position. However, variation arises at the time of
The zero of the beginning after
a count start with the accuracy and home position
near-zero dog ON the amount of
Zero point
movements
switch used for detection of dog. Since repetition
accuracy of home position return is worsened by
this, cautions are required.
3 - 13
3.
Home position return method
home
position
return (2)
Operation
Count type
The example of the operation pattern of the home position return

creep speed from home position speed.
Continuation starting of the home position return
on near-zero dog signal ON and the home position
return can also be performed. After the amount
part movement of movements specified from nearzero dog signal, a pulse signal output is suspended
immediately and a clear signal is outputted to
Servo amplifier. And a servomotor is stopped and
it considers as the home position.
V
Home position speed
The amount of movements after

near-dog signal ON
Creep speed
t
The amount of movements after near-dog signal ON
(Move distance is set up with a parameter.)
on
Near-zero dog signal off should take

sufficient distance from the present
position.
Stopper
operation
Feature
Near-zero dog signal off
type home

determination of Dog length or an attachment
position. However, variation arises at the time of a
count start with the accuracy and starting point
switch used for detection of Dog. Thereby, since
repetition accuracy of the home position return is Correspondence model: AD75 series
worsened, the error whose cautions are about 1
required occurs.
If a near-zero dog signal turns on, while slowing

down at creep speed from home position return
speed, the count of lapsed time is started. A
stopper is made to dash and suspend a machine, a
pulse sequence signal output is suspended after
setting time (dwelling time) progress, and a clear
signal is outputted to Servo amplifier. And a
servomotor is stopped and it considers as the
starting point. If it is not after setting time
(dwelling time) progress even if a Dog signal
turns off on the way, it will not become the
completion of a home position return.
stopper
Dwelling
time
count
Dwelling time count

end (the completion of
home position return)
position
Near-zero point dog
Feature
return (1)
Torque limit
Cautions are required for the determination of
Dog length, creep speed, and setting time
(dwelling time) enough. It is necessary to make
creep speed sufficiently low in order to lessen the
shock at the time of stopping, and it needs to
apply torque restrictions to take the intensity of a
stopper or a machine into consideration enough.
Setting time (dwelling time) seasons time until a
machine reaches a stopper with time for fault load
protection of Servo amplifier to operate, and is set
as it. Furthermore, since distortion occurs and the
repetition accuracy of a home position return Correspondence model: AD75 series
becomes bad in order to make a stopper dash and
suspend a machine, cautions are required.
3 - 14
Operation
3.
Stopper
type home
position
Feature
return (2)

home position return speed, and will move further.
A stopper is made to dash and suspend a machine,
a setting torque restriction value is reached from
Servo amplifier, and a pulse output stops and
carries out the completion of a home position
return from a controller by the zero signal with the
signal (under torque restrictions) which checked
the stop state.
The same cautions as stopper type home position
return (1) is needed. Moreover, if the abovementioned torque restriction signal is not inputted
even if a Dog signal turns off on the way, it does
not become the completion of a home position
return. Setting the torque limit by AD75 or giving
a linear analog command to Servo amplifier.
Mechanical stopper
Near-zero dog
Torque limit
(completion
of
home
position
return)
Torque limit effective

Zero point signal
Deviation counter clearance
Correspondence model: AD75 series
Data set type

home position
Operation
Home position return method
Feature
return method
The example of the operation pattern of the home position return
It is the starting point return method that can be

performed in the case of a position detection
system absolutely. Let the position be the starting
point by moving a machine to arbitrary positions
by JOG operation etc., and performing a starting
point return. (A motor does not move)
After moving the machine to

the required position in the
jog mode, execute data set
to establish this position as
the home position.
JOG
After a power supply turn on before performing

home position return, it is necessary to pass a zero
point.
The error of about 1% of maximum comes out of
the present value display at the time of a power
supply OFF, and the present value display at the
time of a power supply ON by motor rotation.
The home position return data used for only
selection of the home position method, and a
setup of a home position address.
3 - 15
3.
MEMO
3 - 16
4. MELSERVO J2S PERFOMANCE AND FUNCTIONS

4.1 Function List
The following table lists the functions of this servo. For details of the functions, refer to the corresponding chapters
and sections.
Function
Description
(Note)
Control mode
Position control mode
This servo is used as position control servo.
Speed control mode
This servo is used as speed control servo.
Torque control mode
This servo is used as torque control servo.
Position/speed control change

mode
Using external input signal, control can be switched between position

control and speed control.
P/S
Speed/torque control change mode
Using external input signal, control can be switched between speed

control and torque control.
S/T
Torque/position control change

mode
Using external input signal, control can be switched between torque

control and position control.
T/P
High-resolution encoder
High-resolution encoder of 131072 pulses/rev is used as a servo motor

encoder.
P, S, T
Absolute position detection system
Merely setting a home position once makes home position return

unnecessary at every power-on.
Gain changing function
You can switch between gains during rotation and gains during stop or
use an external signal to change gains during operation.
P, S
Adaptive vibration suppression

control
Servo amplifier detects mechanical resonance and sets filter

characteristics automatically to suppress mechanical vibration.
P, S, T
Low-pass filter
Suppresses high-frequency resonance which occurs as servo system

response is increased.
P, S, T
Machine analyzer function
Analyzes the frequency characteristic of the mechanical system by

simply connecting a servo configuration software-installed personal
computer and servo amplifier.
Machine simulation
Can simulate machine motions on a personal computer screen on the

basis of the machine analyzer results.
Gain search function
Personal computer changes gains automatically and searches for

overshoot-free gains in a short time.
Slight vibration suppression

control
Suppresses vibration of 1 pulse produced at a servo motor stop.
Electronic gear
Input pulses can be multiplied by 1/50 to 50.
Auto tuning
Automatically adjusts the gain to optimum value if load applied to the

servo motor shaft varies. Higher in performance than MR-J2 series
servo amplifier.
Position smoothing
Speed can be increased smoothly in response to input pulse.
S-pattern acceleration/
deceleration time constant
Speed can be increased and decreased smoothly.
amplifier does not have sufficient regenerative capability for the
Parameter No. 7
S, T
Parameter No. 13
P, S, T
regenerative power generated.

Brake unit
Used when the regenerative brake option cannot provide enough

regenerative power.
Can be used with the MR-J2S-500A MR-J2S-700A.
4 - 1
Parameters No. 3, 4
P, S
Used when the built-in regenerative brake resistor of the servo

Regenerative brake option
Remark
P, S, T

Function
Description
(Note)
Remark
Control mode
Return converter
Used when the regenerative brake option cannot provide enough

regenerative power.
Can be used with the MR-J2S-500A MR-J2S-700A.
P, S, T
Alarm history clear
Alarm history is cleared.
P, S, T
Parameter No. 16
Parameter No. 20
Parameter No. 21
Restart after instantaneous power

failure
If the input power supply voltage had reduced to cause an alarm but
has returned to normal, the servo motor can be restarted by merely
switching on the start signal.
Command pulse selection

Input signal selection
Command pulse train form can be selected from among four different
types.
Forward rotation start, reverse rotation start, servo-on and other input
signals can be assigned to any pins.
P, S, T
Torque limit
Servo motor-generated torque can be limited to any value.
P, S
Speed limit
Servo motor speed can be limited to any value.
Status display
Servo status is shown on the 5-digit, 7-segment LED display
P, S, T
External I/O signal display
ON/OFF statuses of external I/O signals are shown on the display.
P, S, T
Output signal (DO)
Output signal can be forced on/off independently of the servo status.
forced output
Use this function for output signal wiring check, etc.
Parameters
No. 43 to 48
Parameter No. 28
Parameter No. 8
to 10,72 to 75
P, S, T
Voltage is automatically offset to stop the servo motor if it does not

Automatic VC offset
come to a stop at the analog speed command (VC) or analog speed
S, T
limit (VLA) of 0V.

Test operation mode
Analog monitor output
Servo configuration software
Alarm code output
Servomotor can be run from the operation section of the servo

amplifier without the start signal entered.
Servo status is output in terms of voltage in real time.
Using a personal computer, parameter setting, test operation, status
display, etc. can be performed.
If an alarm has occurred, the corresponding alarm number is output in
3-bit code.
P, S, T
P, S, T
Parameter No. 17
P, S, T
P, S, T
Note: P: Position control mode, S: Speed control mode, T: Torque control mode
P/S: Position/speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode
4.2
Servo system with auxiliary equipment
MR-J2S series Servo amplifier has come to be able to perform all operations, such as connection with external
apparatus, a monitor and diagnosis, and setup parameter, from the button front of amplifier, as shown in the
following figure. Therefore, those works can be easily done also in the state of wearing in a board.
4 - 2
(1) MR-J2S-100A or less
(Note2)
3-phase 200V
to 230VAC power
supplyor
1-phase 230VAC
power
l
Options and auxiliary
Remark
Remark
No-fuse
Regenerative brake
Magnetic
Cable
Servo configuration
Power factor improving
No-fuse
(NFB) or fuse
Servo
f
Command
To CN1A
Junction terminal
Magnetic
contactor
(MC)
To CN1B
Power
factor
improving
reactor
(FR-BAL)
To CN3
CHARGE
Personal
computer
To CN2
L1
L2
L3
Servo
software
f
MRZJW3-SETUP121E
Protective earth(PE)
(Note1)
Encoder cable
(Note1)
Power supply
D
Control circuit terminal

L21
L11
Regenerative brake
option
P
Servo
C
Note: 1. The HC-SFS, HC-RFS series have cannon

2. A 1-phase 230VAC power supply may be used with the servo amplifier of MR-J2S-70A or less. Connect the power
L1 and L2 terminals and leave3 open.
4 - 3

(2) MR-J2S 200A
3-phase 200V
to 230VAC
power
or more
Remark
No-fuse
Regenerative brake
Magnetic
Cable
Servo configuration
Power factor improving
No-fuse
breaker
(NFB) or
fuse
Remark
Servo
lifi
Command
To CN1A
Junction
block
Magnetic
contactor
(MC)
To CN1B
Power
factor
improving
reactor
(FR-BAL)
To CN2
To CN3
Personal
computer
L11
L21
L1
L2
L3
V W
Regenerative brake
4 - 4
Servo
configuratio
software
MRZJW3SETUP121E

4.3 Installations and Operation
If a product is purchased, it will operate by building a servomotor and Servo amplifier into a machine and a control
board. Although these works is done on a product according to attached "handling description", according to a
work procedure, the flow of the whole work in the 4.3.1 and clause is explained to the 4.3.2 about the point of each
work in order.
4.3.1
The flow of the work to install and operation

4.3.2
Installation
The usual work
Test operation
Wiring
Test operation III
Test operation II
(Wiring between a motor and amplifier )
Wiring (Not include motor)
4.3.34.3.4
Turn on power supply
A personal computer
(Servo setup software)
is connected.
4.3.5
Parameter setup
Parameter setup
Parameter setup
Parameter setup
Input/Output signal check
Position Operation
4.3.8
Output signal check
4.3.9
Manual operation
4.3.10
Operation
4.3.13
4.3.13

4.3.11

Easy operation of the machine
incorporating a motor indepen-
Automatic operation
4.3.12
4.3.13
dent or the motor can be performed without the wiring fro

m external instruction equipmen
One positioning operation is

made without the wiring from
external
to the machine incorporating

a motor independent or the
motor.
It is the usual work proce-
t.
dure. The point is explained t
It perform only to check a
It perform only to check a
o 4.3.2 clause shift.
machine of operation before
machine
wiring convenient for operation
wiring convenient for operation
to be well impossible from an
to be well impossible from an
operation board, and check
The check
of only the circu
m- ference of the electric instr

uc- tion without motor
of
operation before
operation board, and check

only by Servo.
4 - 5
Automatic operation
instruction equipment
of ope
ration can be performed.

der to
perform
starting
In or
poi
nt return and automatic operati

on, it is necessary to prepare t
he electric virtual
nt.
starting poi

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

2
Vibration
[m/s ] 5.9 [m/s ] or less

2
[ft/s ] 19.4 [ft/s ] or less
(2) Installation direction and clearances
CAUTION
The equipment must be installed in the specified direction. Otherwise, a fault may
occur.
Leave specified clearances between the servo amplifier and control box inside
walls or other equipment.
(a) Installation of one servo amplifier

Control box
Control box
40mm
(1.6 in.)
or more
Servo amplifier
Wiring clearance
70mm
(2.8 in.)
Top
10mm
(0.4 in.)
or more
10mm
(0.4 in.)
or more
Bottom
40mm
(1.6 in.)
or more
4 - 6

(b) Installation of two or more servo amplifiers
Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and
install a fan to prevent the internal temperature of the control box from exceeding the environmental conditions.
Control box
100mm
(4.0 in.)
or more
10mm
(0.4 in.)
or more
Servo
amplifier
30mm
(1.2 in.)
or more
30mm
(1.2 in.)
or more
40mm
(1.6 in.)
or more
(c) Others
When using heat generating equipment such as the regenerative brake option, install them with full consideration
of heat generation so that the servo amplifier is not affected.
Install the servo amplifier on a perpendicular wall in the correct vertical direction.
(3) Keep out foreign materials

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

(a) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stress are not
applied to the cable connection.
(b) In any application where the servo motor moves, the cables should be free from excessive stress. For use in any
application where the servo motor moves run the cables so that their flexing portions fall within the optional
encoder cable range. Fix the encoder cable and power cable of the servomotor.
(c) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner or stamped by
workers or vehicles.
(d) For installation on a machine where the servomotor will move, the flexing radius should be made as large as
possible. Refer to section 12.4 for the flexing life.
4 - 7

[The servo motor installation.]
(1)
Environmental condition
Environment
Ambient temp.
Ambient
humidity
Storage
temp.
Storage
humidity
Ambient
Altitude
Vibration
Conditions
0 to +40 (Non- freezing)
80% RH or less (Non-condensing)
-15 to +70 (Non- freezing)
90% RH or less (Non-condensing)
Indoors (no direct sunlight)
Free from corrosive gas, flammable gas, oil mist, dust and dirt
Max. 1000m(3280 ft) above sea level
HC-KF series
HC-KFS series
HC-MF series
HC-AQ series
HC-MFS series
X,Y49m/s2(5G)
HA-FF series
HC-UFS1373
HC-UF1373
HC-SFS81
HC-SF81
HC-SFS52152
HC-SF52152
HC-SFS53153
X,Y24.5m/s2(2.5G)
HC-SF53153
HC-RFS series
HC-RF Series
HC-UFS72152
HC-UF72152
HC-SF121201
HC-SFS121201
HC-SF202352
HC-SFS202352
X24.5m/s2(2.5G)
HC-SF203353
Y49m/s2(5G)
HC-SFS203353
HC-UF202502
HC-UFS202
HA-LH11K2 HC-SF301
X24.5m/s2(2.5G)
HC-SFS301
22K2
HC-SF502702
Y29.4m/s2(3G)
HA-LF30K2455K24
X,Y:9.8m/s2(2G)
The amplitude of each oscillating conditions is as follows.

200
Servomotor
X
Vibration
Vibration amplitude
(both amplitudes)
100
[m]
80
60
50
40
30
20
500
1000
1500
2000
2500
Speed [r/min]
4 - 8
3000
3500

(2)
Installation orientation
The following table lists directions of installation:
Servomotor series
HC-KF
HC-MF
HA-FF
HC-SF
HC-RF
HC-UF
HC-KFS
HC-MFS
HC-SFS
HC-RFS
HC-UFS
HC-AQ
HA-LH
HA-LF
(3)
Direction of installation
Remarks
For installation in the horizontal direction, it is

May be installed in any direction recommended to set the connector section downward.
Horizontal direction with the

legs downward.
Use either the legs or flange for installation
Transportation
Do not hold encoder or shaft to carry the servomotor.
(4)
a.
Load mounting precautions

When mounting a pulley to the servo motor shaft provided with a keyway, use the screw hole in the
shaft end. To fit the pulley, first insert a double-end stud into the screw hole of the shaft, put a washer
against the end face of the coupling, and insert and tighten a nut to force the pulley in.
b.
For the servomotor shaft with a keyway, use the screw hole in the shaft end. For the shaft without a
keyway, use a friction coupling or the like.
c.
When removing the pulley, use a pulley remover to protect the shaft from impact.
d.
To ensure safety, fit a protective cover or the like

on the rotary area, such as the pulley, mounted to
the shaft.
e.
When a threaded shaft end part is needed to mount
Servomotor
Double-end stud
a pulley on the shaft, please contact us.

f.
During assembling, the shaft end must not be

hammered.
g.
cannot be changed.
h.
Nut
To orientation of the encoder on the servomotor

Pulley
For installation of the servo motor, use spring

washers, etc. and fully tighten the bolts so that they
do not become loose due to vibration.
4 - 9
Washer

(5)
Permissible load for the shaft

(a) Use a flexible coupling and make sure that the misalignment of the shaft is less than the
permissible radial load;
(b) When using a pulley, sprocket or timing belt, select a diameter that will fit into the permissible
radial load.
(c) Do not use a rigid coupling as it may apply excessive bending load to the shaft, leading to shaft
breakage.
(note 1)
L []
Servomotor
HC-MF
HC-MFS
Permissible Radial Load

[N]
(Note2) [kgf]
Permissible Thrust Load

[N]
(note2) [kgf]
05313
25
88
9.0
59
6.0
2343
30
245
25.0
98
10.0
73
40
392
40.0
147
15.0
053
30
108
11.0
98
10.0
13
30
118
12.0
98
10.0
2333
30
176
18.0
147
15.0
4363
40
323
33.0
284
29.0
81
55
980
100.0
490
50.0
121301
79
2058
210.0
980
100.0
HC-SF
52152
55
980
100.0
490
50.0
HC-SFS
202702
79
2058
210.0
980
100.0
53153
55
980
100.0
490
50.0
203353
79
2058
210.0
980
100.0
HC-RF
103203
45
686
70.0
196
20.0
HC-RFS
353503
63
980
100.0
392
40.0
72152
55
637
65.0
490
50.0
202
65
882
90.0
784
80.0
HC-UF
352502
65
1176
120.0
784
80.0
HC-UFS
13
25
88
9.0
59
6.0
2343
30
245
25.0
98
10.0
73
40
392
40.0
147
15.0
HA-FF
HA-LH
11K2
85
2450
250
980
100.0
15K222K2
100
2940
300
980
100.0
2343
30
245
25.0
98
10.0
0135
16
34
3.5
14
1.5
0235
16
44.0
4.5
14
1.5
HC-KF
HC-KFS
HC-AQ
HA-LF
0335
16
49
5.0
14
1.5
30K243724
140
3234
330
1470
150
45K2455K24
140
1900
500
1960
200
Note1. For the symbols in the table, refer to the following diagram:
L
Radial Load
L: Distance from flange mounting surface to load center

Thrust load
2. It is a reference value.
4 - 10

(6)
Protection from oil and water

(a) The servomotor of a right table is not
waterproofing structure. The Oil and water
Servo motor series
should get down to a servomotor and please do
HC-KFHC-MF
not start. Especially, HC-AQ, HC-KF, HC-MF,
HC-AQHC-KFSHC-MFS
IP55
HA-LH
JP44
Protection
IP44
HA-LFHA-FF
HC-KFS, HC-MFS should not require the oil and

water for an axial penetration part.
Gear
Servomotor
Oil or water
Height above
oil level
Lip
Servomotor
V - ring
(b) When the gearbox is mounted horizontally, the oil level in the gearbox should always be lower
than the oil seal lip on the servo motor shaft. If it is higher than the seal lip, oil will enter the
servomotor, leading to a fault. Also, provide a breathing hole in the gearbox to hold the internal
pressure low. The HC-MF series servomotor is not equipped with a V-ring or an oil seal and cannot b
eused with the gearbox as described above. Oil should be shut off on the gearbox side.
The HA-FF series servomotor equipped with an oil seal is available. Please contact Mitsubishi.
Height level h
Servomotor
HA-FF
053, 13
23 , 33
12
Height level h
Servomotor
(mm)
HC-UF
(mm)
72 , 152
20
202 ~ 502
25
13
12
43, 63
14
81
20
23 , 43
14
121 ~ 301
25
73
20
HC-SF
52 ~ 152
20
11K2
30
HC-SFS
202 ~ 702
25
15K2 , 22K2
40
53 ~ 153
20
30K24 , 37K24
45
203 ~ 353
25
45K24 , 55K24
48
103 ~ 503
20
HC-RF
HC-RFS
HC-UFS
HA-LH
HA-LF
4 - 11

(c) When installing the servomotor horizontally, face the power cable and encoder cable downward. When installing the servomotor vertically or obliquely, provide a trap for the cable.
Cable trap
(d) Do not use the servomotor with its cable socked

in oil or water. (Figure on the right)
cover
Servo
motor
Oil/water pool
(Incorrect) Capillary phenomenon
(e) When the servomotor is to be installed with

the shaft end at top, provide measures to
prevent oil from entering the servomotor fro
m the gearbox, etc.
Gear
Lubricating
oil
Servomotor
(7) Cooling fan

The HA-LH and HA-LF servomotors have a cooling fan. Leave the following distance be
tween the servomotors suction face and the wall.
L or longer
Servomotor
Servomotor series
Distance L
HA-LH
HA-LH
50 mm
Cooling fan
Wind
150 mm
4 - 12

(8) Cable stress
a.
Please fully consider the clamp method of a cable and crookedness stress and cable prudence
stress do not join a cable connection part.
b.
Please an impossible stress does not join a cable for the use which a servo motor moves. When
a servo motor moves, a cable crookedness part should become within the limits of the detection
machine cable of an option -- wiring of a detection machine cable and a servo motor is
contained by cable raise in basic wages. Please fix the detection machine cable of servo motor
attachment, and a power supply cable.
c.
The crookedness life of a detection machine cable is shown in the following figure. Please see a
margin somewhat from this in fact. When you attach in a machine which a servo motor moves,
please enlarge a crookedness radius as much as possible.
1X108
5X107
1X107
5X106
1X106
5X105
Notes . This graph is a calculati
on value. It is not a guarantee
value. Please see a margin some
what from this in fact.
1X105
5X104
1X1034
5X10
1X103
4
7 10
20
4 - 13
40
70 100
200
4.3.3
Wiring system and Power-on sequence
(1) The main circuit wiring system and a power-on procedure

(a) The following figure show the wiring of a power supply of servo Amplifier. The main circuit power supply (3 phase,
200 VAC(L1, L2, L3), single phase 230VAC(L1, L2)) connect with the electromagnetic contactor. Configure up
an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
(b) Please supply to the control circuit power supply L11, and that L21 is simultaneous with the main circuit power
supply or the point. If the main circuit power supply is not switched on, the warning will be displayed on a display
part, if the main circuit power supply is switched on, warning will disappear and will operate normally.
(c) Servo amplifier can receive a Servo-on signal (SON) in about 1s after the main circuit power up. Therefore, if
SON is turned on simultaneously with power up, a base circuit turns on 3 phase power supply after about 1s, and
further, in about 20ms, completion signal of preparation (RD) is turned on, making servo amplifier ready operate.
(d) If a reset signal (RES) is turned on, it becomes base interception and the servomotor shaft coasts.
(2) The example of connection
A power supply and a main circuit should wire, as shown in the following figure. Please be sure to use a no fuse breaker
(NFB) for the input line of a power supply. When you correspond to UL/C-UL standard, please use the fuse corresponding
to this standard.
RA
Emergency stop
OFF
ON
MC
MC
SK
3 phase
NFB
MC
200-230VAC
L1
L2
Single phase
AC230V
Servo Amplifier
L3
Note 1
L11
L21
Emergency stop
EMG
Servo on
SON
SG
VDD
COM
ALM
Note 2
RA
Alarm
Note 1. 1-phase 230V power supply may be used with the servo amplifier of MR-J2S-70A or less. Connect the
power supply to L1 and L2 terminals and leave L3 open.
2. Trouble(Alarm) is connected with COM in normal alarm-free condition. When this signal is switched
off, the output of controller should be stopped by the sequence program.
Figure 4.1 Main circuit wiring

4 - 14

(3)
Timing chart
SON
(1s)
Power supply
ON
OFF
Basic circuit ON
OFF
Servo on
(SON)
ON
OFF
Reset
(RES)
ON
OFF
Ready
(RD)
ON
OFF
10ms
60ms
10ms
60ms
20ms
10ms
20ms
10ms
20ms
10ms
Notes 1. A 0.8s failure signal outputs at the time of a power supply turn on ( OFF between ALM-SG).
2. The Servo on signal could be ON once power supply was turned on.
3. An alarm signal is turned on when the servo system was normal.
Fig. 4.2 Timing chart of power up
(4) The alarm occurrence timing chart

When an alarm occurs in the servo amplifier, the base circuit is shut off and the servomotor
is coated to a stop. Switch off the main circuit power supply in the external sequence. To
reset the alarm, switch the control circuit power supply off, then on. However, the alarm
cannot be reset unless its cause of occurrence is removed.
Alarm name
Memory error 1
Clock error
Memory error 2
Encoder error 1
Board error 2
Encoder error 2
Alarm code
12
13
15
16
17
20
Alarm name
Motor output ground
fault
Overvoltage
Parameter error
Overload 1
Overload 2
Watchdog
4 - 15
Alarm code
24
33
37
50
51
88888

Main circuit
control circuit
power supply
ON
OFF
Base circuit
ON
OFF
Valid
Dynamic brake
Invalid
Servo-on
(SON)
Ready
(RD)
Trouble
(ALM)
Reset
(RES)
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Power off
Brake operation
Power on
Brake operation
1s
50ms or more
Alarm occurs.
60ms or more
Remove cause of trouble.
Fig. 4.3 Alarm occurrence timing chart
(a) Overcurrent, overload 1 or overload 2

If operation is repeated by switching control circuit power off, then on to reset the overcurrent
(AL.32), overload 1 (AL.50) or overload 2 (AL.51) alarm after its occurrence, without removing
its cause, the servo amplifier and servomotor may become faulty due to temperature rise.
Securely remove the cause of the alarm and also allow about 30 minutes for cooling before
resuming operation.
(b) Regenerative alarm

If operation is repeated by switching control circuit power off, then on to reset the regenerative
(AL.30) alarm after its occurrence, the external regenerative brake resistor will generate heat,
resulting in an accident.
(c) Instantaneous power failure

Undervoltage (AL.10) occurs if power is restored after a 60ms or longer power failure of the co
ntrol power supply or after a drop of the bus voltage to or below 200VDC. If the power failur
epersists further, the control power switches off.
When the power failure is reset in this state, t
healarm is reset and the servomotor will start suddenly if the servo-on signal (SON) is on. To
prevent hazard, make up a sequence that will switch off the servo-on signal (SON) if an alarm
occurs.
(d) In position control mode (incremental)

When the alarm occurs, the home position is lost.
the alarm, make the home position return.
4 - 16
When resuming operation after deactivating
(5) Common line
The following diagram shows the power supply and its common line.
CN1A
CN1B
CN1A
CN1B
DC24V
VDD
RA
ALM .etc
COM
DO-1
SON, etc.
DI-1
SG
(Note)
OPC
PG NG
PP NP
SG
15VDC 10%
30mA
P15R
SG
Isolated
OP
LG
LA etc.
Analog input
( 10V/max. current)
Differential line
driver output
35mA max.
LAR
etc.
LG
TLA
VC etc.
SD
MO1
MO2
LG
CN3 Analog monitor output
LG
SD
RDP
RDN
SDP
RS-422
SDN
LG
SD
TXD
RS-232C
RXD
MR
CN2
MRR
Servo motor
LG
SD
SM
Ground
Note: For the open collection pulse train input. Make the following
connection for the different line driver pulse train input.
Fig. 4.4 Connection of common line
4 - 17
Servo motor encoder
(6) Interface power supply

Although DC24V are used as a power supply for digital input-and-output signals, when using the power supply VDD with
built-in amplifier, VIN-VDD is connected externally. When power supply capacity runs short, an external power supply
can be used.
For use of internal power supply
For use of external power supply
Servo amplifier
Do not connect
VDD-COM.
24VDC
VDD
COM
R: Approx. 4.7
24VDC
200mA or more
(Note)
For a transistor
Servo amplifier
VDD
COM
SON, etc.
Approx. 5mA
SON, etc.
Switch
TR
SG
Switch
V CES 1.0V
I CEO 100 A
SG
Note: This also applies to the use of the external power supply.
Fig. 4.5 Connection of interface power supply
4 - 18
24VDC
R: Approx. 4.7

4.3.4 Standard connection example
(1) Position control mode
(1-1) Connection of all input-and-output signals
Positioning module
Servo amplifier
(Note 10) 10m(32ft) max.
CN1A
Ready
COM
INPS
7
26
8
PGO(24V)
PGO(5V)
PGO COM
CLEAR
6
24
25
5
23
21
3
22
4
CLEAR COM
PULSE F
PULSE F
PULSE R
PULSE R
PULSE COM
1
19
2
20
DOG
FLS
RLS
STOP
CHG
START
COM
COM
11
12
13
14
15
16
35
36
PULSE F
PULSE COM
PULSE R
RD
COM
INP
19
9
18
CN1B
VDD
13
COM
18
ALM
RA1
19
ZSP
RA2
TLC
RA3
Trouble
LZ
5
LZR 15
CR
8
SG
10
PG
13
PP
3
NG 12
NP
2
LG
1
SD Plate
Zero speed
Limiting torque
CN1A
DC24V
CN1B
Emergency stop
LA
16
LAR
Encoder A-phase pulse

(differential line driver)
EMG
15
LB
Servo-on
SON
17
LBR
Reset
RES
14
LG
Control common
PC
14
OP
Encoder Z-phase pulse

(open collector)
Proportion control
Torque limit selection
Forward rotation stroke end
TL
P15R
LSP
16
Plate
SD
Reverse rotation stroke end
LSN
17
SG
10
Upper limit setting

Analog torque limit
P15R
11
TLA
12
MO1
LG
LG
SD
Plate
14
MO2
13
LG
10V/max. torque
2m(6.5ft) max.
Encoder B-phase pulse

A
10k
A
10k
Plate SD
Servo configuration
software
Personal
computer
2m(6.5ft) max.
Communication cable
CN3
Fig. 4.6 Connection of position control (I)
4 - 19
Monitor output
Max. 1mA
Reading in both
directions

(1-2) Connection of the minimum required input-and-output signal
In order to operate a motor, below the minimum needs to be connected. Connection of an output signal is
unnecessary.
a) Servo on -----Since it is a signal for employing the main circuit efficiently, it is required before operation to surely turn
on. If turned on, it will be in a Servo lock state.
b) Forward and reverse rotation stroke end -----Usually, it connects with limited switch (LS) in a machine end. If turned off, it will not move in the
direction. It moves to an opposite direction. When there is no machine end LS like roll feeder, please
always short-circuit between SG.
c) Forward and reverse pulse train -----If a pulse train is inputted, a motor will move according to the frequency and the number of pulses. A
Servo lock will be stopped and carried out if there is no input.
d) Reset -----It is used for release of alarm. Since, as for alarm release, the main circuit power supply OFF can also be
performed, it is not an absolutely required signal. Moreover, if a reset signal is turned on, a Servo lock
will be canceled and it will become a motor free-lancer.
e) Emergence stop -----Please be sure to connect an emergency stop signal (EMG) with SG with an emergency
stop switch (B point of contact) too hastily at the time of operation.
Servo amplifier
CN1A
<note 1>
Forward pulse train
Reverse pulse train
11
9
OPC
COM
3
10
2
PP
SG
NP
8
20
CR
SG
SD
plate
CN1B
VDD
13
COM
18
ALM
19
ZSP
TLC
CN1B
Emergence stop
EMG
Servo on
SON
reset
RES
14
PC

15
CN2
TL
LSP
16
Servo
LSN
17
motor
SG
10
Encoder cable
<Note 1> This figure is connection of an open collector system. Refer to 4 - 20 pages of the connection of a
differential line driver system.
Fig. 4.7 Connection at time of position control (II)

4 - 20

(1-3) Connection of the minimum required input-and-output signal operating by AD75 / A1SD75
a) Servo on
b) Forward and reverse rotation stroke end
c) Forward and reverse pulse train - - As shown in the following figure, it connects with the
terminal of AD75 / A1SD75.
d) Reset
e) Clear --- It is used for the counter clearance at the time of a zero return.
f) Zero pulse --- It is used as a starting point signal at the time of a zero return.
g) Ready -- A Servo on state is outputted to AD75, and it is used as an interchange lock signal.
h) Emergence stop --Please be sure to connect an emergency stop signal (EMG) with SG
with an emergency stop switch (B point of contact) too hastily at the time of
operation.
Position module
AD75P
(A1SD75P )
Servo amplifier
10 M or less
CN1 A
READY
COM
INPS
7
26
8
PGO(24V)
6
24
25
5
23
21
3
22
4
PGO(5V)
PGO COM
CLEAR
CLEAR COM
PULSE FPULSE F+
PULSE RPULSE R+
PULSE F
PULSE R
19
9
18
RD
COM
INP
5
15
8
10
13
3
12
2
1
plate
LZ
LZR
CR
SG
PG
PP
NG
NP
LG
SD
1
19
2
20
CN1B
3
VDD
13
COM
18
ALM
19
ZSP
TLC
CN1B
The
15
Emergency stop
EMG
Servo on
SON
Reset
RES
14
PC
8
CN2
Encoder Cable
TL
Forward Rotation strike end
LSP
16
Servo
Reverse Rotation strike end
LSN
17
motor
SG
10
connection details about AD75/AISD75
should refer to the description of AD75/AISD75.
Fig. 4.8 Connection of position control (III).

4 - 21
(1-4) Connection of the minimum required input-and-output signal by operating in FX-10GM

a) Servo on
b) Forward and reverse rotation stroke end
c) Forward and reverse pulse train --- As shown in the following figure, it connects with the
terminal of FX-10GM.
d) Reset
c) Clear --- It is used for the counter clearance at the time of a zero return.
d) Zero pulse --- It is used as a starting point signal at the time of a zero return.
g) Ready --- A Servo on is outputted to FX-10GM, and it is used as an interchange lock
signal.
h) Emergence stop -- Please be sure to connect an emergency stop signal (EMG)
with SG with an emergency stop switch (B point of contact) too hastily at the
time of operation.
Position module
FX-10GM
Servo amplifier
CN1A
SVRDY
COM2
COM2
SVEND
COM4
PG0
1
2
12
11
14
13
24 +
VC
FPO
FP
COM5
RP
RPO
CLR
COM3
7 ,17
8 ,18
5
6
9 ,19
16
15
3
4
2 M or less
19
9
18
RD
COM
INP
4
14
1
11
9
P15R
OP
LG
OPC
COM
3
10
2
8
20
plate
CN1B
3
VDD
PP
SG
NP
13
COM
18
ALM
CR
SG
SD
19
ZSP
TLC
CN1B
15
Emergency stop
EMG
Servo on
SON
Reset
RES
14
PC
8
CN2
Encoder cable
TL
Forward rotation strike end
LSP
16
Servo
Reverse rotation strike end
LSN
17
motor
SG
10
* The connection details about FX-10GM should

refer to the description of FX-10GM.
Fig. 4.9 Connection of position control
4 - 22
(IV)
4. MELSERVO J2S PERFORMANCE AND FUNCTIONS

[ Supplementary explanation ]
1. The kind of pulse train input
As for an instruction pulse, it is common to forward or reverse pulse train by the open
collector system or the differential system, and when it is FX-10GM, FX-20GM, and AD75
P/A1SD75P, it is equivalent to this.
The following pulse train can also respond with MR-J2-Super series amplifier to set the command
pulse train form in parameter No. 21.
(1) Input pulse waveform selection
Negative logic
Pulse train form
Forward rotation
pulse train
Reverse rotation
pulse train
Reverse rotation
command
0010
AD71 (A phase)/A1SD71
FX-20GM/10GM(Default setting)
0011
L
AD71 (B phase)/A1SD71(Default
setting)
FX-20GM/10GM
PP
0012
pulse
NP
Forward rotation
pulse train
Reverse rotation
pulse train
(Default setting)
0000
PP
Arrow
AD75(A phase), A1SD75(A phase)

(Default setting)
NP
AD75(B phase), A1SD75(B phase)
PP
Pulse train
+ sign
A-phase pulse
train
B-phase pulse
train
(Note)
Remarks
NP
NP
pulse
Pr. 21 setting
PP
PP
Pulse train
+ sign
A-phase
train
B-phase
train
Positive logic
Forward rotation
command
0001
NP
PP
0002
NP
or
in the table indicates the timing of importanting a pulse train.
(2) The kind of hardware

Selection of the next composition can be performed according to the hardware of command unit.
Servo amplifier
Servo amplifier
VDD
PP
OPC
PG
PP
1.2K
NP
1.2K
NP
NG
SG
SD
SD
(a)
2.
Open collector system
(b) Differential line drive system
Torque limit
Whenever it sets up parameter No.28 (internal torque 1), the maximum torque is restricted during operation.
4-23

(2) Speed control mode
(2-1) Connection of all input-and-output signal.
Servo amplifier
CN1B
Speed selection 1
VDD
CN1A
13
COM
SP1
18
ALM
RA1
SG
10
19
ZSP
RA2
TLC
RA3
Trouble
Zero speed
Limiting torque
10m(32ft) max.
CN1B
CN1A
Emergency stop
EMG
15
COM
Servo-on
SON
Reset
RES
14
18
SA
RA5
Speed selection 2
Forward rotation start
SP2
19
RD
RA4
ST1
LZ
15
LZR
LA
16
LAR
Reverse rotation start
ST2

LSP
16
LSN
17
SG
10
Upper limit setting
P15R 11
Analog speed command

10V/rated speed
Upper limit setting
(Note 10) Analog torque limit
10V/max. torque
VC
LG
TLA
12
LB
17
LBR
LG
14
OP
P15R
Speed reached
Ready
Control common
(open collector)
Plate SD
SD
Plate
CN3
2m(6.5ft) max.
Servo configuration
software
Personal
computer
CN3
Communication cable
MO1
LG
14
MO2
13
LG
A
10k
A
10k
Plate SD
2m(6.5ft) max.
(note1) This figure is connection at the time of 0 - +10V instructions.
Fig. 4.10 Connection of speed control (I).
4-24
Monitor output
Max. 1mA
Reading in
both directions
Connection of the minimum required input-and-output signal

In order to operate a motor, below is the minimum signal that needs to be connected.
Connection of an output signal is unnecessary.
a) Servo on
---- Since it is a signal for employing the main circuit efficiently, it is required
before operation to surely turn on. If turned on, it will be in a Servo lock state.
b) Speed selection
---- It chooses whether speed commands are made into a parameter setting
value or an external analog setting value. The following figure is the case
where it is based on external analog speed instructions.
c) Forward and reverse starting

d) Reset
---- It is used as a starting signal.
------ It is used for release of alarm. Since, as for alarm release, the main circuit
power supply OFF can also be performed, it is not an absolutely required
signal. Moreover, if a reset signal is turned on, a Servo lock will be canceled
and it will become a motor free-lancer.
e) Emergence stop ------ Please be sure to connect an emergency stop signal (EMG)
with SG with an emergency stop switch (B point of contact) too
Servo amplifier
hastily at the time of operation.

CN1A
Speed selection 1
SP1
SG
10
CN1B
3
VDD
13
COM
18
ALM
19
ZSP
TLC
10m or less
CN1 B
Emergency stop
EMG
15
Servo on
SON
Reset
RES
14
Speed selection 2
SP2
ST1
ST2
LSP
16
<Note>
Upper limit setting
+10 V/Max. torque
LSN
17
SG
10
P15R
11
VC
LG
TLA
12
SD
Plate
CN2
Encoder cable
2m or less
Servo configuration
Software
Servo
Motor
Personal
Computer
30m or less
CN3
Communication cable
<Note 1>This figure is connection at the time of 0 - +10V commands.
4-25

Fig. 4.11 Connection at time of speed control ( II )
[Supplementary explanation] Composition of a speed command circuit
(1) Speed selection
(SP1, SP2)
Motor speed is decided by the setting value of a parameter (SC1, SC2, SC3), or the analog value
from the outside, and chooses either by the change of a speed setting selection signal.
Speed command
Parameter
Setting speed
SP1
SP2
Low (SC1)
ON
OFF
Middle (SC2)
OFF
ON
High (SC3)
ON
ON
OFF
OFF
External speed command (VC)
(2) Starting signal
(ST1, ST2)
Forward and reverse starting signal (ST1, ST2) perform starting and a stop of a motor. If ST1 and
ST2 are both turned off or turned on, a slowdown and the stop of are done and it will be in a Servo
lock state.
When performing a speed setup on external analog voltage, the relation between the motor rotation
direction, and voltage polarity and a starting signal becomes as follows.
Polarity of analog voltage (VC) Forward rotation start Reverse rotation start
ST1 ON
ST2 ON
Forward rotation
Reverse rotation
Reverse rotation
Forward rotation
(3) The example of external wiring

The composition of the speed command circuit by external analog voltage is shown.
When forward and reverse operation of the polarity of analog voltage are as following:
Servo amplifier
CN1
ST1
ST2
SG
10
P15R 11
1K
Speed comman
2K
VC
LG
SD
Fig. 4.12 Composition of speed command circuit I
(4) Torque Limit

By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum value
during operation.
4-26

(3) Torque control mode
Connection of all input-and-output signals
Servo amplifier
CN1B
CN1A
Speed selection 1
SP1
SG
10
VDD
13
COM
18
ALM
RA1
19
ZSP
RA2
VLC
RA3
Trouble
Zero speed
Limiting torque
10m(32ft) max.
( Emergency stop
Servo-on
CN1B
CN1A
EMG
15
SON
COM
Reset
RES
14
19
RD
Speed selection 2
SP2
LZ
RS1
15
LZR
RS2
LA
SG
10
16
LAR
Upper limit setting

Analog torque command
8V/max. torque
Upper limit setting
Analog speed limit
0 to 10V/rated speed
P15R
11
LB
TC
12
17
LBR
LG
VLA
SD
Plate
LG
OP
P15R

Control common
(open collector)
Plate SD
CN3
2m(6.5ft) max.
Servo configuration
software
1
14
Ready
RA4
Personal
computer
CN3
MO1
LG
14
MO2
13
LG
A
10k
A
10k
Plate SD
Communication cable
2m(6.5ft) max.
<Note 1>This figure is connection at the time of 0 - +8V com
Fig. 4.13 Connection of torque control
4-27
Monitor output
Max. 1mA
Reading in both
directions

[Supplementary explanation]
Torque limit and torque control
(1) Composition of the torque control circuit
Since the torque that a motor generates is proportional to current, if the current of AC servomotor is
controlled, the torque that a motor generates is controllable free.
(a) Torque
command
and generated
Usually,
although
AC servotorque
motor (synchronized type) has a little more than 300% of the maximum
torque,
while controlling
position
and of
speed,
it calls
it "torque
limited"
to the
limit
so that
torquebymay
A relationship
between theaapplied
voltage
the analog
torque
command
(TC) and
torque
generated
the
notservo
occur
beyond
arbitrary
values.
motor is shown below.
On
other hand,
torque control
thatNote
is controlled
so that
the generating
torque
of changed
motor keeps
Thethe
maximum
torquethe
is generated
at 8V.
that the torque
generated
at 8V input
can be
with
it constant to the value always exists.
parameter
No. 26.
Torque
limited
is used for protection of a slowdown machine, limited of the power at the time of
forcing operation.
A
torque control
round, will
andvary
it isabout
used, 5%when
setting
always
constant
the power
(tension) of
Generated
torque rolls
limit values
relative
to the
voltage
depending
on products.
joining material, even if speed changes. It depends for speed on generating torque and load torque.
Also the generated torque may vary if the voltage is low ( 0.05 to 0.05V) and the actual speed
isclose to the limit value. In such a case, increase the speed limit value.
The following table indicates the torque generation directions determined by the forward rotation select
ion
(RS1) and reverse rotation selection (RS2) when the analog torque command (TC) is used.
(Note) External input signals
RS2
RS1
Rotation direction
Torque control command (TC)
Polarity
0V
Torque is not generated.
CCW (reverse rotation in
CW (forward rotation in driving
driving mode/forward rotation
mode/reverse rotation in
Torque is not
in regenerative mode)
generated.
CW (forward rotation in
1
1
0
1
Polarity
regenerative mode)
CCW (reverse rotation in driving
driving mode/reverse rotation
mode/forward rotation in
in regenerative mode)
regenerative mode)
Note. 0: RS1/RS2-SG off (open)

1: RS1/RS2-SG on (short)
Generally, make connection as shown below:

Servo amplifier
RS1
RS2
SG
TC
LG
SD
8 to 8V
(b) Analog torque command offset

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

999 to 999mV
8( 8)
TC applied voltage [V]
4-28
(2) Torque limit

By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum value during
operation. A relationship between limit value and servo motor-generated torque is as in (5) in section 3.4.1. Note
that the analog torque limit (TLA) is unavailable.
(3) Speed limit
(a) Speed limit value and speed
The speed is limited to the values set in parameters No. 8 to 10, 72 to 75 (internal speed limits 1 to 7) or the
value set in the applied voltage of the analog speed limit (VLA).
A relationship between the analog speed limit (VLA) applied voltage and the servo motor speed is shown
below.
When the motor speed reaches the speed limit value, torque control may become unstable. Make the set value
more than 100r/m greater than the desired speed limit value.
Rated speed
Speed [r/min]
Forward rotation (CCW)
CCW direction
10
0
10
VLA applied voltage [V]
CW direction
Rated speed
Reverse rotation (CW)
(b) The following table indicates the limit direction according to forward rotation selection (RS1) and reverse
rotation selection (RS2) combination:
(Note) External input signals
RS1
Speed limit direction

Analog speed limit (VLA)
Polarity
Polarity
CCW
CW
CW
CCW
RS2
1
0
0
1
Note.0: RS1/RS2-SG off (open)
1: RS1/RS2-SG on (short)

Servo amplifier
2k
2k
Japan resistor
RRS10 or equivalent
4-29
SP1
SP2
SG
P15R
VC
LG
SD
Internal speed
commands
CCW
CW
Speed selection 1 (SP1), speed selection 2 (SP2) and the speed selection 3 (SP3), and
speed limit value
Choose any of the speed settings made by the internal speed limits 1 to 7 using speed selection 1(SP1), speed
selection 2(SP2) and speed selection 3(SP3) or the speed setting made by the speed limit command (VLA), as
indicated below.
Setting of parameter
No. 43 to 48
(Note) Input signals

SP3
When speed selection

(SP3) is not used (initial
SP2
Speed limit value
SP1
Analog speed command (VLA)
Internal speed command 1 (parameter No. 8)
Analog speed command (VLA)
When speed selection
(SP3) is made valid
status)
Table 4.3 SP1, SP2 and SP3, and speed instruction value
Note.0: SP1/SP2/SP3-SG off (open)
1: SP1/SP2/SP3-SG on (short)
When the internal speed limits 1 to 7 are used to command the speed, the speed does not vary
with the ambient temperature.
(c) Limiting speed (VLC)
VLC-SG are connected when the servo motor speed reaches the limit speed set to any of the internal speed
limits 1 to 3 or analog speed limit.
4-30
4.3.5
(1)
Power supply turned on

Checking
Please check again the installation and wiring which were performed by 4.3.2 & 4.3.3
before the power supply was turned on.
(1-1)
Installation
Check that the installation has been carried out as described in section 4.3.2. During the check, pay
special attention to the effects of heat generated in the panel on the ambient temperature of the
servo amplifier, to contact between the cable and heat generating devices, and to oil and water
proofing of the servomotor.
(1-2)
Wiring
Check that the wiring has been carried out as described in Section 4.3.3. During the check, pay
special attention to the main circuit connections.
The following points are the major check points. Also refer to the instruction manuals and
technical literature for the relevant equipment for further details and specific check points.
(2) Wiring
Please carry out the next check before operating.
a) Connect the right power supply to the power supply
Servo amplifier
input terminal (L1, L2, L3) of Servo amplifier.

b) The power supply wires (L1, L2, and L3) must not be
connected to the output terminals for the motor (U, V, W).
The servomotor power supply terminals (U, V, W) of the
servo amplifier match in phase with the power input
terminals (U, V, W) of servomotor.
c) Don't short-circuit the power supply terminal (U-V-W)
Servo amplifier
for servomotors and power supply input terminal (L1, L2,

L3) of Servo amplifier.
d) Ground the Servo amplifier servomotor certainly.
e) When you use a regeneration option, remove the lead
between D-P of a control circuit terminal stand. Moreover,
use the twist line.
f) When you use a stroke and a limit switch, between LSP-
Servo amplifier
C O M
(24VDC)
SG and between LSN-SG should be a short circuit in the

Control out
put signal
operation state.
4-31
RA
g) The voltage which surpasses DC24V doesn't join the

pin of connector CN1A & CN1B.
h)Don't mistake direction of the diode for surge

absorption attached in DC relay for a control
output. It breaks down, a signal is no longer
outputted, and operation of protection circuits,
such as an emergency stop, may become
impossible.
i) Don't short-circuit SD and SG of connector
CN1A & CN1B.
j) The wiring cables are free from excessive
force
Servo amplifier
SD
SG
(3) Environment
Signal cables and power cables are not shorted by wire off cuts, metallic dust or the like.
(4) Machine
a) The screws in the servo motor installation part and shaft-to-machine connection are
tight.
b) The servomotor and the machine connected with the servomotor can be operated.
4-32

(5) Power on
After thoroughly checking the checking point, a power supply will be switched on in the
following procedure.
a) Make sure the SON signal is OFF.
b) Turn ON the power supply circuit breaker.
Turn on the servo power before or

c) Press the operating preparation button to
simultaneously with the power supply to
turn the input side MC ON
the command unit such as positioning
control unit.
d) Turn ON the power to the command unit.
e) Set parameters. Section 4.3.8
f) Check the I/O signals. Section 4.3.
g) Turn the SON signals ON.

* Make sure that the speed and position commands from the command unit are 0
before turning this signal ON.
h)
Manual operation. Section 4.3.9
<Reference>
Refer to the Section 4.3.14 for the operation procedure in each operation mode.
4-33

4.3.6 Display and operation
(1) Display
Use the display (5-digit, 7-segment LED) on the front panel of the servo amplifier for status display, parameter setting,
etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation
status. Press the "MODE" "UP" or "DOWN" button once to move to the next screen.
To refer to or set the expansion parameters, make them valid with parameter No. 19 (parameter write disable).
button
MODE
Status display
Diagnosis
Expansion
parameters 1
Basic
parameters
Alarm
Expansion
parameters 2
(Note)
Cumulative feedback
pulses [pulse]
Sequence
Current alarm
Parameter No. 0
Parameter No. 20
Parameter No. 50
Motor speed
[r/min]
External I/O
signal display
Last alarm
Parameter No. 1
Parameter No. 21
Parameter No. 51
Droop pulses
[pulse]
Output signal
forced output
Second alarm in past
Cumulative command
pulses [pulse]
Test operation
Jog feed
Third alarm in past
Command pulse
frequency [kpps]
Test operation
Positioning operation
Fourth alarm in past
Parameter No. 18
Parameter No. 48
Parameter No. 83
Speed command voltage

Speed limit voltage[mV]
Test operation
Fifth alarm in past
Parameter No. 19
Parameter No. 49
Parameter No. 84
Torque limit voltage

Torque command voltage
[mV]
Test operation
Machine analyzer operation
Sixth alarm in past
Regenerative load
ratio [%]
Software version L
Parameter error No.
Effective load ratio

[%]
Software version H
Peak load ratio

[%]
Automatic VC offset
Instantaneous torque
[%]
Motor series ID
Within one-revolution
position low [pulse]
Motor type ID
Used to change the display

or data in each mode
Within one-revolution
position, high [100 pulses]
Encoder ID
Used to change the mode
UP
DOWN
5-Digit, 7-Segment LED.
MODE UP DOWN SET

Used to set date
ABS counter
[rev]
Load inertia moment

ratio [times]
Bus voltage [V]
Note: The initial status display at power-on depends on the control mode.
Position control mode: Cumulative feedback pulses(C), Speed control mode: Motor speed(r),
Torque control mode: Torque command voltage(U)
Also, parameter No. 18 can be used to change the initial indication of the status display at power-on.
Fig. 4.20 Display changes figure
4-34

(2) Status display list
The following table lists the servo statuses that may be shown:
Refer to Appendix 2 for the measurement point.
Name
Symbol
Unit
Description
Cumulative feedback
pulses
pulse
Servo motor speed
r/min
Feedback pulses from the servo motor encoder are counted and displayed. The
value in excess of 99999 is counted, bus since the servo amplifier display is
five digits, it shows the lower five digits of the actual value. Press the "SET"
button to reset the display value to zero.
Reverse rotation is indicated by the lit decimal points in the upper four digits.
The servo motor speed is displayed.
The value rounded off is displayed in 0.1r/min.
Droop pulses
pulse
pulse
Command pulse
frequency
kpps

voltage
Analog speed limit
voltage
Analog torque command
voltage
Analog torque limit
voltage
Cumulative
pulses
command
The number of droop pulses in the deviation counter is displayed. When the
servo motor is rotating in the reverse direction, the decimal points in the upper
four digits are lit.
Since the servo amplifier display is five digits, it shows the lower five digits of
the actual value.
The number of pulses displayed is not yet multiplied by the electronic gear.
The position command input pulses are counted and displayed.
As the value displayed is not yet multiplied by the electronic gear (CMX/CDV),
it may not match the indication of the cumulative feedback pulses.
The value in excess of 99999 is counted, but since the servo amplifier display
is five digits, it shows the lower five digits of the actual value. Press the "SET"
button to reset the display value to zero. When the servo motor is rotating in the
reverse direction, the decimal points in the upper four digits are lit.
The frequency of the position command input pulses is displayed.
The value displayed is not multiplied by the electronic gear (CMX/CDV).
Analog speed limit (VLA) voltage is displayed.
Analog speed command (VC) voltage is displayed.
(1) Position control mode, speed control mode
Analog torque limit (TLA) voltage is displayed.
Analog torque command (TLA) voltage is displayed.
Regenerative load ratio
The ratio of regenerative power to permissible regenerative power is displayed

in %.
Effective load ratio
The continuous effective load torque is displayed.

The effective value is displayed relative to the rated torque of 100%.
Peak load ratio
Instantaneous torque
Cy1
pulse
The maximum torque generated during acceleration/deceleration, etc.

The highest value in the past 15 seconds is displayed relative to the rated torque of
100%.
Torque that occurred instantaneously is displayed.
The value of the torque that occurred is displayed in real time relative to the rate
torque of 100%.
Position within one revolution is displayed in encoder pulses.
The value returns to 0 when it exceeds the maximum number of pulses.
The value is incremented in the CCW direction of rotation.
Within
one-revolution
position low
4-35
Display
range
99999
to
99999
5400
to
5400
99999
to
99999
99999
to
99999
800
to
800
10.00
to
10.00
0
to
10V
10
to
10V
0
to
100
0
to
300
0
to
400
0
to
400
0
to
99999

Name
Within
one-revolution
Symbol
Cy2
position high
Display
Unit
Description
100
The within one-revolution position is displayed in 100 pulse increments of the
encoder.
to
pulse
range
The value returns to 0 when it exceeds the maximum number of pulses.
1310
The value is incremented in the CCW direction of rotation.

ABS counter
LS
rev
Travel value from the home position in the absolute position detection systems
32768
is displayed in terms of the absolute position detectors counter value.
to
32767
Load inertia moment ratio
dC
0.1
Times
The estimated ratio of the load inertia moment to the servo motor shaft inertia
moment is displayed.
0.0
to
300.0
Bus voltage
Pn
The voltage (across P-N) of the main circuit converter is displayed.
0
to
450
(3) Changing the status display screen

The status display item of the servo amplifier display shown at power-on can be changed by changing the parameter No. 18 settings.
The item displayed in the initial status changes with the control mode as follows:
Control mode
Position
Position/speed
Speed
Speed/ torque
Torque
Torque/position
Status display at Power-on

Cumulative feedback pulse
Cumulative feedback pulse/ Servomotor speed
Servomotor speed
Servomotor speed/ Analog torque command voltage
Analog torque command voltage
Analog torque command voltage /Cumulative feedback pulse
4-36

(4) Diagnostic mode
Name
Display
Description
Not ready.
Indicates that the servo amplifier is being initialized or an alarm has
occurred.
Sequence
Ready.
Indicates that the servo was switched on after completion of initialization
and the servo amplifier is ready to operate.
Indicates the ON-OFF states of the external I/O signals.
The upper segments correspond to the input signals and the lower segments
to the output signals.
Lit: ON
Extinguished: OFF
The I/O signals can be changed using parameters No. 43 to 49.
Refer to section 6.6.

Output signal (DO) forced
The digital output signal can be forced on/off. For more information, refer
to section 6.7.
output
Jog operation can be performed when there is no command from the

external command device.
For details, refer to section 6.8.2.
Jog feed
The servo configuration software (MRZJW3-SETUP121E) is required for

positioning operation. This operation cannot be performed from the
operation section of the servo amplifier.
Positioning operation can be performed once when there is no command
from the external command device.
Without connection of the servo motor, the servo amplifier provides output
signals and displays the status as if the servo motor is running actually in
response to the external input signal.
For details, refer to section 6.8.4.
Merely connecting the servo amplifier allows the resonance point of the
mechanical system to be measured.
The servo configuration software (MRZJW3-SETUP121E or later) is
required for machine analyzer operation.
Positioning
Test
operation
operation
mode
Motorless
operation
Machine
analyzer
operation
Software version Low
Indicates the version of the software.
Software version High
Indicates the system number of the software.
Automatic VC offset
If offset voltages in the analog circuits inside and outside the servo
amplifier cause the servo motor to rotate slowly at the analog speed
command (VC) or analog speed limit (VLA) of 0V, this function
automatically makes zero-adjustment of offset voltages.
When using this function, make it valid in the following procedure. Making
it valid causes the parameter No. 29 value to be the automatically adjusted
offset voltage.
1) Press "SET" once.
2) Set the number in the first digit to 1 with "UP"/"DOWN".
3) Press "SET".
You cannot use this function if the input voltage of VC or VLA is
0.4V or more.
4-37

Name
Display
Description
Press the "SET" button to show the motor series ID of the servo motor
currently connected.
Motor series
For indication details, refer to the optional MELSERVO Servo Motor

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

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

Instruction Manual.
4-38

(5) Alarm mode
The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the display indicate the
alarm number that has occurred or the parameter number in error. Display examples are shown below.
Name
Display
Description
Indicates no occurrence of an alarm.
Current alarm
Indicates the occurrence of overvoltage (AL.33).
Flickers at occurrence of the alarm.
Indicates that the last alarm is overload 1 (AL.50).
Indicates that the second alarm in the past is overvoltage (AL.33).
Indicates that the third alarm in the past is undervoltage (AL.10).

Alarm history
Indicates that the fourth alarm in the past is overspeed (AL.31).
Indicates that there is no fifth alarm in the past.
Indicates that there is no sixth alarm in the past.
Indicates no occurrence of parameter error (AL.37).

Parameter error
Indicates that the data of parameter No. 1 is faulty.
Functions at occurrence of an alarm

(a) Any mode screen displays the current alarm.
(b) The other screen is visible during occurrence of an alarm. At this time, the decimal point in the fourth digit flickers.
(c) For any alarm, remove its cause and clear it in any of the following methods (for clearable alarms, refer to Section
10.2.1):
(a) Switch power OFF, then ON.
(b) Press the "SET" button on the current alarm screen.
(c) Turn on the alarm reset (RES) signal.
(d) Use parameter No. 16 to clear the alarm history.
(e) Pressing "SET" on the alarm history display screen for 2s or longer shows the following detailed information
display screen. Note that this is provided for maintenance by the manufacturer.
(f) Press "UP" or "DOWN" to move to the next history.
4-39

(6)
Operation of a display part
The LED display and push button (the following figure) of the front of amplifier perform a
display and a setup of a parameter. An operation procedure is explained below.
5-digit, 7-segment LED

MODE UP DOWN SET
(6-1) Power ON
(a)
Switched Off the Servo On (SON) signal.
(b)
It displays
the C (return pulse accumulation) to a display part to switch on a power supply (NFB).
(in the case of position control mode)
Information: The initial display while the power supply on changed by control mode.
In the case of position control mode : C (return pulse accumulation)
In the case of speed control mode : r (motor rotation speed)
In the case of torque-control mode: U (torque instruction voltage)
Moreover, the initial display at the time of a power supply ON
can be changed by parameter No.18.
(6-2) SON
signal
ON
If a Servo ON signal (SON) is turned on, it will be in the state which can be operated and a servo
motor axis will lock. (Servo lock state)
When not carrying out a Servo lock, it is not in the Servo lock state. Please check an
external sequence by diagnostic display. The check method as following:
Power ON
MODE
Pushed once
SON signal ON
It will become this display if a Sir bone is carried out.
4-40

(6-3) State display
The initial display of a state display changes with control modes. In the case of position control
mode, if the state where it is displayed first pushes <DOWN> by "return pulse accumulation", the
contents of a display will shift downward from on Fig. 4.20. <UP> If a switch is pushed, it will
return upwards.
It can choose in parameter No. 18 to give the first indication arbitrary contents.
(6-4) Diagnostic display
If the <MODE> button is pushed from state display mode, it will move to diagnostic display mode.
<UP> It unites with contents to see with the <DOWN> button.
(6-5) The display of alarm
If <MODE> button is
again
present alarm
pushed f
rom diagnostic display mode, the pre-se

ntalarm code will be
(error excessive)
* A display blinks.
( UP )
displayed to see
Alarm of once ago A
the contents of alarm history. When the

present alarm is not generated, it
(over-voltage)
dis
plays
( UP )
A
Alarm of twice ago
- (With no alarm generating)
If <UP>button is pushed, the alarm code

of 1 time ago
t ory
is
displayed, and a his-
can be seen before 6 times. As fo
r an alarm history,
after a power
Alarm was occurred

(over-speed during running)
(Note) Although other displays can be seen also in al
arm generating, the decimal point of the 4th figure blinks b
y the case in every display mode.
suppl
y OFF is saved.
(6-6)
During operation at the alarm
generating time.
Under example
effective
If alarm was happened during operation,

once
alarm will be
displayed
load
figure blinks.
from
every display screen.
4-41
alarm generating When the rate of

is seen the
decimal point of the 4th
4.3.7
PARAMETER
Digital Servo carries out a digital setup of gain adjustment, offset adjustment of an analog input-andoutput signal, etc. which were performed by conventional analog Servo with a parameter. Moreover, the
change of a function is performed outside selection in the control mode of a position / speed / torque. The
parameter table of MR-J2S type Servo amplifier is shown in the following table.
(1)
Parameter List
(The details of the operation method refer to the section 4.3.8)
The sign of the control mode column expresses the parameter used in each mode.
( S : Position control mode , S: Speed control mode , T: Torque control mode)
Table 4.7 Parameter table

No.
Symbol
Name
Control mode
Control mode, regenerative brake option selection
*STY
*OP1
ATU
Auto tuning
CMX
Electronic gear numerator
CDV
Initial
value
Unit
Setting Range
B a s i c
P a r a m e t
P, S, T
0000
0 ~ 0605h
P, S, T
0002
0 ~ 1013h
P, S
0105
1 ~ 040Fh
1 ~ 65535
Electronic gear denominator
1 ~ 65535
INP
In-position range
100
pulse
0 ~ 10000
PG1
Position loop gain 1
35
rad/s
4 ~ 2000
PST
Position command acceleration/deceleration

time constant
ms
0 ~ 20000
SC1
Internal speed command 1
100
r/min
0 ~ max speed
Internal speed command
100
r/min
0 ~ max speed
500
r/min
0 ~ max speed
500
r/min
0 ~ max speed
1000
r/min
0 ~ max speed
1000
r/min
0 ~ max speed
SC2
10
SC3
Function selection
11
STA
Acceleration time constant
S, T
ms
0 ~ 20000
12
STB
Deceleration time constant
S, T
ms
0 ~ 20000
13
STC
S - pattern acceleration/deceleration time

constant
S, T
ms
0 ~ 1000
14
TQC
Torque command time constant
ms
0 ~ 20000
15
*SNO
Station number setting
P, S, T
station
16
*BPS
Communication baudrate selection, alarm

history clear
P, S, T
0000
0 ~ 1113h
17
MOD
Analog monitor output
P, S, T
0100
0 ~ 4B4Bh
18
*DMD
Status display selection
P, S, T
0000
0 ~ 001Fh
19
*BLK
Parameter block
P, S, T
0000
0 ~ 100Eh
* : It becomes effective by power supply OFF/ON after parameter setting change.

4-42
0 ~ 31

(P: Position control mode, S: Speed control mode , T: Torque control mode)
No.
Symbol
Name
20
* OP2
Function selection
21
* OP3
Function selection
3 (Command pulse selection)

4
22
* OP3
Function selection
23
FFC
Feed forward gain
Control mode
E x p a n s i o n
ZSP
Zero speed
25
VCM
Analog speed command maximum speed
26
TLC
27
*ENR
28
TL1
29
VCO
Analog speed command offset
30
TLO
31
MO1
Unit
Setting Range
P, S, T
0000
0000
0 ~ 0012h
P, S, T
0000
0 ~ 0401h
24
Initial value
P, S, T
0
50
0 ~ 0111h
%
r/min
(Note1) 0
(r/min)
Analog speed limit maximum speed
(Note1) 0
(r/min)
Analog torque command maximum output
100
Encoder output pulses
P, S, T
4000
pulse
Internal torque limit 1
P, S, T
100
%
mV
0 ~ 100
0 ~ 10000
1 ~ 50000
1 ~ 50000
0 ~ 1000
5 ~ 16384
0 ~ 100
(Note 2)
-999
~ 999
Analog speed limit offset
(Note 2)
mV
-999 ~ 999
Analog torque command offset
mV
-999 ~999
Analog torque limit offset
mV
-999 ~999
Analog monitor ch1 offset
P, S, T
mV
-999 ~999
32
MO2
Analog monitor ch2 offset
P, S, T
mV
33
MBR
Electromagnetic brake sequence output
P, S, T
100
ms
0 ~1000
34
GD2
Ratio of load inertia moment to servo motor inertia

moment
P, S, T
70
0.1 times
0 ~3000
P a r a m e t e r S 1
35
PG2
Position loop gain 2
36
VG1
Speed loop gain 1
37
VG2
38
VIC
39
VDC
Speed differential compensation
41
*DIA
42
43
-999 ~999
35
rad/s
1 ~ 500
P,S
177
rad/s
20 ~ 8000
Speed loop gain 2
P,S
817
rad/s
20 ~ 20000
Speed integral compensation
P,S
48
ms
1 ~ 1000
P,S
980
Input signal automatic ON selection
P, S, T
0000
*DI1
Input signal selection1
P, S, T
0003
0 ~0015h
*DI2
Input signal selection2 (CN1B- Pin 5)
P, S, T
0111
0 ~0DDDh
40
For manufacturer setting
0 ~1000
0
0 ~0111h
44
*DI2
P, S, T
0222
0 ~0DDDh
45
*DI2
P, S, T
0665
0 ~0DDDh
46
*DI2
P, S, T
0770
0 ~0DDDh
47
*DI2
P, S, T
0883
0 ~0DDDh
48
*DI2
P, S, T
0994
0 ~0DDDh
49
*DI2
output signal selection 1
P, S, T
0000
0 ~0551h
Note)
1.
It is the Servo motor rated rotation speed
2.
It changes with Servo amplifier.
*:
It becomes effective by power supply OFF/ON after parameter setting change.
4-43

( P: Position control mode , S: Speed control mode , T, Torque control mode)
No.
Symbol
50
Name
Control mode
Initial Value
51
* OP6
52
Function selection
Setting Range
0000
P, S, T
0000
53
Unit
0 ~ 0100h
0000
* OP8
Function selection8
P, S, T
0000
0 ~ 0110h
54
* OP9
Function selection9
P, S, T
0000
0 ~ 1101h
55
* OPA
Function selection A
0000
1 ~ 0010h
56
SIC
57
Serial communication time-out selection
P, S, T
1 ~ 60
10
58
NH1
Machine resonance suppression filter1
P, S, T
0000
0 ~ 030Fh
59
HH2
Machine resonance suppression filter2
P, S, T
0300
0 ~ 030Fh
60
LPF
Low pass filter, adaptive vibration suppression
P, S, T
0000
0 ~ 1210h
61
GB2B
Ratio of load inertia moment to servo motor inertia moment

2
E x p a n s i o n
62
PG2B
Position control gain 2 change ratio
63
VG2B
Speed control gain 2 change ratio
P, S
70
100
10 ~200
P, S
100
10 ~ 200
64
VICB
Speed integral compensation changing ratio
P, S
100
65
*CDP
Gain change selection
P, S
0000
66
CDS
Gain change condition (note 3)
P, S
10
67
CDT
Gain changing time constant
P, S
68
0.1 times
0 ~ 3000
50 ~ 1000
0 ~ 0604h
0 ~ 9999
ms
0 ~ 100
69
CMX1
Command pulse multiplying factor numerator 2
0 ~ 65535
70
CMX2
0 ~ 65535
P a r a m e t e r
71
CMX3
72
SC4
Internal speed command
73
SC5
74
0 ~ 65535
S, T
200
r/min
0 ~ max speed
S, T
300
r/min
0 ~ max speed
SC6
S, T
500
r/min
0 ~ max speed
75
SC7
S, T
800
r/min
0 ~ max speed
76
Tl1
Internal torque limit 2
P, S, T
100
77
100
78
10000
79
10
80
10
81
100
82
100
83
100
84
Note)
1. It is the servomotor rated rotation speed.

2. It changes with Servo amplifier.
3. It is based on a setup of parameter No.65.
* : It becomes effective by power supply OFF/ON after parameter setting change.
4-44
0 ~ 100

(2)
Parameter setting chart

Position
control mode
Speed control
mode
Torque control mode
The parameter surely set up or checked

before operation.
0, 1
0, 1
0, 1
The parameter surely set up according to machine

specification and an operation pattern.
3, 4
The parameter set up if needed.
21
8 ~ 13
14
The parameter set up while carrying out machine

operation (adjustment).
The parameter which makes a setting change of

the expansion parameter.
19
19
(3)
Remarks
19
The parameter surely set up or checked before operation
If a setup is wrong, a motor will not move, or the parameter explained here becomes alarm. Please be sure to check
before operation, and when you differ from an initial value, change a setup.
(a) No. 0 ( * STY; Servo type)
Used to select the control mode and regenerative brake option.
Note.
Application of a regeneration option. With the following table, please select the regeneration option
corresponding to each Servo amplifier, and set up a parameter.
(Note) Regeneration electric power

Built-in
regeneration
resistor
MR-RB032
(40)
MR-J2S-10A
Nothing
30
MR-J2S-20A
10
30
100
MR-J2S-40A
10
30
100
MR-J2S-60A
10
30
100
MR-J2S-70A
10
30
100
300
MR-J2S-100A
20
30
100
300
MR-J2S-200A
MR-J2S-350A
Servo ampli-fier
MR-RB12
(40 )
MR-RB32
(40 )
(W)
MR-RB30
(13 )
MR-RB50
(13 )
100
300
500
100
300
500
Notes . This value is not the permission electric power of resistance.
(b) No. 1
(* OP1; Function selection 1 )
Used to select the input signal filter, Pin CN1B-19 function and absolute position detection system.
4-45
Class
No. Symbol
0
*STY
Name and function

Control mode, regenerative brake option selection
Initial
value
Unit
0000
Used to select the control mode and regenerative brake option.
Setting Control
range
mode
Refer to
P S T
Name
and
function
column.
Select the control mode.

0:Position
1:Position and speed
2:Speed
3:Speed and torque
4:Torque
5:Torque and position
Basic parameters
Selection of regenerative brake option

0:Not used
1:FR-RC, FR-BU
2:MR-RB032
3:MR-RB12
4:MR-RB32
5:MR-RB30
6:MR-RB50
8:MR-RB31
9:MR-RB51
POINT
Wrong setting may cause the regenerative brake option to burn.
If the regenerative brake option selected is not for use with the servo
amplifier, parameter error (AL.37) occurs.
1
*OP1
Function selection 1
0002
Refer to
Used to select the input signal filter, pin CN1B-19 function and absolute
Name
position detection system.
and
P S T
function
column.
Input signal filter

If external input signal causes chattering
due to noise, etc., input filter is used to
suppress it.
0:None
1:1.777[ms]
2:3.555[ms]
3:5.333[ms]
CN1B-pin 19's function selection
0:Zero Speed detection signal
1:Electromagnetic brake interlock signal
Selection of absolute position detection system
(Refer to Chapter 15)
0: Used in incremental system
1: Used in absolute position detection system
(4)The parameter surely set up according to machine specification and an operation pattern
if these parameters are wrong in a setup, the amount of movements of machine maybe out the range
under a setting value. Please be sure to set up according to specification.
4-46

(a) No.
3, 4 (CMX, CDV ; Electronic gear)
The ratio is set up by making parameter No.4 into a denominator, making parameter No. 3 as a
numerator.
Since the relation between machine specification and a ratio is indicated in detail in the Section
2.5.1.
No.
Symbol
Name and Function
Initial value
CMW
Electronic gear (command pulse magnification molecule) :
P a r a m e t e r
Class
Unit
Setting
Range
Control Mode
1 ~ 65535
1 ~ 65535
The multiplier over a command pulse input is set up.

CMX
CDV
Command pulse input

f1
position command
f2 =f1 *
1
Note.
CDV
CMX
<
50
CMX
<500 is the setting range.

CDV
A setup of the number of input pulses per servo motor 1

rotation can be changed by the following formula.
B a s i c
(For example,
HC-MFS
servomotor : 131072pulse/rev )
CMX
131072 *
[pulse/rev]
CDV
! Caution
CDV
Wrong setting can lead to unexpe

cted fast rotation, causing injury.
Electronic gear (Command pulse magnification

denominator):
Used to set the electronic gear denominator value
(5)
The parameter set up if needed

(a) Parameter No. 8, 9 10 (SC1, SC2, SC3; Internal speed command 1, 2, 3)
Used to set the internal speed command.
It is unnecessary when carrying out an analog setup from the outside.
Class
No
Symbol
SC1
Name and Function

Internal speed command 1.
The 1st velocity of internal speed instructions is set up.
Initial
value
unit
Setting
range
Control mode
100
r/min
Instant
permission
rotation speed

Basic Parameter
SC2

500
r/min
SC3

4-47
Instant
permission
rotation speed

10
1000
r/min
T
S
Instant
permission
rotation speed

(b)
Parameter No. 11,12 (STA, STB; Acceleration time constant)
Used to set the acceleration time required to reach the rated speed from 0 r/m in response to the
analog speed command and internal speed commands 1 to 7.
(Contents)
Acceleration time until it reaches rated speed, or slowdown time until it stops from rated
speed is set up to speed instructions (exterior and inside 3 speed).
If the preset command speed is lower
Speed
than the rated speed, the acceleration/

Deceleration time will be shorter.
Rated
speed
0 r/min
time
STA
STB
Parameter No. 11 setting
Class
N
o
Symbol
STA
11
Name and function

Initial
value
Unit
Setting
Range
Control Mode
ms
0 ~ 20000
S, T
Basic Parameter
Acceleration time until it reaches rated rotation speed

from zero speed is set up to analog speed instructions
and the internal speed command 1-3.
If the preset command speed is lower
Speed
than the rated speed, the acceleration/

Deceleration time will be shorter.
Rated
speed
0 r/min
time
S TA
S TB
Example:
For the servomotor HC MFS of 3000r/m rated
speed, set 3000 (3S) to increase speed from 0r/m to
1000r/m in 1 second.
12
STB
Deceleration time constant

Deceleration time until it reaches zero speed from
rated rotation speed is set up to analog speed
instructions and the internal speed instructions 1-3.
4-48

Parameter No.13 (STC; S-pattern acceleration/deceleration)
Class
No
Symbol
Name and function
Initial
value
Unit
Setting
range
Control mode
13
STC
S-pattern acceleration/ deceleration time constant:
ms
0 ~ 1000
S, T
B a s i c
Used to smooth start/stop of the servo motor

Command speed
Servomotor
Speed
P a r a m e t e r
0r/min
STC
STA
STC
STC
STB
STC
Time
STA : Acceleration time constant (Parameter No.11)

STB : deceleration time constant (Parameter No.12)
STC : S-pattern acceleration/deceleration time constant
(Parameter No.13)
2,000,000
STA or STB
>the range of STC if used to set
Long setting may produce an error in the time of the arc part for the setting of the
2,000,000
S-pattern acceleration/deceleration constant.
The upper limit value of the actual arc part time is limited by STA or STB
(Example) At setting STA=20000, STB=5000, STC=200
During acceleration: 2,000,000
= 100[ms] < 200[ms]
20000
During deceleration: 2,000,000
= 400[ms] > 200[ms]
5000
(d)
Class
Parameter No. 14 (TQC; Torque command time constant)

No. Symbol
14
TQC
Name and function

Torque command time constant
Used to set the constant of a low pass filter in response to the torque command.
Torque command
Torque
Basic parameters
After
filtered
TQC
TQC
TQC: Torque command time constant
4-49
Time
Initial
value
Unit
ms
Setting Control
range
mode
0
to
20000

(e) Parameter No. 21 (* OP3: Function selection 3 )
Used to select the input from of the pulse train input signal.
Class
No
Symbol
21
* OP3
Name and function
Initial
value
Function selection 3 (Command pulse selection) :
Unit
0000
Used to select the input from of the pulse train input signal
E x p a n s i o n
Setting
Range
Control
Mode
0000 H
~
0012 H
Command pulse train input from

0: Forward/reverse rotation
pulse train
1: Signed pulse train
2: A/B phase pulse train
Pulse train logic selection
P a r a m e t e r
0: Positive Logic
1: Negative logic
Waveform of input
Pulse train form
Forward rotation
Negative logic
Forward rotation pulse train
Reverse rotation pulse train

(Setting value: 0010)
Pulse train + sign

The input signal of pulse system
Reverse rotation
PP
NP
PP
NP
Open collector
Differential line driv

e
PP - SG
PP - PG
NP - SG
NP - NG
PP - SG
PP - PG
NP - SG
NP - NG
A phase pulse train
PP
PP - SG
PP - PG
B phase pulse train

NP
NP - SG
NP - NG
PP
PP - SG
PP - PG
NP
NP - SG
NP - NG
PP - SG
PP - PG
NP - SG
NP - NG
PP - SG
PP - PG
NP - SG
NP - NG
Forward rotation pulse train

Reverse rotation pulse train
Positive logic
Pulse train + sign
PP
NP
A phase pulse train
PP
B phase pulse train

(setting value: 0002)
NP
4-50

(6) The parameter set up while operating a machine (adjustment)
(a) Parameter No.2 (* ATU; auto tuning)
Used to set the response level, etc. for execution of auto tuning.
Class
No
Symbo
l
ATU
Name and function
Initial
Value
Auto tuning:
Unit
0105
Used to set the response level, for execution of auto tuning.
Setting
Control
mode
0001H
P, S
B a s i c
040FH
Auto tuning response level setting
Set
value
1
P a r a m e t e r
2
3
4
5
Machine reson
ance frequency
Response
guideline
level
Low
response
30Hz
35Hz
45Hz
7
9
20Hz
25Hz
6
8
15Hz
55Hz
Middle
response
70Hz
85Hz
105Hz
130Hz
160Hz
200Hz
240Hz
High
response
300Hz
* If the machine hunts or generates

large gear sound, decrease the set
value.
* To improve performance, e. g.
shorten the setting time, increase
the set value.
Auto tuning selection
Set value
0
1
2
3
4
Gain adjustment
Interpolation mode
Auto tuning mode
1
Auto tuning mode
2
Manual mode 1
Manual mode 2
Description
Fixes position control gain (parameter No. 6)
Ordinary auto tuning.
Fixes the load inertia moment ratio set in parameter No. 34.
Response level setting can be change.
Simple manual adjustment.
Manual adjustment of all gain.
4-51

(7) The parameter which makes a setting change of the extended parameter
(a)
Parameter No. 19 (* BLK; Parameter Block)
Used to select the reference and write ranges of the parameters.

If the parameter block after an adjustment end is applied, incorrect operation prevention can be
performed.
Since only a basic parameter (No.0-- No. 19) can be written in at the time of factory shipments, a
setup is required when an extended parameter needs to be set up.
Class
No
Symbol
19
*BLK
Name and function
Initial
Value
Used to select the reference and write ranges of the parameters.
0000
Basic Parameter
The reference range and the write-in range of a parameter are

chosen.
Set value
Reference
Write
0000
No.
0 ~ 19
No. 0 ~ 19
000A
No. 19 only
No. 19 only
000B
No.
0 ~ 49
No. 0 ~ 19
000C
No.
0 ~ 49
No. 0 ~ 49
000E
No. 0 ~ 84
No.
100B
No.
0 ~ 19
No. 19 only
100C
No.
0 ~ 49
No. 19 only
100E
No.
0 ~ 84
No. 19 only
Unit
Setting
range
Control mode
0000H
~
000CH
.
000EH
.
100BH
.
100CH
.
100EH
P, S, T
0 ~ 84
[Reference] Parameter package initialization

Doing this work changes all parameters to an initial value.
Since it becomes impossible to return to the parameter before operation, it is necessary to carry
out after cautions enough.
(1) pr.19 are set as "ABCD."
(2) Circled Off/on the power supply.
(3) Pr. 182 are set as 0112.
(4) If circled OFF/ON the power supply, package conversion of pr.0-pr.84 (foundations and
extended parameter) will be carried out at the value at the time of shipment (Table 4.7).
(5) Pr. 19 are set as
0000.
4-52
4.3.8
Parameter setting
Initial setting of the parameter value according to the conditions of operation is carried out
after a power supply turned on. Since there is a parameter stated by the section 4.3.7, please
set up based on design specification.
Please be sure to check about the parameter stated especially by the section 4.3.7(2).
[Operation procedure ]
If the <MODE> button is further pushed from alarm mode, basic parameter mode will be displayed.
If a button<UP> is pushed,
parameter No. will shift to 19 sequentially from 0 of Table 4.7. If a
button<DOWN> is pushed, it will shift conversely.

Please perform the following operation to change the contents of a parameter.
(a) <MODE> Display mode is united with parameter mode with this button.
(b)
<UP> , <DOWN> It unites with the position of parameter No. to change with this button.
(C)
<SET> A button is pushed twice. The setting value of specified parameter No. blinks
(d)
<UP> , <DOWN>
The setting value under blink can be changed with a button.
(e)
<SET>
A button is pushed and it decides.
OFF ON [ a power supply ]. When a setting change of parameter No.0, 1, 15, 16, 18, and
19 is made, it is surely required refer to the section 4.3.7(1).
(f)
The following example shows the operation procedure performed after power-on to change the control mode
(parameter No. 0) to the speed control mode.
Using the "MODE" button, show the basic parameter screen.
The parameter number is displayed.
Press
UP
or
DOWN
to change the number.
Press SET twice.

The set value of the specified parameter number flickers.
Press UP once.
During flickering, the set value can be changed.
Use
(
or
.
UP DOWN
2: Speed control mode)
Press SET to enter.
To shift to the next parameter, press the UP DOWN button.

When changing the parameter No. 0 setting, change its set value, then switch power off once and switch it on again
to make the new value valid.
4-53
4.3.9
It checks to see the input-and-output signal of Servo amplifier is connected with the operation board,
the circumference relay, etc. as the wiring diagram, before beginning operation.
The ON/OFF states of the digital I/O signals connected to the servo amplifier can be confirmed.
(1) Operation
Call the display screen shown after power-on.
Using the "MODE" button, show the diagnostic screen.
Press UP once.
External I/O signal display screen
(2) Display definition
CN1B CN1B
15
9
CN1B CN1B
8
7
CN1A CN1B
14
8
CN1B CN1B
5
17
CN1B
16
CN1A
14
CN1B
18
CN1B CN1B
4
6
CN1B CN1A
18
19
CN1A
19
Input signals
Always lit
Output signals
Lit: ON
Extinguished: OFF
The 7-segment LED shown above indicates ON/OFF.

Each segment at top indicates the input signal and each segment at bottom indicates the output signal. The signals
corresponding to the pins in the respective control modes are indicated below:
4-54
(a) Control modes and I/O signals

Connector
Signal
input/output
(Note 1) I/O
Pin No.
CN1A
(Note 2) Symbols of I/O signals in control modes

P
P/S
S/T
T/P
Related
parameter
No.43 to 48
CR
CR/SP1
SP1
SP1
SP1
SP1/CR
14
OP
OP
OP
OP
OP
OP
/INP
No.49
RD
RD
No.49
18
INP
INP/SA
SA
19
RD
RD
RD
(Note 3) 4
DO1
DO1
DO1
DO1
DO1
DO1
SON
SON
SON
SON
SON
SON
No.43 to 48
TLC
TLC
TLC
TLC/VLC
VLC
VLC/TLC
No.49
LOP
SP2
LOP
SP2
LOP
No.43 to 48
PC
PC/ST1
ST1
ST1/RS2
RS2
RS2/PC
No.43 to 48
CN1B
SA/
RD
TL
TL/ST2
ST2
ST2/RS1
RS1
RS1/TL
No.43 to 48
14
RES
RES
RES
RES
RES
RES
No.43 to 48
15
EMG
EMG
EMG
EMG
EMG
EMG
16
LSP
LSP
LSP
LSP/
/LSP
17
LSN
LSN
LSN
LSN/
/LSN
18
ALM
ALM
ALM
ALM
ALM
ALM
19
ZSP
ZSP
ZSP
ZSP
ZSP
ZSP
No.49
No.1
Note: 1. I: Input signal, O: Output signal

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

Symbol
SON
Signal name
Symbol
Signal name
Servo-on
EMG
Emergency stop
LSP
LOP
Control change
LSN
TLC
Limiting torque
CR
Clear
VLC
Limiting speed
SP1
Speed selection 1
RD
Ready
SP2
Speed selection 2
ZSP
Zero speed
PC
Proportion control
INP
In position
ST1
SA
Speed reached
ST2
ALM
Trouble
RS1
Forward rotation selection
WNG
Warning
RS2
Reverse rotation selection
OP
Encoder Z-phase pulse (open collector)
TL
Torque limit
BWNG
Battery warning
RES
Reset
4-55
49
(3) Default signal indications

(a) Position control mode
EMG(CN 1 B-15) Emergency stop
TL (CN 1 B-9) Torque limit
PC (CN 1 B-8) Proportional control
CR (CN 1 A-8) Clear
RES (CN 1 B-14) Reset
SON(CN 1 B-5) Servo-on
LSN (CN 1 B-17) Reverse rotation stroke end
Input signals
Output signals
LSP (CN 1 B-16) Forward rotation stroke end

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

ST2 (CN 1 B-9) Reverse rotation start
ST1 (CN 1 B-8) For ward rotation start
SP2 (CN 1 B-7) Speed selection 2
SP1 (CN 1 A-8) Speed selection 1
SON (CN 1 B-5) Servo-on
LSN (CN 1 B-17) External emergency stop
LSP (CN 1 B-16) Forward rotation stroke end

Lit: ON
Extinguished: OFF
Input signals
Output signals

SA (CN 1 A-18) Limiting speed
TLC (CN 1 B-6) Limiting torque
DO1 (CN 1 B-4) Limiting speed
(c) Torque control mode

RS1 (CN 1 B-9) Forward rotation selection
RS2 (CN 1 B-8) Reverse rotation selection
SP2 (CN 1 B-7) Speed selection 2
SP1 (CN 1 A-8) Speed selection 1
SON (CN 1 B-5) Servo-on
Input signals
Lit: ON
Extinguished: OFF
Output signals

VLC (CN 1 B-6) Speed reached
4-56
4.3.10
Manual operation
Perform manual operation by using the machine operation board and check the
machine status and signal such as the stroke end, etc. Carry out troubleshooting and
corrections if necessary. Pay special attention to the following points during the
checked.
(1) Give a low speed command to the motor and check the direction of rotation, sound,
and vibration of the motor itself;
(2)
Check the machine operation, paying attention to smoothness of travel,

directions of travel, looseness and abnormal sound.
(3) Check the motor sound;

(4) Check that the machine speed matches the set speed;
(5) Check if the stoke end signals are issued correctly. Check if there are any
collisions between machine parts;
(6) Check if the machine operations follow the I/O signals issued from the operation
panel correctly;
(7)
Check tightened parts for losseness.
(8)
Check the connecting cables between moving parts for insufficient or excessive
length.
*
Refer to the Manul for practicing with a Training Machine for details on
operations with a training machine.
4.3.11
Home Position Return

After checking the machine operations by performing manul operation, execute a
home position return and align the machine home position with the home position
for the positioning control unit.
*
Refer to the Manul for practicing with a Training Machine for details on
operations with a training machine.
4.3.12
Automatic Operation
Perform manual operation with a positioning program prepared for testing purposed. Check if
the operations follow the program. After checking, perform continuous operation and check the
load factor and machine movement.
4-57
4.3.13
Test operation mode
Motor operation without wiring to the command unit, simulated operation with the command unit and
the servo amplifier but no motor, are both possible using the display of the servo amplifier.
(1) Test operation I: Run the motor without commands and check the machine operations;
(2) Test operation II: Input commands to the servo amplifier with no motor connected so that
monitoring is executed as if the motor were rotating. This test allows checking of the electrical
system and program.
CAUTION
The test operation mode is designed to confirm servo operation and not to confirm
machine operation. In this mode, do not use the servo motor with the machine.
Always use the servo motor alone.
If any operational fault has occurred, stop operation using the forced stop (EMG)
signal.
POINT
The test operation mode cannot be used in the absolute position detection system.
Use it after choosing "Incremental system" in parameter No. 1.
The servo configuration software is required to perform positioning operation.
Test operation cannot be performed if the servo-on (SON) signal is not turned OFF.
(1) Mode change

Call the display screen shown after power-on. Choose jog operation/motor-less operation in the following procedure.
Using the "MODE" button, show the diagnostic screen.
Press UP three times.
Press UP five times.
Press SET for more

than 2s.
When this screen
appears, jog feed can
be performed.
Flickers in the test operation mode.
Press SET for more than 2s.
4-58
When this screen is displayed,

motor-less operation can be
performed.
(2) Jog operation

Jog operation can be performed when there is no command from the external command device.
(a) Operation
Connect EMG-SG to start jog operation and connect VDD-COM to use the internal power supply.
Hold down the "UP" or "DOWN" button to run the servo motor. Release it to stop. When using the servo
configuration software, you can change the operation conditions. The initial conditions and setting ranges for
operation are listed below:
Item
Initial setting
Setting range
Speed [r/min]
200
0 to instantaneous permissible speed
Acceleration/deceleration time constant [ms]
1000
0 to 50000
How to use the buttons is explained below:

Button
"UP"
"DOWN"
Description
Press to start CCW rotation.
Release to stop.
Press to start CW rotation.
Release to stop.
If the communication cable is disconnected during jog operation performed by using the servo configuration
software, the servo motor will be decelerated to a stop.
(b) Status display
You can confirm the servo status during jog operation.
Pressing the "MODE" button in the jog operation-ready status calls the status display screen. With this screen
being shown, perform jog operation with the "UP" or "DOWN" button. Every time you press the "MODE" button,
the next status display screen appears, and on completion of a screen cycle, pressing that button returns to the jog
operation-ready status screen. For full information of the status display, refer to Section 4.4.2. In the test operation
mode, you cannot use the "UP" and "DOWN" buttons to change the status display screen from one to another.
(c) Termination of jog operation
To end the jog operation, switch power off once or press the "MODE" button to switch to the next screen and then
hold down the "SET" button for 2 or more seconds.
4-59
(3) Positioning operation

POINT
The servo configuration software is required to perform positioning operation.
Positioning operation can be performed once when there is no command from the external command device.
(a) Operation
Connect EMG-SG to start positioning operation and connect VDD-COM to use the internal power supply.
Pressing the "Forward" or "Reverse" button on the servo configuration software starts the servo motor, which will
then stop after moving the preset travel distance. You can change the operation conditions on the servo
configuration software. The initial conditions and setting ranges for operation are listed below:
Item
Initial setting
Travel distance [pulse]
Setting range
10000
0 to 9999999
Speed [r/min]
200
0 to instantaneous permissible speed
Acceleration/deceleration time constant [ms]
1000
0 to 50000
How to use the keys is explained below:

Key
Description
"Forward"
Press to start positioning operation CCW.
"Reverse"
Press to start positioning operation CW.

Press during operation to make a temporary stop. Pressing the "Pause"
"Pause"
button again erases the remaining distance.

To resume operation, press the button that was pressed to start the
operation.
If the communication cable is disconnected during positioning operation, the servo motor will come to a sudden
stop.
(b) Status display
You can monitor the status display even during positioning operation.
4-60
(4) Motor-less operation

Without connecting the servomotor, you can provide output signals or monitor the status display as if the servo motor
is running in response to external input signals. This operation can be used to check the sequence of a host
programmable controller or the like.
(a) Operation
After turning off the signal across SON-SG, choose motor-less operation. After that, perform external operation as
in ordinary operation.
(b) Status display
You can confirm the servo status during motor-less operation.
Pressing the "MODE" button in the motor-less operation-ready status calls the status display screen.
With this screen being shown, perform motor-less operation. Every time you press the "MODE" button, the next
status display screen appears, and on completion of a screen cycle, pressing that button returns to the motor-less
operation-ready status screen. For full information of the status display, refer to Section 4.3.8. In the test operation
mode, you cannot use the "UP" and "DOWN" buttons to change the status display screen from one to another.
(c) Termination of motor-less operation
To terminate the motor-less operation, switch power off.
4-61
4.3.14
The operation procedure in each operation mode (conclusion)
(1) Position control mode

Please separate a machine from a servo motor, and connect with a machine after checking operating normally.
o n
(a) The Servo-On signal (SON) is turned off.

(b) After switches on power supply (NFB), displaying data that "C (return
pulse accumulation)" is displayed after 2 seconds on a display part.
Test operation
Please check that a servomotor operates using JOG operation in test operation
mode. (Refer to section 4.3.13(1))
Parameter is set up according to the composition and specification of a
machine. (Refer to section 4.3.8)
* example
P o w e r
Parameter setup
Parameter
Setting value
Automatic setup
Automatic setup
content
Servo amplifier : MR-J2S-40A
Servo motor
: HC-MFS43
3 0 0
No.0
Select the control mode: Position

Selection of regenerative brake option: MR-RB12
0 0 0 2
No.1
Input signal filter : 3.555ms

Electromagnetism brake interlock signal: -- it is not used
Selection of position detection system
--- Incremental system
0 1 0 1
No.2
S e r v o
O n
Command pulse input
Auto tuning response level setting: Low response

Auto tuning selection.
Electronic gear (CMX/CDV )
: 2/1
No.3
2
No.4
1
If a Servo on signal (SON) is turned on, it will be in the state which can
be operated and a servo motor axis will lock. (Servo lock state)
When not carrying out a Servo lock, it is not in the Servo on state. Please
check an external sequence by diagnostic display.
If a pulse sequence is inputted from positioning, a servo motor will rotate.

Please check the rotation direction etc. in the beginning at a low speed.
Pl
ease check an incoming signal, when you do not move in the direction to me
an.
Please check the rotation speed, the command pulse frequency, the rate of
load of the servo motor by state display.
If the check of a machine of operation finishes, automatic operation will be
checked by the program of positioning controller.
This Servo amplifier contains the
real-time auto tuning function by model
adaptive control. Execution of operation adjusts a gain automatically. The
optimal tuning result can be obtained by the thing that suited the machine by
parameter No.2 and to do for a response setup.
If the following operations are performed, operation will be interrupted and it
will stop.
(a) Servo on signal OFF ... Becoming base interception, a servomotor carries
out a free run stop.
(b) A stroke end signal ....... The sudden stop of the servomotor is carried o
ut, and it carries out a Servo lock. It can operate to an opposite direction.
(c) Alarm generating .....If alarm is generated, it will become base interception,
and the dynamic brake will operate and carry out the sudden stop of the
servomotor.
(d) Emergency stop OFF (EMG) .... It becomes base interception, and dynamic
brake operates and carries out the sudden stop of the servo motor.
AL E6 occurs.
4-62
P o w e r
O n
MODE
SON ON
Servo on state

Please separate a machine from a servomotor, and connect with a machine after checking operating normally.
P o w e r
O n
Test operation
Parameter setup

(b) After switches on the power supply (NFB), displaying data that "C (return
Please check that a servomotor operates using JOG operation in test operation m
ode. (Refer to section 4.3.13(1))
Parameter is set up according to the composition and specification of machine.
(Refer to section 4.3.8)
Example
Parameter
Setting value
Automatic setup
Automatic setup
Servo Amplifier
Servomotor
Contents
MR-J2S-40A
HC-MFS43
0 0 0 2
No.0
Select the control mode : Speed

Selection of regenerative brake option: no use
0 0 1 2
No.1

Electromagnetism brake interlock signal: it is used
0 1 0 5
Auto tuning response level setting: Middle response
No.2
No.8
No.9
No.10
No.11
No.12
No.13
S e r v o
O n
1000
1500
2000
1000
500
0
Auto tuning selection: Auto tuning mode 1

: 1000r/min
: 1500r/min
: 2000r/min
: 1s
Deceleration time constant : 0.5s
S-pattern acceleration/deceleration time constant: 0 S
If a Servo on signal (SON) is turned on, it will be in the state which can be
operated and a servo motor axis will lock. (Servo lock state)
Servo motor rotation speed is chosen by speed selection 1 (SP1) and the
speed selection 2 (SP2). If forward rotation start (ST1) is turned on and
the forward rotation(CCW) direction and inversion starting (ST2) will be
turned ON, it will rotate in the inversion (CW) direction. Please set rotatio
n speed as a low speed and check the rotation direction in the beginning.
Please check an incoming signal, when you do not move in the direction t
o mean.
Please check the servomotor rotation speed, the rate of load, etc.
If the check of a machine of operation finishes, automatic operation will b
e checked with the control device of a higher rank etc.
This Servo amplifier contains the real-time auto tuning function by model
adaptive control.
Execution of operation adjusts a gain automatically.
The optimal tuning result can be obtained by the thing that suited the
machine by parameter No.2 and to do for a response setup.
will stop.
(a) Servo on signal OFF ... Becoming base interception, the servomotor carries
(b) A stroke end signal ....... The sudden stop of the servomotor is carried o
ut, and it carries out a Servo lock. It can operate to an opposite direction.
(c) Alarm generating ....If alarm is generated, it will become base interception,
and a dynamic brake will operate and carry out the sudden stop of the se
rvomotor.
(d) Emergency stop OFF (EMG) .... It becomes base interception, and dynamic
brake operates and carries out the sudden stop of the servo motor. The
ALE6 occurs.
4-63
P o w e r
O n
MODE
SON ON
Servo on state
(3)
Torque control mode

Please separate a machine from a servomotor, and connect with a machine after checking operating normally.
P o w e r
O n
Test operation

(b) After switches on power supply (NFB), displaying data that "C (return
Please check that a servomotor operates using JOG operation in test operation
mode. (Refer to section 4.3.13(1))
Parameter is set up according to the composition and specification of the
m
achine. (Refer to section 4.3.8)
Parameter setup
Example
Parameter
Setting value
Automatic setup
Automatic setup
0 0 0
Servo Amplifier
Servomotor
Contents
: MR-J2S-40A
: HC-MFS43
No.0
Select the control mode : Torque

Selection of regenerative brake option: no use.
0 0 0 2
No.1
No.8
No.9
No.10
No.11
No.12
No.13
No.14
No.28
S e r v o
O n
1000
1500
2000
1000
500
0
2000
50

Electromagnetism brake interlock signal: it is used
Internal speed command 1 : 1000r/min
Acceleration time constant : 1s
Deceleration time constant : 0.5s
S-pattern acceleration/deceleration time constant: 0 S
Torque command time constant : 2
Internal torque limit 1 : Restrict to 50% of output.
If a Servo on signal (SON) is turned on, it will be in the state which can be
operated and a servo motor axis will lock. (Servo lock state)
Servo motor rotation speed is chosen by speed selection 1 (SP1) and the
speed selection 2 (SP2). If forward rotation start (RS1) is turned on and
the forward rotation (CCW) direction and inversion starting (RS2) will be
turned ON, it will rotate in the inversion(CW) direction. Please set rotation
speed as a low speed and check the rotation direction in the beginning.
Please check an incoming signal, when you do not move in the direction t
o mean.
Please check the
servomotor rotation speed, the rate of load, etc. by s
tate display.
If the check of a machine of operation finishes, automatic operation will b
e checked with the control device of a higher rank etc.
will stop.
(a) Servo on signal OFF ... Becoming base interception, a servomotor carries
(b)Alarm generating .....If alarm is generated, it will become base interception,
and a dynamic brake will operate and carry out the sudden stop of the
servomotor.
(c) Emergency stop OFF (EMG) ....It becomes base interception, and dynamic
brake operates and carries out the sudden stop of the servo motor. The
AL E6 occurs.
(d) Simultaneous ON or the simultaneous off-servo motor of a forward rota-t
ion start (RS1) signal and an inversion selection (RS2) signal becomes a f
ree run.
4-64
P o w e r
O n
MODE
SON ON
Servo lock state
4.3.15
A function convenient for starting and diagnosis
Also besides the Section 4.3.9 "an external input-and-output signal check" and the section 4.3.13
"test operation", MR-J2S-A Servo amplifier rose and has arranged the function convenient to diagnose.
The main item is listed below.
(1)
Auto tuning
....
According to the inertia moment of load, a Servo gain is adjusted
automatically. According to the conditions of a machine, the low, middle and

high response can be chosen into quantity.
(2)
VC automatic offset .... Offset of analog incoming signals, such as speed instructions, is
rectified automatically.
(3)
Reason display for a stop .... The factor is expressed with the segment of a display part when
the motor has stopped. It is convenient for troubleshooting.
(4)
DO forcible output .... The forcible output of the digital output signal of amplifier is carried
out. Since the check of an external relay, a lamp, etc. is made to convenient.
(5)
Machine simulation ..... Based on a machine analyzer's result, the simulation of the motion of
a machine can be carried out on the screen of a personal computer.
(6)
Gain search function .... A personal computer is automatic set gain that does not have an
exaggerated shot for a short time is discovered while changing a gain.
(Note) Setup S/W is needed when performing a machine simulation and a gain search function.
4-65
Memo
4-66
5. MELSERVO H PERFORMANCE AND FUNCTIONS

5.1 Basic Performance and Function
As shown in the following figure, MR-H-N series Servo amplifier has come to be able to do
all of connection with external apparatus, and a monitor from the front of amplifier, and can do
those work easily also in the state of wearing in a board.
As an input-and-output signal connected with an operation board, it is together put by a terminal
stand and connectors CN1 and CN3 (only for monitor outputs). The converter unit is needed for
3 phase AC400V class mass type [ 30-55kW ].
(note 2) Power supply

3- phase AC, 200~230 V
Regenerative brake
option
Servo Amplifier
Analog Meter
MR-H AN
No-fuse Breaker
(NFB) or
fuse
CHARGE
Magnetic
contactor
(MC)
P
C
Parameter Unit
N
R
S
To CN3
CN3
Or
R1
S1
CN4
Servo Configuration
CN4
To CN4
V
W
CN2
Personal
Computor
Software
The parameterunit or Servo

Configuration software is required
for parameter setting
CN1
Ground
Programmable controller
U V W
To CN2
To CN1
(Note1)
MR-HCN2
Junction terminal Block

MR-TB50
Servomotor
Note 1, Required when using the HC-MF, HA-FF OR HC-UF 3000 rpm servomotor
2. Depends on the servo amplifier capacity.
5-1

The composition of 3 phase AC400V class mass type [ 30-55kW ]
3 phase AC 380 460V
Parameter unit
R S T
No-fuse Breaker
(NFB)
OR
Servo configuration
Software
Personal
computer
The parameter unit or Servo

Configuration software is required
For parameter setting.
Magnetic
contactor
(MC)
Servo Amplifier
(MR-H AN4 )
Converter unit
(MR-HP55KA4 )
Line noise
Filter
( FR-BLF )
CN4
No-fuse Breaker
(NFB)
(MR-J2HBUS M)
(Control
circuit)
Power update
DC Reactor
(MR-DCL K-4 )
(MR-HSCBL M )
Regenerative breaker
( MR-RB -4 )
(note 2)
Servomotor
HA-LF series
Note 1. The converter unit that connect with Servo amplifier are standard accessories.
2. The above-mentioned example of connection is the case of MR-RB 136-4. In
MR-RB 138-4, it is in three sets (parallel connection).
3.
The converter unit is required for this system.
5-2
5.2
Parameter functions
A parameter is the function to prescribe the operation conditions of Servo that the section 4.3.7
that
described beforehand, in the case of MR-H-N series, consists of a user parameter (No.00-No.19) and
an extended parameter (No.20-No.64).
(1) Parameter setting table
Position
control
The parameter surely set up or checked
0, 1, 2,
Speed
control
0, 1, 2,
Torque
control
0, 1, 2,
before operation.
Remarks
1. There are parameters
other
than the following and an item

which carries
out
a setting
check according to an operating

condition.
The parameter surely set up according to
4, 5
machine specification and an operation

pattern.
The parameter set up if needed.
The parameter set up while operating a
21
9~ 14
20
20
machine (adjustment).
When a setting change of the extended
15
2. After setting the parameter

No. 19 value, switch power
off, then on to make that
19
19
parameter is made
5-3
setting valid .
(2)
The parameter surely set up or checked before operation

If a setup is wrong, a motor will not move, or the parameter explained here becomes alarm. Please be
sure to check before operation, and when you differ from an initial value, change the setup.
(a)
No. 00 (M*MSR ; Motor series)

Used to choose the servo motor series.
Class.
No.
Code
Name and Function
*MSR Motor series
Initial
Mode
Value
Unit
When using the HC-MF,HA-FF, HC-SF, HC-RF, HC-UF series servomotor,

this parameter need not be set since it is automatically judged by merely
connecting the motor encoder and servo amplifier. At this time, this parameter
0000
~
0003
~
0005
is changed but may be used as it is.

Setting
Setting
Range
Used to choose the servo motor series.
Basic Parameter
Control
Servomotor series
0000
HA -- SH
0001
HA -- LH
0002
HA -- UH
0003
HA -- FH
0005
HA -- MH
No. 01 (MTY; Motor Type)

The rating of the motor to operate is set up.
The rated output and rated rotation speed of the motor are set up in four digits.
(b)
Name and Function
Basic Parameter
Code
*MTY
Motor series:
Used to set the parameter(servomotor capacity) according to the motor used.
The servomotor and servo amplifier to be set should be any of their
combinations having the parameter in the table.
When using the HC-MF,HA-FF, HC-SF, HC-RF, HC-UF series servomotor,
this parameter need not be set since it is automatically judged by merely
connecting the motor encoder and servo amplifier. At this time, this parameter
is changed but may be used as it is.
Rated output
Rated speed (Unit: 1000r/min)

(Unit: 100 W)
Servo amplifier MR-HN
Servomotor
HA-MH053
HA-MH13
Capa.
(W)
50
100
HA-UH152
1500
HA-UH222
HA-UH352
HA-UH452
2200
3500
4500
Caution
10 20 40 60 100 200 350 500 700 11K 15K 22K

053
13
152
222
352
452
Servo amplifier and servomotor cannot be set up other than the

combination in which the parameter setting value of a top tab
le exists.
It becomes the cause of a fire.
5-4
Control
Initial
Mode
Value
Unit
Setting
Range
P
S
T
It calls at a left table.
ication
No
It calls at a left table.
Classif
(c)
No. 02 (*STY; Servo Type)

used to choose the control mode and the regenerative brake option.
Class.
No.
Code
*
STY
Control
mode
Name and Function
Servo type:
Initial
value
Unit
0001
0000
~
0E05h
Used to choose the control mode and regenerative brake option
Setting
range
Basic Parameter
Control mode selection
0. Position
1. Position and speed
2. Speed
3. Speed and torque
4. Torque
5. Torque and position
Position : Pulse train
Speed : The analog, internal 3 speed,
and internal 7 speed.
Torque : The analog.
Select the regenerative brake option.
0. Set 0 when the servo amplifier of less than 11kW capacity has
no external option or when the servo amplifier of 11kW or
more uses the supplied regenerative brake resistor.
1.
FR-RC, FR-BU brake unit
2. MR-RB013
3. MR-RB033
5. MR-RB32
6. MR-RB34
7. MR-RB54
8. MR-RB30
9. MR-RB50
B. MR-RB31
C. MR-RB51
E. When the servo amplifier is 11kW or more and the
supplier regenerative brake resistor is cooled by a fan
to improve its capacity.
With the following table, please select the regeneration option corresponding to each Servo amplifier, and set up a parameter.
Built-in
Servo amplifier
model
MR-H10AN, MR-H20AN
Brake
( w )
MR-H40AN, MRH60AN
50
MR-H100AN
80
MR-H200AN
80
MR-H350AN, MRH500AN
130
MR-H700AN
170
MR-H11KAN
MR-H15KAN, MRH22KAN
Regeneration option (W)
External
(note 2)
Regenerative
(Note 1)
MRMRMRMRMRbrake resistor MRMRRB013 RB033
RB30
RB31
RB32
RB34
(W)
RB50
(Accessories)
10
30
-
(Note 1)
MRRB51
(Note 1)
MRRB54
Special
option
(W)
300
300
300
500
300
500
300
500
500
800
850
1300
Note 1.Please install a cooling fan; 2.It corresponds by change of parameter No.2, and resistor cooling fan installation.
5-5
(3)
The parameter must be set up according to machine specification and an operation pattern
If the parameter dealt with here is not setup correctly, the actual distance moved by the moving
part will not be those specified by the values set. It is therefore essential to set these parameters
in accordance with the specifications.
(a) No. 4, 5 (CMX, CDV; Electronic gear) required only at the time of position Servo.
The setting for Parameter No. 4 is the numerator of the ratio and No. 5 is its denominator.
Since the relation between machine specification and a ratio is indicated in detail refer to section 2.5.1.
Class
No
Name and Function
Code
CMX
Command pulse magnification (numerator) :

Set the multiplier for the command pulse input.
Basic Parameter
Command pulse input

fc
CMX
CDV
fc1 = fc
Note
<
50
Initial
Unit
mode
value
Range
1~
Setting
50000
Position command
CMX
Control
CMX
CDV
<50(set the value within this range)

CDV
For the setting, refer to Section 2.5.1

command pulse magnification can be switched with an
external signal. (Refer to the parameter No.24)
5 CDV Electronic gear denominator.
1~
50000
(4)
The parameter set up if needed
(a) No. 9, 10, 11 (Internal speed command 1 3)

Used to set internal speed command.
It is unnecessary when carrying out an analog setup from the outside.
Basic Parameter
Class
No
Name and function
Code
SC1 Internal speed 1:
Control
Initial
mode
setting
Unit
S, T
100.0
r/min
S, T
500.0
r/min
Range
Used to set speed 1 of the internal speed command

10
SC2
Internal speed 2:
S, T
SC3 Internal speed 3:

5-6
0~
max.
speed
0~
max.
speed

11
Setting
1000.0
r/min
0~
max.
speed
(b)
No. 12, No. 13 (STA, STB; Acceleration/deceleration time constant)
Acceleration time and slowdown time are set up according to an operation pattern. It is effective also to
external analog instructions.
Acceleration time until it reaches rated speed, or slowdown time until it stops from rated speed is set up
to speed command (external and internal 3 speed).
Class
No.
Code
12
STA
Contro
l Mode
Name and Function

Acceleration time constant:
Initial
value
Unit
ms
This Parameter is used to set the acceleration time until the rated speed is
reached from 0 rpm.
13
STB
Deceleration time constant:
Basic parameter
Class
Basic parameter
ms
0~
50000
If set command speed is lower

than rated speed,
acceleration/deceleration time
will be shorter.
Speed
Rated speed
Time
STA
STB
Setting value
Setting value
STC; (Parameter No. 14; S-pattern acceleration/deceleration time constant)

No.
Code
Name and Function
Control
Mode
(d)
0~
50000
This Parameter is used to set the deceleration time until the zero speed is
reached from the rated speed.
0 r/min
(c)
Setting
Range
14
STC
S-pattern acceleration/deceleration time constant.

Used to smooth the start/stop of the servomotor.
When a constant is enlarged at the time of acceleration and
a slowdown, the time of a circle portion may stop suiting a
setting value.
Initial
Unit
Range
Value
0
Setting
ms
0~
5000
No. 21 (* OP2; Function selection 3)
Pulse sequence input I/F at the time of position Servo operation is set up. Moreover, a low noise function
is also chosen.
5-7
Class
No
Code
Control
Name and Function
mode
Extension Parameter
21
*OP2
Function selection 3:
Initial
Unit
Range
setting
0000
Setting
ms
0000
~
Used to select the option function.
0123h
0
Low acoustic noise mode selection
0: non-low acoustic noise
3: low acoustic noise
Note: By choosing the low acoustic noise mode,
electromagnetic
sound
generated
by
servomotor can be reduced by about 20dB
Command pulse input form

0:
forward, reverse rotation pulse train
1:
signed pulse train
2:
A/B- phase pulse
Command pulse logic selection

0: Positive logic
1: Negative logic
5-8
the
(5)
The parameter set up while operating a machine (adjustment)
(a) No. 20 (Function selection 2)

Used to select automatic restart after instantaneous power failure and servo lock in the auto tuning/speed
control mode.
Class
Control
Mode
No.
Code
Name and Function
20
OP1
Function selection 2:
Used to choose automatic restart after instantaneous power failure and
servo lock in the auto tuning/speed control mode.
P, S
Initial
Value
0001
Unit
Setting
Range
0000
~
Extension Parameter
1C12
0
Auto tuning selection
0: auto tuning selected for use of interpolation axis
control, etc, in position control (valid)
1: auto tuning for ordinary operation(valid)
2: No auto tuning (Invalid)
Auto-restart after instantaneous power failure
( speed control Mode)
Restart can be made without an alarm (AL 10) stop
when power is restored after instantaneous power failure.
0: Invalid
1: valid
Response setting (When auto tuning is valid)
Optimum response can be selected according to the rigidity of
the machine. As the machine has higher rigidity, faster response
can be set to improve tracking performance in response to a
command and to reduce setting time.
Description
Machine
Type
Initial
Ordinary
Large
friction
Set
value
Response
Low
Low to high
1
2
3
4
Low
Low rigidity
Guide of corres
ponding rigidity
GDL /GDM
Guideline of load inertia
1 ~ 5 times
(GDL /GDM
= within 5 times)
50 ~ 300ms
~
Middle
10 ~ 70ms
Medium rigidity
High
High rigidity
8
9
A
B
Low
Low rigidity
Guideline of position setting time

2
1 ~ 10 times
10 ~ 30ms
70 ~ 400ms
~
Middle
Medium rigidity
~
High
High rigidity
Note) When changing the value, always increase the setting from lower to
higher response levels while simultaneously checking the vibration and setting
of servo motor and machine immediately before a stop and during a stop.
Speed control servo lock selection.

0: Valid
1: Invalid
Note) When the function is made valid, the servomotor shaft attempts to
return to the original position if it is turned by external force.
When this function is invalid, counterforce matching the external
force is produce but the shaft does not return to the original position.
5-9
10 ~ 100ms
10 ~ 50ms
(6)
The Parameter you are recommended to set under some operating conditions
(a) No.
19 (*BLK; Parameter block)
Used to restrict the reference and write ranges of parameters.

By executing a parameter block operation after completing adjustment, the system can
be protected
against incorrect operations.

Only the basic parameter (No. 00 to No. 19) can be written in the factory-set condition. Parameter No. 19
has to be set in order to set expansion parameters.
Class
No
Control
Name and Function
Code
mode
Basic Parameter
19
*BL Parameter write disable

K
Used to limit parameter write.
setting
0000
Unit
Setting
Range
0000
~
Setting
Referred Parameter
Written Parameter
0000
Basic parameter
Basic parameter
000A
Parameter No.19
Parameter No.19
000C
Basic parameter
+
expansion parameter
Basic parameter
Basic parameter
+
expansion parameter
Basic parameter
+
expansion parameter
000E
Initial
000E
<Reference> Parameter package initialization

Doing this work changes all parameters to an initial value.
Since it becomes impossible to return to the parameter before operation, it is necessary to carry
out after cautions enough.
1) pr.19 are set as "ABCD."
2) turn off power supply and on again
3) pr.85 are set as "0001."
4) If OFF/ON the power supply, package conversion of pr.0-pr.79 (basic and extended
parameter) will be carried out at the initial value (Table 5.1).
5) pr.19 are returned to the original value "0000."
Cautions: Since pr.0-pr.3 is initialized, please re-set it as the motor and Servo type that surely
correspond.
5-10
(7)
Converter unit Parameter of MR-HP55kA4
No.
Name and Function
Code
Initial
Unit
setting
*STY
Control mode and regeneration option selection
0000
Control mode and a regeneration option are chosen.

0
Setting
Range
0000h
0002h
Selection of a regeneration option

0: It is not used.
1: MR-RB136-4
2: MR-RB128-4 (3 No.s)
*MCC
Machine maker setup
0000
*D01
Machine maker setup
0000
MOD
Machine maker setup
0001
*DMD
State display selection
0000
The state display displayed at the time of a power supply turn on is chosen.
0003h
The converter unit at the time of a power supply up
The state display of a display part

0: Bus voltageinitial value
1: The rate of effective load
2: The rate of peak load
3: The rate of regeneration load
*ACL
Alarm history clearance

An alarm history clearance is chosen.
0
Alarm history clearance

0: Invalid (it does not clear)
1: Valid (it clears)
When an alarm history clearance is confirmed, it is rear to
clear about an alarm history next time at the time of a power
supply turned on.
It automatically invalid after an alarm history clearance if
it is set to (0)
6
Spare
Spare
Spare
*BLK
0000h
For a machine maker setup
0000
* . It becomes effective by power supply OFF->ON after parameter setting change.
5-11
5.3
Display and Diagnosis Functions
5.3.1 MRPRU01A Parameter Unit

This unit has an LCD (13 characters X 4 lines) used for condition display and alarm diagnosis.
It can be used to set data, perform test operation, set parameters, monitor the operating status,
and display alarm definition.
(1) MRPRU01A Structure
DisplayLiquid crystal screen(13 characters by 4 digits)
Interactive parameter setting
Help function, troubleshooting guidance
Monitoring
Mode KeyUsed to switch between modes display

: Monitoring mode select key.
Used to change the screen display
to the monitoring mode.
MONITOR
ALM/
DGN
: Alarm/diagnostics mode select

key. Used to change the screen
display to the alarm/diagnostic
mode.
Operation Key
HELP
: Parameter mode select key.

Used to change the screen display
to the parameter mode.
PARAM
DATA
MITSUBISHI
MELSERVO-PRU01A
SHIFT
: Test mode select key.

Used to change the screen mode to
the test mode.
TEST
F9
ALM/
DGN
PARAM
DATA
HELP
SHIFT
CAN
Numeral key
MONITOR
: Numerals (0 to F)
Used to enter the set value of
the parameter. To type F, Press
the [F/9] after pressing the
[SHIFT] key.
0
1STEP
1STEP
: SHIFT Key
Used to make the typing
of the corresponding shift
character valid.
Used to switch the screen.
Example: use to alternate
between the current alarm
and the concurrent alarm.
TEST
: Help mode select key.

Used to set the monitor or
parameter in a list.
CAN
FWD
Cancel Key
Used to return to the
previous screen.
: Scroll Keys
Used to scroll the screen
REV
STOP
RESET
Hold down the key for

more than 1 second to
increase the scroll speed.
: Decimal point
Used to move the cursor

on the screen.
Test Run Key
Definition Key
: Definition Key
Used to define the parameter data after it is entered
Used to choose the necessary operation on the
corresponding function menu screen.
FWD
-REV
STOP
RESET
: Forward rotation start key.

Used to start forward rotation in the test
run mode
- Reserve rotation start key
Used to enter the (negative) sign
Used to start reverse rotation in the test

run mode
: Stop/ reset Key
Used to stop the test run temporarily.
Used to reset an alarm or clear data entered.
5-12
(2) Operation of the MRPRU01A

SERVO
--Servo being initialized
Initializing
COMMUNICATION
--Being initialized by
communication.
Initializing
CONTROL
POSITION
MONITOR
ALM/DIAG.
PARAMETER
TEST MODE
JAPANESE
ENGLISH
Japanese-English Characters displayed on the

screen are switched between
select screen
English and Japanese.
--Control mode display

(for about 3 seconds)
CAN
Position
Position/Speed
Speed
Speed/torque
Torque
Torque/position
: POSITIO
: POSITION/SPEED
: SPEED
: SPEED/TORQUE
: TORQUE
: TORQUE/POSITION
Monitor
AlM/DIAG
Parameter
Test Mode
HELP
CAN
Press the HELP key to

move to the HELP screen in
the mode indicated by the
cursor
HOME screen
HELP screen
CAN
MONITOR
Monitoring mode
1 Speed F/B
0. 0
r/ min
HELP
1 Speed F/B
2 Ref. Speed
3 Droop
4 Ref. pulse
Screen
ALM/
DGN
Alarm diagnostic mode
1 1st AL-No Alarm
HELP
TEST
Test mode
<TEST mode>
: On test
0 Finish
1 Jog feed
Screen
1 ALARM
2 Not Rot
3 ALM Hist.
4 I/O Sig.
PARAM
DATA
Parameter mode
<PARAM mode>
Pr. Read : No.
Pr. List : Help
Copy: SFT + 3
Parameter No. 0
HELP
0
Screen
Call screen
<PARAM HELP>
0 0 MTR Ser.
List All
0003
List Chg
0 ~100 B
(3)
Function
There is a function in monitor mode, alarm mode, parameter mode, and test operation
mode in a parameter unit.
Please refer to the manual for the specification handling description about the contents
of each function, and the flow of operation.
5-13

5.3.2 Monitor
(1)
The monitor by parameter unit MR-PRU01A
Name
Status Display
Indication
Unit
Description
Range
Positi Spee Torq

on
ue
Feedback pulse from the servomotor encoder are counted

and displayed.
Feedback pulse
Pulse F/B
Pulse
~999999
value
Servomotor Speed
-999999
Speed F/B
-4600.0
r/min
When the value exceeds 9999999, it starts with 0. Press

reset to reset the value to 0
The speed of the servomotor is displayed.
Reverse rotation is indicated by -.
~4600.0
Command Speed
Ref. Speed
-4600.0
r/min
~4600.0
Droop Pulse Value
Droop
-999999
Pulse
Command speed input to the servo amplifier is shown.

For the internal speed command, the value set in the
selected parameter is display.
The pulse value of the deviation counted is displayed.
Reverse rotation pulse value is indicated by .
~999999
-999999
Command Pulse
Ref. Pulse
~999999
Pulse
Value
Command Pulse
frequency
Ref. freq
-400~400
Kpps
Position command input pulses are counted and

displayed. Since the value displayed is not yet multiplied
by the electronic gear, it may not match the indication of
the feedback pulse value. When the value exceeds
9999999, it starts with 0. Press reset to reset the value
to 0
Position command input pulse frequency is displayed.
The value displayed is not yet multiplied by the electronic
gear. Reverse rotation pulse value is indicated by
(1)
For Position or torque control mode, the Analog

speed limited (VC) voltage is displayed.
(2)
For speed control mode, the Analog speed command

(VC) voltage is displayed.
-10.00~
Speed Command
Ref SPDV
+10.00
Volt
Voltage
Reverse rotation
analog torque
Reverse rotation analog torque command(TLAP) voltage

is displayed.
0.00~
- TQ LMTV
-10.00
Volt
Indication range: 0.00 to -8.00 V
command voltage
Reverse rotation
+TQ LMTV
analog torque
0.00~
Volt
Forward rotation analog torque command.
10.00
command voltage
The percentage of regenerative power to the permissible
regenerative value is displayed.
Regenerative load
Reg. load
0~100
Effc. Load
0~300
Continuous effective load torque is displayed. The

effective value is displayed relative to the rated torque of
100%.
Peak load factor
Peak load
0~300
Max. generated torque is displayed. The peak value in the

past 15seconds is displayed relative to the rated torque of
100%.
Within one
1 cycle Pos
0~16383
Pulse
The position within one revolution is displayed in terms

of encoder pulse.
A B S counter
ABS count
0~65535
rev
Moving distance from the home position in the absolute

position detection system is displayed in the counter value
of the absolute position encoder.
Machine speed
Mach. SPD
0~999.00
m/min
factor
Effective load
factor
revolution position
Speed multiplied by the machine speed conversion
constant is displayed.
Bus voltage
P/N Volt
0~ 400
Volt
The voltage (across P-N) of the main circuit converter is

displayed.
5-14
(2)
The monitor in the main part of Servo amplifier
The monitor (Table 5.3) of an operation state is based on a parameter unit, and also it can be
seen by 4-figure LED of the Servo amplifier. The rotary switch (0-C) of a main part performed
selection of the contents of a monitor, and it has been independent of the contents of selection
by MR-PRU01A.
Table 5.3 The setup of the contents of the monitor and the rotary switch
Rotary switch(CS1)
Code
Status Display
Setting
Position Control
Speed Control
Torque Control
Fr
Servomotor speed
Servomotor speed
Servomotor speed
Cr
Command speed
Command speed
-------
Droop pulse value
-------
-------
Command pulse value
-------
-------
PA
Command pulse frequency -------
-------
-------
Speed command voltage
Torque command voltage
Reverse rotation torque limit

voltage
Forward rotation torque limit
voltage

voltage
voltage

voltage
voltage
Regenerative load factor
Up
Un
Ld
JA
Effective load factor
Jb
Cy
Peak load factor

Within one revolution
position
Peak load factor

position
Peak load factor

position
Pn
Bus voltage
Bus voltage
Bus voltage
5-15
5.4
The setup and operation
5.4.1
Hard Ware setup
(1) The setup of rotary switch(CS1)

Please be sure to check never turn the power on with the rotary switch of amplifier unites set at D, E,
F.
Since it will become a display error.
The contents of a L.E.D. monitor of the front of amplifier (refer to Table 5.3) are chosen in the
position of a scale 0 - C.
(2) Wearing of a battery

When you use a motor with a position detection machine absolutely, please equip amplifier
with an exclusive option (MR-BAT) for memory preservation.
5.4.2 Turned on Power
Please switch on a power supply in the same check and same procedure as the case of MR-J2S
(Refer to section 4.3.5).
5.4.3
Parameter setup
Initial setting of the parameter value according to the conditions of operation is carried out after power
supply on.
Since there is a parameter stated by the section 5.2, please set up based on design specification.
Please be sure to check about the parameter stated especially by section 5.2 (3) and (4).
5-16
(1)
The outline of the parameter setup

Start
When setting up an extended

parameter (No.20 or subsequent
ones), a parameter block (No.19)
needs to be reset.
(a) Release of a parameter block
(b) Parameter setup
Please perform the parameter block

after a setting end for the parameter
rewriting rate prevention by
incorrect operation.
(c) Parameter block
There are some which a power

supply once and become effective in
a parameter after a setup. Please be
based on power supply OFF->ON
after a setup.
(d) Power supply OFF- On
(2) Release of the parameter block

The range of a parameter that can be setup is limited to the basic parameter (No.00-No.19) at the
time of factory shipments. Please reset the parameter block, when you make a setting change of the
extended parameter.
Release of a parameter block is based on a setup of parameter No.19.
Setting value
Parameter can be reference
Parameter can be write
Basic parameter
Basic parameter
000A
Parameter block No.19
Parameter block No.19
000C
Basic parameter + extended parameter
Basic parameter
000E
0000 (Initial setting)
5-17
(3)
The Setting operation of a parameter
Setup of a parameter and read-out are performed using parameter unit MR-PRU01A of exclusive use.
For any parameter whose symbol is preceded by *, set the parameter value and switch power off
once, then switch it on again to make that parameter setting valid.
[the operation procedure and contents]
[Key operation]
[Screen display]
(a) The parameter mode

of MR-PRU01A is
P A R A M Key is pressed
chosen.
<Parameter mode>
Pr Read
: No.
Pr List
: Help
Copy
: SFT + 3
(b) The key in of

parameter No. to
set
up is carried
Key in is carried
out.
out.
<Setting mode>
Pr. No.
Key is pressed
Read:
(c)
The key in of
the setting
data is
0 motor series
key in is carried out.
carried out.
0 ~5
Key is pressed.
Motor series
3
(d) The key in of following parameter
Power-off then ON
Pr Read: No.
Key in is carried out.
No is carried out.
<Setting mode>
Pr. No. 1
(All the data of a repetition and a parameter list is set up)
(Main Power Supply OFF)
(Main Power Supply On)
5-18
Read
5.4.4
Input-and-output signal check
The monitor of the ON/OFF state of the input-and-output signal of the connector CN1 for control
signals can be carried out using parameter unit MR-PRU01A.
Please check the connection state of the switches of operation board before putting in operation
instructions.
(An operation procedure and contents)
(Key operation)
(Screen display)
(a) The alarm and diagnostic

mode of MR-PRU01A
ALM/DGN
Key is pressed
1 1st Alarm
No Alarm
are chosen.
(b)
The DIO diagnostic

function is called.
Key is pressed 3 t
imes.
4 DIO Signal
: On
: Off
Read
(First screen)
(c)
The ON/OFF state

Key is pressed
is checked on a
DIO diagnostic
DI SON TL
PC RES
LSP LSN
CR
DIO
(Second screen)
screen.
Key is pressed
DI D I 1 D I 2
DI3 DI4
EMG
(Third screen)
Note
1.
2.
Key is pressed
D O RD PF
ZSP TLC
ALM OP
of a screen expresses ON state and expresses an OFF state.

The number of DIO signals and a name change with Servo loop form.
5-19
Memo
5-20
6. SELECTION
6.1
Provisional selection of motor capacity
The rough guidelines for selecting the capacity of AC Servo that is appropriate for a given
mechanical drive system is as follows:
(1) The Guideline relating to the stability of a control loop
Moment of load inertia (JL) Moment of motor rotor inertia (Jm) X recommendation
load inertia moment ratio
(2) The allowance for load torque
Load torque (TL) motor rated torque(TM) x (0.5-0.8)
6.1.1
Load inertia moment (JL)
The term load inertia moment means of the moment of inertia of the mechanical locking
element which is connected to the motor output shaft and that of the drive system beyond the
coupling; both act as loads on the motor. The moment of inertia of magnetic brake of the
motor and that of the reduction gears should also be included. The unit which should be used
to express the moment of load inertia.
In addition, by AC servo system, the unit of the load inertia moment JL uses [kg.cm2], and
the formula used to calculate the moment of load inertia is given in Table 6.1.
6.1.2
Load torque TL
A thrust, friction power, imbalanced torque, etc. which work in the movable part of the
machine used as the load of a motor are said.
In addition, the unit of the load torque TL uses [N-m], and shows the formula of load torque
in Table 6.2.
Note
The Symbols of a formula are based on Appendices 1.
6-1
6. SELECTION
6.1.3 Formulae to calculate load inertia moment and load torque
(1) Formulae used to calculate load inertia moment
The formulae used to calculate moment of inertia in typical cases are presented in Table 6.1
Table 6.1 Calculation of Load inertia moment

Mechanism
Formula
TYPE
L
L
32
JL
1. Cylinder
Axis of
rotation
(D1
W
2
2
(D1 + D2 ) ( 6 1)
8
:Moment of load inertia [cm2 ]
4
D2 ) =
:Density of material [cm3]
:Length of cylinder [cm]
D1
:Outside diameter of cylinder [cm]
D2
:inside diameter of cylinder [cm]
:Mass of cylinder
[kg]
Reference: Density of material: steel --------7.8 10- 3 [kg/cm3]

Aluminum --------2.7 10 3 [ /cm3 ]
Copper
a 2 b 2
R 2
3
----------8.96 10 3 [ /cm3 ]
------------- (6-2)
2.Prism
a, b, R :
see the diagram in the left. [cm]
( ) (
V2
1
V2
S 2
JL = W =W
= W
-(6-3)
10
2
600
2n
: Converted moment of load inertia applied to the
JL
Motor shaft
: Speed of moving object
: Motor rotation speed
S=
Z1
P B
JL =
W
D2 + Jp
4
JL =
Load A
[ cm2 ]
[mm/min]
[r/min]
Z 1, Z 2 : No. of teeth of gears.
Z2
axis
Load B
applied to the motor shaft.
5.Converted moment of load inertia 4. A suspended object
3. An object moving along the liner
Axis of rotation
(6 4)
JP
Moment of inertia of pulley
Diameter of pulley
2
J 11 + ( J 21 + J22 + J A ) ( )
1
N3
+ ( J 31 + J B ) (--------)
N1
JA
J11 ~
JB
6-2
[ ]
2
---------( 6-5)
: Converted moment of load A,B
J 31 : Moment of inertia of gears
N1 ~ N3
[ cm2 ]
: Rotational speed of shafts
cm2
[ cm2 ]
[ / min]
6. SELECTION
(2)
Formulae used to calculate load torque
The formulae used to calculate load torque in typical cases are presented in Table 6.2
Table 6.2 Calculation of Load Torque

Type
Mechanism
Formula
F
TL =
FS
V
*
2 X10
3
- ---------(6-6)
2 X 10 3
: Axis force of machine moving along linear axis [ N]
: Efficiency of drive system
Liner motion
The force required to move the table as illustrated in the diagram

To the left is calculated using the following formula.
F=
Fc +
W g + Fc )
: Thrust applied to the movable part ( N)
Fc
: Table guide way clamping force
FG
: Friction coefficient
: Speed of object moving along liner axis
: Motor rotational speed ( r /min)
[mm / min ]
: Mass of object. [ kg]

[ 9.8 m /s 2 ]
: Gravitational acceleration
: Object feed distance per motor revolution (mm)
TL =
Z2
Rotation
(N)
-------------------(6 7)
TLO +
TL o
TF
6-
8)
: Load torque applied to the shaft (N m)

: Converted friction load torque applied to the motor
TL
shaft
Motor
(N m)
: movable friction torque (N m)
TF
For upward motion

TL =
TU + TF
------------------------------- (6 9 )
For upward motion

TL =
- 2 TU +
Vertical motion
: movable friction torque (Nm)
TF
( W1 TU =
Load
TF =
------------------------------------------(6 - 10)
: Imbalance (Nm)
TU
Mass
of
count-
TF
W2 )g
2 X 10
3
( )
V
(W 1 W 2)g S
2X 10 3
( W 1 + W2 ) g S
------------------------------- (6 - 12)
2 X10 3
W1
: Mass of load
W2
: Mass of counterweight
[kg ]
[kg]
: Efficiency of drive system
: Friction coefficient (on sheave)
6-3
----------- (6-11)
6. SELECTION
6.2
Reduction Ratio
To make the most of the servomotors performance, it is important to draw power from the
servomotor in the most efficient way and to keep the servo system, including the machine,
operating stably and at high responsibility. An important factor in achieving this is the
reduction ratio of the mechanism between the servomotor and the machine.
The conditions necessary for selecting the reduction ratio correctly are discussed below.
(1) Select the reduction ratio so that the motor runs at the rated rotational speed when the
machine is operating at the fastest speed. This allows you to utilize the motor output
(power) most efficiently.
(a) The max. output(rated output) of a servomotor is obtained when it runs at the
rated rotational speed.
(b) The converted load torque and converted moment of load inertia applied to the
motor shaft of the machine become smaller as the selected reduction ratio is
increased. In other words, the load on the motor is smallest when the reduction ratio
is selected so that the motor runs at the rated rotational speed.
(2) Select the reduction ratio and motor capacity so that moment of load inertia ratio will be 5
to 10 . This ensures good servo system responsibility while maintaining stable operation.
Moment of load inertia ratio m
M=
Converted load applied to the motor shaft J L

Motor JM
<
(5 to 10 )
The smaller the moment ratio of load inertia is, the greater the possibility of increasing the
responsibility of the servo system. For systems with a high incidence of starting and
stopping, select as small a ratio (m < 2) as permitted.
(3) To ensure high positioning accuracy, the feed distance (l0) per pulse should be as small as
possible.
The following is a rough guideline for the relationship between machine accuracy () and
feed distance per pulse (l0).
(l0) <
X [ (1/5) to (1/10) ]
Note: For the relationship between l0 and the reduction ratio, refer to section 2.5.1.
MEMO
1. The power during acceleration will be smallest when m=1. This is achieved by setting
the reduction as 1/n = ( Jm / JL). This reduction ratio is generally called the optimum
reduction ratio.
2.
When spur gears and pulleys are used to reduce motor speeds, if the diameter of the
driven pulley is enlarged to increase the reduction ratio, the moment of load inertia may
become large due to speed reduction.
6.3 Operation Patterns and Required Motor Torque

6-4
6. SELECTION
An operation pattern is usually assessed by dividing a cycle into accelerating time, Tpsa; fixed
speed operation time, tc; decelerating time, Tpsd; setting time, ts, and stop time ts
The energy necessary for accelerating an object which has a load inertia moment(JL) is called
the acceleration torque, Ta, and that necessary for deceleration is called the deceleration torque,
Td.
During the period from the start of deceleration in the fixed speed operation state to the settling
time, ts, the friction torque, L, acts in the same manner as it does during fixed speed operation.
6.3.1 Acceleration torque (Ta)
The formula used to calculate the acceleration torque Ta is formulae (6-17)

(JL + JM) No
Ta= ( 1-
9.55 X10 4 Tpsa
T PSA
Tp
) (Nm)
---------------------- (6-17)
Formulae (6-18) is also used to calculate the approximate acceleration torque Ta.
Ta=
(Jl + JM) No
9.55X10 4 Tpsa
(Nm) ------------------------------------------(6-18)
6.3.2 Deceleration torque (Td)
The formulae used to calculate the deceleration torque(Td) is formulae (620).

(JL + JM) No
Td =
9.55X104 Tpsd
(1-
T Psa
Tp
) (Nm) (6-20)
Formulae (6-21) is also used to calculate the approximate deceleration torque(Td).

Td =
(JL +JM) No
9.55 X104 Tpsd
(N m)
-----------------------------------------------
(6-21)
If Tpsa = Tpsd, the acceleration torque and the deceleration torque have the same value; Ta
= - (Td )
6-5
6. SELECTION
6.3.3
Driving pattern
The discussion above can be summarized as follows:

(a) The motor torque required for fixed speed operation is the converted load torque applied to motor shaft, TL .
(b) The converted load torque applied to the motor shaft, TL, may have a negative value under certain conditions if the
motor is used for up/down motion;
(c) The motor torque necessary for acceleration and deceleration are:
Motor torque necessary for acceleration Tma = Load torque TL + Acceleration torque Ta
Motor torque necessary for deceleration Tmd = Load torque TL - deceleration torque Td
(d) The condition Tmd = TL Td > 0 indicates a power deceleration state in which the motor decelerates while supplying
energy to the machine;
(e) The condition Tmd = TL Td < 0 indicates the regenerative braking(the regenerative mode) in which the motor
decelerates while applying a braking force to the machine. In this mode, regenerative power flows from motor to
amplifier.
(f)
Fig. 6.1 shows the deceleration pattern and torque pattern.
Input pulse frequency(PPS)
Motor speed
Pulse
frequency
Motor
speed
(Remark)
st
Stop time
[s]
f 1 operation cycle [s]
Load
torque
Acceleration/
deceleration
torque
The acceleration/ deceleration

torque follows the pattern
illustrated in (a) in the diagram
to the left due to lag in the
control system. However, to
simply calculation, Ta and Td
in (b) may be used.
Acceleration/
deceleration
torque
Power
mode
Required
Motor
torque
Regenerative
mode
Fig. 6.1 Driving Pattern and Torque Pattern at Each Interval
6-6
6. SELECTION
6.3.4
Determining motor capacity
Whether a specific motor may be used for the required application should be determined by
assessing if it can produce the required motor torque shown in Fig. 6.1. In addition to the torque,
the temperature rise of the motor and heat capacity of the regenerative brake must also be
assessed in the case of motors subjected to frequent use.
The motor provisionally selected may be used if it satisfies the following three conditions.
(1) Motor torque required for acceleration Tma in Fig. 4.1
Tma = TL + Ta < Max. motor torque Tma ---------------------------------(6-23)
(2) Motor torque required for deceleration Tmd
Tmd = TL Ta < Max. motor torque Tmax -------------------------------(6-24)
(3) Continuous effective torque Trms
Trms < Motor rated torque Tm --------------------------------------------(6-25)
The load torque at which the temperature rise of a motor operated intermittently is equal to its
temperature rise when operated continuously is called the continuous effective load
torque, Trms. Therefore, if Trms < Tm, it indicates that the motor maybe used without heat
generation problems.
In the case shown in fig. 6. 1, the continuous effective load torque, Trms, may be calculated
by using the following formula.
Trms = Tma Tpsa + TL (tc + ts) + Tmd Tpsd

tf
6-7
6. SELECTION
If any one of the conditions (1), ( 2) and (3) indicated above is not satisfied. Review the
conditions at the machine, the operation, motor capacity, etc. and evaluated the selection
motor again using the procedure.
If all of the conditions(1), (2), (3)indicated above are satisfied, the provisionally selected
motor can be used for the required application using the planned speed pattern and cycle
time without encountering problems relating to torque or temperature rise.
If negative torque is generated in the torque pattern, the performance of the regenerative
brake of servo amplifier must be examined.
6-8
6. SELECTION
6.4 Example of Capacity Selection Procedure

(1) Table feed
System configuration figure
Mechanical
Table mass
Load mass
Load resistance power
force of a table guidance side
Slowdown ratio (NL/NM)
Slowdown machine inertia moment
Coupling inertia moment
Shaft
Output axis conversion inertia moment

Servomotor
Ball screw lead

Ball screw diameter
Ball screw length
Drive part efficiency
Friction coefficient
Rapid-traverse speed
Positioning length / time
Positioning time
1 cycle time
Coupling
2. Motor Rotation
Speed at Time of
Highest Machine
Speed
3. Operation
Pattern
200.0
50.0
0.01
0.01
1/1
0.20
2.00
0.10
10.00
20.00
1500.00
0.90
0.10
20000.00
400.00
1.50
2.00
Calculation
ITEM
1. Calculation of
Load data
WT :
WL:
FC :
FG :
1/n :
JG :
JC:
JO:
PB:
DB:
LB:
:
:
VO:
L:
To:
f:
kg
kg
N
N
kg cm2
kg cm2
kg cm2
mm
mm
mm/ min
mm
S
S
REMARK
1
= 1)
The calculation of movements per motor rotation (the motor to which the slowdown machine is
nm
1
1
10.0
10X X
[mm/rev]
s = PB
n nm
Motor rotation speed calculation
V0
2000
20000/10.0
[r/min]
S
<Reference>: Since operation is impossible when calculated NO surpasses the motor maximum rotation
speed, it is necessary to make the highest machine speed VO small, or to enlarge amount of
sending S per motor rotation.
N0 =
The positioning time of machine side specification and positioning speed (the highest machine speed) are asked
for acceleration and deceleration time of servomotor. Generally, a motor is straight line acceleration and
deceleration , and since acceleration and deceleration time are set up equally, it asks for an operation pattern by the
premise also by this example. (The position loop gain Kp is taken as the initial value 35 of MR-J2S.)
The acceleration and deceleration time is found in the following ways from a front figure.
Stop setting time calculation
ts = 3
1
Kp
3 X 1/35
0.086
[s]
The acceleration and deceleration time calculation

L
1.5(400/20000 X600.086)
60 + ts =
Tsa = Tsd = t 0
V 0
0.214
ITEM
[s]
CALCULATION
REMARK
The load inertia moment can be computed by machine makers. However, with the system illustrated above, the moment of load inertia can be
calculated as indicated below. Note when computing a load inertia moment, the value must be converted into the moment applied to the motor shaft .
6-9
Ball screw
4
JB =
1500 20
1
LB DB 1
3.1 4 1 6 0 .0 0 7 8
0.0078
10
10
32
32
10 10
6. SELECTION
1.838
6.333
006.333{ 0.220.11.838 X(1)2} X12
10.471
0.433
HC-MFS73
MR-J2S-70A
2.4
0.433
0.6
30 0.349
(10.471 + 0.6 ) 2000

+ 0.433
9 .55 10000 0.214
1.516
7.2
(10.471 + 0.6) 2000

+ 0.433
9.55 10000 0.214
0.650
6 - 10
7.2
6. SELECTION
ITEM
8.Calculation of
continuous
effective load
torque
CALCULATION
Calculate the continuous effective load torque from the driving pattern and the required motor torque,
calculated above. The calculated continuous effective load torque must not exceed the rated torque of the
provisionally selected motor.
Continuation effective load torque
Tma 2 Tsa + TL2 ( t 0 Tsa Tsd ts) + TMd 2 Tsd
Trms =
tf
2
1516
.
0.214 + 0.4332 (15
. 0.214 0.214 0.086) + ( 0.650) 2 0.214
2
2.4
[N.m] Motor Rated torque Type
0.619
Determine if the regenerative brake option is necessary, on the basis of the brake duty.
N0
Acceleration energy Ea = 01047
TMa Tsa
.
2
0.1047 X2000/2X1.516X0.214
33.967
[]
N0
Deceleration energy Ed = 01047
.
TMd Tsd
2
0.1047X2000/2X(-0.650)X0.214
-14.564
[]
Working energy Ef = 01047

.
N 0 TL (to Tsa Tsd ts)
9.Evaluation of
whether the
regenerative
brake option
should be used
or not
0.1047X2000X0.433X0.986
89.401
[]
Absolute value of the negative energy sum total
Regenerative: Pr =
-14.564
m Em Wa t Ec
tf
14.564
[]
(80 / 100) 14.564 0 0.214 18

2
Built-in
regeneration power
3.1744 []
20 []
unused used
Regeneration brake option unused

The regeneration brake more than regeneration power is used. Model name
Regeneration brake option used
The result selected from the above examination is as follows.

HC-MFS73
Servomotor
MR-J2S-70A
Servo amplifier
Unused
Regeneration option
10.Result of
selection
Motor rotational speed corresponding to the maximum machine speed 2000

Acceleration/ deceleration time
0.214
()
Motor torque required for acceleration
1.516
()
Motor torque required for deceleration
-0.650
()
Continuous effective load torque
0.619
()
6 - 11
()
REMARK
6. SELECTION
(2)Lift applications
System configuration figure
Mechanical Specification

Other output conversion inertia moment

Ball screw lead

Ball screw diameter

Ball screw length
Drive part efficiency
Friction coefficient
1
Rapid-traverse speed

Positioning length / time

Positioning time

1 cycle time
Table mass
Load mass
Counter weight mass
Load resistance power
Force of the table guidance side
Slowdown ratio
Slowdown machine inertia moment
Coupling inertia moment
coupling
Shaft
Motor
CALCULATION
ITEM
1.Calculation of
Load Data
2.Motor rotation
speed at time
of highest
machine speed
REMARK
1
The calculation of movements per motor rotation ( the slowdown machine
= 1)
nm
1
1
10X0.5X
[mm/rev]
5
s = PB
n nm
Motor rotation speed calculation

V0
2000
10000/5.0
[r/min]
N0 =
S
NoteSince operation is impossible when calculated NO surpasses the motor maximum rotation speed, it
is necessary to make the highest machine speed VO small, or to enlarge amount of sending S per
motor rotation.
The positioning time of machine side specification and positioning speed (the highest machine speed) are asked
for acceleration and deceleration time of servomotor. Generally, a motor is straight line acceleration and
deceleration , and since acceleration and deceleration time are set up equally, it asks for an operation pattern by the
premise also by this example. (The position loop gain Kp is taken as the initial value 35 of MR-J2S.)
The acceleration and deceleration time is found in the following ways from a front figure.
Setting time calculation
3.operation Pattern
ts = 3
1
Kp
3X1/35
[s]
0.086
The acceleration and deceleration time calculation
Tsa = Tsd = t 0
60 + ts
V 0
2.6(400/10000X600.086)
0.114
6 - 12
[s]
6. SELECTION
ITEM
CALCULATION
REMARK
The load inertia moment can be computed by machine makers. However, with the system illustrated above, the moment of load inertia can be
calculated as indicated below. Note when computing a load inertia moment, the value must be converted into the moment applied to the motor shaft .
Ball screw
4
1
LB DB
JB =
0.0078
32
10 10
4. Calculation of
Load
Inertia
Moment
The straight-line motion object

2
S
JF = (WT + WL + WC )
10 2
1500 20
1
3.1416 0.0078
10
10
32
[kgcm2]
1.838
5.0
( 80 + 50 + 100 )
10 2 3.1416
[kgcm2]
1.456
Motor shaft conversion load inertia moment (the motor which the slowdown machine is not attached, JMG=0
2
2
1 1
JL = JMG + JMB + JF + JG + JC + J 0 + JB
n nm
= 00.0401.456{ 0.220.11.838x(0.5)2}x12
4.256
[kgcm2]
<note>Since all the objects moved when a motor rotates are applicable, an inertia moment needs to take all them into
consideration..
The load inertia moment can be computed by machine makers. However, with the system illustrated above, the moment of load
inertia can be calculated as indicated below. Note when computing a load inertia moment, the value must be converted into the
moment applied to the motor shaft . (Gravity acceleration g= 9.8)
{ 0.01 + (80 + 50 100) 9.8}
5
Imbalanced torque
{Fc + (WT + WL WC) g} S

TU =
2
1000
Friction torque
{(WT + WL + WC) g + FG} S
TF =
1000
2
(TU + TF )
TLu =
0.234 + 0179
.
0.9
[N.m]
0.1 { (80 + 50 + 100) 9.8 + 0.01}
5
1000
2 3146
.
0.179
[N.m]
0.459
[N.m]
the motor shaft conversion load torque at the time of descent.
TU + TF
TLd =
2 31416
.
0.234
5. Calculation of
Load Torque
1000
(0.2340.179)X0.9
TLd = ( TU + TF )
[N.m]
0.05
[N.m]
Once the load torque and a load inertia moment can be found, it is possible to select an approximate motor capacity.,
as the standard of provisional selection.
6.
Provisional
The motor rated torque Ttyp should be more than load torque.
selection of a
(A margin is usually given to about 50 - 80% of the rated torque Ttyp.)
motor
The load inertia moment of the motor itself, Jm, must be at least 1/10(HC-KFS) of Jl ;
MR-J2S-40A
The motor of a perpendicuHC-KFS43B
lar axis selects with a safety top brake.
0.64
a
nd servo
amplifier
0.459
0.05
0.42
Provisional selection motor 0.64
15 0.2837
CALCULATION
ITEM
Now the load torque, the load inertia moment, and the operation pattern of motor have been obtained. The next step is to
assess whether the torque required for accelerating and deceleration by the provisionally selected motor is less than the max.
6 - 13
torque of this motor. If the torque required for acceleration/deceleration exceeds the max. torque of the motor, the motor
cannot follow the pattern within the acceleration/deceleration time calculated in the preceding step, and a servo error will result.
Acceleration torque at the time of rise
REMARK
6. SELECTION
(4.266 + 0.670) 2000
+ 0.459
.
9.55 10000 0114
1.366
1.9
(4.256 + 0.420) 2000
+ 0.459
9.55 10000 0.114
1.9
0.400
(4.256 + 0.420) 2000
+ (0.05)
9.55 10000 0.114
0.809
1.9
( 4.256 + 0.420 ) 2000
+ ( 0.05)
9.55 10000 0.114
1.9
0.909
tc = to Tsa Tsd ts
2.60.1140.1140.086
2.286
Trms =
( TMau 2 + TMad 2 ) Tsa + (TMdu 2 + TMdd 2 ) Tsd + (TLu 2 + TLd 2 ) tc + TU 2 (tf 2 t 0 + 2 ts)
tf
2
2
2
2
2
2
2
(1.366 + 0.809 ) 0.114 + (( 0.400) + ( 0.909) ) 0.114 + ( 0.459 + ( 0.05) ) 2.286 + 0.234 ( 6 2 2.6 + 2 0.086)
6
0.393
0.64
6 - 14
6. SELECTION
ITEM
CALAULATION
Determine if the regenerative brake option is necessary, on the basis of the brake duty.
Acceleration energy at the time of rise
Eau =
REMARK
.
01047
N 0 TMau Tsa 0 .1047 2000 1 .318 0 .114
2
2
[]
15.731
Deceleration energy at the time of rise

Edu =
01047
.
N 0 TMdu Tsd
2
10. Evaluation of
whether the
regenerative
brake option
should be used
or not
0 . 1047
2000 ( 0 . 400 ) 0 . 114
2
4.774
[]
working energy at the time of rise

Efu = 01047
.
N 0 TLu tc
0.1047X2000X0.459X2.286
Acceleration energy at the time of descent

Ead =
219.718
[]
0 . 1047
2000 0 . 809 0 . 114
2
0.1047
N 0 TMad Tsa
2
[]
9.656
Deceleration energy at the time of descent

Edd =
0 . 1047
2000 ( 0 . 909 ) 0 . 114
2
01047
.
N 0 TMdd Tsd
2
10.850
[]
working energy at the time of descent

Efd = 01047
.
N 0 TLd tc
0.1047X2000X(-0.05)X2.286
23.934
[]
The absolute value of the negative energy sum total

d Sum total
(4.774)(10.850)(23.934)
Regenerative:
m Em Wa t Ec
Pr =
tf
39.558
[]
( 70 / 100 ) 39 . 558 0 2 . 514 9

6
3.115
[]
<
Built-in regeneration power

10 []
unused use
Regeneration brake option unused
Regeneration brake option used
The regeneration brake more than regeneration power is used. Model name
6 - 15
6. SELECTION
ITEM
CALAULATION
The result selected from the above examination is as follows.
Servomotor
HC-KFS23B
Servo amplifier
MR-J2S-20A
Regeneration option
11.Result
selection
unused
of
Motor rotational speed corresponding to the maximum machine speed 2000 ()
Acceleration time
0.114
Motor torque required for acceleration at the time of rise

1.318
Motor torque required for deceleration at the time of rise

0.809
[]
Motor torque required for acceleration at the time of descent
-0.400
Motor torque required for deceleration at the time of descent

-0.909
[]
Continuous effective load torque 0.393
6 - 16
REMARK
7. The Measure Against Noise, Leak Current, Harmonics

7.1
The measure against a noise
Servo amplifier is controlling the servomotor by switching rectification and the direct-current power supply of
about 300 V that carried out flat and smooth for a commercial power supply. Therefore, Servo amplifier may serve
as a noise generation source to peripheral equipment, and may generate the trouble of a noise with the amount of proof [noise] of Servo amplifier, the cloth line affair of the power line between servomotors, the grounding method,
and Servo peripheral equipment.
The signal line of that on which the noise generated from Servo amplifier is radiated from the electric wire
connected to the main part of Servo amplifier, and a Servo amplifier main circuit (ON and output), and the
peripheral equipment close to the main circuit electric wire -- electromagnetism -- it can divide roughly into a target,
the thing to guide in static electric, and the thing transmitted in power supply circuit.
Servo amplifier
Generating noise
Noise transmitted in
Noise radiated directly

from Servo amplifier
the air
---- Route (1)
Noise radiated from the

power supply cable
Noise radiated from the

motor connection cable
----Route (2)
----Route (3)
Electromagnetism
induction Noise
Static electric induction

Noise
The Noise transmitted
through electric channels
----Route (4), (5)
----Route (6)
Noise transmitted through

power supply cable
Noise from the grounding

cable due to leak current.
Telephone
Instrument
Receiver
Servo
Amp.
Sensor power
supply
Sensor
Servomotor
7-1
----Route (7)
----Route (8)
7.
The measure against a noise, leak current, harmonics
Noise propagation
Measure
Feeble signals, such as a measuring instrument, a receiver, and a sensor, are treated, and since
apparatus may incorrect-operate by air propagation of a noise when it is influenced of a noise, and it is
contained in the same board as Servo amplifier, or the apparatus which is easy to operate, and its signal
cable approach and are wired, it is necessary to take the following measures.
(1)
The apparatus which is easy to be influenced is separated from Servo amplifier as much as
possible, and is installed.
(1) (2) (3)

(2)
From the input-and-output cable of Servo amplifier, the signal cable which is easy to be
influenced is detached as much as possible, and is patterned.

(3)
Wiring is avoided in parallel routing and the bunch of a signal cable and a power line (Servo
amplifier input-and-output cable).
(4)
If a cable noise filter and an input can insert a radio noise filter in an input-and-output cable, the
radiation noise from an electric wire can be controlled.
(5)
It is still more effective, if the shield cable is used for the signal cable or the power cable or it
puts into a respectively individual metal duct.
When parallel routing of the signal cable is carried out or it is bundled by the power cable together
with the power cable, it electromagnetism induction. Since a noise may spread and incorrect-operate
on a signal line by the noise and the static electricity induction noise.
It is necessary to take the following measures.
(4) (5) (6)
(1)
The apparatus that is easy to be influenced is separated from Servo amplifier as much as
possible, and is installed.
(2)
From the input-and-output cable of Servo amplifier, the signal cable that is easy to be influenced
is detached as much as possible.
(3)
Wiring is avoided in parallel route and the bunch of a signal cable and a power cable (Servo
amplifier input-and-output cable).
(4)
It is still more effective, if the shield cable is used for a signal cable or the power cable or it puts
into a respectively individual metal duct.
(5)
(7)
A data line filter is attached in the signal cable.
The case where the power supply of peripheral equipment is connected with the power supply of the
same system as Servo amplifier since apparatus may incorrect-operate from the noise in which the
generated noise flows backwards the power supply cable, it is necessary to take the following
measures:
(1)
A radio noise filter (FR-BIF) is installed in the power cable(input-and-output cable) of Servo
amplifier.
(2)
A radio noise filter (FR-BLF, FR-BSF01) is installed in the power cable of Servo amplifier.
(3)
A data cable filter is attached in the power supply cable of peripheral equipment.
7-2
7.
When wiring of peripheral equipment is having the closed loop circuit constituted by wiring Servo
amplifier, it leaks from the grounding cable of Servo amplifier, current flows in, and apparatus may
(8)
incorrect-operate.
When such, if the grounding cable of apparatus is removed, there is a case where it stops incorrectoperating.
7.2
Leak current
To AC Servo, the chopper current of the harmonics by which PWM control was carried out flows. It leaks and current becomes
large compared with the motor containing a part for harmonics operated with a commercial power supply.
A short circuit breaker should select a lower formula to reference, and a Servo amplifier, servomotor etc. should ground
certainly.
Moreover, please the route distance of the electric wire of input and output be short as much as possible to reduce leak current,
detach as much as possible between the grounds, and carry out electrical route (about 30cm).
Rated sensitivity current >=10X(lg1lgnlgaX(lg2lgm)) (mA)
K: The constant in consideration of a part for harmonics

Short circuit breaker
Type
Wire
length
Elegance of
our
company
Servo amplifier
Harmonics and a serge
NV - SF
correspondence article
NV - CF
NV - CA
Common article
NV - CS
NV - SS
7-3
7.
Ig1 Leak current of the circuit from a short circuit breaker to a Servo amplifier input terminal (It asks from
Fig. 7.1.)
Ig2 Leak current of the circuit from a Servo
amplifier output
terminal to the servo motor (It asks from
Fig. 7.1.)
Ign Leak current at the time of connecting an input side filter etc. (In FR-BIF, it is 4.4mA per piece.)
Iga Leak current of Servo amplifier (It asks from Table 7.2.)
Igm Leak current of a servomotor (it asks from Table 7.1)
Leak current of a servo motor (it asks from Table 7.1)

Fig. 7.2 Example of leak current per km
Table
at the time of carrying out metal wiring
leak current (Igm)
7.1
Servo
motors
Table 7.2 Servo amplifiers leak
current (Iga)
of CV cable (Ig1, Ig2)
Servo motor output

Leak
(kW)
current(mA)
Leakage
current
0.05
~0.5
0.1
0.6
~0.1
0.1
1.2
~2.2
0.2
3, 3.5
Cable size
7-4
0.3
Servo
Amplifier
capacity (kW)
Leak current
(mA)
0.1 ~ 0.6
0.1
0.7 ~ 3.5
0.15
7.
7.3
Harmonics
7.3.1
A basic wave and harmonics
It is defined as the thing with the frequency of the integral multiple of a basic wave (generally power supply
frequency), and it is distorted and what compounded one basic wave and two or more harmonics is called
harmonics with the wave. (Refer to Fig. 7.3)
Although the distortion wave is generally included to the harmonics (kHz-MHz) of a harmonics domain, it differs
in character with the problem of the harmonics domain which the 40-50th (-3kHz) usually deal with it as harmonics
of a power distribution system, and generally presents a random aspect. For example, problems with a personal
computer, such as an electric wave obstacle and a noise (refer to section 7.1), are local problems stuck to apparatus
hard, and the influence and a correspondence means differ from the harmonics for an electric power network. It is
necessary to clarify this first.
I = Io
In sin (2fnt
+ n)-------------------------- (7.1)
n=1
n = 1, 2, 3.
f = Basic frequency
Basic Wave
2 times
harmonics
Merger wave
3 times
harmonics
Fig. 7.2 Basic wave and harmonics
Fig. 7.3 Distortion wave
7-5
7.
Table 7.3 The harmonics and noise as following

ITEM
Frequency
Noise
Usually, the 40-50th 3kHz or less
Harmonics (several 10 kHz-MHz order)
Depended on track and power supply

impedance
Depended on space, distance, a routing course
Quantity grasp
Theoretical calculation is possible.
They are generating and quantity grasp difficulty at random.
The amount of
generating
It is proportional to load capacity

mostly.
It is based on a current rate of change (size like high-speed

switching).
It writes clearly by the standard for

every apparatus.
It changes with a maker's apparatus specifications.
A reactor (L) is attached.
Distance (l) is extended.
Environment
The amount of -proof of

damage apparatus
The example of a
measure
7.3.2
Harmonics
The characteristic of a rectification circuit and generating harmonics
As a generation source of harmonics, there are a rectifier, an exchange electric power adjustment machine, etc. The converter
part of general-purpose Servo consists of the rectifier circuit, and has generated many harmonics.
As shown in Table 7.4, there are two kinds of things in a rectifier circuit with the main circuit system, and most 3 phase bridge
systems are adopted in general-purpose Servo.
Table 7.4 Rectifier circuit system and harmonics
Circuit name
Basic circuit diagram
Harmonics degree
Single bridge
N = 4k + 1
Harmonics content
Kn X 1/n
K = 1, 2
N = 6k + 1
3 phase Bridge
K = 1, 2
Kn X 1/n
Kn: The coefficient decided by the control delay angle, the running style overlap angle, etc.
7.3.3
The measure against harmonics
The Ministry of International Trade and Industry enacted the harmonics control measure guideline about the
measure against harmonics control in September, 94.
The Servo amplifier of 4.0 or less kW becomes the object product of "household electric appliances and a general-purpose
article harmonics control measure guideline." In accordance with these guidelines, the gradual regulation level was decided in
Japan Electrical Manufacturers' Association.
Since this regulation level is suited, the Servo amplifier 4.0kW or less installed on and after January 1,
97 needs to connect a power improvement reactor (FR-BAL).
7-6
8.
Maintenance and Inspection
8.1
Maintenance and Inspection
Although AC Servo amplifier is stillness apparatus constituted focusing on the semiconductor element, in order to
prevent beforehand the trouble generated from the influence of use environment, such as temperature, humidity,
and vibration, secular change of use parts, a life, etc., it is necessary to perform everyday check.
8.1.1
Notes at the maintenance and inspection
Please carry out after checking with a tester etc. that the voltage between main circuit terminal P-N is 0V waiting
and after that until a charge lamp puts out the light, since a flat and smooth capacitor is in a high-voltage state for a
while after intercepting a power supply, when checking the inside of AC Servo amplifier.
8.1.2
1
Item of inspection
Daily inspection
Basically, it checks for no following abnormalities during operation.
(1)
Does the motor move as the setting?
(2)
Is it normal by the environment of the installation place?
(3)
Is it normal for the cooling system?
(4)
Aren't there unusual vibration and unusual sound?
(5)
Aren't there unusual overheating and discoloration?
It is usually with a tester during operation, and the input voltage of AC Servo is checked.
Scheduled inspection
The part which cannot be checked unless it stops operation, and the part which requires a scheduled
inspection are checked.
(1)
Is it normal for a cooling system? .... Cleaning of an air filter etc.
(2)
It increases with a check with a bundle and fastens. .... Under the influence of vibration,
temperature change, etc., since connector, such as a screw and a bolt, may loosen, it often carries
out after a check.
(3)
Aren't corrosion and breakage in the conduct and an insulator?
(4)
Measurement of insulation resistance
(5)
The check and exchange of the cooling fan, the smooth capacitor, and the relay.
8-1
8. Maintenance and Inspection
Table 8.1 Daily check and scheduled inspection
Check item
Check matter
The check method
Judgment standard
Meter
Dai- Perly
iod
Circumference
Circumference
environment
temperature, humidity, dirt,
a hygrometer, a
etc. are checked.
recorder
Preservation
Circumference
environment
temperature, humidity, dirt,
A thermometer,
It measures with
(1) motor: -- below -10 degrees A thermometer,
temperature, a hygrometer, C - +70 degree-C(there needs to a hygrometer, a
etc. are checked.
etc.
be no freeze) RH [ 90%] (there
recorder
needs to be no dew
condensation) amplifier: --
Whole unit
below -20 degrees C - +65

degree-C(there needs to be no
freeze) 90%RH (there needs to
be no dew condensation)
Entire Equipment
Aren't there unusual
It is based on viewing and
If normal.
Voltage measurement
Standard specification is referred
Multi-meter
between phase to phase of
to.
vibration and unusual
hearing.
sound?
Power supply
The main circuit voltage is
voltage
normal.
the Servo amplifier terminal

stands R, S, and T
Whole unit
(1) Isn't there any slack of
(1) Carry out an increase
There are no abnormalities in (1)
bundle.
and (2).
Connector?
(2) After overheating into
each portion, is there
(2) It is based on viewing.
nothing?
Main circuit
(3) Cleaning
Connection
(1) Isn't there any
conduct
distortion in conduct?
Wire or cable
(2) Isn't there any tear of
(1) (2) It is based on
There are no abnormalities in (1)
viewing.
and (2).
electric wire covering?

Terminal stand
Isn't it damaged?
It is based on viewing.
Are normal.
Flat and smooth
(1) Isn't there any liquid
(1) and (2) is based on
(1)(2). There are no
capacitor
leak?
viewing.
abnormalities
(2) Has not (safety valve)

come out or doesn't a
swelling have it?
8-2
Capacity meter
swelling have it?
(3) Measurement of static
(3) Measure with a capacity
(3) 85% or more of rated
measuring instrument.
capacity
electricity capacity
Relay
(1) Isn't there any Beeper
X (1) It is based on a feeling of
Main circuit
sound at the time of
(1) Are normal.
listening
operation?
X
(2) The check of the time
of a timer of operation
(3) Isn't there that any in a
(2) Operate in 0.1 - 0.15

(2) Time from a power
seconds.
supply ON to relay suction

X
(3) Are normal.
point of contact?
Resistor
(1) Isn't there any Wire of
(1)
a resistor insulator?
(2)
The
check
It
is
based
viewing.
of
on
Cement
resistance
disconnection existence
and
winding
form
resistance
(2)
Remove connection
of one side and they
are
measurement
cement
and
tester.
8-3
resistance
winding
resistance
(1) Are normal.
form
with
(2) It is less than 10% of error

of display resistance.
Multi-meter
Control circuit and protection circuit
Check Item
To check of
operation
Check matter
Dai Per
ly iod
(1) By Servo simple
Check method
(1) Measure the Servo
Judgment standard
(1) The voltage balance between Rectified type
substance (no-load)
amplifier output terminals U
phase to phase is less than
operation, it is the check of
and V and the voltage
[ 4V ].
balance of each phase of
between W phase.
output voltage.
(2) Abnormalities operate on a
(2) Sequence protection
(2) Short-circuit the
operation is performed and
protection circuit output of
there are no abnormalities
Servo amplifier in imitation.
sequence.
in protection / display
Cooling system
circuit.
Cooling fan
(1) Aren't there unusual

sound?
(2) Isn't there any slack
(1) It turns by hand in the
(1) Rotate smoothly.
state of no power supply.
(2) Are normal.
(2) Carry out an increase

bundle.
of a connection part?
Display
Display
Aren't there a charge
The lamp and display
lamp and a piece of a 7
machine of the amplifier
segment Light Emitting
face of a board are shown.
Lighting is checked.
Diode display?
Servomotor
Whole unit

sound?
(1) It is based on a feeling
There are no abnormalities in
of listening, a physical
(1) and (2).
feeling, and viewing.
(2) Isn't there any nasty
(2) The nasty smell check
smell?
by overheating, damage,
etc.
Encoder
Cooling fan
It is based on a feeling of
listening, and a physical
sound?
feeling.
(1) It turns by hand in the
Are normal.
(1) Rotate smoothly.
state of no power supply.
sound?
(2) Are normal.
It is based on a feeling of
Are normal.
(2) Have not the foreign

substance, etc. adhered?
Bearing
listening, and a physical
sound?
feeling.
8-4
Meter
voltmeter
8.1.3
Parts exchanged
The following parts have secular degradation on mechanical wear or physical properties, and since the
performance fall of a unit and failure may be affected, while performing a scheduled inspection for preventive
maintenance, it is necessary to carry out periodical exchange.
(1) Flat and smooth capacitor :
As for a flat and smooth capacitor, the characteristic deteriorates under the
influence of ripple current etc. Although greatly influenced by
circumference temperature and the operating condition, the life of a
capacitor will turn into a life in ten years, when continuation operation is
carried out on the air-conditioned usual environmental conditions.
(2) Relays :
Poor contact occurs in the point-of-contact wear by opening-and-closing

current. Although influenced by power supply capacity, it becomes a life
by the 100,000 hours of accumulation opening and closing (opening-andclosing life).
(3) Servo amplifier cooling fan :
It is 10,000 - 35,000 hours from a cooling fan's bearing life. Therefore, in

continuation operation, it is necessary to usually exchange it the whole
fan, using the 2 - 3 year as a standard. Moreover, when unusual sound
and unusual vibration are discovered at the time of check, it is necessary
to exchange.
(4) Servo motor bearing :
Please exchange 20,000 - 30,000 hours for a standard by rated speed and
rated load operation. Since it is influenced by the operation situation,
when unusual sound and unusual vibration are discovered, exchange is
required at the time of check.
(5) Servo motor oil seal, V ring:
Exchange is needed by making 5000Hr(s) into a standard at rated speed.

Exchange is needed, when an oil leak etc. is discovered at the time of
check, since it was influenced by operation conditions.
(6) Battery :
It will become a life from a manufacture day in five years.
8-5
Table 8.2 Standard exchange years of parts

Parts
Standard exchange time
Flat and smooth capacitor

Servo amplifier
Relay
Cooling Fan
Bearing
Servo motor
10 Years
Encoder
Oil seal, V Ring
Battery
10,000 ~30,000hours (2~3

Years)
20,000
-- 30,000 hours
20,000 -- 30,000 hours

5000 hours
It is for five years from a
manufacture day.
8-6
Remark
8.1.4
Troubleshooting
If alarm is generated, a failure signal (ALM) will be turned off that displayed alarm on a display part.
A servo motor stops. Please remove the cause of alarm according to which kind of Alarm . A
generating factor can be referred to if the setup software of an option is used. Only in the case of
MR-J2S, an alarm code is outputted. In MR-H, use of a parameter unit can refer a generating factor.
(Note2)Alarm Code
Display
AL.10
CN1B
Alarm deactivation
Name
CN1A CN1A
19
18
19
Undervoltage
Memory error1
Power
OFF
ON
AL.12
AL.13
Clock error
AL.15
Memory error 2
AL.16
Encoder error 1
AL.17
Board error 2
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
AL.19
Memory error 3
AL.1A
Motor combination error
AL.20
Encoder error 2
AL.24
Motor output ground fault
AL.25
Absolute position erase
AL.30
Regenerative error
AL.31
overspeed
AL.32
overcurrent
AL.33
overvoltage
AL.35
Command pulse frequency error
AL.37
Parameter error
AL.45
Main circuit device overheat
AL.46
Servomotor overheat
AL.50
Overload 1
(note1)
AL.51
Overload 2
(note1)
AL.52
Error excessive
AL.8A
Series communication time-out
AL.8E
Series communication error
8.8.8.8.8.
Watchdog
o
o
o
o
Press set on
current Alarm
screen
o
o
Alarm reset
(RES) signal
o
o
o
o
o
o
o
o
o
o
(note1) o
(note1) o
(note1) o
(note1) o
o
o
o
o
o
o
AL.92
Open battery cable warning
Removing the cause of occurrence
AL.96
Home position setting warning
deactivates the alarm automatically.
AL.9F
Battery warning
AL.E0
Regenerative warning
AL.E1
AL.E3
AL.E5
Overload warning
Absolute position counter
warning
ABS time-out warning
AL.E6
Servo emergency stop
AL.E9
Main circuit off warning
AL.EA
ABS servo-on warning
Note 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence.
2. If the value of a parameter 49 is set to "01", an alarm code can be outputted at the time of alarm generating. 0:
It becomes an OFF
8-7
1:ON signal.
Display
Name
Defination
Cause
Action
AL.10
Undervoltage
Power supply voltage dropped.

MR-J2S-A:160V or less
1. Power supply voltage is low.
Review the power supply.
2. There was an instant power failure for

15ms or more.
3. Shortage of Power supply capacity caused
the power supply voltage to drop at start,
etc.
4. It turned on within 5s after the power
supply OFF.
5. Faulty parts in the servo Amplifier
Change the servo amplifier
Checking Method
Alarm(AL. 10) occurs if power is switched
on after N1A,CN1B and CN3 connectors are
disconnected
AL.12
Memoty error1
RAM, Memory fault
AL.13
Clock error
Print board fault
AL.15
Memory error2
EEP-ROM fault
Alarm(any of AL12,13 and 15) occurs if

power is switched on after CN1A,CN1B
and CN3 all connectors are disconnected.
AL.16
Encoder error1
Communication error occurred

between encoder and servo amplifier
1. CN2 connector disconnected.
Connect correctly
2. Encoder fault
Changed the servo motor.
3. Encoder cable faulty

(Wire breakage or shorted)
Cable repair or exchange.
Faulty parts in the servo amplifier
Change the servo amplifier.
Check Method
4. The combination of Servo amplifier and a

servo motor is different.
Note
At the time of alarm generating, please re-operate after removing a cause and securing safety. It
becomes the cause of an injury.
Wa
rning
When the following alarm is generated, please carry out alarm release repeatedly by control
circuit power supply OFF->ON, and do not resume operation. It becomes the cause of failure of
Servo amplifier, a servomotor, and a regeneration option. Please resume operation after setting
the cooling time for about 30 minutes at the same time it removes the cause of generating.
* Regenerative error(AL.30)
* Overload (AL.50)
* Overload (AL.51)
8-8
Display
Name
Definition
AL.17
AL.19
Board error 2
Memory error 3
AL.1A
Motor
Wrong combination of
combination error servo anplifier and
servo motor.
Encoder error 2
Communication error
occurred between
encoder and servo
amplifier.
Main circuit error Ground fault occurred
at the servo motor
outputs (U,V and W
phases) of the servo
amplififer.
AL.20
AL.24
CPU/parts fault
ROM memory fault
Cause
Faulty parts in the servo amplifier

Checking met hod
Alar m (AL .17 or AL .19) occur s if
power is swit ched on aft er CN1A,
CN1B and CN3 connect or s ar e
disconnect ed.
Action
Wrong combination of servo amplifier and Use correct combination.

servomotor connected.
1. Encoder connector (CN2) disconnected. Connect correctly.
2. Encoder cable faulty
Repair or change the cable.
(Wire breakage or shorted)
1. Power input wires and servo motor
output wires are in contact at main
circuit terminal block (TE1).
2. Sheathes of servo motor power cables
deteriorated, resulting in ground fault.
3. Main circuit of servo amplifier failed.
Checking met hod
AL .24 occur s if t he ser vo is
swit ched on aft er disconnect ing
t he U, V, W power cables fr om
t he ser vo amplifier .
AL.25
Absolute position Absolute position data 1. Reduced voltage of super capacitor in

erase
in error
encoder
AL.30
Regenerative
alarm
Connect correctly.
Change the cable.

After leaving the alarm occurring for a few

minutes, switch power off, then on again. Always
make home position setting again.
2. Battery voltage low
Change battery.
Always make home position setting again.
3. Battery cable or battery is faulty.
Power was switched on 4. Super capacitor of the absolute position After leaving the alarm occurring for a few
for the first time in the
encoder is not charged
minutes, switch power off, then on again. Always
absolute position
make home position setting again.
detection system.
Permissible
1. Wrong setting of parameter No. 0
Set correctly.
regenerative power of 2. Built-in regenerative brake resistor or
Connect correctly
the built-in
regenerative brake option is not
regenerative brake
connected.
resistor or regenerative 3. High-duty operation or continuous
1. Reduce the frequency of positioning.
brake option is
regenerative operation caused the
2. Use the regenerative brake option of larger
exceeded.
permissible regenerative power of the
capacity.
regenerative brake option to be
3. Reduce the load.
exceeded.
Checking met hod
Call t he st at us display and check
t he r egener at ive load r at io.
4. Power supply voltage is abnormal.
MR-J2S- A:260V or more
MR-J2S- A1:135V or more
5. Built-in regenerative brake resistor or
regenerative brake option faulty.
Regenerative transistor 6. Regenerative transistor faulty.
fault
Checking met hod
1) The r egener at ive br ak e opt ion
has over heat ed abnor mally.
2) The alar m occur s even aft er
r emoval of t he built -in
r egener at ive br ake r esist or or
r egener at ive br ake opt ion.
8-9
Review power supply

Change servo amplifier or regenerative brake
option.
Display
AL.31
AL.32
Name
Overspeed
Overcurrent
Definition
Cause
Action
Set command pulses correctly.

Speed has exceeded the 1. Input command pulse frequency
instantaneous
exceeded the permissible instantaneous
permissible speed.
speed frequency.
Current that flew is

higher than the
permissible current of
the servo amplifier.
2. Small acceleration/deceleration time

constant caused overshoot to be large.
Increase acceleration/deceleration time

constant.
3. Servo system is instable to cause

overshoot.
1. Re-set servo gain to proper value.

2. If servo gain cannot be set to proper value:
1) Reduce load inertia moment ratio; or
2) Reexamine acceleration/
deceleration time constant.
4. Electronic gear ratio is large

(parameters No. 3, 4)
Set correctly.
5. Encoder faulty.
Change the servomotor.
1. Short occurred in servo amplifier output Correct the wiring.

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

Alar m (AL .32) occur s if power is
swit ched on aft er U,V and W
ar e disconnect ed.
3. Ground fault occurred in servo amplifier Correct the wiring.

output phases U, V and W.
AL.33
Overvoltage
Converter bus voltage

exceeded 400V.
4. External noise caused the overcurrent

detection circuit to misoperate.
Take noise suppression measures.
1. Lead of built-in regenerative brake

resistor or regenerative brake option is
open or disconnected.
1. Change lead.
2. Connect correctly.
2. Regenerative transistor faulty.
Change servo amplifier
3. Wire breakage of built-in regenerative

brake resistor or regenerative brake
option
1. For wire breakage of built-in regenerative

brake resistor, change servo amplifier.
2. For wire breakage of regenerative brake
option, change regenerative brake option.
4. Capacity of built-in regenerative brake

resistor or regenerative brake option is
insufficient.
Add regenerative brake option or increase

capacity.
5. Power supply voltage high.
Review the power supply.
8-10
Display
AL.35
AL.37
Name
Command pulse
frequency error
Parameter error
Definition
Input pulse frequency

of the command pulse
is too high.
Parameter
wrong.
setting
Cause
Action
1. Pulse frequency of the command pulse

is too high.
Change the command pulse frequency to a

proper value.
2. Noise entered command pulses.
Take action against noise.
3. Command device failure
Change the command device.
is 1. Servo amplifier fault caused the

parameter setting to be rewritten.
2. Regenerative brake option not used with Set parameter No.0 correctly.
servo amplifier was selected in
parameter No.0.
AL.45
Main circuit
device overheat
Main circuit device

overheat
1. Servo amplifier faulty.
2. The power supply was turned on and off The drive method is reviewed.
continuously by overloaded status.
3. Air cooling fan of servo amplifier stops. 1. Exchange the cooling fan or the servo amplifier.
2. Reduce ambient temperature.
AL.46
Servo motor
overheat
Servo motor
temperature rise
actuated the thermal
protector.
1. Ambient temperature of servo motor is

over 40 .
Review environment so that ambient temperature

is 0 to 40 .
2. Servo motor is overloaded.
1. Reduce load.
2. Review operation pattern.
3. Use servo motor that provides larger output.
3. Thermal protector in encoder is faulty.

AL.50
Overload 1
Load exceeded
1. Servo amplifier is used in excess
overload protection
of its continuous output current.
characteristic of servo
amplifier.
2. Servo system is instable and hunting.
Load ratio 300%:
2.5s or more
Load ratio 200%:
100s or more
3. Machine struck something.
Change servo motor.

1. Reduce load.
3. Use servo motor that provides larger output.
1. Repeat acceleration/
deceleration to execute auto tuning.
2. Change auto tuning response setting.
3. Set auto tuning to OFF and make gain
adjustment manually.
2. Install limit switches.
4. Wrong connection of servo motor. Servo Connect correctly.

amplifier's output terminals U, V, W do
not match servo motor's input terminals
U, V, W.
5. Encoder faulty.
Checking met hod
When t he ser vo mot or shaft is
r ot at ed slowly wit h t he ser vo off,
t he cumulat ive feedback pulses
should var y in pr opor t ion t o t he
r ot ar y angle. I f t he indicat ion
skips or r et ur ns midway, t he
encoder is fault y.
8-11
Display
AL.51
Name
Overload 2
Definition
Cause
Machine collision or
the like caused max.
output current to flow 2. Wrong connection of servomotor. Servo
successively for several amplifier's output terminals U, V, W do
seconds.
Servo motor locked:
U, V, W.
1s or more
3. Servo system is instable and hunting.
4. Encoder faulty.
Action

Connect correctly.
1. Repeat acceleration/deceleration to execute

auto tuning.
2. Change auto tuning response setting.
3. Set auto tuning to OFF and make gain
adjustment manually.
Checking met hod

When t he ser vo mot or shaft is
r ot at ed slowly wit h t he ser vo off,
t he cumulat ive feedback pulses
should var y in pr opor t ion t o t he
r ot ar y angle. I f t he indicat ion
skips or r et ur ns midway, t he
encoder is fault y.
AL.52
Error excessive
The droop pulse value 1. Acceleration/deceleration time constant

of the deviation counter is too small.
exceeded the encoder 2. Torque limit value (parameter No.28) is
resolution
10
too small.
[pulse].
3. Motor cannot be started due to torque
shortage caused by power supply
voltage drop.
Increase the acceleration/deceleration

time constant.
Increase the torque limit value.
1. Review the power supply capacity.
2. Use servomotor which provides larger output.
4. Position control gain 1 (parameter No.6) Increase set value and adjust to ensure proper
value is small.
operation.
5. Servo motor shaft was rotated by
external force.
1. When torque is limited, increase the limit

value.
2. Reduce load.
3. Use servomotor that provides larger output.

7. Encoder faulty
8. Wrong connection of servomotor. Servo Connect correctly.

amplifier's output terminals U, V, W do
U, V, W.
AL.8A
AL.8E
Serial
communication
time-out error
Serial
communication
error
RS-232C or RS-422
1. Communication cable breakage.
communication stopped 2. Communication cycle longer than
for longer than the time
parameter No. 56 setting.
set in parameter No.56. 3. Wrong protocol.
Serial communication 1. Communication cable fault
error occurred between
(Open cable or short circuit)
servo amplifier and
communication device 2. Communication device (e.g. personal
(e.g. personal
computer) faulty
computer).
8-12
Repair or change communication cable

Set correct value in parameter.
Correct protocol.
Repair or change the cable.
Change the communication device (e.g. personal

computer).
Display
88888
Name
Watchdog
Definition
CPU, parts faulty
Cause
Action
Fault of parts in servo amplifier
Change servo amplifier.
Checking met hod

Alar m (88888) occur s if power
is swit ched on aft er CN1A, CN1B
and CN3 connect or s ar e
disconnect ed.
8.1.5
Display
Remedies for warnings

Name
Definition
Cause
Action
AL.92
Open battery cable

warning
Absolute position detection 1. Battery cable is open.

system battery voltage is low. 2. Battery voltage dropped to 2.8V or less.
Repair cable or changed.
AL.96
Home position
setting warning
Home position setting could

not be made.
1. Droop pulses remaining are greater than the

in-position range setting.
Remove the cause of droop pulse

occurrence
2. Command pulse entered after clearing of

droop pulses.
Do not enter command pulse after

clearing of droop pulses.
Change battery.
3. Creep speed high.
Reduce creep speed.
AL.9F
Battery warning
Voltage of battery for

absolute position detection
system reduced.
Battery voltage fell to 3.2V or less.
Change the battery.
AL.E0
Excessive
regenerative
warning
There is a possibility that

regenerative power may
exceed permissible
regenerative power of built-in
regenerative brake resistor or
regenerative brake option.
Regenerative power increased to 85% or more of 1. Reduce frequency of positioning.

permissible regenerative power of built-in
2. Change regenerative brake option
regenerative brake resistor or regenerative brake
for the one with larger capacity.
option.
3. Reduce load.
Checking met hod
Call t he st at us display and check
r egener at ive load r at io.
AL.E1
Overload warning
There is a possibility that

overload alarm 1 or 2 may
occur.
Load increased to 85% or more of overload Refer to AL.50, AL.51.

alarm 1 or 2 occurrence level.
Cause, checking met hod
Refer t o AL .50,51.
AL.E3
Absolute position Absolute position

counter warning
pulses faulty.
AL.E5
ABS time-out
warning
AL.E6
Servo emergency
stop warning
EMG-SG are open.
AL.E9
Main circuit off

warning
Servo was switched on with

main circuit power off.
Switch on main circuit power.
Servo-on signal (SON) turned 1. PC ladder program wrong.

on more than 1s after servo
2. SON signal mis-wiring.
amplifier had entered
absolute position data transfer
mode.
1. Correct the program.
AL.EA ABS
servo-on warning
encoder 1. Noise entered the encoder.
Take noise suppression measures.
2. Encoder faulty.
Change servo motor.
1. PC lader program wrong.
Contact the program.
2. ST2
TLC signal mis-wiring
External emergency stop was made valid.

(EMG-SG opened.)
8-13
Connect properly.
Ensure safety and deactivate
emergency stop.
2. Connect properly.
8.1.6
The cause investigation method at the time of position gap generating

Position Servo
Machine
output
Pulse counter
Electronic gear (Parameter No. 3, 4)
Servomotor
P
Q
A
CMX
CDV
D Machine stop
position ()
B Command pulse accumulation
B
D Servo on (SON)
stroke and (LSPLSN) an input
C
C
Return pulse accumulation
Encoder
In the above figure, A is the output pulse counter and B is the command pulse accumulation,
C is the return pulse accumulation display, and d is the machine stop position are the check
parts at the time of position gap generating.
Moreover, the figure shows a position gap reason. For example, the noise having ridden on
wiring of positioning equipment and Servo amplifier, and having carried out the mistake count
of the pulse is shown.
The next relation is materialized in the normal state where a position gap is not carried out.
(1)
Q= P(Output counter = Servo amplifier instruction pulse accumulation of positioning equipment)

CMX (Parameter No.3)
(2) P
CDX (Parameter No. 4)
= C (Command pulse accumulation x electronic gear = return accumulation)
(3)
C = (machine position = Amount of per pulse movements x return accumulation)
The position gap is checked in order of the following.

(1) If Q P
The mistake count of noise riding and the pulse was carried out at wiring of the pulse sequence signal
of positioning equipment and Servo amplifier.
(Reason A )
CMX
(2)
If
C
CDV
A Servo On signal (SON), right running and an inversion stroke, and the signal (LSP-LSN) were
turned off during operation. Or the clear signal (CR) was turned on. (Reason D)
(3)
If C M
The noise rode on wiring of the Encoder cable, and the mistake count of the pulse was carried out. Or
8-14
the mechanical slide was produced between the servomotor and the machine.
8-15
Appendices
Appendix 1
Symbols for the specifications
PI
: No. of feedback pulses
[pulse/rev]
[Nm]
F CI
: Electronic gear output pulse frequency
[pps]
[Nm]
Fc
: Electronic gear input pulse frequency
[pps]
: Motor torque required for acceleration

: Motor torque required for acceleration
fo
: Input pulse frequency at the max. machine speed
TMd
[Nm]
Tpsa
: Converted torque of inertia applied to the motor shaft
[Nm]
: Acceleration time of command pulse frequency
TL
Tpsd
: Deceleration time of command pulse frequency
[s]
Tu
: Imbalance torque
[Nm]
Kp
: Position loop gain
[s- 1]
TF
: Torque of load friction
[Nm]
TP
: Position loop time constant (T P = 1 / K P )
: Torque of load on load shaft
[Nm]
: Feed distance per output pulse of electronic gear
: Converted continuous effective load torque applied to the motor shaft
[Nm]
: Feed distance per input pulse of electronic gear
: Rated motor torque
[Nm]
Ta
: Acceleration time
Td
: Deceleration torque
TMa
T lo
Trms
Tm
T max
JL
[Nm]
: Max. motor torque

: Converted moment of load inertia applied to the motor shaft
[kgcm 2]
2
J LO
Jm
: Converted moment of load inertia applied to the load shaft

: Moment of rotor inertia of the motor
[kgcm ]
2
[kgcm ]
Nr
: Rated motor rotational speed
[r/min]
No
: Motor rotational speed at the Max. machine speed
[r/min]
: Motor rotational speed
[r/min]
: Max. machine speed
[mm/min]
: Machine speed
[mm/min]
PB
: Lead of ball screw
[mm]
Z1
: No. of gear teeth on the motor shaft
Z2
: No. of gear teeth on the load shaft
Reduction ratio 1/n
Z2
decrease if 1/n < 1; Speed increase if 1/n > 1.
Note 1. If the moment of inertia is expressed as

2.
3.
1kg m2
Speed
[mm/pulse]
[mm/pulse]
[mm]
[pulse]
Tf
: One operation cycle
[s]
to
: Position time
[s]
t st
: Stop time
[s]
tc
: Rated operation time
[s]
: Setting time
[s]
: Inertia ratio (m = J L / J M )
: No. of deviation counter pulses
[pulse]
: Positioning accuracy
[mm]
: Feed distance per motor revolution
[mm]
Z1
[s]
: No. of input command pulses
ts
Vo
[s]
: Feed distance per operation
[Nm]
[pps]
Example: Ball screw
If direct connection
If reduction ratio is 1/n
S = P B
S = P B (1/n)
G D 2, the relationship with J is GD 2 = 4X J.
= 10000kg cm2
For the purposes of the specifications in the table above, input and output are defined in relation
to the servo amplifier. If input and output were defined in relation to the positioning controller, some
of the specifications above would have to be redefined. Two examples are given below:
Electronic gear input pulse frequency f c Command output pulse frequency
Feed distance per input pulse of electronic gear c Feed distance per command per output pulse
(least command unit)
APP-1
APPENDICES
Appendix 2 Types of Drive System
(1)
Classification of motion direction

There are varieties of drive systems driven by an AC servomotor, and the system best
fitting the intended purpose (required accuracy, feed accuracy in motion, travel distance,
type of machine operation, etc.) can be selected.
In order to examine the relationship between the mechanical system and the servomotor,
the direction of machine motion is considered first. The command unit for linear motion
is mm; for rotary motion, either the angle or the number of the servomotor must be
assessed carefully since torque with a negative value is generated during operation.
Classification of Motion Direction
Horizontal Direction
Table
Ball screw
Linear Motion
Vertical Direction
Chain
Counterweight
Ball screw
Servo
Motor
Reduction gear
Encoder
Servo
Motor
SM
B
Reduction gear
Magnetic brake
* The drive method most widely adopted for table feed of
* The drive method adopted for vertical motion in
various machines, and transfer system, using a ball
transfer systems and vertical motion axis of robot, etc.
screw, rack and pinion, belt, etc.
As shown in the illustration, a counterweight for

balancing the load is often used. A motor equipped
with a magnetic brake is also used to prevent the load
from falling in the case of power failure.
Rotary Motion
Timing belt
Servomotor
Worm gear
Servomotor
Bevel gears
{ Example 1: Connection by gear }
{Example 2: Connection by belt}
The drive method adopted for rotary axes such as those of index table.
Generally, the rotational speed of the load axis(table rotating axis) is small and motor speed is
reduced by gears or pulleys.
APP-2
APPENDICES
(2) Example of drive methods
For position control using a position loop, the basic element is the machine feed
distance per pulse. To calculate this distance, it is necessary to determine the machine
feed distance (symbol: S, unit: mm) per motor revolution.
The general configurations of the drive systems used for linear motion applications, shown in
(1), are illustrated below, accompanied by details of basic formulae.
Classification of drive Methods
Features and Basic Formula

* The
typical drive method adopted for
accurate positioning in a relatively short

motion distance
Object to be driven
Positioning accuracy and motion speed
(1) Ball screw
are influenced by the ball screw lead; if

the ball screw lead is made smaller,
accuracy becomes higher and motion
Reduction ratio (1/n)
speed becomes slower. (with the same
Lead of ball screw (symbol: Pb)
servomotor).
[ Basic formula]
Feed distance per motor revolution.
S (mm) =
P B(mm) (1/n)
If the coupling is directly connected without

using the reducer:
S
=PB
* The
drive method adopted for positioning
Symbols for pinion

PC
Rack
over relatively long distance.

* Usually,
the pinion is fixes and the rack
moves. In some applications, the rack is
Module
(Symbol: m)
fixed and the pinion side(including the
Number of teeth (symbol: Z)
motor) moves.
Rack
[ Basic Formula ]
Pinion
(2) Rack and pinion
Rack pitch (symbol: PL)
Pinion
S (mm) = P L (mm) Z (1/n)
Teeth are machine in fixed

pitches on straight bar.
Gear with teeth
machined in fixed
pitches on its
circumference.
APP-3
or
S = PC (1/n)
APPENDICES
Classification of Drive Methods
Features and Basic Formulas

* The
drive method widely adopted for
various applications from large-sized

transfer systems to precision machines.
*
Timing belt
Timing pulley
In contrast to the situation with the V-
belts and flat belts often used for belt

drive systems, the teeth in the pulley and
those in the timing belt engage with each
no error due to slip. However, with some
Belt pitch (Symbol: PT)
Engagement between pulley and belt
(3) Timing belt
other to ensure positive drive and there is
Number of pulley
teeth (Symbol: Z)
types of belt materials, deterioration in

accuracy is caused by aging, such as wear,
and careful maintenance is necessary. The
Timing pulley
belt pitch is specified in inch system

dimensions. Therefore, if control is
Teeth on pulley
executed in the mm system, fractions

are generated when setting the relationship
Timing Belt
between the command pulse and the feed

distance.
[ Basic Formula ]
S (mm) = P T (mm) Z (1/n)
* The
drive method generally adopted for
large-sized transfer systems.
Chain
*
This method is suitable for feeding an
object at high-speed over a long distance.

* The
chain pitch is specified in inch
(4) Chain
system dimensions, as with the timing

belt. This means that some care is
Chain pitch
(symbol: PC)
No. of sprocket
teeth (symbol: Z)
required when setting the feed distance.

Another factor to be taken into
consideration is the initial elongation of
the chain that affects positioning
accuracy.
[ Basic Formula]
S(mm) = Pc (mm) Z (1/n)
APP-4
APPENDICES
Classification of Drive Methods
Features and Basic Formula

* The
drive method in which workplaces
are fed by the friction force generation

force generated when a roll is rotated.
Workplace (material)
This method is widely adopted for fixedpitch feed(the roll feeder for presses is a
Feed roll
typical example), and also for feeding film
(5) Roll feed
sheet and paper(draw-control, cutters, etc.)

* To improve the positioning accuracy, it is
necessary to eliminate slip between the roll
Diameter of
feed roll
(Symbol : D)
and the material as well as to machine the

roll precisely to achieve a true circle.
* Since
is an irrational No. fractions
are inevitable when the command

pulse are converted into feed distance.

Compensation is therefore necessary.
[ Basic formula]
S (mm) = D(mm) (1/n)
The drive method used to drive a

cart with the servomotor mounted in
Cart
the cart as the drive power source

* The
method of driving the wheels with
a servomotor, illustrated to the left, is
(6) Driving cart
the one generally adopted. Careful

consideration is required to eliminate
Drive wheels (right and left)
slip between the rail and the wheels.

*
Cart drive mechanism
The rack and pinion mechanism is

also used to drive carts. While the rack
is fixed, the pinion moves along the
Gear reduction (1/n)
rack.
[ Basic Formula] ( for the mechanism
illustrated to the left)
S (mm) = D (mm) (1/n)
Diameter of drive wheel (symbol: D)
APP-5
APPENDICES
APPENDIX3.
EXAMPLE APPLICATIONS
Several example applications using an AC servomotor are described below.

(1)
X - Y Table
a. A MELSEC-A series
programmable controller
is used to run a program
that executes high-speed
and accurate positioning
of the X-Y table driven by
an AC servomotor.
Pulse train
AD75T
HC-KFS
AD75
* Devices used
Servomotor: HC-KFS
Servo amplifier: MR-J2S
2-axis positioning module AD75
Transfer System
(Vertical transfer)
Transfer and positioning
of a lifter are controlled by
the program of the FX-1
GM positioning module.
The servomotor
equipped with an magnetic
brake is used to prevent
the load from falling in the
event of a power failure.
MR-J2S
HC-KFS
(2)
FX-10GM
Pulse train
Lifter
Regeneration option
MR-J2S
HC-SFS-B
* Devices used
Servomotor(With brake): HC-SFS-B
Servo Amplifier: MR-J2S
Regeneration option: MR-RB
Position Module: FX-10GM
APP-6
APPENDICES
(3)
Synchronous feed (coating line)

The sensor is used to detect the
position of products and the
Encoder for synchronous feed control
encoder is used to control
synchronous feed. After feeding a
Positioning controller
A171SH
fixed distance, the mechanism
returns to the home position and
waits for the arrival of the next
product.
HC-SFS
MR-J2S-B
* Devices used
Servomotor: HC-SFS
Servo Amplifier: MR-J2S-B
Motion controller: A171SH
Encoder for synchronous feed control.
Press roll feeder

By driving the feed roll with an
AC servomotor, a fixed length of
material is supplied to the machine.
The material is supplied while the
ram is moving up; the ram moves
done to press the material after
positioning of the supplied material
has finished.
The feed distance is input from an
external digital switch and
transmitted to the servo amplifier.
(4)
Sensor
Press
Roll feeder
Digital switches
Servomotor
MR-H-AC
* Devices
used
Servomotor: HC-SF
Servo amplifier: MR-H-CAN(with
built-in 1-axis positioning control
function)
APP-7
APPENDICES
(5) Torque control (tension control)

By combining a digital
servo system in the
torque control mode
with a tension sensor
and tension control
Torque sensor
module, the tension is
Servo amplifier
MR-H-AN
LX-TC
controlled
during
Input of
Torque
winding
of
sheet
Tension
command
control
module
material.
LA-10AT-SET
* Devices used
Servomotor: HC-SF
Servo amplifier: MR-HAN
Tension sensor: LX-TC
Tension control module: LA-10AT-SET
APP-8
APPENDICES
Appendix 4 Positioning Controllers Performance Comparison
I/F
specification
System configuration
Controller
positioning unit type
The network
CPU
Positioning
unit
Servo
amplifier
Unit kind
Servomotor
(note) (1)The
solid show the
line
bus
connection.
(2)Adashed
line shows a
pulse
sequence.
A
positioning
unit
amplifier
A
pulse
sequence or
bus
connection
Instruction language
(used language)
Encoder specification
FX-1GM
FX-10GM
C-C LINK(MNET/MINI)
CPU
FX-1PG
FX-20GM
Pulse train
Language +
ladder
Special language+ladder
INC/ABS
System
INC/ABS
One axis
AD75P2
A1SD75P2
AD75P3
A1SD75P3
MNET( II), MNET/B(MNET/10)
Pulse train
The maximum controllable number of

axes
AD75P1
A1SD75P1
Pulse train
INC/ABS
INC/ABS
One axis
Two axes
unit / controller
group
Cost
Performance
Others
Peripheral
equipment
The Servo amplifier

series group
100KPPS
200KPPS
(100KPPS)
It is small
and is a
cheap
system. It is
used in
combination
with CPU.
It is small
cheap
system. Use
is possible
even when
it is
independen
t.
It is small
cheap
system. Use
is possible
even when it
is
independent.
Pulse train
Pulse train
Data table system + ladder

The program for ABS communication
is INC/(ABS), however it is necessity
and difficulty at the time of ABS use.
One axis
Two axes
3 axes
Differential system 400KPPS

Open collector system 200KPPS
Linear/circular
*
*
*
Linear/circular
Pattern control function
Position/speed (position and speed )
The main control functions
Position/speed Position/speed Position/speed
change constant
small-scale
For 2 axis For 1 axis For 2 axis
For 3 axis
The number of small-scale
control axes
axial control axial control
control
control
control
control
All
I/O mark
All
ACPU can be chosen arbitrarily.
are an
Sequence
positioning positioning
data is a
object with Position data is a data table system.
Function
data is a
ladder and
(Even 100 point / axis is possible for
I/O=8 /
(No.s of I/O) ladder and an object for
(Memory
an object for small-scale eight points the time of 600 point / axis, and a CPU
capacity)
small-scale I/O systems. for small- write-in system)
The point and
scale.
I/O systems.
elated point of Servo
two axes ,
The straight line, circle
For easy
For easy
more
assistant
speed / position
1
axis
model selection Control
positioning positioning
function
control
of a positioning function
Output pulse frequency
100KPPS
Pulse
train
MR-J2-Jr
MR-J2-A
MR-J2S-A
MR-H-AN
In addition, all pulse sequence I/F systems
can be used.
* FXThe programming tool for PCS/WIN

positioning, and a S/W
package
* FX-PCS
-KIT/98
* E-20TP
* FX-PCF-KIT-GM/98
APPR-9
Small (one 32 slot occupancy) and cheap.

It is a FROM/TO command between CPU
and position unit. Between positioning unit
Servo amplifier, they are a pulse sequence
and those with cable length restrictions.
an electronic gear, both AD75P and Servo
amplifier uses is possible
electronic key position data -- a flash ROM -storing (battery -- unnecessary) AD75P and
Servo position data -- a flash ROM -- both
storing (battery -- unnecessary) backup use is
possible
MR-J2-Jr
MR-J2-A
MR-J2S-A
MR-H-AN
In addition, all pulse sequence I/F
systems can be used.
(DOS/V, PC98 personal computer)
SW*NX-AD75P
SW*IVD-AD75P
APPENDICES
AD75M1
A1SD75M1
AD75M2
A1SD75M2
AD75M3
A1SD75M3
AD778M
A1SD778M
A171SH
CPU
A172SH
CPU
A173UH
CPU
A273UH
CPU
MR-J2C
MR-H
ACN
MNET()MNET/B(MNET/10)
CPU
Bus connection
Data table system + ladder
2 axes
3 axes
High-speed serial communication

system
*
straight/ circle line
A position / speed / position, and speed

change
For 1 axis For 2 axes
control
control
For 3 axes
control
ACPU can be chosen arbitrarily.

Position data is a data table system.
(600 point / axis, even 100 point / axis is
possible for the time of a CPU write-in
system)
(It is the program needlessness for
communication also at the time of ABS use)
For 1 axis
control
Bus connection
--
Special
language
ladder
Special language + ladder

(NC language SV43 station)
Point table system

/Point-of-contact input
INC/ABS
INC/ABS
ABS only
INC/ABS
1 axis
Bus
connection
A straight line, circle

assistant control speed /
position control, others
It is a FROM/TO command between small

(one 32 slot occupancy), cheapness, wiring
easy CPU unit.
A SSCNET bus and all the axial Servo-on
signals Y15 are required between positioning
unit and Servo amplifier.
Infinite
length
positioning
of
ABS
specification is impossible.
The electronic gear in Servo amplifier cannot
be used (pear).
Electronic gear magnification is applied at the
time of hand PA use.
All parameter setup is performed from the
AD75 side.
MR-J2-B
MR-J2S-B
MR-H-BN (full closed control is also
possible)
<Terminus resistance important point>
(DOS/V, PC98 personal computer)
SW*NX-AD75P
SW*IVD-AD75P
8 axes
4 axes
High-speed
serial
communicati
on system
8 axes
32 axes
32 axes
1 axis
High-speed serial communication system
--
straight/
circle
straight/ circle line
A position /
speed /
position, and
speed change
position/speed/-- a position, and speed change / position

flattery control / cam
Position
For max 8
axes control
For max 8
axes control
For max 8
axes control
For max 32
axes control
For max 32
axes control
Combination
is arbitrarily
possible for
ACPU.
They
are
I/O=512 point
14K
step
0.25microsec
ond / step by
A2SH.
A2SH-S1
about
I/O=1024
point
30K
step
0.25microsec
ond / step
A3U
about
I/O=2048
point 60K step
0.15microseco
nd / step
A3U
about
I/O=2048 point
60K
step
0.15microseco
nd / step
4 axis
straight line
2 axis circle
Motion
language
use.
SSCNET
bus
connection
ABS infinite
length
positioning
is possible.
4 axis straight lines, 2 axis circle assistant control speed /

position, uniform control, position flattery control
(1)
(2)
(3)
(4)
same as left
(DOS/V, PC98 personal computer) (MS-DOS)

OS : SW*SRX-SV13/SW*NX-SV13
: SW*SRX-GSV13/22
: SW*NX-GSV13/22
: SW**-CAMP
APPR-10
Position
For 1 axis For 1 axis

control
control
All positioning data is
built-in
point
table
systems. For small-scale
I/O systems.
For easy
positioning
A motion language, NC language use (SV43)

It is small
SV13/SV22/SV43/SV51 Selection is possible.
and is a
It is a SSCNET system between controller and cheap
Servo amplifier.
system.
ABS infinite length positioning is possible.
It is used
independent
ly.
same as left
(DOS/V)
SW0SRXSV13ADL
(Exclusive
S/W)
1 axis
For easy
positioning
It is small
and is a
cheap
system.
It is used
independent
ly.
MR-J2C
MR-HACN
Main
Generaloperation
purpose
part of a personal
generalcomputer
purpose
parameter
personal
unit
computer
APPENDICES
<Special mention matter>

1. The Servo amplifier dealing with CC-Link serves as a MR-H-TN type. The number of
Servo amplifier connection becomes 21 sets in one master unit at the time of a
maximum of 42 sets (at the time of one-game occupancy), and two-game occupancy.
2. FR-A500 series equips with built-in option FR-A5NC. The number of connection is a
maximum of 42 sets (the number of connection changes with a remote device office and
local broadcasting stations) at one master unit.
3. As for FR-E500 series, FR-E520-0.1 KN-FR-E520-7.5KN differs from a model name.
3. The basic base of A273UHCPU cannot be equipped with the special unit for
sequencer A series.
4. the point of various system selections (a) sequence function; (b) Servo function; (c)
selection is required by the number of control axes; (d) cost performance; (e)
programming nature; (f) system scale, extendibility, etc.
5. There is also the SFC (motion side) system Windows-NT version. In A171SH,
correspondence is impossible.
6. The drive of MR-J2-A, Vector INV, the vector INV of the other company, etc. is also
possible at use of an actuator I/F unit (analog output), and torque controls, such as
tension control, are also possible.
7. Full Closed Loop Control is Possible to MR-H-AN and MR-H-BN at Option Built-in
(Amplifier is Special).
8. Carry out from a positioning unit side altogether also including a Servo amplifier side
parameter at the time of AD75M (A1SD75M) use. Therefore, it is easier for a program
to use software-AD75P. Especially the parameter of fixation etc. recommends soft use.
APPR-11

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MITSUBISHI

AC Servo Training Manual

1. FUNDAMENTALS OF AC SERVO CONTROL

1.2 Positioning and the performance of AC Servo - - - - - - - - - - - - - - - 1.3

The road map of MELSERVO - - - - - - - - - - - - - - - - - - - -

General-purpose Servo amplifier specification comparison table

The model series and the feature of a servo motor

Structure of AC Servo - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10

The principle of operation of Servo amplifier - - - - - - - - - - - - - - 1-10

The characteristic and principle of operation of AC servo motor - - - - 1-17

The function and principle of encoder operation - - - - - - - - - - - - - 1-20

Positioning control Using AC Servo - - - - - - - - - - - - - - - - - - 2-1

Positioning Method and Stopping Accuracy - - - - - - - - - - - - - - - - - - 2-1

2.1.1 Types of Positioning

Types of position control - - - - - - - - - - - - - - - - - - - - - - - - - 2-5

Fundamentals of Positioning Control - - - - - - - - - - - - - - - - - - - - -

Position detection and number of pulses per motor revolution - - - - - - 2-6

Theory of servo positioning control

Feed distance per pulse

Concept of overall accuracy for machine and electrical accuracy - - - - - 2-9

Motor Rotational Speed at the Maximum Machine Speed - - - - - - - - - -

Electronic gear function - - - - - - - - - - - - - - - - - - - - - - - - -

Maximum pulse frequency - - - - - - - - - - - - - - - - - - - - - - - -

Speed Pattern and Setting time - - - - - - - - - - - - - - - - - - - - - - - - 2-19

2.6.1 Speed Pattern and performance of droop - - - - - - - - - - - - - - - - - - 2-19

Setting Time (ts)

Moment of load inertia - - - - - - - - - - - - - - - - - - - - - - - - -

Real-time auto tuning - - - - - - - - - - - - - - - - - - - - - - - - - -

Positioning Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-1

Classification of Positioning Controllers and Typical Miscellaneous Functions

The function of positioning controller - - - - - - - - - - - - - - - - - -

The function of Servo amplifier - - - - - - - - - - - - - - - - - - - - - -

A classification and composition of positioning controller - - - - - - - - -

Setting data of positioning controller - - - - - - - - - - - - - - - - - - -

The basic parameter for a starting point return

Position instruction interface - - - - - - - - - - - - - - - - - - - - - - - -

The foundations of the positioning control by positioning Controller - - -

The type of home position return - - - - - - - - - - - - - - - - - -

4. MELSERVO J2S Performance and Functions - - - - - - - - - - - - 4-1

Basic Performance and Functions - - - - - - - - - - - - - - - - - - - - - -

4.2 Composition with peripheral equipment - - - - - - - - - - - - - - - - - - - -

Installation and Operation - - - - - - - - - - - - - - - - - - - - - - - - -

4.3.1 Operation flow from installation to operation start - - - - - - - - - - - -

4.3.3 Wiring and sequence- - - - - - - - - - - - - - - - - - - - - - - - - - -

4.3.4 Standard connection diagram - - - - - - - - - - - - - - - - - - - - - - -

4.3.5 Power supply turned on - - - - - - - - - - - - - - - - - - - - - - - - -

4.3.6 Display and operation function - - - - - - - - - - - - - - - - - - - - - -

4.3.8 Parameter setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

4.3.9 Checking the I/O signal - - - - - - - - - - - - - - - - - - - - - - - - -

4.3.10 Manual operation - - - - - - - - - - - - - - - - - - - - - - - - - - - -

4.3.11 Home position return - - - - - - - - - - - - - - - - - - - - - - - - - -

4.3.12 Automatic operation

4.3.14 The operation procedure in each operation mode (conclusion) - - - - -

4.3.15 The function convenient for starting and diagnosis- - - - - - - - - - -

4.3.13 Test operation

5. MELSERVO H Performance and Functions - - - - - - - - - - -

I/O Terminal Function - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-1

Display and Diagnosis Functions - - - - - - - - - - - - - - - - - - - - -

MR-PRU01A Parameter unit- - - - - - - - - - - - - - - - - - - - - -

Setup and operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

Checking the I/O single- - - - - - - - - - - - - - - - - - - - - - - -

6.1 Provisional selection of motor capacity - - - - - - - - - - - - - - - - -

6.1.1 Moment of load inertia ( JL ) - - - - - - - - - - - - - - - - - - 6.1.2

Formulae to calculate moment of load inertia and load torque