Mitsubishi melservo je ошибки

Related Manuals for Mitsubishi Electric MELSERVO-JE MR-JE-70A

Related Manuals for Mitsubishi Electric MELSERVO-JE MR-JE-70A

Все ошибки Mitsubishi AIRTREK, ASX, CARISMA,COLT, DELICA, DIAMANTE, DION, ECLIPSE, ENDEAVOR, GALANT, GRANDIS, GTO, i-MiEV, IO, L200, LANCER, LANCER CLASSIC, LANCER EVO, MINICA, MIRAGE, MONTERO, OUTLANDER, PAJERO, PAJERO SPORT, SPACE STAR, SPACE WAGON, TOWN BOX

FUSO, FUSO Canter, FUSO Fighter, FUSO Super Great

Ошибки Mitsubishi по протоколу OBDI. Самодиагностика.

11 – Датчик кислорода – неисправность

12 – Датчик массового расхода воздуха – неисправность

13 – Датчик температуры впускного воздуха – неисправность

14 – Датчик положения дроссельной заслонки (TPS) – неисправность

15 – Датчик положения двигателя на холостом ходу – неисправность

21 – Датчик температуры охлаждающей жидкости – неисправность

22 – Датчик положения коленчатого вала – неисправность

23 – Датчик положения распределительного вала – неисправность

24 – Датчик скорости автомобиля – неисправность

25 – Датчик барометрического давления – неисправность

31 – Датчик детонации – неисправность

32 – Датчик абсолютного давления – неисправность

36 – Неисправность сигнала регулировки времени зажигания

39 – Датчик кислорода – неисправность

41 – Неисправность форсунки / форсунок

42 – Топливный насос – неисправность

43 – Система отработавших газов (EGR) – неисправность

44 – Катушка зажигания (цилиндры № 1 и № 4) – неисправность

52 – Катушка зажигания (цилиндры № 2 и № 5) – неисправность

53 – Катушка зажигания (цилиндры № 3 и № 6) – неисправность

55 – Управление холостым ходом (IAC) – неисправность датчика положения клапана

59 – Кислородный датчик (задний) – неисправность

61 – Модуль управления трансмиссией – снижение мощности – некорректный сигнал

62 – Система VIC – неисправность датчика положения клапана

71 – Неисправность электромагнитного вакуумного клапана управления тягой (Traction Control)

72 – Неисправность соленоида вентиляционного клапана системы управления тягой (Traction Control)

Ошибки Mitsubishi по протоколу OBDII

Топливная система и воздухоподача

P0000-P0099, P0100-P0199, P0200-P0299

P0001 – Управление регулятором подачи топлива — обрыв цепи

P0002 – Управление регулятором подачи топлива — параметры цепи 

P0003 – Управление регулятором подачи топлива — низкое напряжение

P0004 – Управление регулятором подачи топлива — высокое напряжение

P0005 – Клапан отсечки подачи топлива — обрыв цепи

P0006 – Клапан отсечки подачи топлива — низкий уровень сигнала

P0007 – Клапан отсечки подачи топлива — высокий уровень сигнала

P0008 – Система синхронизации фаз, банк 1 — характеристика двигателя

P0009 – Система синхронизации фаз, банк 2 — характеристика двигателя

P0010 – Привод системы изменения фаз газораспределения, впуск/левый/передний, банк 1 — неисправность электрической цепи

P0011 – Положение распределительного вала, впуск/левый/передний, банк 1 — слишком ранний угол открывания клапанов / нарушение функционирования системы

P0012 – Положение распределительного вала, впуск/левый/передний, банк 1 — слишком поздний угол открывания клапанов

P0013 – Привод системы изменения фаз газораспределения, впуск/левый/передний, банк 1 — неисправность электрической цепи

P0014 – Привод системы изменения фаз газораспределения, выпуск/правый/задний, банк 1 — слишком ранний угол открывания / функционирование системы

P0015 – Привод системы изменения фаз газораспределения, выпуск/правый/задний, банк 1 — слишком поздний угол открывания

P0016 – Положение коленчатого и распределительного валов, банк 1, датчик А — нет соответствия

P0017 – Положение коленчатого и распределительного валов, банк 1, датчик В — корреляция

P0018 – Положение коленчатого и распределительного валов, банк 2, датчик А — корреляция

P0019 – Положение коленчатого и распределительного валов, банк 2, датчик B — корреляция

P0020 – Привод системы изменения фаз газораспределения, впуск/левый/передний, банк 2 — неисправность электрической цепи

P0021 – Положение распределительного вала, впуск/левый/передний, банк 2 — слишком ранний угол открывания клапанов / нарушение функционирования системы

P0022 – Положение распределительного вала, впуск/левый/передний, банк 2 — слишком поздний угол открывания клапанов

P0023 – Привод системы изменения фаз газораспределения, выпуск/правый/задний, банк 2 — неисправность электрической цепи

P0024 – Положение распределительного вала, выпуск/правый/задний, банк 2 — слишком ранний угол открывания / функционирование системы

P0025 – Положение распределительного вала, выпуск/правый/задний, банк 2 — слишком поздний угол открывания

P0030 – Подогреваемый кислородный датчик 1, банк 1, управление нагревателем — неисправность электрической цепи

P0031 – Подогреваемый кислородный датчик 1, банк 1, управление нагревателем — низкое напряжение цепи

P0032 – Подогреваемый кислородный датчик 1, банк 1, управление нагревателем — высокое напряжение цепи

P0033 – Перепускной клапан турбокомпрессора — неисправность электрической цепи

P0034 – Перепускной клапан турбокомпрессора — низкий уровень сигнала

P0035 – Перепускной клапан турбокомпрессора — высокий уровень сигнала

P0036 – Подогреваемый кислородный датчик 2, банк 1, управление нагревателем — неисправность электрической цепи

P0037 – Подогреваемый кислородный датчик 2, банк 1, управление нагревателем — низкое напряжение цепи

P0038 – Подогреваемый кислородный датчик 2, банк 1, управление нагревателем — высокое напряжение цепи

P0039 – Перепускной клапан турбокомпрессора/перепускной клапан приводного нагнетателя, управление — диапазон/функционирование

P0040 – Перепутано подключение кислородных датчиков 1, банка 1 и банка 2

P0041 – Перепутано подключение кислородных датчиков 2, банка 1 и банка 2

P0045 – Э/м клапан управления давлением турбонаддува/ клапан управления давлением наддува приводного нагнетателя — обрыв цепи

P0046 – Э/м клапан управления давлением турбонаддува / давлением наддува приводного нагнетателя — диапазон/функционирование

P0047 – Э/м клапан управления давлением турбонаддува / давлением наддува приводного нагнетателя — низкий уровень сигнала

P0048 – Э/м клапан управления давлением турбонаддува / давлением наддува приводного нагнетателя — высокий уровень сигнала

P0049 – Турбина турбокомпрессора / нагнетателя — превышение скорости

P0050 – Подогреваемый кислородный датчик 1, банк 2, управление нагревателем — неисправность электрической цепи

P0051 – Подогреваемый кислородный датчик 1, банк 2, управление нагревателем — низкий уровень сигнала

P0052 – Подогреваемый кислородный датчик 1, банк 2, управление нагревателем — высокий уровень сигнала

P0053 – Подогреваемый кислородный датчик 1, банк 1 — сопротивление нагревателя

P0054 – Подогреваемый кислородный датчик 1, банк 2 — сопротивление нагревателя

P0055 – Подогреваемый кислородный, банк 1, датчик 3 — сопротивление нагревателя

P0056 – Подогреваемый кислородный датчик 2, банк 2, управление нагревателем — неисправность электрической цепи

P0057 – Подогреваемый кислородный датчик 2, банк 2, управление нагревателем — низкое напряжение цепи нагревателя

P0058 – Подогреваемый кислородный датчик 2, банк 2, управление нагревателем — высокий уровень сигнала

P0059 – Подогреваемый кислородный датчик 1, банк 2 — сопротивление нагревателя

P0060 – Подогреваемый кислородный датчик, банк 2, датчик 2 — сопротивление нагревателя

P0061 – Подогреваемый кислородный датчик, банк 2, датчик 3 — сопротивление нагревателя

P0065 – Форсунка с дополнительным воздушным каналом — диапазон/функционирование

P0066 – Форсунка с дополнительным воздушным каналом — неисправность электрической цепи / низкое напряжение

P0067 – Форсунка с дополнительным воздушным каналом — высоко напряжение цепи

P0068 – Датчик абсолютного давления во впускном коллекторе/датчик расхода воздуха (MAF) — несоответствие положению дроссельной заслонки

P0069 – Датчик абсолютного давления во впускном коллекторе / датчик атмосферного давления — корреляция

P0070 – Датчик температуры окружающего воздуха — неисправность электрической цепи 

P0071 – Датчик температуры окружающего воздуха — диапазон/функционирование

P0072 – Датчик температуры окружающего воздуха — низкий уровень сигнала

P0073 – Датчик температуры окружающего воздуха — высокий уровень выходного сигнала

P0074 – Датчик температуры окружающего воздуха — ненадежный контакт электрической цепи

P0087 – Давление в системе / в топливном коллекторе — слишком низкое

P0088 – Давление в системе / в топливном коллекторе — слишком высокое

P0089 – Регулятор давления топлива 1 — функционирование

P0090 – Регулятор давления топлива 1 — обрыв цепи

P0091 – Регулятор давления топлива 1 — короткое замыкание на массу

P0092 – Регулятор давления топлива 1 — короткое замыкание на «+»

P0093 – Значительная утечка в топливной системе

P0094 – Незначительная утечка в топливной системе

P0100 – Датчик расхода воздуха (массового — MAF) / (объемного — VAF) — неисправность электрической цепи

P0101 – Датчик расхода воздуха (MAF) / (VAF) — диапазон/функционирование

P0102 – Датчик расхода воздуха (MAF) / (VAF) — низкий уровень входного сигнала

P0103 – Датчик расхода воздуха (MAF) / (VAF) — высокий уровень входного сигнала

P0104 – Датчик расхода воздуха (MAF) / (VAF) — ненадежный контакт электрической цепи

P0105 – Датчик абсолютного давления во впускном коллекторе (МАР) / датчик атмосферного давления — неисправность электрической цепи

P0106 – Датчик абсолютного давления во впускном коллекторе/датчик атмосферного давления — диапазон/функционирование

P0107 – Датчик абсолютного давления во впускном коллекторе/датчик атмосферного давления — низкий уровень сигнала

P0108 – Датчик абсолютного давления во впускном коллекторе/датчик атмосферного давления — высокий уровень сигнала

P0109 – Датчик абсолютного давления во впускном коллекторе (МАР) / датчик атмосферного давления — ненадежный контакт электрической цепи

P0110 – Датчик температуры воздуха на впуске — неисправность электрической цепи

P0111 – Датчик температуры воздуха на впуске — диапазон/функционирование

P0112 – Датчик температуры воздуха на впуске — низкий уровень сигнала

P0113 – Датчик температуры воздуха на впуске — высокий уровень входного сигнала

P0114 – Датчик температуры воздуха на впуске — ненадежный контакт электрической цепи

P0115 – Датчик температуры охлаждающей жидкости — неисправность электрической цепи

P0116 – Датчик температуры охлаждающей жидкости — диапазон/функционирование

P0117 – Датчик температуры охлаждающей жидкости — низкий уровень сигнала

P0118 – Датчик температуры охлаждающей жидкости — высокий уровень входного сигнала

P0119 – Датчик температуры охлаждающей жидкости — ненадежный контакт электрической цепи

P0120 – Датчик А положения дроссельной заслонки / датчик А положения педали акселератора — неисправность электрической цепи

P0121 – Датчик А положения дроссельной заслонки / датчик А положения педали акселератора — диапазон/функционирование

P0122 – Датчик «А» положения дроссельной заслонки / датчик «А» положения педали акселератора — низкий уровень сигнала

P0123 – Датчик А положения дроссельной заслонки / датчик А положения педали акселератора — высокий уровень сигнала

P0124 – Датчик А положения дроссельной заслонки / датчик А положения педали акселератора — ненадежный контакт электрической цепи

P0125 – Температура охлаждающей жидкости недостаточна для управления топливоподачей с обратной связью

P0126 – Температура охлаждающей жидкости недостаточна для стабильной работы

P0127 – Слишком высокая температура воздуха на впуске

P0128 – Термостат системы охлаждения — температура охлаждающей жидкости ниже температуры открывания термостата

P0129 – Слишком низкое атмосферное давление

P0130 – Кислородный датчик 1, банк 1 — неисправность электрической цепи

P0131 – Кислородный датчик 1, банк 1 — низкое напряжение

P0132 – Кислородный датчик 1, банк 1 — высокое напряжение

P0133 – Кислородный датчик 1, банк 1 — малое быстродействие

P0134 – Кислородный датчик 1, банк 1 — нет отклика

P0135 – Подогреваемый кислородный датчик 1, банк 1, управление нагревателем — неисправность электрической цепи

P0136 – Кислородный датчик 2, банк 1 — неисправность электрической цепи

P0137 – Кислородный датчик 2, банк 1 — низкое напряжение

P0138 – Кислородный датчик 2, банк 1 — высокое напряжение

P0139 – Кислородный датчик 2, банк 1 — малое быстродействие

P0140 – Кислородный датчик 2, банк 1 — нет отклика

P0141 – Подогреваемый кислородный датчик 2, банк 1, управление нагревателем — неисправность электрической цепи

P0148 – Неправильная подача топлива

P0149 – Неправильный угол опережения впрыска

P0150 – Кислородный датчик 1, банк 2 — неисправность электрической цепи

P0151 – Кислородный датчик 1, банк 2 — низкое напряжение

P0152 – Кислородный датчик 1, банк 2 — высокое напряжение

P0153 – Кислородный датчик 1, банк 2 — малое быстродействие

P0154 – Кислородный датчик 1, банк 2 — нет отклика

P0155 – Кислородный датчик 1, банк 2, управление нагревателем — неисправность электрической цепи

P0156 – Кислородный датчик 2, банк 2 — неисправность электрической цепи

P0157 – Кислородный датчик 2, банк 2 — низкое напряжение

P0158 – Кислородный датчик 2, банк 2 — высокое напряжение

P0159 – Кислородный датчик 2, банк 2 — малое быстродействие

P0160 – Кислородный датчик 2, банк 2 — нет отклика

P0161 – Подогреваемый кислородный датчик 2, банк 2, управление нагревателем — неисправность электрической цепи

P0168 – Слишком высокая температура топлива

P0169 – Несоответствующий состав топлива

P0170 – Топливный баланс, банк 1 — неисправность

P0171 – Слишком бедная топливовоздушная смесь, банк 1

P0172 – Слишком богатая топливовоздушная смесь, банк 1

P0173 – Топливный баланс, банк 2 — неисправность

P0174 – Слишком бедная топливовоздушная смесь, банк 2

P0175 – Слишком богатая топливовоздушная смесь, банк 2

P0176 – Датчик состава смеси — неисправность электрической цепи

P0177 – Датчик состава смеси — диапазон/функционирование

P0178 – Датчик состава смеси — низкий уровень сигнала

P0179 – Датчик состава смеси — высокий уровень сигнала

P0180 – Датчик температуры топлива A — неисправность электрической цепи

P0181 – Датчик температуры топлива A — диапазон/функционирование

P0182 – Датчик температуры топлива A — низкий уровень сигнала

P0183 – Датчик температуры топлива A — высокий уровень входного сигнала

P0184 – Датчик температуры топлива A — ненадежный контакт электрической цепи

P0185 – Датчик температуры топлива B — неисправность электрической цепи

P0186 – Датчик температуры топлива B — диапазон/функционирование

P0187 – Датчик температуры топлива B — низкий уровень входного сигнала

P0188 – Датчик температуры топлива B — высокий уровень входного сигнала

P0189 – Датчик температуры топлива B — ненадежный контакт электрической цепи

P0190 – Датчик давления в топливном коллекторе — неисправность электрической цепи

P0191 – Датчик давления в топливном коллекторе — диапазон/функционирование

P0192 – Датчик давления в топливном коллекторе — низкий уровень сигнала

P0193 – Датчик давления в топливном коллекторе — высокий уровень входного сигнала

P0194 – Датчик давления в топливном коллекторе — ненадежный контакт электрической цепи

P0195 – Датчик температуры моторного масла — неисправность электрической цепи

P0196 – Датчик температуры моторного масла — диапазон/функционирование

P0197 – Датчик температуры моторного масла — низкий уровень сигнала

P0198 – Датчик температуры моторного масла — высокий уровень входного сигнала

P0199 – Датчик температуры моторного масла — ненадежный контакт электрической цепи

P0200 – Форсунка — неисправность электрической цепи

P0201 – Форсунка 1 — неисправность электрической цепи

P0202 – Форсунка 2 — неисправность электрической цепи

P0203 – Форсунка 3 — неисправность электрической цепи

P0204 – Форсунка 4 — неисправность электрической цепи

P0205 – Форсунка 5 — неисправность электрической цепи

P0206 – Форсунка 6 — неисправность электрической цепи

P0207 – Форсунка 7 — неисправность электрической цепи

P0208 – Форсунка 8 — неисправность электрической цепи

P0213 – Форсунка холодного пуска 1 — неисправность электрической цепи

P0214 – Форсунка холодного пуска 2 — неисправность электрической цепи

P0215 – Э/м клапан отсечки подачи топлива — неисправность электрической цепи

P0216 – Управление углом опережения впрыска топлива — неисправность электрической цепи

P0217 – Перегрев двигателя

P0218 – Перегрев коробки передач

P0219 – Превышение допустимой частоты вращения коленчатого вала

P0220 – Датчик В положения дроссельной заслонки / датчик В положения педали акселератора — неисправность электрической цепи

P0221 – Датчик В положения дроссельной заслонки / датчик В положения педали акселератора — диапазон/функционирование

P0222 – Датчик В положения дроссельной заслонки / датчик В положения педали акселератора — низкий уровень входного сигнала

P0223 – Датчик В положения дроссельной заслонки / датчик В положения педали акселератора — высокий уровень входного сигнала

P0224 – Датчик В положения дроссельной заслонки / датчик В положения педали акселератора — ненадежный контакт электрической цепи

P0230 – Реле топливного насоса — неисправность электрической цепи

P0231 – Реле топливного насоса — низкое напряжение цепи

P0232 – Реле топливного насоса — высокое напряжение цепи

P0233 – Реле топливного насоса — ненадежный контакт электрической цепи

P0234 – Давление турбонаддува — превышен верхний предел

P0235 – Датчик давления наддува A турбокомпрессора/приводного нагнетателя — неисправность электрической цепи

P0236 – Датчик давления наддува A турбокомпрессора/приводного нагнетателя — диапазон/функционирование

P0237 – Датчик давления наддува A турбокомпрессора/приводного нагнетателя — низкий уровень входного сигнала

P0238 – Датчик давления наддува A турбокомпрессора/приводного нагнетателя — высокий уровень входного сигнала

P0239 – Датчик давления наддува B турбокомпрессора/приводного нагнетателя — неисправность электрической цепи

P0240 – Датчик давления наддува B турбокомпрессора/приводного нагнетателя — диапазон/функционирование

P0241 – Датчик давления наддува B турбокомпрессора/приводного нагнетателя — низкий уровень входного сигнала

P0242 – Датчик давления наддува B турбокомпрессора/приводного нагнетателя — высокий уровень входного сигнала

P0243 – Клапан А управления перепуском газов мимо турбины — неисправность цепи

P0244 – Клапан А управления перепуском газов мимо турбины — диапазон/функционирование

P0245 – Клапан А управления перепуском газов мимо турбины — низкое напряжение цепи

P0246 – Клапан А управления перепуском газов мимо турбины — высокое напряжение цепи

P0247 – Клапан управления перепуском газов мимо турбины B — неисправность цепи

P0248 – Клапан В управления перепуском газов мимо турбины — диапазон/функционирование

P0249 – Клапан управления перепуском газов мимо турбины B — низкий уровень сигнала

P0250 – Клапан управления перепуском газов мимо турбины B — высокий уровень сигнала

P0251 – Дозатор топлива А, ротор/кулачок/форсунка — неисправность электрической цепи

P0252 – Дозатор топлива А, ротор/кулачок/форсунка — диапазон/функционирование

P0253 – Дозатор топлива А, ротор/кулачок/форсунка — низкий уровень сигнала

P0254 – Дозатор топлива А, ротор/кулачок/форсунка — высокий уровень сигнала

P0255 – Дозатор топлива А, ротор/кулачок/форсунка — ненадежный контакт электрической цепи

P0256 – Дозатор топлива B, ротор/кулачок/форсунка — неисправность электрической цепи

P0257 – Дозатор топлива B, ротор/кулачок/форсунка — диапазон/функционирование

P0258 – Дозатор топлива B, ротор/кулачок/форсунка — низкий уровень сигнала

P0259 – Дозатор топлива B, ротор/кулачок/форсунка — высокий уровень сигнала

P0260 – Дозатор топлива B, ротор/кулачок/форсунка — ненадежный контакт электрической цепи

P0261 – Форсунка 1 — низкий уровень сигнала

P0262 – Форсунка 1 — высокий уровень сигнала

P0263 – Цилиндр 1 — неправильный баланс мощности

P0264 – Форсунка 2 — низкий уровень сигнала

P0265 – Форсунка 2 — высокий уровень сигнала

P0266 – Цилиндр 2 — неправильный баланс мощности

P0267 – Форсунка 3 — низкий уровень сигнала

P0268 – Форсунка 3 — высокий уровень сигнала

P0269 – Цилиндр 3 — неправильный баланс мощности

P0270 – Форсунка 4 — низкий уровень сигнала

P0271 – Форсунка 4 — высокий уровень сигнала

P0272 – Цилиндр 4 — неправильный баланс мощности

P0273 – Форсунка 5 — низкий уровень сигнала

P0274 – Форсунка 5 — высокий уровень сигнала

P0275 – Цилиндр 5 — неправильный баланс мощности

P0276 – Форсунка 6 — низкий уровень сигнала

P0277 – Форсунка 6 — высокий уровень сигнала

P0278 – Цилиндр 6 — неправильный баланс мощности

P0279 – Форсунка 7 — низкий уровень сигнала

P0280 – Форсунка 7 — высокий уровень сигнала

P0281 – Цилиндр 7 — неправильный баланс мощности

P0282 – Форсунка 8 — низкий уровень сигнала

P0283 – Форсунка 8 — высокий уровень сигнала

P0284 – Цилиндр 8 — неправильный баланс мощности

P0297 – Превышение допустимой скорости автомобиля

P0298 – Слишком высокая температура моторного масла

P0299 – Турбокомпрессор / приводной нагнетатель — низкое давление наддува

Система зажигания

P0300-P0399

P0300 – Случайные / множественные пропуски зажигания (воспламенения)

P0301 – Цилиндр 1 — пропуски зажигания (воспламенения)

P0302 – Цилиндр 2 — пропуски зажигания (воспламенения)

P0303 – Цилиндр 3 — пропуски зажигания (воспламенения)

P0304 – Цилиндр 4 — пропуски зажигания (воспламенения)

P0305 – Цилиндр 5 — пропуски зажигания (воспламенения)

P0306 – Цилиндр 6 — пропуски зажигания (воспламенения)

P0307 – Цилиндр 7 — пропуски зажигания (воспламенения)

P0308 – Цилиндр 8 — пропуски зажигания (воспламенения)

P0313 – Пропуски зажигания (воспламенения) — низкий уровень топлива

P0314 – Пропуск зажигания (воспламенения) в одном цилиндре — номер цилиндра не распознается

P0315 – Коленчатый вал — отсутствие изменения положения

P0316 – Пропуски зажигания (воспламенения) при запуске — первые 1000 оборотов

P0317 – Нет данных по характеристикам неровностей дорожного покрытия

P0318 – Датчик состояния дорожного покрытия A — неисправность электрической цепи

P0319 – Датчик состояния дорожного покрытия B — неисправность электрической цепи

P0320 – Датчик положения коленчатого вала / датчик частоты вращения коленчатого вала — неисправность электрической цепи

P0321 – Датчик положения коленчатого вала / датчик частоты вращения коленчатого вала — диапазон/функционирование

P0322 – Датчик положения коленчатого вала/датчик частоты вращения коленчатого вала — нет сигнала

P0323 – Датчик положения коленчатого вала / датчик частоты вращения коленчатого вала — ненадежный контакт электрической цепи

P0324 – Ошибка в системе управления по детонации

P0325 – Датчик детонации 1, банк 1 — неисправность электрической цепи

P0326 – Датчик детонации 1, банк 1 — диапазон/функционирование

P0327 – Датчик детонации 1, банк 1 — низкий уровень сигнала

P0328 – Датчик детонации 1, банк 1 — высокий уровень входного сигнала

P0329 – Датчик детонации 1, банк 1 — ненадежный контакт электрической цепи

P0330 – Датчик детонации 2, банк 2 — неисправность электрической цепи

P0331 – Датчик детонации 2, банк 2 — диапазон/функционирование

P0332 – Датчик детонации 2, банк 2 — низкий уровень сигнала

P0333 – Датчик детонации 2, банк 2 — высокий уровень входного сигнала

P0334 – Датчик детонации 2, банк 2 — ненадежный контакт электрической цепи

P0335 – Датчик положения коленчатого вала — неисправность электрической цепи

P0336 – Датчик положения коленчатого вала — диапазон/функционирование

P0337 – Датчик положения коленчатого вала — низкий уровень сигнала

P0338 – Датчик положения коленчатого вала — высокий уровень сигнала

P0339 – Датчик положения коленчатого вала — ненадежный контакт электрической цепи

P0340 – Датчик положения распределительного вала A, банк 1 — неисправность электрической цепи

P0341 – Датчик положения распределительного вала A, банк 1 — диапазон/функционирование

P0342 – Датчик положения распределительного вала A, банк 1 — низкий уровень сигнала

P0343 – Датчик положения распределительного вала A, банк 1 — высокий уровень входного сигнала

P0344 – Датчик положения распределительного вала A, банк 1 — ненадежный контакт электрической цепи

P0345 – Датчик положения распределительного вала A, банк 2 — неисправность электрической цепи

P0346 – Датчик положения распределительного вала A, банк 2 — диапазон/функционирование

P0347 – Датчик положения распределительного вала A, банк 2 — низкий уровень сигнала

P0348 – Датчик положения распределительного вала A, банк 2 — высокий уровень сигнала

P0349 – Датчик положения распределительного вала A, банк 2 — ненадежный контакт электрической цепи

P0350 – Катушка зажигания, первичная/вторичная обмотки — неисправность электрической цепи

P0351 – Катушка зажигания A, первичная/вторичная обмотки — неисправность электрической цепи

P0352 – Катушка зажигания В, первичная/вторичная обмотки — неисправность электрической цепи

P0353 – Катушка зажигания С, первичная/вторичная обмотки — неисправность электрической цепи

P0354 – Катушка зажигания D, первичная/вторичная обмотки — неисправность электрической цепи

P0355 – Катушка зажигания Е, первичная/вторичная обмотки — неисправность электрической цепи

P0356 – Катушка зажигания F, первичная/вторичная обмотки — неисправность электрической цепи

P0357 – Катушка зажигания G, первичная/вторичная обмотки — неисправность электрической цепи

P0358 – Катушка зажигания H, первичная/вторичная обмотки — неисправность электрической цепи

P0363 – Пропуск зажигания (воспламенения) — отсутствие подачи топлива

P0364 – Зарезервировано (ISO/SAE)

P0365 – Датчик В положения распределительного вала, банк 1 — неисправность электрической цепи

P0366 – Датчик В положения распределительного вала, банк 1 — диапазон/функционирование

P0367 – Датчик В положения распределительного вала, банк 1 — низкий уровень сигнала

P0368 – Датчик В положения распределительного вала, банк 1 — высокий уровень сигнала

P0369 – Датчик В положения распределительного вала, банк 1 — ненадежный контакт электрической цепи

P0370 – Опорная точка синхронизации фаз, сигнал А высокого разрешения — неисправность

P0371 – Опорная точка синхронизации фаз, сигнал А высокого разрешения — слишком много импульсов

P0372 – Опорная точка синхронизации фаз, сигнал А высокого разрешения — слишком мало импульсов

P0373 – Опорная точка синхронизации фаз, сигнал А высокого разрешения — хаотичные/пропадающие импульсы

P0374 – Опорная точка синхронизации фаз, сигнал А высокого разрешения — нет импульсов

P0375 – Опорная точка синхронизации фаз, сигнал В высокого разрешения — неисправность

P0376 – Опорная точка синхронизации фаз, сигнал В высокого разрешения — слишком много импульсов

P0377 – Опорная точка синхронизации фаз, сигнал В высокого разрешения — слишком мало импульсов

P0378 – Опорная точка синхронизации фаз, сигнал B высокого разрешения — хаотичные/пропадающие импульсы

P0379 – Опорная точка синхронизации фаз, сигнал В высокого разрешения — нет импульсов

P0380 – Свечи накаливания, цепь А — неисправность

P0381 – Индикатор свечей накаливания — неисправность электрической цепи

P0382 – Свечи накаливания, цепь В — неисправность

P0383 – Блок управления свечами накаливания — низкий уровень сигнала

P0384 – Блок управления свечами накаливания — высокий уровень сигнала

P0385 – Датчик положения коленчатого вала B — неисправность электрической цепи

P0386 – Датчик положения коленчатого вала B — диапазон/функционирование

P0387 – Датчик положения коленчатого вала B — низкий уровень входного сигнала

P0388 – Датчик положения коленчатого вала B — высокий уровень входного сигнала

P0389 – Датчик положения коленчатого вала B — ненадежный контакт электрической цепи

P0390 – Датчик «А» положения распределительного вала B, банк 2 — неисправность электрической цепи

P0391 – Датчик В положения распределительного вала, банк 2 — диапазон/функционирование

P0392 – Датчик В положения распределительного вала, банк 2 — низкий уровень входного сигнала

P0393 – Датчик В положения распределительного вала, банк 2 — высокий уровень входного сигнала

P0394 – Датчик B положения распределительного вала, банк 2 — ненадежный контакт электрической цепи

P0395 – Датчик давления в цилиндре, цилиндр 1 — неисправность электрической цепи

P0396 – Датчик давления в цилиндре, цилиндр 1 — диапазон/функционирование

P0397 – Датчик давления в цилиндре, цилиндр 1 — низкий уровень сигнала

P0398 – Датчик давления в цилиндре, цилиндр 1 — высокий уровень сигнала

P0399 – Датчик давления в цилиндре, цилиндр 1 — ненадежный/пропадающий контакт электрической цепи

Контроль выбросов

P0400-P0499

P0400 – Система рециркуляции отработавших газов (EGR) — неисправность каналов системы

P0401 – Система рециркуляции отработавших газов (EGR) — недостаточный уровень рециркуляции

P0402 – Система рециркуляции отработавших газов (EGR) — чрезмерный уровень рециркуляции

P0403 – Система рециркуляции отработавших газов (EGR) — неисправность электрической цепи

P0404 – Система рециркуляции отработавших газов (EGR) — диапазон/функционирование

P0405 – Датчик положения клапана А системы рециркуляции ОГ (EGR) — низкий уровень сигнала

P0406 – Датчик положения клапана А системы рециркуляции ОГ (EGR) — высокий уровень сигнала

P0407 – Датчик положения клапана B системы рециркуляции ОГ (EGR) — низкий уровень входного сигнала

P0408 – Датчик положения клапана B системы рециркуляции ОГ (EGR) — высокий уровень входного сигнала

P0409 – Датчик А системы рециркуляции отработавших газов (EGR) — неисправность электрической цепи

P0410 – Система подачи воздуха на выпуск — неисправность

P0411 – Система подачи воздуха на выпуск — некорректный расход

P0412 – Э/м клапан А подачи воздуха на выпуск — неисправность электрической цепи

P0413 – Э/м клапан А подачи воздуха на выпуск — обрыв цепи

P0414 – Э/м клапан А подачи воздуха на выпуск — короткое замыкание

P0415 – Э/м клапан B подачи воздуха на выпуск — неисправность электрической цепи

P0416 – Э/м клапан B подачи воздуха на выпуск — обрыв цепи

P0417 – Э/м клапан B подачи воздуха на выпуск — короткое замыкание в цепи 

P0418 – Реле насоса А подачи воздуха на выпуск — неисправность электрической цепи

P0419 – Реле B насоса системы подачи воздуха на выпуск — неисправность электрической цепи

P0420 – Каталитический нейтрализатор, банк 1 — эффективность ниже требуемой

P0421 – Прогрев каталитического нейтрализатора, банк 1 — эффективность ниже требуемой

P0422 – Основной каталитический нейтрализатор, банк 1 — эффективность ниже требуемой

P0423 – Подогреваемый каталитический нейтрализатор, банк 1 — эффективность ниже требуемой

P0424 – Подогреваемый каталитический нейтрализатор, банк 1 — эффективность ниже требуемой

P0425 – Датчик температуры каталитического нейтрализатора, банк 1

P0426 – Датчик температуры каталитического нейтрализатора, банк 1 — диапазон/функционирование

P0427 – Датчик температуры каталитического нейтрализатора, банк 1 — низкий уровень сигнала

P0428 – Датчик температуры каталитического нейтрализатора, банк 1 — высокий уровень входного сигнала

P0429 – Нагреватель каталитического нейтрализатора, банк 1 — неисправность электрической цепи

P0430 – Каталитический нейтрализатор, банк 2 — эффективность ниже требуемой

P0431 – Прогрев каталитического нейтрализатора, банк 2 — эффективность ниже требуемой

P0432 – Основной каталитический нейтрализатор, банк 2 — эффективность ниже требуемой

P0433 – Подогреваемый каталитический нейтрализатор, банк 2 — эффективность ниже требуемой

P0434 – Подогреваемый каталитический нейтрализатор, банк 2 — температура ниже требуемой

P0435 – Датчик температуры каталитического нейтрализатора, банк 2

P0436 – Датчик температуры каталитического нейтрализатора, банк 2 — диапазон/функционирование

P0437 – Датчик температуры каталитического нейтрализатора, банк 2 — низкий уровень входного сигнала

P0438 – Датчик температуры каталитического нейтрализатора, банк 2 — высокий уровень входного сигнала

P0439 – Нагреватель каталитического нейтрализатора, банк 2 — неисправность электрической цепи

P0440 – Система улавливания паров топлива — неисправность

P0441 – Система улавливания паров топлива — некорректный расход

P0442 – Система улавливания паров топлива — незначительная утечка

P0443 – Э/м клапан аккумулятора паров топлива — неисправность электрической цепи

P0444 – Э/м клапан аккумулятора паров топлива — обрыв цепи

P0445 – Э/м клапан аккумулятора паров топлива — короткое замыкание

P0446 – Система улавливания паров топлива, управление продувкой — неисправность электрической цепи

P0447 – Система улавливания паров топлива, управление продувкой — обрыв цепи

P0448 – Система улавливания паров топлива, управление продувкой — короткое замыкание

P0449 – Система улавливания паров топлива, клапан управления продувкой — неисправность электрической цепи

P0450 – Датчик давления системы улавливания паров топлива — неисправность электрической цепи

P0451 – Датчик давления системы улавливания паров топлива — диапазон/функционирование

P0452 – Датчик давления системы улавливания паров топлива — низкий уровень сигнала

P0453 – Датчик давления системы улавливания паров топлива — высокий уровень сигнала

P0454 – Датчик давления системы улавливания паров топлива — ненадежный контакт электрической цепи

P0455 – Система улавливания паров топлива — значительная утечка

P0456 – Система улавливания паров топлива — крайне незначительная утечка

P0457 – Система улавливания паров топлива — утечка (ослабла или открыта крышка топливозаливной горловины)

P0458 – Система улавливания паров топлива, клапан аккумулятора паров топлива — низкий уровень сигнала

P0459 – Система улавливания паров топлива, клапан аккумулятора паров топлива — высокий уровень сигнала

P0460 – Датчик уровня топлива — неисправность электрической цепи

P0461 – Датчик уровня топлива — диапазон/функционирование

P0462 – Датчик уровня топлива — низкий уровень сигнала

P0463 – Датчик уровня топлива — высокий уровень входного сигнала

P0464 – Датчик уровня топлива — ненадежный контакт электрической цепи

P0465 – Датчик расхода через аккумулятор паров топлива — неисправность электрической цепи

P0466 – Датчик расхода через аккумулятор паров топлива — диапазон/функционирование

P0467 – Датчик расхода через аккумулятор паров топлива — низкий уровень сигнала

P0468 – Датчик расхода через аккумулятор паров топлива — высокий уровень сигнала

P0469 – Датчик расхода через аккумулятор паров топлива — ненадежный контакт электрической цепи

P0470 – Датчик давления отработавших газов — неисправность электрической цепи

P0471 – Датчик давления отработавших газов — диапазон/функционирование

P0472 – Датчик давления отработавших газов — низкий уровень сигнала

P0473 – Датчик давления отработавших газов — высокий уровень входного сигнала

P0474 – Датчик давления отработавших газов — ненадежный контакт электрической цепи

P0475 – Клапан управления давлением отработавших газов — неисправность электрической цепи

P0476 – Клапан управления давлением отработавших газов — диапазон/функционирование

P0477 – Клапан управления давлением отработавших газов — низкий уровень сигнала

P0478 – Клапан управления давлением отработавших газов — высокий уровень входного сигнала

P0479 – Клапан управления давлением отработавших газов — ненадежный контакт электрической цепи

P0480 – Электродвигатель вентилятора 1 системы охлаждения — неисправность электрической цепи

P0481 – Электродвигатель вентилятора 2 системы охлаждения — неисправность электрической цепи

P0482 – Электродвигатель вентилятора системы охлаждения 3 — неисправность электрической цепи

P0483 – Электродвигатель вентилятора системы охлаждения, нормальная проверка — неисправность

P0484 – Электродвигатель вентилятора системы охлаждения — превышение допустимой силы тока в цепи

P0485 – Электродвигатель вентилятора системы охлаждения, питание / масса — неисправность электрической цепи

P0486 – Датчик положения клапана В системы рециркуляции ОГ (EGR) — неисправность электрической цепи

P0487 – Система рециркуляции отработавших газов (EGR), управление положением дроссельной заслонки — неисправность электрической цепи

P0488 – Система рециркуляции отработавших газов (EGR), управление положением заслонки — проблемы диапазона / функционирования

P0489 – Система рециркуляции отработавших газов (EGR) — низкое напряжение цепи

P0490 – Система рециркуляции отработавших газов (EGR) — высокое напряжение цепи

P0491 – Система подачи воздуха на выпуск, банк 1 — неисправность

P0492 – Система подачи воздуха на выпуск, банк 2 — неисправность

P0493 – Превышение частоты вращения электродвигателя вентилятора системы охлаждения (блокировка муфты)

P0494 – Электродвигатель вентилятора системы охлаждения — низкая скорость

P0495 – Электродвигатель вентилятора системы охлаждения — высокая скорость

P0496 – Система улавливания паров топлива — высокий расход при продувке

P0497 – Система улавливания паров топлива — низкий расход при продувке

P0498 – Система улавливания паров топлива, управление продувкой — низкий уровень сигнала

P0499 – Система улавливания паров топлива, управление продувкой — высокий уровень сигнала

Контроль скорости и холостого хода

P0500-P0599

P0500 – Датчик скорости автомобиля — неисправность электрической цепи

P0501 – Датчик скорости автомобиля — диапазон/функционирование

P0502 – Датчик скорости автомобиля — низкий уровень сигнала

P0503 – Датчик скорости автомобиля — сигналы хаотичные / пропадающие / высокого уровня

P0504 – Выключатель А/В стоп-сигналов (датчик положения педали тормоза) — корреляция

P0505 – Система управления частотой вращения холостого хода — неисправность

P0506 – Система управления частотой вращения холостого хода — частота вращения ниже допустимой

P0507 – Система управления частотой вращения холостого хода — частота вращения выше допустимой

P0508 – Управление перепуском воздуха на холостом ходу — низкий уровень сигнала

P0509 – Управление перепуском воздуха на холостом ходу — высокий уровень сигнала

P0510 – Датчик полностью закрытого положения дроссельной заслонки — неисправность электрической цепи

P0511 – Управление перепуском воздуха на холостом ходу — неисправность электрической цепи

P0512 – Цепь управления стартером — неисправность

P0513 – Некорректный ключ иммобилайзера (неправильный код)

P0514 – Датчик температуры аккумуляторной батареи — диапазон/функционирование

P0515 – Датчик температуры аккумуляторной батареи — диапазон/функционирование

P0516 – Датчик температуры аккумуляторной батареи — низкое напряжение цепи

P0517 – Датчик температуры аккумуляторной батареи — высокое напряжение цепи

P0518 – Управление перепуском воздуха на холостом ходу — ненадежный контакт электрической цепи

P0519 – Управление перепуском воздуха на холостом ходу — функционирование

P0520 – Датчик давления моторного масла — неисправность электрической цепи

P0521 – Датчик давления моторного масла — диапазон/функционирование

P0522 – Датчик давления моторного масла — низкое напряжение

P0523 – Датчик давления моторного масла — высокое напряжение

P0524 – Давление моторного масла слишком низкое

P0525 – Система поддержания скорости (круиз-контроль), управление приводом — диапазон/функционирование

P0526 – Электродвигатель вентилятора системы охлаждения, датчик скорости — неисправность электрической цепи

P0527 – Электродвигатель вентилятора системы охлаждения, датчик скорости — диапазон/функционирование

P0528 – Электродвигатель вентилятора системы охлаждения, датчик скорости — нет сигнала

P0529 – Электродвигатель вентилятора системы охлаждения, датчик скорости — ненадежный контакт электрической цепи

P0530 – Датчик давления хладагента системы кондиционирования — неисправность электрической цепи

P0531 – Датчик давления хладагента системы кондиционирования — диапазон/функционирование

P0532 – Датчик давления хладагента системы кондиционирования — низкий уровень сигнала

P0533 – Датчик давления хладагента системы кондиционирования — высокий уровень входного сигнала

P0534 – Недостаток хладагента в системе кондиционирования

P0535 – Датчик температуры за испарителем (кондиционер) — неисправность электрической цепи

P0536 – Датчик температуры за испарителем (кондиционер) — диапазон/функционирование

P0537 – Датчик температуры за испарителем системы кондиционирования — низкий уровень сигнала

P0538 – Датчик температуры за испарителем системы кондиционирования — высокий уровень сигнала

P0539 – Датчик температуры за испарителем системы кондиционирования — ненадежный контакт электрической цепи

P0550 – Датчик/выключатель по давлению усилителя рулевого управления — неисправность электрической цепи

P0551 – Датчик-выключатель по давлению усилителя рулевого управления — диапазон/функционирование

P0552 – Датчик/выключатель по давлению усилителя рулевого управления — низкий уровень сигнала

P0553 – Датчик/выключатель по давлению усилителя рулевого управления — высокий уровень сигнала

P0554 – Датчик/выключатель по давлению усилителя рулевого управления — ненадежный контакт электрической цепи

P0555 – Датчик давления в системе усилителя тормозной системы — неисправность электрической цепи

P0556 – Датчик давления в системе усилителя тормозной системы — диапазон/функционирование

P0557 – Датчик давления в системе усилителя тормозной системы — низкий уровень сигнала

P0558 – Датчик давления в системе усилителя тормозной системы — высокий уровень входного сигнала

P0559 – Датчик давления в системе усилителя тормозной системы — ненадежный контакт электрической цепи

P0564 – Система поддержания скорости (круиз-контроль), многофункциональный переключатель (входной сигнал А) — неисправность электрической цепи

P0565 – Главный выключатель системы поддержания скорости (круиз-контроля), сигнал «ON» — неисправность

P0566 – Главный выключатель системы поддержания скорости (круиз-контроля), сигнал «OFF» — неисправность

P0567 – Переключатель выбора режима работы системы поддержания скорости (круиз-контроля), сигнал «RESUME» — неисправность

P0568 – Главный выключатель системы поддержания скорости (круиз-контроля), сигнал «SET» — неисправность

P0569 – Переключатель выбора режима работы системы поддержания скорости (круиз-контроля), сигнал «COAST» — неисправность

P0570 – Система поддержания скорости (круиз-контроль), сигнал датчика положения педали акселератора — неисправность

P0571 – Выключатель педали тормоза A (система поддержания скорости) — неисправность электрической цепи

P0572 – Концевой выключатель А педали тормоза (система поддержания скорости) — низкий уровень сигнала

P0573 – Концевой выключатель А педали тормоза (система поддержания скорости) — высокий уровень сигнала

P0574 – Система поддержания скорости (круиз-контроль) — слишком высокая скорость автомобиля

P0575 – Система поддержания скорости (круиз-контроль) — неисправность цепи входного сигнала

P0576 – Система поддержания скорости (круиз-контроль) — низкий уровень входного сигнала

P0577 – Система поддержания скорости (круиз-контроль) — высокий уровень входного сигнала

P0578 – Система поддержания скорости (круиз-контроль), многофункциональный переключатель (входной сигнал А) — цепь блокирована

P0579 – Система поддержания скорости (круиз-контроль), многофункциональный переключатель (входной сигнал А) — диапазон/функционирование

P0580 – Система поддержания скорости (круиз-контроль), многофункциональный переключатель (входной сигнал А) — низкий уровень сигнала

P0581 – Система поддержания скорости (круиз-контроль), многофункциональный переключатель (входной сигнал А) — высокий уровень сигнала

P0582 – Система поддержания скорости (круиз-контроль), управление разрежением — обрыв цепи

P0583 – Система поддержания скорости (круиз-контроль), управление разрежением — низкое напряжение цепи

P0584 – Система поддержания скорости (круиз-контроль), управление разрежением — высокое напряжение цепи

P0585 – Система поддержания скорости (круиз-контроль), многофункциональный переключатель (входной сигнал А/В) — корреляция

P0597 – Система управления нагревателем термостата — обрыв цепи

P0598 – Система управления нагревателем термостата — низкое напряжение цепи

P0599 – Система управления нагревателем термостата — высокое напряжение цепи

Электронный блок управления (ЭБУ) и его подсистемы

P0600-P0699

P0600 – Шина данных CAN — неисправность

P0601 – Электронный блок управления двигателем — ошибка контрольной суммы памяти

P0602 – Электронный блок управления двигателем — ошибка программирования

P0603 – Электронный блок управления двигателем — ошибка памяти КАМ

P0604 – Электронный блок управления двигателем — ошибка памяти RAM

P0605 – Электронный блок управления двигателем — ошибка памяти ROM

P0606 – Электронный блок управления двигателем (ECM) / блок управления силовым агрегатом (PCM) — неисправность процессора

P0607 – Электронный блок управления двигателем — функционирование

P0608 – Электронный блок управления двигателем, датчик скорости автомобиля (выходной сигнал А) — неисправность

P0609 – Электронный блок управления двигателем, датчик скорости автомобиля (выходной сигнал В) — неисправность

P0610 – Электронный блок управления двигателем — ошибка опции автомобиля

P0611 – Блок управления топливными форсунками — функционирование

P0612 – Блок управления топливными форсунками — цепь управления реле

P0613 – Электронный блок управления КПП (TCM) — ошибка процессора

P0614 – Электронный блок управления двигателем (ECM) / электронный блок управления КПП (TCM) — несоответствие

P0615 – Реле стартера — неисправность электрической цепи

P0616 – Реле стартера — низкий уровень сигнала

P0617 – Реле стартера — высокий уровень сигнала

P0618 – Блок управления подачей альтернативного топлива — ошибка памяти KAM

P0619 – Блок управления подачей альтернативного топлива — ошибка памяти RAM/ROM

P0620 – Управление генератором — неисправность электрической цепи

P0621 – Индикатор зарядки — неисправность электрической цепи

P0622 – Генератор, управление обмоткой возбуждения — неисправность электрической цепи

P0623 – Индикатор зарядки, управление — неисправность электрической цепи

P0624 – Индикатор незакрытой крышки заливной горловины, управление — неисправность электрической цепи

P0625 – Вывод обмотки возбуждения генератора — низкий уровень сигнала

P0626 – Вывод обмотки возбуждения генератора — высокий уровень сигнала

P0627 – Управление топливным насосом — обрыв цепи

P0628 – Управление топливным насосом — низкий уровень сигнала

P0629 – Управление топливным насосом — высокий уровень сигнала

P0630 – VIN не запрограммирован или не подходит — ECM/PCM

P0631 – Не запрограммирован электронный блок управления АКПП или не соответствует идентификационному номеру автомобиля

P0632 – Не запрограммирован одометр — ECM/PCM

P0633 – Не запрограммирован ключ иммобилайзера — ECM/PCM

P0634 – Электронный блок управления силовым агрегатом/двигателем/КПП (PCM/ECM/TCM) — высокая внутренняя температура

P0635 – Управление усилителем рулевого управления — неисправность электрической цепи

P0636 – Управление усилителем рулевого управления — низкий уровень сигнала

P0637 – Управление усилителем рулевого управления — высокий уровень сигнала

P0638 – Управление приводом дроссельной заслонки, банк 1 — диапазон/функционирование

P0639 – Управление приводом дроссельной заслонки, банк 2 — диапазон/функционирование

P0640 – Управление подогревом воздуха на впуске — неисправность электрической цепи

P0641 – Опорное напряжение датчика A — обрыв цепи

P0642 – Опорное напряжение датчика A — низкий уровень сигнала

P0643 – Опорное напряжение датчика A — высокий уровень сигнала

P0644 – Дисплей водителя, обмен данными (последовательный) — неисправность электрической цепи

P0645 – Реле электромагнитной муфты компрессора кондиционера — неисправность электрической цепи

P0646 – Реле электромагнитной муфты компрессора кондиционера — низкий уровень сигнала 

P0647 – Реле электромагнитной муфты компрессора кондиционера — высокий уровень сигнала

P0648 – Индикатор иммобилайзера, управление — неисправность электрической цепи

P0649 – Индикатор системы поддержания скорости (круиз-контроля), управление — неисправность цепи

P0650 – Индикатор неисправности (MIL), управление — неисправность электрической цепи

P0651 – Опорное напряжение датчика B — обрыв цепи

P0652 – Опорное напряжение датчика B — низкий уровень

P0653 – Опорное напряжение датчика B — высокое напряжение цепи

P0654 – Частота вращения коленчатого вала, выходной сигнал — неисправность электрической цепи

P0655 – Индикатор перегрева двигателя — неисправность электрической цепи

P0656 – Индикация уровня топлива — неисправность электрической цепи

P0666 – Датчик внутренней температуры электронного блока управления двигателем/КПП/силового агрегата (ECM/PCM/TCM) — неисправность электрической цепи

P0667 – Датчик внутренней температуры электронного блока управления двигателем/КПП/силового агрегата (ECM/PCM/TCM) — диапазон/функционирование

P0668 – Датчик внутренней температуры электронного блока управления двигателем/КПП/силового агрегата (ECM/PCM/TCM) — низкий уровень сигнала

P0669 – Датчик внутренней температуры электронного блока управления двигателем/КПП/силового агрегата (ECM/PCM/TCM) — высокий уровень сигнала

P0670 – Блок управления свечами накаливания — неисправность электрической цепи

P0671 – Свеча накаливания, цилиндр 1 — неисправность электрической цепи

P0672 – Свеча накаливания, цилиндр 2 — неисправность электрической цепи

P0673 – Свеча накаливания, цилиндр 3 — неисправность электрической цепи

P0674 – Свеча накаливания, цилиндр 4 — неисправность электрической цепи

P0675 – Свеча накаливания, цилиндр 5 — неисправность электрической цепи

P0676 – Свеча накаливания, цилиндр 6 — неисправность электрической цепи

P0677 – Свеча накаливания, цилиндр 7 — неисправность электрической цепи

P0678 – Свеча накаливания, цилиндр 8 — неисправность электрической цепи

P0683 – Связь блока управления свечами накаливания с ECM/PCM

P0684 – Связь блока управления свечами накаливания с ECM/PCM, ошибка связи — диапазон/функционирование

P0685 – Реле системы управления двигателем — обрыв цепи

P0686 – Реле системы управления двигателем — низкий уровень сигнала

P0687 – Реле системы управления двигателем — короткое замыкание на массу

P0688 – Реле системы управления двигателем — короткое замыкание на «+»

P0689 – Реле системы управления двигателем — низкий уровень сигнала в контрольной цепи

P0690 – Реле системы управления двигателем — высокий уровень сигнала в контрольной цепи

P0691 – Электродвигатель вентилятора 1 системы охлаждения — низкий уровень сигнала

P0692 – Электродвигатель вентилятора 1 системы охлаждения — высокий уровень сигнала

P0693 – Электродвигатель вентилятора 2 системы охлаждения — низкий уровень сигнала

P0694 – Электродвигатель вентилятора 2 системы охлаждения — высокий уровень сигнала

P0695 – Электродвигатель вентилятора 3 системы охлаждения — низкий уровень сигнала

P0696 – Электродвигатель вентилятора 3 системы охлаждения — высокий уровень сигнала

Трансмиссия

P0700-P0799, P0800-P0899, P0900-P0999

P0700 – Управление АКПП, запрос неисправностей (MIL) — неисправность электрической цепи

P0701 – Система управления АКПП — диапазон/функционирование

P0702 – Система управления АКПП — электрическая неисправность

P0703 – Выключатель стоп-сигналов B — неисправность электрической цепи

P0704 – Концевой выключатель (датчик положения) педали сцепления — неисправность электрической цепи

P0705 – Датчик положения селектора АКПП, входной сигнал PRNDL — неисправность электрической цепи

P0706 – Датчик положения селектора КПП — диапазон/функционирование

P0707 – Датчик положения селектора АКПП — низкий уровень сигнала

P0708 – Датчик положения селектора АКПП — высокий уровень входного сигнала

P0709 – Датчик положения селектора АКПП — ненадежный контакт электрической цепи

P0710 – Датчик температуры рабочей жидкости АКПП — неисправность электрической цепи

P0711 – Датчик температуры рабочей жидкости КПП — диапазон/функционирование

P0712 – Датчик температуры рабочей жидкости КПП — низкий уровень сигнала

P0713 – Датчик температуры рабочей жидкости КПП — высокий уровень входного сигнала

P0714 – Датчик температуры рабочей жидкости КПП — ненадежный контакт электрической цепи

P0715 – Датчик частоты вращения входного вала АКПП (турбины гидротрансформатора) — неисправность электрической цепи

P0716 – Датчик частоты вращения входного вала АКПП (турбины гидротрансформатора) — диапазон/функционирование

P0717 – Датчик частоты вращения входного вала АКПП (турбины гидротрансформатора) — нет сигнала

P0718 – Датчик частоты вращения входного вала АКПП (турбины гидротрансформатора) — ненадежный контакт электрической цепи

P0719 – Выключатель стоп-сигналов B — низкий уровень сигнала

P0720 – Датчик частоты вращения выходного вала — неисправность электрической цепи

P0721 – Датчик частоты вращения выходного вала — диапазон/функционирование

P0722 – Датчик частоты вращения выходного вала — нет сигнала

P0723 – Датчик частоты вращения выходного вала — ненадежный контакт электрической цепи

P0724 – Выключатель стоп-сигналов B — высокий уровень сигнала

P0725 – Частота вращения коленчатого вала, входной сигнал — неисправность электрической цепи

P0726 – Частота вращения коленчатого вала, входной сигнал — диапазон/функционирование

P0727 – Частота вращения коленчатого вала, входной сигнал — нет сигнала

P0728 – Частота вращения коленчатого вала, входной сигнал — ненадежный контакт электрической цепи

P0729 – 6-я передача — некорректное передаточное отношение

P0730 – Некорректное передаточное отношение

P0731 – 1-я передача — некорректное передаточное отношение

P0732 – 2-я передача — некорректное передаточное отношение

P0733 – 3-я передача — некорректное передаточное отношение

P0734 – 4-я передача — некорректное передаточное отношение

P0735 – 5-я передача — некорректное передаточное отношение

P0736 – Передача заднего хода — некорректное передаточное отношение

P0737 – Электронный блок управления АКПП, частота вращения — выходная цепь

P0738 – Электронный блок управления АКПП, частота вращения — низкий уровень выходного сигнала

P0739 – Электронный блок управления АКПП, частота вращения — высокий уровень выходного сигнала

P0740 – Электромагнитный клапан муфты блокировки гидротрансформатора — неисправность электрической цепи

P0741 – Электромагнитный клапан муфты блокировки гидротрансформатора — функционирование или «залипание» в закрытом состоянии

P0742 – Электромагнитный клапан муфты блокировки гидротрансформатора — «залипание» в открытом состоянии

P0743 – Электромагнитный клапан муфты блокировки гидротрансформатора — электрическая неисправность

P0744 – Электромагнитный клапан муфты блокировки гидротрансформатора — ненадежный контакт электрической цепи

P0745 – Электромагнитный клапан управления давлением рабочей жидкости КПП — неисправность электрической цепи

P0746 – Электромагнитный клапан управления давлением рабочей жидкости КПП — функционирование или «залипание» в закрытом состоянии

P0747 – Электромагнитный клапан управления давлением рабочей жидкости КПП — «залипание» в открытом состоянии

P0748 – Электромагнитный клапан управления давлением рабочей жидкости КПП — электрическая неисправность

P0749 – Электромагнитный клапан управления давлением рабочей жидкости КПП — ненадежный контакт электрической цепи

P0750 – Э/м клапан А переключения передач — неисправность электрической цепи

P0751 – Э/м клапан А переключения передач — функционирование или «залипание» в закрытом состоянии

P0752 – Э/м клапан А переключения передач — «залипание» в открытом состоянии

P0753 – Э/м клапан А переключения передач — электрическая неисправность

P0754 – Э/м клапан А переключения передач — ненадежный контакт электрической цепи

P0755 – Э/м клапан В переключения передач — неисправность электрической цепи

P0756 – Э/м клапан В переключения передач — функционирование или «залипание» в закрытом состоянии

P0757 – Э/м клапан В переключения передач — «залипание» в открытом состоянии

P0758 – Э/м клапан В переключения передач — электрическая неисправность

P0759 – Э/м клапан B переключения передач — ненадежный контакт электрической цепи

P0760 – Э/м клапан С переключения передач — неисправность электрической цепи

P0761 – Э/м клапан С переключения передач — функционирование или «залипание» в закрытом состоянии

P0762 – Э/м клапан С переключения передач — «залипание» в открытом состоянии

P0763 – Э/м клапан С переключения передач — электрическая неисправность

P0764 – Э/м клапан C переключения передач — ненадежный контакт электрической цепи

P0765 – Э/м клапан D переключения передач — неисправность электрической цепи

P0766 – Э/м клапан D переключения передач — функционирование или «залипание» в закрытом состоянии

P0767 – Э/м клапан D переключения передач — «залипание» в открытом состоянии

P0768 – Э/м клапан D переключения передач — электрическая неисправность

P0769 – Э/м клапан D переключения передач — ненадежный контакт электрической цепи

P0770 – Э/м клапан E переключения передач — неисправность электрической цепи

P0771 – Э/м клапан E переключения передач — функционирование или «залипание» в закрытом состоянии

P0772 – Э/м клапан E переключения передач — «залипание» в открытом состоянии

P0773 – Э/м клапан E переключения передач — электрическая неисправность

P0774 – Э/м клапан E переключения передач — ненадежный контакт электрической цепи

P0775 – Э/м клапан В управления давлением — неисправность

P0776 – Э/м клапан B управления давлением — функционирование или «залипание» в закрытом состоянии

P0777 – Э/м клапан В управления давлением — «залипание» в открытом состоянии

P0778 – Э/м клапан В управления давлением — электрическая неисправность

P0779 – Э/м клапан В управления давлением — ненадежный контакт электрической цепи

P0780 – Выбор передачи — неисправность переключения

P0781 – Выбор передачи, 1-2 — неисправность переключения

P0782 – Выбор передачи, 2-3 — неисправность переключения

P0783 – Выбор передачи, 3-4 — неисправность переключения

P0784 – Выбор передачи, 4-5 — неисправность переключения

P0785 – Электромагнитный клапан переключения / синхронизации передач — неисправность электрической цепи

P0786 – Электромагнитный клапан переключения / синхронизации передач — диапазон/функционирование

P0787 – Электромагнитный клапан синхронизации переключения передач — низкий уровень

P0788 – Электромагнитный клапан синхронизации переключения передач — высокий уровень

P0789 – Электромагнитный клапан синхронизации переключения передач — ненадежный контакт электрической цепи

P0790 – Переключатель выбора режима работы АКПП — неисправность электрической цепи

P0791 – Датчик частоты вращения промежуточного вала КПП — неисправность электрической цепи

P0792 – Датчик частоты вращения промежуточного вала КПП — диапазон/функционирование

P0793 – Датчик частоты вращения промежуточного вала КПП — нет сигнала

P0794 – Датчик частоты вращения промежуточного вала КПП — ненадежный контакт электрической цепи

P0795 – Э/м клапан С управления давлением рабочей жидкости КПП — неисправность электрической цепи

P0796 – Э/м клапан C управления давлением рабочей жидкости КПП — функционирование или «залипание» в закрытом состоянии

P0797 – Э/м клапан C управления давлением рабочей жидкости КПП — «залипание» в открытом состоянии

P0798 – Э/м клапан С управления давлением рабочей жидкости КПП — электрическая неисправность

P0799 – Э/м клапан C управления давлением рабочей жидкости КПП — ненадежный контакт электрической цепи

P0800 – Управление раздаточной коробкой, запрос неисправностей (MIL) — неисправность электрической цепи

P0801 – Цепь блокировки включения передачи заднего хода — неисправность электрической цепи

P0802 – Управление АКПП, запрос неисправностей (MIL) — обрыв цепи

P0803 – Электромагнитный клапан цепи повышения передачи (1-4 передача), пропуски при переключении — неисправность электрической цепи

P0804 – Индикатор пропуска переключения в цепи повышения передачи (1-4 передача) — неисправность электрической цепи

P0805 – Датчик положения сцепления (муфты) — неисправность электрической цепи

P0806 – Датчик положения сцепления (муфты) — диапазон/функционирование

P0807 – Датчик положения сцепления (муфты) — низкий уровень сигнала

P0808 – Датчик положения сцепления (муфты) — высокий уровень сигнала

P0809 – Датчик положения сцепления (муфты) — ненадежный контакт электрической цепи

P0810 – Ошибка в управлении сцеплением (муфтой)

P0811 – Повышенное проскальзывание сцепления (муфты)

P0812 – Передача заднего хода — неисправность входной цепи

P0813 – Передача заднего хода — неисправность выходной цепи

P0814 – Индикатор положения селектора — неисправность электрической цепи

P0815 – Переключатель выбора передач КПП, повышение передачи — неисправность электрической цепи

P0816 – Переключатель выбора передач КПП, понижение передачи — неисправность электрической цепи

P0817 – Цепь блокировки стартера — неисправность

P0818 – Датчик-выключатель разъединения потока мощности — неисправность электрической цепи

P0819 – Переключатель выбора передач КПП, повышение/понижение передачи — корреляция с диапазоном

P0820 – Датчик положения X-Y рычага переключения — неисправность электрической цепи

P0821 – Датчик положения X рычага переключения — неисправность электрической цепи

P0822 – Датчик положения Y рычага переключения — неисправность электрической цепи

P0823 – Датчик положения X рычага переключения — ненадежный контакт электрической цепи

P0824 – Датчик положения Y рычага переключения — ненадежный контакт электрической цепи

P0825 – Переключатель положения (рычаг переключения качающегося типа) — неисправность электрической цепи

P0826 – Переключатель выбора передач КПП, повышение/понижение передачи — неисправность электрической цепи

P0827 – Переключатель выбора передач КПП, повышение/понижение передачи — низкий уровень сигнала

P0828 – Переключатель выбора передач КПП, повышение/понижение передачи — высокий уровень сигнала

P0829 – Переключение с 5-й на 6-ю передачу

P0830 – Концевой выключатель (датчик положения) А педали сцепления — неисправность электрической цепи

P0831 – Концевой выключатель (датчик положения) А педали сцепления — низкий уровень сигнала

P0832 – Концевой выключатель (датчик положения) А педали сцепления — высокий уровень сигнала

P0833 – Концевой выключатель (датчик положения) B педали сцепления — неисправность электрической цепи

P0834 – Концевой выключатель (датчик положения) B педали сцепления — низкий уровень входного сигнала

P0835 – Концевой выключатель (датчик положения) В педали сцепления — высокий уровень входного сигнала

P0836 – Выключатель режима 4WD — неисправность электрической цепи

P0837 – Выключатель режима 4WD — диапазон/функционирование

P0838 – Выключатель режима 4WD — низкий уровень сигнала

P0839 – Выключатель режима 4WD — высокий уровень входного сигнала

P0840 – Датчик А давления рабочей жидкости КПП — неисправность электрической цепи

P0841 – Датчик А давления рабочей жидкости КПП — диапазон/функционирование

P0842 – Датчик А давления рабочей жидкости КПП — низкий уровень сигнала

P0843 – Датчик А давления рабочей жидкости КПП — высокий уровень сигнала

P0844 – Датчик А давления рабочей жидкости АКПП — ненадежный контакт электрической цепи

P0845 – Датчик B давления рабочей жидкости КПП — неисправность электрической цепи

P0846 – Датчик В давления рабочей жидкости КПП — диапазон/функционирование

P0847 – Датчик B давления рабочей жидкости КПП — низкий уровень входного сигнала

P0848 – Датчик В давления рабочей жидкости КПП — высокий уровень входного сигнала

P0849 – Датчик B давления рабочей жидкости КПП — ненадежный контакт электрической цепи

P0850 – Выключатель запрещения запуска («P»/»N») — неисправность цепи входного сигнала

P0851 – Выключатель запрещения запуска («P»/»N») — низкий уровень входного сигнала

P0852 – Выключатель запрещения запуска («P»/»N») — высокий уровень входного сигнала

P0853 – Выключатель режима движения — неисправность цепи входного сигнала

P0854 – Выключатель режима движения — низкий уровень входного сигнала

P0855 – Выключатель режима движения — высокий уровень входного сигнала

P0856 – Входной сигнал противобуксовочной системы — неисправность

P0857 – Входной сигнал противобуксовочной системы — диапазон/функционирование

P0858 – Входной сигнал противобуксовочной системы — низкий уровень

P0859 – Входной сигнал противобуксовочной системы — высокий уровень

P0860 – Линия связи блока управления переключением — неисправность

P0861 – Линия связи блока управления переключением — низкий уровень сигнала

P0862 – Линия связи блока управления переключением — высокий уровень входного сигнала

P0863 – Электронный блок управления КПП (TCM), связь — неисправность электрической цепи

P0864 – Электронный блок управления КПП (TCM), связь — диапазон/функционирование

P0865 – Электронный блок управления КПП (TCM), связь — низкий уровень входного сигнала

P0866 – Электронный блок управления КПП (TCM), связь — высокий уровень входного сигнала

P0867 – Датчик давления рабочей жидкости АКПП

P0868 – Датчик давления рабочей жидкости АКПП — низкое

P0869 – Датчик давления рабочей жидкости АКПП — высокое

P0870 – Датчик C давления рабочей жидкости КПП — неисправность электрической цепи

P0871 – Датчик С давления рабочей жидкости КПП — диапазон/функционирование

P0872 – Датчик C давления рабочей жидкости КПП — низкий уровень сигнала

P0873 – Датчик C давления рабочей жидкости КПП — высокий уровень сигнала

P0874 – Датчик C давления рабочей жидкости КПП — ненадежный контакт электрической цепи

P0875 – Датчик D давления рабочей жидкости АКПП — неисправность электрической цепи

P0876 – Датчик D давления рабочей жидкости КПП — диапазон/функционирование

P0877 – Датчик D давления рабочей жидкости АКПП — низкое напряжение цепи

P0878 – Датчик D давления рабочей жидкости АКПП — высокое напряжение цепи

P0879 – Датчик D давления рабочей жидкости КПП — ненадежный контакт электрической цепи

P0880 – Электронный блок управления АКПП — неисправность цепи питания

P0881 – Электронный блок управления АКПП — неисправность цепи питания (диапазон / функционирование)

P0882 – Электронный блок управления АКПП — низкое напряжение цепи питания

P0883 – Электронный блок управления АКПП — высокое напряжение цепи питания

P0884 – Электронный блок управления КПП (TCM), входной сигнал питания — ненадежный контакт электрической цепи

P0885 – Реле питания электронного блока управления КПП (TCM), управление — обрыв цепи

P0886 – Реле питания электронного блока управления КПП (TCM), управление — низкий уровень сигнала

P0887 – Реле питания электронного блока управления КПП (TCM), управление — высокий уровень сигнала

P0888 – Реле питания электронного блока управления КПП (TCM) — неисправность контрольной цепи

P0889 – Реле питания электронного блока управления КПП (TCM) — диапазон/функционирование контрольной цепи

P0890 – Реле питания электронного блока управления КПП (TCM) — низкий уровень сигнала в контрольной цепи

P0891 – Реле питания электронного блока управления КПП (TCM) — высокий уровень сигнала в контрольной цепи

P0892 – Реле питания электронного блока управления КПП (TCM) — ненадежный контакт контрольной цепи

P0893 – Одновременное включение нескольких передач

P0894 – Проскальзывание компонентов АКПП

P0895 – Слишком малое время переключения

P0896 – Слишком большое время переключения

P0897 – Ухудшение качества рабочей жидкости

P0898 – Управление АКПП, запрос неисправностей (MIL) — низкое напряжение цепи

P0899 – Управление АКПП, запрос неисправностей (MIL) — высокое напряжение цепи

P0900 – Привод сцепления — обрыв цепи

P0901 – Привод сцепления — диапазон/функционирование

P0902 – Привод сцепления — низкое напряжение цепи

P0903 – Привод сцепления — высокое напряжение цепи

P0904 – Цепь выбора диапазона коробки передач — неисправность

P0905 – Цепь выбора диапазона коробки передач — диапазон/функционирование

P0906 – Цепь выбора диапазона коробки передач — низкое напряжение

P0907 – Цепь выбора диапазона коробки передач — высокое напряжение

P0908 – Цепь выбора диапазона коробки передач — ненадежный контакт электрической цепи

P0909 – Ошибка выбора диапазона коробки передач

P0910 – Привод выбора диапазона коробки передач — обрыв цепи

P0911 – Привод выбора диапазона коробки передач — диапазон/функционирование

P0912 – Привод выбора диапазона коробки передач — низкое напряжение цепи

P0913 – Привод выбора диапазона коробки передач — высокое напряжение цепи

P0914 – Цепь определения включенной передачи — неисправность

P0915 – Цепь определения включенной передачи — диапазон/функционирование

P0916 – Цепь определения включенной передачи — низкое напряжение цепи

P0917 – Цепь определения включенной передачи — высокое напряжение цепи

P0918 – Цепь определения включенной передачи — ненадежный контакт электрической цепи

P0919 – Контроль включенной передачи — ошибка

P0920 – Привод включения передач переднего хода — обрыв цепи

P0921 – Привод включения передач переднего хода — диапазон/функционирование

P0922 – Привод включения передач переднего хода — низкое напряжение цепи

P0923 – Привод включения передач переднего хода — высокое напряжение цепи

P0924 – Привод включения передачи заднего хода — обрыв цепи

P0925 – Привод включения передачи заднего хода — диапазон/функционирование

P0926 – Привод включения передачи заднего хода — низкое напряжение цепи

P0927 – Привод включения передачи заднего хода — высокое напряжение цепи

P0928 – Электромагнитный клапан блокировки переключения передач — обрыв цепи

P0929 – Электромагнитный клапан блокировки переключения передач — диапазон/функционирование

P0930 – Электромагнитный клапан блокировки переключения передач — низкое напряжение цепи

P0931 – Электромагнитный клапан блокировки переключения передач — высокое напряжение цепи

P0932 – Датчик давления в гидросистеме — неисправность электрической цепи

P0933 – Датчик давления в гидросистеме — диапазон/функционирование

P0934 – Датчик давления в гидросистеме — низкий уровень сигнала

P0935 – Датчик давления в гидросистеме — высокий уровень входного сигнала

P0936 – Датчик давления в гидросистеме — ненадежный контакт электрической цепи

P0937 – Датчик температуры рабочей жидкости в гидросистеме — неисправность электрической цепи

P0938 – Датчик температуры рабочей жидкости в гидросистеме — диапазон/функционирование

P0939 – Датчик температуры рабочей жидкости в гидросистеме — низкий уровень сигнала

P0940 – Датчик температуры рабочей жидкости в гидросистеме — высокий уровень входного сигнала

P0941 – Датчик температуры рабочей жидкости в гидросистеме — ненадежный контакт электрической цепи

P0942 – Блок создания давления в гидросистеме

P0943 – Блок создания давления в гидросистеме — цикл работы слишком короткий

P0944 – Блок создания давления в гидросистеме — потеря давления

P0945 – Реле насоса гидросистемы — обрыв цепи

P0946 – Реле насоса гидросистемы — диапазон/функционирование

P0947 – Реле насоса гидросистемы — низкое напряжение цепи

P0948 – Реле насоса гидросистемы — высокое напряжение цепи

P0949 – Коробка передач с автоматизированным переключением (ASM) — не проведено адаптивное обучение

P0950 – Коробка передач с автоматизированным переключением (ASM), управление — неисправность электрической цепи

P0951 – Коробка передач с автоматизированным переключением (ASM), управление — диапазон/функционирование

P0952 – Коробка передач с автоматизированным переключением (ASM), управление — низкий уровень сигнала

P0953 – Коробка передач с автоматизированным переключением (ASM), управление — высокий уровень сигнала

P0954 – Коробка передач с автоматизированным переключением (ASM), управление — ненадежный контакт электрической цепи

P0955 – Коробка передач с автоматизированным переключением (ASM), режим — неисправность электрической цепи

P0956 – Коробка передач с автоматизированным переключением (ASM), режим — диапазон/функционирование

P0957 – Коробка передач с автоматизированным переключением (ASM), режим — низкий уровень сигнала

P0958 – Коробка передач с автоматизированным переключением (ASM), режим — высокий уровень сигнала

P0959 – Коробка передач с автоматизированным переключением (ASM), режим — ненадежный контакт электрической цепи

P0960 – Э/м клапан А управления давлением — обрыв цепи

P0961 – Э/м клапан А управления давлением — диапазон/функционирование

P0962 – Э/м клапан А управления давлением — низкий уровень сигнала

P0963 – Э/м клапан А управления давлением — высокий уровень сигнала

P0964 – Э/м клапан B управления давлением — обрыв цепи

P0965 – Э/м клапан B управления давлением — диапазон/функционирование

P0966 – Э/м клапан B управления давлением — низкий уровень сигнала

P0967 – Э/м клапан B управления давлением — высокий уровень сигнала

P0968 – Э/м клапан C управления давлением — обрыв цепи

P0969 – Э/м клапан C управления давлением — диапазон/функционирование

P0970 – Э/м клапан C управления давлением — низкий уровень сигнала

P0971 – Э/м клапан C управления давлением — высокий уровень сигнала

P0972 – Э/м клапан A переключения передач — диапазон/функционирование

P0973 – Э/м клапан А переключения передач — низкий уровень сигнала

P0974 – Э/м клапан А переключения передач — высокий уровень сигнала

P0975 – Э/м клапан В переключения передач — диапазон/функционирование

P0976 – Э/м клапан B переключения передач — низкий уровень сигнала

P0977 – Э/м клапан B переключения передач — высокий уровень сигнала

P0978 – Э/м клапан C переключения передач — диапазон/функционирование

P0979 – Э/м клапан С переключения передач — низкий уровень сигнала

P0980 – Э/м клапан C переключения передач — высокий уровень сигнала

P0981 – Э/м клапан D переключения передач — диапазон/функционирование

P0982 – Э/м клапан D переключения передач — низкий уровень сигнала

P0983 – Э/м клапан D переключения передач — высокий уровень сигнала

P0984 – Э/м клапан E переключения передач — диапазон/функционирование

P0985 – Э/м клапан E переключения передач — низкий уровень сигнала

P0986 – Э/м клапан E переключения передач — высокий уровень сигнала

P0987 – Датчик Е давления рабочей жидкости АКПП — неисправность электрической цепи

P0988 – Датчик E давления рабочей жидкости КПП — диапазон/функционирование

P0989 – Датчик Е давления рабочей жидкости АКПП — низкое напряжение цепи

P0990 – Датчик Е давления рабочей жидкости АКПП — высокое напряжение цепи

P0991 – Датчик Е давления рабочей жидкости АКПП — ненадежный контакт электрической цепи

P0992 – Датчик F давления рабочей жидкости АКПП — неисправность электрической цепи

P0993 – Датчик E давления рабочей жидкости КПП — диапазон/функционирование

P0994 – Датчик F давления рабочей жидкости АКПП — низкое напряжение цепи

P0995 – Датчик F давления рабочей жидкости АКПП — высокое напряжение цепи

P0996 – Датчик F давления рабочей жидкости АКПП — ненадежный контакт электрической цепи

P0997 – Э/м клапан F переключения передач — диапазон/функционирование

P0998 – Э/м клапан F переключения передач — низкий уровень сигнала

P0999 – Э/м клапан F переключения передач — высокий уровень сигнала

SH (NA) 030128-B (1307) MEE  Printed in Japan  Specifications are subject to change without notice.
    This Instruction Manual uses recycled paper.
MODEL
MODEL
CODE
General-Purpose AC Servo
MR-JE-_A SERVO AMPLIFIER INSTRUCTION MANUAL
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
MODEL
MR-JE-_A
SERVO AMPLIFIER 
INSTRUCTION MANUAL
General-Purpose Interface AC Servo
1CW706
MR-JE-A SERVOAMPLIFIER 
INSTRUCTIONMANUAL
B
B





A -  1 
 
 Safety Instructions   
Please read the instructions carefully before using the equipment. 
 
To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until 
you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not 
use the equipment until you have a full knowledge of the equipment, safety information and instructions. 
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION". 
 
     
 
 WARNING 
 Indicates that incorrect handling may cause hazardous conditions, 
resulting in death or severe injury. 
     
 
 CAUTION 
 
    
Indicates that incorrect handling may cause hazardous conditions, 
resulting in medium or slight injury to personnel or may cause physical 
damage. 
 
Note that the CAUTION level may lead to a serious consequence according to conditions. 
Please follow the instructions of both levels because they are important to personnel safety. 
What must not be done and what must be done are indicated by the following diagrammatic symbols. 
 
 
 
Indicates what must not be done. For example, "No Fire" is indicated by   . 
 
 
Indicates what must be done. For example, grounding is indicated by   . 
 
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so 
on are classified into "POINT". 
After reading this Instruction Manual, keep it accessible to the operator. 
 





A -  2 
 
1. To prevent electric shock, note the following 
WARNING
Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp 
turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp 
is off or not, always confirm it from the front of the servo amplifier. 
Ground the servo amplifier and servo motor securely. 
Any person who is involved in wiring and inspection should be fully competent to do the work. 
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it 
may cause an electric shock. 
Do not operate switches with wet hands. Otherwise, it may cause an electric shock. 
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric 
shock. 
To prevent an electric shock, always connect the protective earth (PE) terminal (marked  ) of the servo 
amplifier to the protective earth (PE) of the cabinet. 
When using an earth-leakage current breaker (RCD), select the type B. 
To avoid an electric shock, insulate the connections of the power supply terminals. 
 
 
2. To prevent fire, note the following 
CAUTION
Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing 
them directly or close to combustibles will lead to a fire. 
Always connect a magnetic contactor between the power supply and the power supply (L1, L2, and L3) 
of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the 
servo amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a large 
current may cause a fire when the servo amplifier malfunctions. 
When using the regenerative resistor, switch power off with the alarm signal. Not doing so may cause a 
fire when a regenerative transistor malfunctions or the like may overheat the regenerative resistor. 
When you use a regenerative option with an MR-JE-40A to MR-JE-100A, remove the built-in 
regenerative resistor and wiring from the servo amplifier. 
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible 
matter from entering the servo amplifier and servo motor. 
Always connect a molded-case circuit breaker to the power supply of the servo amplifier. 
 
 
3. To prevent injury, note the following 
CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a 
burst, damage, etc. may occur. 
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. 
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. 
The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot while power is on or for 
some time after power-off. Take safety measures, e.g. provide covers, to avoid accidentally touching the 
parts (cables, etc.) by hand. 
 
 





A -  3 
 
4. Additional instructions 
The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, 
electric shock, etc. 
 
(1)  Transportation and installation 
CAUTION
Transport the products correctly according to their mass. 
Stacking in excess of the specified number of product packages is not allowed. 
Do not hold the lead wire of the regenerative resistor when transporting the servo amplifier. 
Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction 
Manual. 
Do not get on or put heavy load on the equipment. 
The equipment must be installed in the specified direction. 
Leave specified clearances between the servo amplifier and the cabinet walls or other equipment. 
Do not install or operate the servo amplifier and servo motor which have been damaged or have any 
parts missing. 
Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction. 
Do not drop or strike the servo amplifier and servo motor. Isolate them from all impact loads. 
When you keep or use the equipment, please fulfill the following environment. 
 
 Item  Environment   
 Operation  0 ˚C to 55 ˚C (non-freezing)   
 
Ambient 
temperature 
Storage  -20 ˚C to 65 ˚C (non-freezing)   
 Operation   
 
Ambient 
humidity 
Storage 
90 %RH or less (non-condensing) 
 
 Ambience  Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt   
 Altitude  1000 m or less above sea level   
 Vibration resistance  5.9 m/s
2
, at 10 Hz to 55 Hz (directions of X, Y and Z axes)   
 
When the product has been stored for an extended period of time, contact your local sales office. 
When handling the servo amplifier, be careful about the edged parts such as corners of the servo 
amplifier. 
The servo amplifier must be installed in a metal cabinet. 
When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used 
for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our 
products. Please take necessary precautions to ensure that remaining materials from fumigant do not 
enter our products, or treat packaging with methods other than fumigation (heat method). Additionally, 
disinfect and protect wood from insects before packing products. 
 
 





A -  4 
 
(2)  Wiring 
CAUTION
Before removing the CNP1 connector of MR-JE-40A to MR-JE-100A, disconnect the lead wires of the 
regenerative resistor from the CNP1 connector. 
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. 
Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF) on the servo amplifier 
output side. 
To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo 
amplifier and servo motor. 
Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W) 
directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction. 
U
Servo motor
M
V
W
U
V
W
U
M
V
W
U
V
W
Servo amplifier
Servo motorServo amplifier
 
The connection diagrams in this instruction manual are shown for sink interfaces, unless stated 
otherwise. 
The surge absorbing diode installed to the DC relay for control output should be fitted in the specified 
direction. Otherwise, the emergency stop and other protective circuits may not operate. 
DOCOM
Control output
signal
Servo amplifier
RA
For sink output interface
24 V DC
      
DOCOM
Control output
signal
24 V DC
Servo amplifie

r

RA
For source output interface
 
When the cable is not tightened enough to the terminal block, the cable or terminal block may generate 
heat because of the poor contact. Be sure to tighten the cable with specified torque. 
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a 
malfunction. 
 
 
(3)  Test run and adjustment 
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to operate 
unexpectedly. 
Never make a drastic adjustment or change to the parameter values as doing so will make the operation 
unstable. 
Do not get close to moving parts during the servo-on status. 
 
 





A -  5 
 
(4)  Usage 
CAUTION
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction, 
use a servo motor with an external brake to prevent the condition. 
Do not disassemble, repair, or modify the equipment. 
Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a 
sudden restart. Otherwise, it may cause an accident. 
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic 
interference may be given to the electronic equipment used near the servo amplifier. 
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it. 
Use the servo amplifier with the specified servo motor. 
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be 
used for ordinary braking. 
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor 
are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, 
install a stopper on the machine side. 
 
 
(5)  Corrective actions 
CAUTION
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction, 
use a servo motor with an electromagnetic brake or external brake to prevent the condition. 
Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch. 
Servo motor
Electromagnetic brake
B
RA
Contacts must be opened
with the EMG stop switch.
Contacts must be opened when ALM
(Malfunction) or MBR (Electromagnetic
brake interlock) turns off.
24 V DC
 
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before 
restarting operation. 
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure. 
 
 
(6)  Maintenance, inspection and parts replacement 
CAUTION
With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary 
accident due to a malfunction, it is recommend that the electrolytic capacitor be replaced every 10 years 
when it is used in general environment. For replacement, please contact your local sales office. 
 
 





A -  6 
 
(7)  General instruction 
To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn 
without covers and safety guards. When the equipment is operated, the covers and safety guards must 
be installed as specified. Operation must be performed in accordance with this Instruction Manual. 
 
 
 DISPOSAL OF WASTE   
 
Please dispose a servo amplifier and other options according to your local laws and regulations. 
 
 EEP-ROM life 
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If 
the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the 
EEP-ROM reaches the end of its useful life. 
Write to the EEP-ROM due to parameter setting changes 
Write to the EEP-ROM due to device changes 
 
Compliance with global standards 
Refer to appendix 2 for the compliance with global standard. 
 
«About the manual» 
You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare 
them to use the servo safely. 
 
Relevant manuals 
 
Manual name  Manual No. 
MELSERVO-JE Series Instructions and Cautions for Safe Use of AC Servos (packed with the 
servo amplifier) 
IB(NA)0300194 
MELSERVO HF-KN/HF-SN Servo Motor Instruction Manual  SH(NA)030123 
EMC Installation Guidelines  IB(NA)67310 
 
«Cables used for wiring» 
Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 ˚C. 
 
 





1 
CONTENTS 
 
1. FUNCTIONS AND CONFIGURATION  1- 1 to 1-12 
1.1  Summary........................................................................................................................................... 1- 1 
1.2  Function block diagram..................................................................................................................... 1- 2 
1.3  Servo amplifier standard specifications ............................................................................................ 1- 4 
1.4  Combinations of servo amplifiers and servo motors ........................................................................ 1- 5 
1.5  Function list....................................................................................................................................... 1- 5 
1.6  Model designation............................................................................................................................. 1- 7 
1.7  Structure ........................................................................................................................................... 1- 8 
1.7.1  Parts identification...................................................................................................................... 1- 8 
1.8  Configuration including peripheral equipment ................................................................................. 1-10 
2. INSTALLATION  2- 1 to 2- 6 
2.1  Installation direction and clearances ................................................................................................ 2- 2 
2.2  Keep out foreign materials................................................................................................................ 2- 3 
2.3  Encoder cable stress ........................................................................................................................ 2- 4 
2.4  Inspection items ................................................................................................................................ 2- 4 
2.5  Parts having service lives ................................................................................................................. 2- 5 
3. SIGNALS AND WIRING  3- 1 to 3-62 
3.1  Input power supply circuit ................................................................................................................. 3- 2 
3.2  I/O signal connection example.......................................................................................................... 3- 6 
3.2.1  Position control mode................................................................................................................. 3- 6 
3.2.2  Speed control mode .................................................................................................................. 3-11 
3.2.3  Torque control mode ................................................................................................................. 3-13 
3.3  Explanation of power supply system ............................................................................................... 3-15 
3.3.1  Signal explanations ................................................................................................................... 3-15 
3.3.2  Power-on sequence.................................................................................................................. 3-16 
3.3.3  Wiring CNP1 and CNP2............................................................................................................ 3-17 
3.4  Connectors and pin assignment ...................................................................................................... 3-19 
3.5  Signal (device) explanations............................................................................................................ 3-21 
3.6  Detailed explanation of signals........................................................................................................ 3-29 
3.6.1  Position control mode................................................................................................................ 3-29 
3.6.2  Speed control mode .................................................................................................................. 3-34 
3.6.3  Torque control mode ................................................................................................................. 3-36 
3.6.4  Position/speed control switching mode.....................................................................................3-39 
3.6.5  Speed/torque control switching mode.......................................................................................3-41 
3.6.6  Torque/position control switching mode....................................................................................3-43 
3.7  Forced stop deceleration function ................................................................................................... 3-44 
3.7.1  Forced stop deceleration function............................................................................................. 3-44 
3.7.2  Base circuit shut-off delay time function ................................................................................... 3-46 
3.7.3  Vertical axis freefall prevention function ................................................................................... 3-47 
3.7.4  Residual risks of the forced stop function (EM2) ...................................................................... 3-47 
3.8  Alarm occurrence timing chart......................................................................................................... 3-48 
3.8.1  When you use the forced stop deceleration function................................................................ 3-48 
3.8.2  When you do not use the forced stop deceleration function..................................................... 3-49 





2 
3.9  Interfaces ......................................................................................................................................... 3-50 
3.9.1  Internal connection diagram...................................................................................................... 3-50 
3.9.2  Detailed explanation of interfaces............................................................................................. 3-52 
3.9.3  Source I/O interfaces ................................................................................................................ 3-56 
3.10  Servo motor with an electromagnetic brake ..................................................................................3-57 
3.10.1  Safety precautions .................................................................................................................. 3-57 
3.10.2  Timing chart............................................................................................................................ 3-58 
3.11  Grounding ...................................................................................................................................... 3-61 
4. STARTUP  4- 1 to 4-36 
4.1  Switching power on for the first time................................................................................................. 4- 1 
4.1.1  Startup procedure ...................................................................................................................... 4- 1 
4.1.2  Wiring check............................................................................................................................... 4- 2 
4.1.3  Surrounding environment........................................................................................................... 4- 3 
4.2  Startup in position control mode ....................................................................................................... 4- 4 
4.2.1  Power on and off procedures..................................................................................................... 4- 4 
4.2.2  Stop ............................................................................................................................................ 4- 4 
4.2.3  Test operation............................................................................................................................ 4- 5 
4.2.4  Parameter setting....................................................................................................................... 4- 6 
4.2.5  Actual operation ......................................................................................................................... 4- 6 
4.2.6  Trouble at start-up...................................................................................................................... 4- 7 
4.3  Startup in speed control mode.......................................................................................................... 4- 9 
4.3.1  Power on and off procedures..................................................................................................... 4- 9 
4.3.2  Stop ............................................................................................................................................ 4- 9 
4.3.3  Test operation........................................................................................................................... 4-10 
4.3.4  Parameter setting...................................................................................................................... 4-11 
4.3.5  Actual operation ........................................................................................................................ 4-12 
4.3.6  Trouble at start-up..................................................................................................................... 4-12 
4.4  Startup in torque control mode ........................................................................................................ 4-13 
4.4.1  Power on and off procedures.................................................................................................... 4-13 
4.4.2  Stop ........................................................................................................................................... 4-13 
4.4.3  Test operation........................................................................................................................... 4-14 
4.4.4  Parameter setting...................................................................................................................... 4-15 
4.4.5  Actual operation ........................................................................................................................ 4-15 
4.4.6  Trouble at start-up..................................................................................................................... 4-16 
4.5  Display and operation sections........................................................................................................ 4-17 
4.5.1  Summary ................................................................................................................................... 4-17 
4.5.2  Display flowchart ....................................................................................................................... 4-18 
4.5.3  Status display mode .................................................................................................................. 4-19 
4.5.4  Diagnostic mode ....................................................................................................................... 4-23 
4.5.5  Alarm mode ............................................................................................................................... 4-25 
4.5.6  Parameter mode ....................................................................................................................... 4-26 
4.5.7  External I/O signal display......................................................................................................... 4-28 
4.5.8  Output signal (DO) forced output .............................................................................................. 4-31 
4.5.9  Test operation mode ................................................................................................................. 4-32 
5. PARAMETERS  5- 1 to 5-44 
5.1  Parameter list.................................................................................................................................... 5- 1 
5.1.1  Basic setting parameters ([Pr. PA_ _ ])...................................................................................... 5- 1 





3 
5.1.2  Gain/filter setting parameters ([Pr. PB_ _ ]) ............................................................................... 5- 2 
5.1.3  Extension setting parameters ([Pr. PC_ _ ]) .............................................................................. 5- 3 
5.1.4  I/O setting parameters ([Pr. PD_ _ ]) ......................................................................................... 5- 5 
5.1.5  Extension setting 2 parameters ([Pr. PE_ _ ])............................................................................ 5- 6 
5.1.6  Extension setting 3 parameters ([Pr. PF_ _ ])............................................................................ 5- 7 
5.2  Detailed list of parameters ................................................................................................................ 5- 8 
5.2.1  Basic setting parameters ([Pr. PA_ _ ])...................................................................................... 5- 8 
5.2.2  Gain/filter setting parameters ([Pr. PB_ _ ]) .............................................................................. 5-17 
5.2.3  Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 5-28 
5.2.4  I/O setting parameters ([Pr. PD_ _ ]) ........................................................................................ 5-38 
5.2.5  Extension setting 2 parameters ([Pr. PE_ _ ])........................................................................... 5-42 
5.2.6  Extension setting 3 parameters ([Pr. PF_ _ ])........................................................................... 5-43 
6. NORMAL GAIN ADJUSTMENT  6- 1 to 6-24 
6.1  Different adjustment methods........................................................................................................... 6- 1 
6.1.1  Adjustment on a single servo amplifier ...................................................................................... 6- 1 
6.1.2  Adjustment using MR Configurator2 .......................................................................................... 6- 2 
6.2  One-touch tuning .............................................................................................................................. 6- 3 
6.2.1  One-touch tuning flowchart ........................................................................................................ 6- 3 
6.2.2  Display transition and operation procedure of one-touch tuning ............................................... 6- 5 
6.2.3  Caution for one-touch tuning..................................................................................................... 6-13 
6.3  Auto tuning....................................................................................................................................... 6-14 
6.3.1  Auto tuning mode ...................................................................................................................... 6-14 
6.3.2  Auto tuning mode basis............................................................................................................. 6-15 
6.3.3  Adjustment procedure by auto tuning .......................................................................................6-16 
6.3.4  Response level setting in auto tuning mode ............................................................................. 6-17 
6.4  Manual mode ................................................................................................................................... 6-18 
6.5  2 gain adjustment mode .................................................................................................................. 6-22 
7. SPECIAL ADJUSTMENT FUNCTIONS  7- 1 to 7-26 
7.1  Filter setting ...................................................................................................................................... 7- 1 
7.1.1  Machine resonance suppression filter ....................................................................................... 7- 1 
7.1.2  Adaptive filter II........................................................................................................................... 7- 4 
7.1.3  Shaft resonance suppression filter............................................................................................. 7- 6 
7.1.4  Low-pass filter ............................................................................................................................ 7- 7 
7.1.5  Advanced vibration suppression control II .................................................................................7- 7 
7.1.6  Command notch filter ................................................................................................................ 7-12 
7.2  Gain switching function.................................................................................................................... 7-13 
7.2.1  Applications ............................................................................................................................... 7-13 
7.2.2  Function block diagram ............................................................................................................. 7-14 
7.2.3  Parameter.................................................................................................................................. 7-15 
7.2.4  Gain switching procedure ......................................................................................................... 7-17 
7.3  Tough drive function ........................................................................................................................ 7-20 
7.3.1  Vibration tough drive function.................................................................................................... 7-20 
7.3.2  Instantaneous power failure tough drive function ..................................................................... 7-22 
8. TROUBLESHOOTING  8- 1 to 8-28 
8.1  Alarm and warning list ...................................................................................................................... 8- 1 





4 
8.2  Remedies for alarms......................................................................................................................... 8- 6 
8.3  Remedies for warnings .................................................................................................................... 8-24 
9. DIMENSIONS  9- 1 to 9- 6 
9.1  Servo amplifier .................................................................................................................................. 9- 1 
9.2  Connector ......................................................................................................................................... 9- 4 
10. CHARACTERISTICS  10- 1 to 10- 8 
10.1  Overload protection characteristics .............................................................................................. 10- 1 
10.2  Power supply capacity and generated loss .................................................................................. 10- 3 
10.3  Dynamic brake characteristics...................................................................................................... 10- 5 
10.3.1  Dynamic brake operation ....................................................................................................... 10- 5 
10.3.2  Permissible load to motor inertia when the dynamic brake is used....................................... 10- 6 
10.4  Cable bending life......................................................................................................................... 10- 7 
10.5  Inrush current at power-on ........................................................................................................... 10- 7 
11. OPTIONS AND PERIPHERAL EQUIPMENT  11- 1 to 11-30 
11.1  Cable/connector sets .................................................................................................................... 11- 1 
11.1.1  Combinations of cable/connector sets................................................................................... 11- 2 
11.2  Regenerative option...................................................................................................................... 11- 4 
11.2.1  Combination and regenerative power.................................................................................... 11- 4 
11.2.2  Selection of regenerative option ............................................................................................ 11- 5 
11.2.3  Parameter setting................................................................................................................... 11- 6 
11.2.4  Selection of regenerative option ............................................................................................ 11- 7 
11.2.5  Dimensions ........................................................................................................................... 11-10 
11.3  Junction terminal block MR-TB50................................................................................................ 11-12 
11.4  MR Configurator2 ........................................................................................................................ 11-14 
11.5  Selection example of wires .......................................................................................................... 11-16 
11.6  Molded-case circuit breakers, fuses, magnetic contactors (recommended)............................... 11-17 
11.7  Power factor improving AC reactor.............................................................................................. 11-17 
11.8  Relay (recommended) ................................................................................................................. 11-18 
11.9  Noise reduction techniques ......................................................................................................... 11-19 
11.10  Earth-leakage current breaker................................................................................................... 11-25 
11.11  EMC filter (recommended) ........................................................................................................ 11-27 
APPENDIX  App. - 1 to App. -13 
App. 1  Peripheral equipment manufacturer (for reference).............................................................. App.- 1 
App. 2  Compliance with global standards ........................................................................................ App.- 1 
App. 3  Analog monitor .....................................................................................................................App.-10 
App. 4  Low-voltage directive ...........................................................................................................App.-13 
 
 





1. FUNCTIONS AND CONFIGURATION 
1 -  1 
 
1. FUNCTIONS AND CONFIGURATION 
1.1 Summary 
The Mitsubishi general-purpose AC servo MELSERVO-JE series have limited functions with keeping high 
performance based on MELSERVO-J4 series. 
The servo amplifier has position, speed, and torque control modes. In the position control mode, the 
maximum pulse train of 4 Mpulses/s is supported. Further, it can perform operation with the control modes 
switched, e.g. position/speed control, speed/torque control and torque/position control. Hence, it is 
applicable to a wide range of fields, not only precision positioning and smooth speed control of machine tools 
and general industrial machines but also line control and tension control. 
With one-touch tuning and real-time auto tuning, you can automatically adjust the servo gains according to 
the machine. 
The tough drive function, drive recorder function, and preventive maintenance support function strongly 
support machine maintenance. 
The servo amplifier has a USB communication interface. Therefore, you can connect the servo amplifier to 
the personal computer with MR Configurator2 installed to perform the parameter setting, test operation, gain 
adjustment, and others. 
The MELSERVO-JE series servo motor equipped with an incremental encoder whose resolution is 131072 
pulses/rev will enable a high-accuracy positioning. 
 





1. FUNCTIONS AND CONFIGURATION 
1 -  2 
 
1.2 Function block diagram 
The function block diagram of this servo is shown below. 
 
(1)  MR-JE-100A or less 
Model position
Current
control
Actual
position
control
Actual
speed
control
Virtual
motor
Virtual
encoder
Encoder
(Note 2)
Power
supply
MCMCCB
Position
command
input
Model speed Model torque
CN2
Model
position
control
Model
speed
control
Servo motor
CN3
Analog monitor
(two channel)
I/F
USBA/D D/A
USB
Personal
computer
Analog
(two channel)
CN1
U U
U
C
L3
L2
L1
Dynamic
brake circuit
Current
detection
Overcurrent
protection
Voltage
detection
Base
amplifier
U
V
W
U
V
W
Diode
stack
Relay
P+
(Note 1)
+
B
RA
24 V DC
B1
B2
M
Control
circuit
power
CHARGE
lamp
Regene-
rative
TR
Current
encoder
Regenerative
option
Electromagnetic
brake
DI/O control
Servo-on
Input command pulse.
Start
Malfunction, etc
 
Note   1.  The built-in regenerative resistor is not provided for MR-JE-10A and MR-JE-20A. 
  2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. 
For the power supply specifications, refer to section 1.3. 
 





1. FUNCTIONS AND CONFIGURATION 
1 -  3 
 
(2)  MR-JE-200A or more 
MCMCCB
Servo motor
CN3
I/F
USBA/D D/A
USB
CN1
U U
U
L3
L2
L1
U
V
W
U
V
W
B
RA
24 V DC
B1
B2
M
CN2
N- (Note 2)CDP+
+
Cooling fan
(Note 1)
Power
supply
Dynamic
brake circuit
Diode
stack
Relay
CHARGE
lamp
Regene-
rative
TR
Current
encoder
Regenerative
option
Encoder
Current
detection
Overcurrent
protection
Voltage
detection
Base
amplifier
Control
circuit
power
Electromagnetic
brake
Model position
Current
control
Actual
position
control
Actual
speed
control
Virtual
motor
Virtual
encoder
Position
command
input
Model speed Model torque
Model
position
control
Model
speed
control
Analog monitor
(two channel)
Personal
computer
Analog
(two channel)
DI/O control
Servo-on
Input command pulse.
Start
Malfunction, etc
 
Note   1.  For the power supply specifications, refer to section 1.3. 
  2. This is for manufacturer adjustment. Leave this open. 
 





1. FUNCTIONS AND CONFIGURATION 
1 -  4 
 
1.3 Servo amplifier standard specifications 
Model: MR-JE-    10A  20A  40A  70A  100A  200A  300A 
Rated voltage        3-phase 170 V AC     
Output 
Rated current  [A]  1.1  1.5  2.8  5.8  6.0  11.0  11.0 
Voltage/Frequency 
3-phase or 1-phase 200 V AC to 240 V AC, 50 
Hz/60 Hz 
3-phase 200 V AC to 240 V AC, 50 
Hz/60 Hz 
Rated current  [A]  0.9  1.5  2.6  3.8  5.0  10.5  14.0 
Permissible voltage 
fluctuation 
3-phase or 1-phase 170 V AC to 264 V AC  3-phase 170 V AC to 264 V AC 
Permissible frequency 
fluctuation 
   Within ±5%   
Power supply capacity 
[kVA] 
   Refer to section 10.2.    
Power supply 
input 
Inrush current  [A]      Refer to section 10.5.     
Voltage        24 V DC ± 10%     
Interface 
power supply 
Current capacity  [A]      (Note 1) 0.3     
Control method      Sine-wave PWM control, current control method   
Dynamic brake          Built-in       
Communication function    USB:  Connection to a personal computer or others (MR Configurator2-compatible) 
Encoder output pulses        Compatible (A/B/Z-phase pulse)     
Analog monitor        Two channels     
Max. input pulse 
frequency 
4 Mpulses/s (for differential receiver) (Note 3), 200 kpulses/s (for open collector) 
Positioning feedback 
pulse 
Encoder resolution (resolution per servo motor revolution): 131072 pulses/rev 
Command pulse 
multiplying factor 
Electronic gear A:1 to 16777215, B:1 to 16777215, 1/10 < A/B < 4000 
In-position range 
setting 
0 pulse to ±65535 pulses (command pulse unit) 
Error excessive      ±3 revolutions     
Position 
control mode 
Torque limit    Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque) 
Speed control range  Analog speed command 1: 2000, internal speed command 1: 5000 
Analog speed 
command input 
0 to ±10 V DC/rated speed (The speed at 10 V is changeable with [Pr. PC12].) 
Speed fluctuation ratio 
±0.01% or less (load fluctuation 0% to 100%), 0% (power fluctuation ±10%), ±0.2% or less 
(ambient temperature 25 °C ± 10 °C) when using analog speed command 
Speed control 
mode 
Torque limit    Set by parameter setting or external analog input (0 V DC to +10 V DC/maximum torque) 
Analog torque 
command input 
0 V DC to ±8 V DC/maximum torque (input impedance 10 k to 12 k) 
Torque 
control mode 
Speed limit    Set by parameter setting or external analog input (0 V DC to 10 V DC/rated speed) 
Protective functions   
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), 
servo motor overheat protection, encoder error protection, regenerative error protection, 
undervoltage protection, instantaneous power failure protection, overspeed protection, and 
error excessive protection 
CE marking   
LVD: EN 61800-5-1 
EMC: EN 61800-3 
MD: EN ISO 13849-1, EN 61800-5-2, EN 62061 
 
Compliance 
to global 
standards 
UL standard          UL 508C       
Structure (IP rating)      Natural cooling, open (IP20)   
Force cooling, open 
(IP20) 
Close mounting (Note 2)          Possible       
Operation      0 ˚C to 55 ˚C (non-freezing)     
Ambient 
temperature 
Storage      -20 ˚C to 65 ˚C (non-freezing)     
Operation       
Ambient 
humidity 
Storage     
90 %RH or less (non-condensing)   
 
Ambience   
Indoors (no direct sunlight), 
free from corrosive gas, flammable gas, oil mist, dust, and dirt 
Altitude        1000 m or less above sea level     
Environment 
Vibration resistance    5.9 m/s
2
, at 10 Hz to 55 Hz (directions of X, Y and Z axes)   
Mass    [kg]    0.8    1.5  2.1 
 
Note   1.  0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of 
I/O points. 
  2. When closely mounting the servo amplifier of 3.5 kW or less, operate them at the ambient temperatures of 0 ˚C to 45 ˚C or at 
75% or smaller effective load ratio. 
  3. 1 Mpulse/s or lower commands are supported in the initial setting. When inputting commands over 1 Mpulse/s and 4 Mpulses/
s or lower, change the setting in [Pr. PA13]. 
 





1. FUNCTIONS AND CONFIGURATION 
1 -  5 
 
1.4 Combinations of servo amplifiers and servo motors 
Servo amplifier  Servo motor 
MR-JE-10A  HF-KN13 
MR-JE-20A  HF-KN23 
MR-JE-40A  HF-KN43 
MR-JE-70A  HF-KN73 
HF-SN52 
MR-JE-100A  HF-SN102 
MR-JE-200A  HF-SN152, HF-SN202 
MR-JE-300A  HF-SN302 
 
1.5 Function list 
The following table lists the functions of this servo. For details of the functions, refer to each section 
indicated in the detailed explanation field. 
 
Function  Description 
Detailed 
explanation 
Position control mode  This servo is used as a position control servo. 
Section 3.2.1 
Section 3.6.1 
Section 4.2 
Speed control mode  This servo is used as a speed control servo. 
Section 3.2.2 
Section 3.6.2 
Section 4.3 
Torque control mode  This servo is used as a torque control servo. 
Section 3.2.3 
Section 3.6.3 
Section 4.4 
Position/speed control switch 
mode 
Using an input device, control can be switched between position control and speed 
control. 
Section 3.6.4 
Speed/torque control switch 
mode 
Using an input device, control can be switched between speed control and torque 
control. 
Section 3.6.5 
Torque/position control switch 
mode 
Using an input device, control can be switched between torque control and position 
control. 
Section 3.6.6 
High-resolution encoder 
High-resolution encoder of 131072 pulses/rev is used for the encoder of the servo 
motor compatible with the MELSERVO-JE series. 
 
Gain switching function 
You can switch gains during rotation and during stop, and can use an input device to 
switch gains during operation. 
Section 7.2 
Advanced vibration 
suppression control II 
This function suppresses vibration at the arm end or residual vibration.  Section 7.1.5 
Adaptive filter II 
Servo amplifier detects mechanical resonance and sets filter characteristics 
automatically to suppress mechanical vibration. 
Section 7.1.2 
Low-pass filter 
Suppresses high-frequency resonance which occurs as servo system response is 
increased. 
Section 7.1.4 
Machine analyzer function 
Analyzes the frequency characteristic of the mechanical system by simply connecting 
an MR Configurator2 installed personal computer and servo amplifier. 
MR Configurator2 is necessary for this function. 
 
Robust filter 
This function provides better disturbance response in case low response level that 
load to motor inertia ratio is high for such as roll send axes. 
[Pr. PE41] 
Slight vibration suppression 
control 
Suppresses vibration of ±1 pulse produced at a servo motor stop.  [Pr. PB24] 
Electronic gear  Input pulses can be multiplied by 1/10 to 4000. 
[Pr. PA06] 
[Pr. PA07] 
S-pattern 
acceleration/deceleration time 
constant 
Speed can be increased and decreased smoothly.  [Pr. PC03] 
Auto tuning 
Automatically adjusts the gain to optimum value if load applied to the servo motor 
shaft varies. 
Section 6.3 
Regenerative option 
Used when the built-in regenerative resistor of the servo amplifier does not have 
sufficient regenerative capability for the regenerative power generated. 
Section 11.2 
 





1. FUNCTIONS AND CONFIGURATION 
1 -  6 
 
Function  Description 
Detailed 
explanation 
Alarm history clear  Alarm history is cleared.  [Pr. PC18] 
Output signal selection 
(device settings) 
ST1 (Forward rotation start), ST2 (Reverse rotation start), and SON (Servo-on) and 
other input device can be assigned to any pins. 
[Pr. PD03] to 
[Pr. PD20] 
Output signal selection 
(device settings) 
The output devices including MBR (Electromagnetic brake interlock) can be assigned 
to certain pins of the CN1 connector. 
[Pr. PD24] to 
[Pr. PD28] 
Output signal (DO) forced 
output 
Output signal can be forced on/off independently of the servo status. 
Use this function for checking output signal wiring, etc. 
Section 4.5.8 
Command pulse selection  Command pulse train form can be selected from among three different types.  [Pr. PA13] 
Torque limit  Servo motor torque can be limited to any value. 
Section 3.6.1 
(5) 
[Pr. PA11] 
[Pr. PA12] 
Speed limit  Servo motor speed can be limited to any value. 
Section 3.6.3 
(3) 
[Pr. PC05] to 
[Pr. PC11] 
Status display  Servo status is shown on the 5-digit, 7-segment LED display.  Section 4.5.3 
External I/O signal display  On/off statuses of external I/O signals are shown on the display.  Section 4.5.7 
Automatic VC offset 
Voltage is automatically offset to stop the servo motor if it does not come to a stop 
when VC (Analog speed command) or VLA (Analog speed limit is 0 V. 
Section 4.5.4 
Alarm code output  If an alarm has occurred, the corresponding alarm number is outputted in 3-bit code.  Chapter 8 
Test operation mode 
Jog operation, positioning operation, motor-less operation, DO forced output, and 
program operation 
MR Configurator2 is required for the positioning operation and program operation. 
Section 4.5.9 
Analog monitor output  Servo status is outputted in terms of voltage in real time. 
[Pr. PC14], 
[Pr. PC15] 
MR Configurator2 
Using a personal computer, you can perform the parameter setting, test operation, 
monitoring, and others. 
Section 11.4 
One-touch tuning 
Gain adjustment is performed just by one click on a certain button on MR 
Configurator2 or operation section. 
Section 6.2 
Tough drive function 
This function makes the equipment continue operating even under the condition that 
an alarm occurs. 
The tough drive function includes two types: the vibration tough drive and the 
instantaneous power failure tough drive. 
Section 7.3 
Drive recorder function 
This function continuously monitors the servo status and records the status transition 
before and after an alarm for a fixed period of time. You can check the recorded data 
on the drive recorder window on MR Configurator2 by clicking the "Graph" button. 
However, the drive recorder will not operate on the following conditions. 
1.  You are using the graph function of MR Configurator2. 
2.  You are using the machine analyzer function. 
3.  [Pr. PF21] is set to "-1". 
[Pr. PA23] 
Servo amplifier life diagnosis 
function 
You can check the cumulative energization time and the number of on/off times of the 
inrush relay. This function gives an indication of the replacement time for parts of the 
servo amplifier including a capacitor and a relay before they malfunction. 
MR Configurator2 is necessary for this function. 
 
Power monitoring function 
This function calculates the power running energy and the regenerative power from 
the data in the servo amplifier such as speed and current. Power consumption and 
others are displayed on MR Configurator2. 
 
Machine diagnosis function 
From the data in the servo amplifier, this function estimates the friction and vibrational 
component of the drive system in the equipment and recognizes an error in the 
machine parts, including a ball screw and bearing. 
MR Configurator2 is necessary for this function. 
 
 





1. FUNCTIONS AND CONFIGURATION 
1 -  7 
 
1.6 Model designation 
(1)  Rating plate 
The following shows an example of rating prate for explanation of each item. 
Serial numbe

r

Model
Capacity
Applicable power supply
Rated output current
Standard, Manual number
Ambient temperature
IP rating
KC certification number,
The year and month of manufacture
Country of origin
KCC-REI-MEK-TC300A745G51      DATE: 2013-05
MR-JE-10A
AC SERVO
SER. S33001001
POWER
INPUT
OUTPUT
STD.: IEC/EN61800-5-1 MAN. : IB(NA)0300194
Max.  Surrounding Air Temp. : 55°C
IP20
: 100W
: 3AC/AC200-240V 0.9A/1.5A 50/60Hz
: 3PH170V 0-360Hz 1.1A
TOKYO 100-8310, JAPAN MADE IN JAPAN
 
(2)  Model 
The following describes what each block of a model name indicates. 
Series
Rated output
General-purpose interface
Symbol Rated output [kW]
10 0.1
20 0.2
40 0.4
70 0.75
100 1
200 2
300 3
 
 





1. FUNCTIONS AND CONFIGURATION 
1 -  8 
 
1.7 Structure 
1.7.1 Parts identification 
(1)  MR-JE-100A or less 
No.  Name/Application 
Detailed 
explanati
on 
(1) 
Display 
The 5-digit, 7-segment LED shows the servo status 
and the alarm number. 
Section 
4.5 
(2) 
Operation section 
Used to perform status display, diagnostic, alarm, 
and parameter setting operations. Push the "MODE" 
and "SET" buttons at the same time for 3 s or more 
to switch to the one-touch tuning mode. 
Used to change the mode.
Used to change the
display or data in each
mode.
Used to set data.
To the one-touch tuning
mode
 
Section 
4.5 
Section 
6.2 
(3) 
USB communication connector (CN3) 
Connect with the personal computer. 
Section 
11.4 
(4) 
I/O signal connector (CN1) 
Digital I/O signal, analog input signal, and analog 
monitor output are connected. 
Section 
3.2 
Section 
3.4 
(5) 
Encoder connector (CN2) 
Used to connect the servo motor encoder. 
Section 
3.4 
(6) 
Power connector (CNP1) 
Input power supply, built-in regenerative resistor, 
regenerative option, and servo motor are connected.
Section 
3.1 
Section 
3.3 
 
Rating plate  Section 
1.6 
(8) 
Charge lamp 
When the main circuit is charged, this will light up. 
While this lamp is lit, do not reconnect the cables. 
 
(1)
(2)
(7)
(3)
(4)
(5)
(8)
(6)
(9)
Bottom
Side
 
(9) 
Protective earth (PE) terminal 
Grounding terminal 
Section 
3.1 
Section 
3.3 
 





1. FUNCTIONS AND CONFIGURATION 
1 -  9 
 
(2)  MR-JE-200A or more 
No.  Name/Application 
Detailed 
explanati
on 
(1) 
Display 
The 5-digit, 7-segment LED shows the servo status 
and the alarm number. 
Section 
4.5 
(2) 
Operation section 
Used to perform status display, diagnostic, alarm, 
and parameter setting operations. Push the "MODE" 
and "SET" buttons at the same time for 3 s or more 
to switch to the one-touch tuning mode. 
Used to change the mode.
Used to change the
display or data in each
mode.
Used to set data.
To the one-touch tuning
mode
 
Section 
4.5 
Section 
6.2 
(3) 
USB communication connector (CN3) 
Connect with the personal computer. 
Section 
11.4 
(4) 
I/O signal connector (CN1) 
Digital I/O signal, analog input signal, and analog 
monitor output are connected. 
Section 
3.2 
Section 
3.4 
(5) 
Encoder connector (CN2) 
Used to connect the servo motor encoder. 
Section 
3.4 
(6) 
Power connector (CNP1) 
Input power supply and regenerative option are 
connected. 
Section 
3.1 
Section 
3.3 
(7) 
Rating plate  Section 
1.6 
(8) 
Servo motor power connector (CNP2) 
Connect the servo motor. 
Section 
3.1 
Section 
3.3 
(9) 
Charge lamp 
When the main circuit is charged, this will light up. 
While this lamp is lit, do not reconnect the cables. 
 
(1)
(2)
(6)
(7)
(8)
(9)
(10)
Bottom
Side
(4)
(5)
(3)
(10) 
Protective earth (PE) terminal 
Grounding terminal 
Section 
3.1 
Section 
3.3 
 





1. FUNCTIONS AND CONFIGURATION 
1 -  10 
 
1.8 Configuration including peripheral equipment 
 
 CAUTION 
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo 
amplifier may cause a malfunction. 
 
 
POINT 
 
Equipment other than the servo amplifier and servo motor are optional or 
recommended products. 
 
 
(1)  MR-JE-100A or less 
The diagram shows MR-JE-10A. 
Power factor
improving AC
reactor
(FR-HAL)
Line noise
filter
(FR-BSF01)
CN3
Servo motor
Personal
computer
MR Configurator2
CN1
CN2
W
V
U
L1
L2
L3
(Note 2)
Magnetic
contactor
(MC)
Molded-case
circuit breaker
RST
Junction terminal block
(Note 1)
Power
supply
 
Note   1.  A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-JE-70A or less. For 1-phase 200 V 
AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power supply specifications, refer to section 
1.3. 
  2. Depending on the power supply voltage and operation pattern, bus voltage can decrease. This can shift the mode to the 
dynamic brake deceleration during forced stop deceleration. When dynamic brake deceleration is not required, slow the time to 
turn off the magnetic contactor. 
 





1. FUNCTIONS AND CONFIGURATION 
1 -  11 
 
(2)  MR-JE-200A or more 
The diagram shows MR-JE-200A. 
Power factor
improving AC
reactor
(FR-HAL)
Line noise
filter
(FR-BSF01)
CN3
Personal
computer
MR Configurator2
CN1
CN2
W
V
U
L1
L2
L3
(Note 2)
Magnetic
contactor
(MC)
Molded-case
circuit breaker
RS T
Junction terminal block
(Note 1)
Power
supply
Servo motor
 
Note   1.  For the power supply specifications, refer to section 1.3. 
  2. Depending on the power supply voltage and operation pattern, bus voltage can decrease. This can shift the mode to the 
dynamic brake deceleration during forced stop deceleration. When dynamic brake deceleration is not required, slow the time to 
turn off the magnetic contactor. 
 





1. FUNCTIONS AND CONFIGURATION 
1 -  12 
 
MEMO 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 





2. INSTALLATION 
2 -  1 
 
2. INSTALLATION 
WARNING 
 
To prevent electric shock, ground each equipment securely. 
 
 
CAUTION
 
Stacking in excess of the specified number of product packages is not allowed. 
Do not hold the lead wire of the regenerative resistor when transporting the servo 
amplifier. 
Install the equipment on incombustible material. Installing them directly or close to 
combustibles will lead to a fire. 
Install the servo amplifier and the servo motor in a load-bearing place in 
accordance with the Instruction Manual. 
Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.
Use the equipment within the specified environment. For the environment, refer to 
section 1.3. 
Provide an adequate protection to prevent screws and other conductive matter, oil 
and other combustible matter from entering the servo amplifier. 
Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it 
may cause a malfunction. 
Do not drop or strike the servo amplifier. Isolate it from all impact loads. 
Do not install or operate the servo amplifier which has been damaged or has any 
parts missing. 
When the product has been stored for an extended period of time, contact your 
local sales office. 
When handling the servo amplifier, be careful about the edged parts such as 
corners of the servo amplifier. 
The servo amplifier must be installed in a metal cabinet. 
When fumigants that contain halogen materials such as fluorine, chlorine, 
bromine, and iodine are used for disinfecting and protecting wooden packaging 
from insects, they cause malfunction when entering our products. Please take 
necessary precautions to ensure that remaining materials from fumigant do not 
enter our products, or treat packaging with methods other than fumigation (heat 
method). Additionally, disinfect and protect wood from insects before packing 
products. 
 
 





2. INSTALLATION 
2 -  2 
 
2.1 Installation direction and clearances 
 
CAUTION 
The equipment must be installed in the specified direction. Otherwise, it may 
cause a malfunction. 
Leave specified clearances between the servo amplifier and the cabinet walls or 
other equipment. Otherwise, it may cause a malfunction. 
 
 
MR-JE-40A to MR-JE-100A have a regenerative resistor on their back face. The regenerative resistor 
generates heat of 100 ˚C higher than the ambient temperature. Please fully consider heat dissipation, 
installation position, etc. when mounting it. 
 
(1)  Installation clearances of the servo amplifier 
(a)  Installation of one servo amplifier 
40 mm
or more
10 mm
or more
10 mm
or more
40 mm
or more
Servo
amplifier
Cabinet Cabinet
Wiring allowance
80 mm
or more
Top
Bottom
 
 





2. INSTALLATION 
2 -  3 
 
(b)  Installation of two or more servo amplifiers 
 
POINT 
 
Close mounting is possible for all capacity type of MR-JE servo amplifiers. 
 
 
Leave a large clearance between the top of the servo amplifier and the cabinet walls, and install a 
cooling fan to prevent the internal temperature of the cabinet from exceeding the environment. 
When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo 
amplifiers in consideration of mounting tolerances. In this case, keep the ambient temperature within 
0 ˚C to 45 ˚C or use the servo amplifier with 75% or less of the effective load ratio. 
100 mm or more
10 mm or more
30 mm
or more
30 mm
or more
40 mm or more
Cabinet
Top
Bottom
100 mm or more
1 mm
30 mm
or more
40 mm or more
Cabinet
1 mm
Leaving clearance Mounting closely
 
(2)  Others 
When using heat generating equipment such as the regenerative option, install them with full 
consideration of heat generation so that the servo amplifier is not affected. 
Install the servo amplifier on a perpendicular wall in the correct vertical direction. 
 
2.2 Keep out foreign materials 
(1)  When drilling in the cabinet, prevent drill chips and wire fragments from entering the servo amplifier. 
 
(2)  Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the cabinet or 
a cooling fan installed on the ceiling. 
 
(3)  When installing the cabinet in a place where toxic gas, dirt and dust exist, conduct an air purge (force 
clean air into the cabinet from outside to make the internal pressure higher than the external pressure) to 
prevent such materials from entering the cabinet. 
 





2. INSTALLATION 
2 -  4 
 
2.3 Encoder cable stress 
(1)  The way of clamping the cable must be fully examined so that bending stress and cable's own weight 
stress are not applied to the cable connection. 
 
(2)  For use in any application where the servo motor moves, fix the cables (encoder, power supply, and 
brake) with having some slack from the connector connection part of the servo motor to avoid putting 
stress on the connector connection part. Use the optional encoder cable within the bending life range. 
Use the power supply and brake wiring cables within the bending life of the cables. 
 
(3)  Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner or 
stamped by workers or vehicles. 
 
(4)  For installation on a machine where the servo motor moves, the flexing radius should be made as large 
as possible. Refer to section 10.4 for the bending life. 
 
2.4 Inspection items 
 
WARNING 
Before starting maintenance and/or inspection, turn off the power and wait for 15 
minutes or more until the charge lamp turns off. Otherwise, an electric shock may 
occur. In addition, when confirming whether the charge lamp is off or not, always 
confirm it from the front of the servo amplifier. 
To avoid an electric shock, only qualified personnel should attempt inspections. 
For repair and parts replacement, contact your local sales office. 
 
 
CAUTION 
Do not perform insulation resistance test on the servo amplifier. Otherwise, it may 
cause a malfunction. 
Do not disassemble and/or repair the equipment on customer side. 
 
 
It is recommended that the following points periodically be checked. 
 
(1)  Check for loose terminal block screws. Retighten any loose screws. 
 
(2)  Check the cables and the like for scratches or cracks. Inspect them periodically according to operating 
conditions especially when the servo motor is movable. 
 
(3)  Check that the connector is securely connected to the servo amplifier. 
 
(4)  Check that the wires are not coming out from the connector. 
 
(5)  Check for dust accumulation on the servo amplifier. 
 
(6)  Check for unusual noise generated from the servo amplifier. 
 





2. INSTALLATION 
2 -  5 
 
2.5 Parts having service lives 
Service lives of the following parts are listed below. However, the service life vary depending or operating 
methods and environment. If any fault is found in the parts, they must be replaced immediately regardless of 
their service lives. For parts replacement, please contact your local sales office. 
 
Part name  Life guideline 
Smoothing capacitor  10 years 
Relay 
Number of power-on and forced stop times 
by EM1 (Forced stop 1): 100,000 times 
Cooling fan 
50,000 hours to 70,000 hours (7 years to 8 
years) 
 
(1)  Smoothing capacitor 
The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the 
capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach 
the end of its life in 10 years of continuous operation in normal air-conditioned environment (40 ˚C 
surrounding air temperature or less). 
 
(2)  Relays 
Contact faults will occur due to contact wear arisen from switching currents. Relays will reach the end of 
their lives depending on their power supply capacity when the number of power-on times and number of 
forced stop times by EM1 (Forced stop 1) are 100,000 times in total. 
 
(3)  Servo amplifier cooling fan 
The cooling fan bearings reach the end of their life in 50,000 hours to 70,000 hours. Normally, therefore, 
the cooling fan must be replaced in seven to eight years of continuous operation as a guideline. It must 
also be changed if unusual noise or vibration is found during inspection. 
The life indicates under the yearly average ambient temperature of 40 ˚C, free from corrosive gas, 
flammable gas, oil mist, dust and dirt. 
 





2. INSTALLATION 
2 -  6 
 
MEMO 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 





3. SIGNALS AND WIRING 
 
3 -  1 
 
3. SIGNALS AND WIRING 
WARNING 
Any person who is involved in wiring should be fully competent to do the work. 
Before wiring, turn off the power and wait for 15 minutes or more until the charge 
lamp turns off. Otherwise, an electric shock may occur. In addition, when 
confirming whether the charge lamp is off or not, always confirm it from the front 
of the servo amplifier. 
Ground the servo amplifier and servo motor securely. 
Do not attempt to wire the servo amplifier and servo motor until they have been 
installed. Otherwise, it may cause an electric shock. 
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it 
may cause an electric shock. 
To avoid an electric shock, insulate the connections of the power supply 
terminals. 
 
 
CAUTION
 
Before removing the CNP1 connector from MR-JE-40A to MR-JE-100A, 
disconnect the lead wires of the regenerative resistor from the CNP1 connector. 
Wire the equipment correctly and securely. Otherwise, the servo motor may 
operate unexpectedly, resulting in injury. 
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may 
occur. 
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. 
The surge absorbing diode installed to the DC relay for control output should be 
fitted in the specified direction. Otherwise, the emergency stop and other 
protective circuits may not operate. 
DOCOM
Control output
signal
Servo amplifier
RA
For sink output interface
24 V DC
      
DOCOM
Control output
signal
24 V DC
Servo amplifie

r

RA
For source output interface
 
Use a noise filter, etc. to minimize the influence of electromagnetic interference. 
Electromagnetic interference may be given to the electronic equipment used near 
the servo amplifier. 
Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF) 
with the power line of the servo motor. 
When using the regenerative resistor, switch power off with the alarm signal. 
Otherwise, a transistor fault or the like may overheat the regenerative resistor, 
causing a fire. 
Do not modify the equipment. 
Connect the servo amplifier power output (U, V, and W) to the servo motor power 
input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. 
Otherwise, it may cause a malfunction. 
U
Servo motor
M
V
W
U
V
W
U
M
V
W
U
V
W
Servo amplifier
Servo motorServo amplifier
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo 
amplifier may cause a malfunction. 
 
 





3. SIGNALS AND WIRING 
 
3 -  2 
 
3.1 Input power supply circuit 
 
CAUTION 
Always connect a magnetic contactor between the power supply and the power 
supply (L1, L2, and L3) of the servo amplifier, in order to configure a circuit that 
shuts down the power supply on the side of the servo amplifier’s power supply. If 
a magnetic contactor is not connected, continuous flow of a large current may 
cause a fire when the servo amplifier malfunctions. 
Use ALM (Malfunction) to switch power off. Not doing so may cause a fire when a 
regenerative transistor malfunctions or the like may overheat the regenerative 
resistor. 
Before removing the CNP1 connector from MR-JE-40A to MR-JE-100A, 
disconnect the lead wires of the regenerative resistor from the CNP1 connector. 
Not doing so may break the lead wires of the regenerative resistor. 
Check the servo amplifier model, and then input proper voltage to the servo 
amplifier power supply. If input voltage exceeds the upper limit of the 
specification, the servo amplifier will break down. 
The servo amplifier has a built-in surge absorber (varistor) to reduce noise and to 
suppress lightning surge. The varistor can break down due to its aged 
deterioration. To prevent a fire, use a molded-case circuit breaker or fuse for input 
power supply. 
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo 
amplifier may cause a malfunction. 
 
 
POINT 
 
EM2 has the same function as EM1 in the torque control mode. 
Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of 
the connecting destinations is different from MR-E Super Series Servo 
Amplifier's. When using MR-JE as a replacement for MR-E Super, be careful not 
to connect the power to L2. 
 
 
Configure the wirings so that the power supply is shut off and SON (Servo-on) is turned off after deceleration 
to a stop due to an alarm occurring, enabled servo forced stop, etc. A molded-case circuit breaker (MCCB) 
must be used with the input cables of the main circuit power supply. 
 





3. SIGNALS AND WIRING 
 
3 -  3 
 
(1)  For 3-phase 200 V AC to 240 V AC power supply of MR-JE-10A to MR-JE-100A 
 (Note 5)
MC
ALM
DOCOM
CN1
(Note 3)
24 V DC (Note 8)
24 V DC (Note 8)
Malfunction
RA1
L1
L2
L3
3-phase
200 V AC to
240 V AC
Servo amplifier
U
V
W
(Note 1)
CNP1
Servo motor
U
V
W
M
Motor
Encoder
CN2
(Note 2)
Encoder cable
(Note 4, 7)
RA1
Malfunction
OFF
MC
ON
MC
SK
EMG stop switch
CN1
Forced stop 2
Servo-on
(Note 3)
EM2
SON
DICOM
(Note 6)
Power
supply
MCCB
(Note 7)
C
P+
Built-in
regenerative
resistor
 
Note   1.  MR-JE-40A to MR-JE-100A have a built-in regenerative resistor. (factory-wired)  When using the regenerative option, 
refer to section 11.2. 
  2. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "HF-KN/HF-SN Servo 
Motor Instruction Manual". 
  3. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3. 
  4. For connecting servo motor power wires, refer to "HF-KN/HF-SN Servo Motor Instruction Manual". 
  5. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of 
contacts) of 80 ms or less. Depending on the power supply voltage and operation pattern, bus voltage can decrease. 
This can shift the mode to the dynamic brake deceleration during forced stop deceleration. When dynamic brake 
deceleration is not required, slow the time to turn off the magnetic contactor. 
  6. Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier. 
  7. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. 
  8. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, 
they can be configured by one. 
 





3. SIGNALS AND WIRING 
 
3 -  4 
 
(2)  For 1-phase 200 V AC to 240 V AC power supply of MR-JE-10A to MR-JE-70A 
 
POINT 
 
Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of 
the connecting destinations is different from MR-E Super Series Servo 
Amplifier's. When using MR-JE as a replacement for MR-E Super, be careful not 
to connect the power to L2. 
 
 
 (Note 5)
MC
ALM
DOCOM
CN1
(Note 3)
24 V DC (Note 8)
24 V DC (Note 8)
Malfunction
RA1
L1
L2
L3
1-phase
200 V AC to
240 V AC
Servo amplifier
U
V
W
(Note 1)
CNP1
Servo motor
U
V
W
M
Motor
Encoder
CN2
(Note 2)
Encoder cable
(Note 4, 7)
CN1
Forced stop 2
Servo-on
(Note 3)
EM2
SON
DICOM
(Note 6)
Power
supply
MCCB
(Note 7)
C
P+
Built-in
regenerative
resistor
RA1
OFF
MC
ON
MC
SK
EMG stop switch
Malfunction
 
Note   1.  MR-JE-40A and MR-JE-70A have a built-in regenerative resistor. (factory-wired)  When using the regenerative option, 
refer to section 11.2. 
  2. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "HF-KN/HF-SN Servo 
Motor Instruction Manual". 
  3. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3. 
  4. For connecting servo motor power wires, refer to "HF-KN/HF-SN Servo Motor Instruction Manual". 
  5. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of 
contacts) of 80 ms or less. Depending on the power supply voltage and operation pattern, bus voltage can decrease. 
This can shift the mode to the dynamic brake deceleration during forced stop deceleration. When dynamic brake 
deceleration is not required, slow the time to turn off the magnetic contactor. 
  6. Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier. 
  7. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. 
  8. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, 
they can be configured by one. 
 





3. SIGNALS AND WIRING 
 
3 -  5 
 
(3)  MR-JE-200A/MR-JE-300A 
 (Note 5)
MC
ALM
DOCOM
CN1
(Note 3)
24 V DC (Note 8)
24 V DC (Note 8)
Malfunction
RA1
3-phase
200 V AC to
240 V AC
Servo amplifier
Servo motor
U
V
W
M
Motor
Encoder
CN2
(Note 2)
Encoder cable
(Note 4, 7)
CN1
Forced stop 2
Servo-on
(Note 3)
EM2
SON
DICOM
(Note 6)
Power
supply
MCCB
(Note 7)
L1
L2
L3
P+
N-
D
C
U
V
W
(Note 1)
CNP1
CNP2
RA1
OFF
MC
ON
MC
SK
EMG stop switch
Malfunction
 
Note   1.  Always connect between P+ and D terminals. (factory-wired)  When using the regenerative option, refer to section 11.2. 
  2. For the encoder cable, use of the option cable is recommended. For selecting cables, refer to "HF-KN/HF-SN Servo 
Motor Instruction Manual". 
  3. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3. 
  4. For connecting servo motor power wires, refer to "HF-KN/HF-SN Servo Motor Instruction Manual". 
  5. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of 
contacts) of 80 ms or less. Depending on the power supply voltage and operation pattern, bus voltage can decrease. 
This can shift the mode to the dynamic brake deceleration during forced stop deceleration. When dynamic brake 
deceleration is not required, slow the time to turn off the magnetic contactor. 
  6. Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier. 
  7. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. 
  8. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, 
they can be configured by one. 
 





3. SIGNALS AND WIRING 
 
3 -  6 
 
3.2 I/O signal connection example 
3.2.1 Position control mode 
(1)  When you use a positioning module LD75D/QD75D 
(a)  For sink I/O interface 
Servo amplifie

r

2 m or less
26
MO1
30 LG
29
MO2
(Note 7)
CN1
± 10 V DC
± 10 V DC
Analog monitor 1
(Note 2)
Malfunction (Note 6)
Zero speed detection
Encoder A-phase pulse
(differential line driver)
47 DOCOM
48 ALM
23 ZSP
24 INP
4
LA
5
LAR
6 LB
7
LBR
34 LG
33
OP
SD
10 m or less
2 m or less
Encoder B-phase pulse
(differential line driver)
Control common
Encoder Z-phase pulse
(open collector)
(Note 7)
CN1
LG
DICOM
10 m or less (Note 8)
41
20
46
49
10
11
35
9
3
36
CLEARCOM
12
15
16
14
13
11
CLEAR
RDYCOM
READY
PULSE F+
PULSE F-
PG0
PG0 COM
PULSE R+
PULSE R-
18
10
17
9
DOCOM
CR
RD
PP
PG
NP
NG
LZ
LZR
8
(Note 10)
(Note 7)
CN1
Positioning module
LD75D/QD75D
(Note 14)
In-position
Control common
SD
RA1
RA2
RA3
24 V DC (Note 4)
24 V DC (Note 4)
24 V DC (Note 4)
Plate
(Note 1)
2 m or less
10 m or less
0 V to +10 V
42
15
19
43
44
21
27
SD
Plate
Plate
Plate
SD
EM2
SON
RES
LSP
LSN
DICOM
TLA
LG 28
(Note 7)
CN1
Forced stop 2
Servo-on
Reset
Forward rotation
stroke end
Reverse rotation
stroke end
(Note 3, 5)
(Note 5)
+
USB cable (option)
(Note 9)
MR Configurator2
CN3
Analog torque limit
+10 V/maximum torque
Personal
computer
(Note 11)
Power supply
Analog monitor 2
 
 





3. SIGNALS AND WIRING 
 
3 -  7 
 
Note   1.  To prevent an electric shock, always connect the protective earth (PE) terminal (marked  ) of the servo amplifier to the 
protective earth (PE) of the cabinet. 
  2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output 
signals, disabling EM2 (Forced stop 2) and other protective circuits. 
  3. The forced stop switch (normally closed contact) must be installed. 
  4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity is up to 300 mA. 300 mA is the value applicable 
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 
3.9.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided 
between input signal and output signal for convenience. However, they can be configured by one. 
  5. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation 
stroke end) (normally closed contact).  
  6. ALM (Malfunction) turns on in normal alarm-free condition (normally closed contact). When this signal is switched off (at 
occurrence of an alarm), the output of the programmable controller should be stopped by the sequence program. 
  7. The pins with the same signal name are connected in the servo amplifier. 
  8. This length applies to the command pulse train input in the differential line driver type. It is 2 m or less in the open-collector 
type. 
  9. Use SW1DNC-MRC2-E. (Refer to section 11.4.) 
 10. This connection is not necessary for LD75D and QD75D. However, to enhance noise immunity, it is recommended to connect 
LG of servo amplifier and control common depending on the positioning module. 
 11. Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier. 
 12. Plus and minus of the power of source interface are the opposite of those of sink interface. 
 13. CLEAR and CLEARCOM of source interface are interchanged to sink interface. 
 14. When a command cable malfunctions due to disconnection or noise, a position mismatch can occur. To avoid position 
mismatch, it is recommended that Encoder A-phase pulse and Encoder B-phase pulse be checked. 
 





3. SIGNALS AND WIRING 
 
3 -  8 
 
(b)  For source I/O interface 
 
POINT 
 
For notes, refer to (1) (a) in this section. 
 
 
2 m or less
26 MO1
30 LG
29
MO2
± 10 V DC
± 10 V DC
SD
Servo amplifie

r

(Note 2)
Malfunction (Note 6)
Zero speed detection
47 DOCOM
48 ALM
23 ZSP
24 INP
4
LA
5
LAR
6 LB
7
LBR
34 LG
33
OP
SD
10 m or less
2 m or less
(Note 7)
CN1
LG
DICOM
10 m or less (Note 8)
41
20
46
49
10
11
35
9
3
36
CLEARCOM
12
15
16
14
13
11
CLEAR
RDYCOM
READY
PULSE F+
PULSE F-
PG0
PG0 COM
PULSE R+
PULSE R-
18
10
17
9
DOCOM
CR
RD
PP
PG
NP
NG
LZ
LZR
8
(Note 10)
(Note 13)
(Note 7)
CN1
Positioning module
LD75D/QD75D
24 V DC (Note 4, 12)
In-position
SD
RA1
RA2
RA3
24 V DC (Note 4, 12)
24 V DC (Note 4, 12)
(Note 1)
2 m or less
10 m or less
42
15
19
43
44
21
27
SD
EM2
SON
RES
LSP
LSN
DICOM
TLA
LG 28
(Note 7)
CN1
+
(Note 9)
MR Configurator2
(Note 7)
CN1
CN3
(Note 11)
Power supply
(Note 14)
0 V to +10 V
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
Encoder Z-phase pulse
(open collector)
Control common
Forced stop 2
Servo-on
Reset
Forward rotation
stroke end
Reverse rotation
stroke end
(Note 3, 5)
(Note 5)
Analog torque limit
+10 V/maximum torque
Plate
Plate
Plate
Plate
USB cable (option)
Personal
computer
Analog monitor 1
Analog monitor 2
 
 





3. SIGNALS AND WIRING 
 
3 -  9 
 
(2)  When you use a positioning module FX
3U
-_ _MT/ES (For sink I/O interface) 
Servo amplifier
(Note 1)
2 m or less
10 m or less
42
15
19
43
44
21
27
SD
EM2
SON
RES
LSP
LSN
DICOM
TLA
LG 28
(Note 7)
CN1
+
(Note 9)
MR Configurator2
CN3
(Note 10)
Power supply
(Note 2)
(Note 7)
CN1
47 DOCOM
48 ALM
23 ZSP
4 LA
5 LAR
6 LB
7 LBR
34 LG
SD
8 LZ
9 LZR
RA1
RA2
10 m or less
(Note 7)
CN1
COM3
X _ _ _
X000
RD
3
49
33
10
12
35
41
20
L
N
COM2
Y000
COM1
Y004
Y010
OP
LG
PP
OPC
NP
DICOM
DOCOM
CR
46
Programmable controller
FX
3U
-_ _MT/ES (Note 11)
S/S
24 V
0 V
Programmable
controller
power supply
2 m or less (Note 8)
24 V DC
(Note 4)
24 V DC (Note 4)
24 V DC (Note 4)
(Note 15)
(Note 12)
(Note 13)
(Note 14)
X _ _ _
INP 24
SD
2 m or less
26
MO1
30 LG
29 MO2
± 10 V DC
± 10 V DC
SD
(Note 7)
CN1
0 V to +10 V
Malfunction (Note 6)
Zero speed detection
Encoder A-phase pulse
(differential line driver)
Encoder Z-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
Plate
Plate
Plate
Plate
Forced stop 2
Servo-on
Reset
Forward rotation
stroke end
Reverse rotation
stroke end
(Note 3, 5)
(Note 5)
Analog torque limit
+10 V/maximum torque
USB cable (option)
Personal
computer
Analog monitor 1
Analog monitor 2
 
 





3. SIGNALS AND WIRING 
 
3 -  10 
 
Note   1.  To prevent an electric shock, always connect the protective earth (PE) terminal (marked  ) of the servo amplifier to the 
protective earth (PE) of the cabinet. 
  2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output 
signals, disabling EM2 (Forced stop 2) and other protective circuits. 
  3. The forced stop switch (normally closed contact) must be installed. 
  4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity is up to 300 mA. 300 mA is the value applicable 
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 
3.9.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided 
between input signal and output signal for convenience. However, they can be configured by one. 
  5. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation 
stroke end) (normally closed contact).  
  6. ALM (Malfunction) turns on in normal alarm-free condition (normally closed contact). When this signal is switched off (at 
occurrence of an alarm), the output of the programmable controller should be stopped by the sequence program. 
  7. The pins with the same signal name are connected in the servo amplifier. 
  8. Connect them within 2 m because of open-collector type. 
  9. Use SW1DNC-MRC2-E. (Refer to section 11.4.) 
 10. Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier. 
 11. Select the number of I/O points of the programmable controller depending on your system. 
 12. It will be COM0 for FX
3U
-16MT/ES. 
 13. It will be COM4 for FX
3U
-16MT/ES. 
 14. Select it within X000 to X007. 
 15. When a command cable malfunctions due to disconnection or noise, a position mismatch can occur. To avoid position 
mismatch, it is recommended that Encoder A-phase pulse and Encoder B-phase pulse be checked. 
 





3. SIGNALS AND WIRING 
 
3 -  11 
 
3.2.2 Speed control mode 
(1)  For sink I/O interface 
(Note 11)
Power supply
(Note 1)
(Note 2)
(Note 7)
CN1
(Note 7)
CN1
Servo amplifier
(Note 7)
CN1
47 DOCOM
46 DOCOM
48
ALM
23 ZSP
24
SA
49
RD
4 LA
5 LAR
6 LB
7 LBR
34
LG
33 OP
SD
2 m or less
8 LZ
9 LZR
20
DICOM
21DICOM
10 m or less
2
2 m or less
28
27
VC
SD
TLA
LG
+
CN3
(Note 10) Analog speed command
±10 V/rated speed
(Note 8) Analog torque limit
+10 V/maximum torque
(Note 9)
MR Configurator2
RA1
RA2
RA3
RA4
24 V DC (Note 4)
24 V DC (Note 4)
42
15
19
41
43
44
EM2
SON
ST1
ST2
LSP
LSN
Forward rotation start
Reverse rotation start
Encoder Z-phase pulse
(open collector)
Speed reached
Ready
10 m or less
2 m or less
26 MO1
30
LG
29
MO2
± 10 V DC
± 10 V DC
SD
-10 V to +10 V
0 V to +10 V
Forced stop 2
Servo-on
Forward rotation
stroke end
Reverse rotation
stroke end
(Note 3, 5)
(Note 5)
Plate
Plate
Plate
USB cable (option)
Personal
computer
Analog monitor 1
Analog monitor 2
Malfunction (Note 6)
Zero speed detection
Encoder A-phase pulse
(differential line driver)
Encoder Z-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
 
Note   1.  To prevent an electric shock, always connect the protective earth (PE) terminal (marked  ) of the servo amplifier to the 
protective earth (PE) of the cabinet. 
  2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output 
signals, disabling EM2 (Forced stop 2) and other protective circuits. 
  3. The forced stop switch (normally closed contact) must be installed. 
  4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity is up to 300 mA. 300 mA is the value applicable 
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 
3.9.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided 
between input signal and output signal for convenience. However, they can be configured by one. 
  5. When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation 
stroke end) (normally closed contact).  
  6. ALM (Malfunction) turns on in normal alarm-free condition (normally closed contact).  
  7. The pins with the same signal name are connected in the servo amplifier. 
  8. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03], [Pr. PD11], [Pr. PD13], [Pr. PD17], 
and [Pr. PD19]. (Refer to section 3.6.1 (5).) 
  9. Use SW1DNC-MRC2-E. (Refer to section 11.4.) 
 10. Use an external power supply when inputting a negative voltage. 
 11. Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier. 
 12. Plus and minus of the power of source interface are the opposite of those of sink interface. 
 





3. SIGNALS AND WIRING 
 
3 -  12 
 
(2)  For source I/O interface 
 
POINT 
 
For notes, refer to (1) in this section. 
 
 
(Note 1)
(Note 2)
(Note 7)
CN1
(Note 7)
CN1
(Note 7)
CN1
47 DOCOM
46 DOCOM
48
ALM
23 ZSP
24 SA
49 RD
4 LA
5 LAR
6 LB
7 LBR
34 LG
33 OP
SD
2 m or less
8 LZ
9 LZR
20
DICOM
21DICOM
2
2 m or less
28
27
VC
SD
TLA
LG
+
CN3
(Note 9)
MR Configurator2
RA1
RA2
RA3
RA4
42
15
19
41
43
44
EM2
SON
ST1
ST2
LSP
LSN
10 m or less
2 m or less
26 MO1
30
LG
29
MO2
± 10 V DC
± 10 V DC
SD
24 V DC (Note 4, 12)
10 m or less
24 V DC (Note 4, 12)
-10 V to +10 V
0 V to +10 V
Forward rotation start
Reverse rotation start
Forced stop 2
Servo-on
Forward rotation
stroke end
Reverse rotation
stroke end
(Note 3, 5)
(Note 5)
Servo amplifie

r

Plate
Plate
Plate
(Note 11)
Power supply
Speed reached
Ready
Malfunction (Note 6)
Zero speed detection
Encoder A-phase pulse
(differential line driver)
Encoder Z-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
Encoder Z-phase pulse
(open collector)
Analog monitor 1
Analog monitor 2
USB cable (option)
Personal
computer
(Note 10) Analog speed command
±10 V/rated speed
(Note 8) Analog torque limit
+10 V/maximum torque
 
 





3. SIGNALS AND WIRING 
 
3 -  13 
 
3.2.3 Torque control mode 
POINT 
 
EM2 has the same function as EM1 in the torque control mode. 
 
 
(1)  For sink I/O interface 
Servo amplifie

r

(Note 6)
CN1
(Note 1)
9
(Note 2)
47 DOCOM
46 DOCOM
48 ALM
23 ZSP
4 LA
5 LAR
6 LB
7 LBR
34 LG
33 OP
SD
10 m or less
2 m or less
(Note 6)
CN1
49 RD
8 LZ
LZR
(Note 6)
CN1
20DICOM
21DICOM
+
CN3
27
2 m or less
28
2
TC
SD
VLA
LG
Analog torque command
±8 V/maximum torque
(Note 8) Analog speed limit
0 to ±10 V/rated speed
(Note 7)
MR Configurator2
42
15
19
41
EM2
SON
RS1
RS2
RA1
RA2
RA3
2 m or less
26 MO1
30
LG
29
MO2
± 10 V DC
± 10 V DC
SD
24 V DC (Note 4)
10 m or less
24 V DC (Note 4)
-8 V to +8 V
-10 V to +10 V
Forward rotation start
Reverse rotation start
Forced stop 2
Servo-on
(Note 3)
(Note 9)
Power supply
Plate
Plate
Plate
Ready
Malfunction (Note 6)
Zero speed detection
Encoder A-phase pulse
(differential line driver)
Encoder Z-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
Encoder Z-phase pulse
(open collector)
Analog monitor 1
Analog monitor 2
USB cable (option)
Personal
computer
 
Note   1.  To prevent an electric shock, always connect the protective earth (PE) terminal (marked  ) of the servo amplifier to the 
protective earth (PE) of the cabinet. 
  2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output 
signals, disabling EM2 (Forced stop 2) and other protective circuits. 
  3. The forced stop switch (normally closed contact) must be installed. 
  4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity is up to 300 mA. 300 mA is the value applicable 
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 
3.9.2 (1) that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided 
between input signal and output signal for convenience. However, they can be configured by one. 
  5. ALM (Malfunction) turns on in normal alarm-free condition (normally closed contact).  
  6. The pins with the same signal name are connected in the servo amplifier. 
  7. Use SW1DNC-MRC2-E. (Refer to section 11.4.) 
  8. Use an external power supply when inputting a negative voltage. 
  9. Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier. 
 10. Plus and minus of the power of source interface are the opposite of those of sink interface. 
 





3. SIGNALS AND WIRING 
 
3 -  14 
 
(2)  For source I/O interface 
 
POINT 
 
For notes, refer to (1) in this section. 
 
 
-8 V to +8 V
-10 V to +10 V
24 V DC (Note 4, 10)
Servo amplifie

r

(Note 6)
CN1
(Note 1)
9
(Note 2)
47 DOCOM
DICOM
DICOM
46 DOCOM
48 ALM
23 ZSP
4 LA
5 LAR
6 LB
7 LBR
34 LG
33 OP
SD
10 m or less
2 m or less
(Note 6)
CN1
49 RD
8 LZ
LZR
(Note 6)
CN1
+
CN3
27
2 m or less
28
2
TC
SD
VLA
LG
(Note 7)
MR Configurator2
42
15
41
19
20
21
EM2
SON
RS1
RS2
RA1
RA2
RA3
2 m or less
26
MO1
30 LG
29 MO2
± 10 V DC
± 10 V DC
SD
10 m or less
24 V DC (Note 4, 10)
Forward rotation start
Reverse rotation start
Forced stop 2
Servo-on
(Note 3)
(Note 9)
Power supply
Plate
Plate
Plate
Ready
Malfunction (Note 5)
Zero speed detection
Encoder A-phase pulse
(differential line driver)
Encoder Z-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
Encoder Z-phase pulse
(open collector)
Analog monitor 1
Analog monitor 2
USB cable (option)
Personal
computer
Analog torque command
±8 V/maximum torque
(Note 8) Analog speed limit
0 to ±10 V/rated speed
 
 





3. SIGNALS AND WIRING 
 
3 -  15 
 
3.3 Explanation of power supply system 
3.3.1 Signal explanations 
 
POINT 
 
For the layout of connector and terminal block, refer to chapter 9 DIMENSIONS. 
 
 
Symbol 
Connection target 
(application) 
Description 
Supply the following power to L1, L2, and L3. For 1-phase 200 V AC to 240 V AC, 
connect the power supply to L1 and L3. Leave L2 open. 
 
 Servo amplifier
Power supply 
MR-JE-10A to  
MR-JE-70A 
MR-JE-100A to  
MR-JE-300A 
 
3-phase 200 V AC to 240 V AC, 50 
Hz/60 Hz 
L1/L2/L3 
 
1-phase 200 V AC to 240 V AC, 50 
Hz/60 Hz 
L1/L3   
L1/L2/L3  Power supply 
        
P+/C/D 
Regenerative 
option 
1)  MR-JE-100A or less 
MR-JE-10A to MR-JE-100A do not have D. 
When using a servo amplifier built-in regenerative resistor, connect P+ and C. 
(factory-wired) 
MR-JE-10A and MR-JE-20A do not have a built-in regenerative resistor. 
When using a regenerative option, disconnect wires of P+ and C for the built-in 
regenerative resistor. And then connect wires of the regenerative option to P+ 
and C. 
2)  MR-JE-200A or more 
When using a servo amplifier built-in regenerative resistor, connect P+ and D. 
(factory-wired) 
When using a regenerative option, disconnect P+ and D, and connect the 
regenerative option to P+ and C. 
Refer to section 11.2 for details. 
U/V/W 
Servo motor 
power output 
Connect them to the servo motor power supply (U, V, and W). Connect the servo 
amplifier power output (U, V, and W) to the servo motor power input (U, V, and W) 
directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a 
malfunction. 
N-   
This is for manufacturer adjustment. 
Leave this open. 
MR-JE-10A to MR-JE-100A do not have N-. 
 
Protective earth 
(PE) 
Connect it to the grounding terminal of the servo motor and to the protective earth 
(PE) of the cabinet for grounding. 
 





3. SIGNALS AND WIRING 
 
3 -  16 
 
3.3.2 Power-on sequence 
 
POINT 
 
The voltage of analog monitor output, output signal, etc. may be unstable at 
power-on. 
 
 
(1)  Power-on procedure 
1)  Always wire the power supply as shown in above section 3.1 using the magnetic contactor with 
the power supply (3-phase: L1, L2, and L3, 1-phase: L1 and L3). Configure an external sequence 
to switch off the magnetic contactor as soon as an alarm occurs. 
 
2)  The servo amplifier receives the SON (Servo-on) 2.5 s to 3.5 s after the power supply is switched 
on. Therefore, when SON (Servo-on) is switched on simultaneously with the power supply, the 
base circuit will switch on in about 2.5 s to 3.5 s, and the RD (Ready) will switch on in further 
about 5 ms, making the servo amplifier ready to operate. (Refer to (2) of this section.) 
 
3)  When RES (Reset) is switched on, the base circuit is shut off and the servo motor shaft coasts. 
 
(2)  Timing chart 
95 ms
95 ms
RD (Ready)
RES (Reset)
SON (Servo-on)
OFF
ON
OFF
ON
ON
OFF
Base circuit
OFF
ON
Power supply
OFF
ON
10 ms5 ms
10 ms
10 ms5 ms
10 ms
5 ms 10 ms
(2.5 s to 3.5 s)
SON (Servo-on) accepted
Alarm (OFF)
No alarm (ON)
ALM No alarm
(Malfunction)
2.5 s to 3.5 s
 
 





3. SIGNALS AND WIRING 
 
3 -  17 
 
3.3.3 Wiring CNP1 and CNP2 
 
POINT 
 
For the wire sizes used for wiring, refer to section 11.5. 
 
 
To wire to CNP1 and CNP2, use servo amplifier power connectors packed with the amplifier or optional 
connectors (refer to section 11.1.1). 
 
(1)  Connector 
(a)  MR-JE-10A to MR-JE-100A 
CNP1
Servo amplifie

r

 
Table 3.1 Connector and applicable wire 
Applicable wire 
Connector 
Receptacle 
assembly 
Size  Insulator OD 
Stripped 
length [mm] 
Open tool 
Manu-
facturer
CNP1  09JFAT-SAXGDK-H5.0  AWG 18 to 14  3.9 mm or shorter  9  J-FAT-OT  JST 
 
(b)  MR-JE-200A/MR-JE-300A 
CNP1
CNP2
Servo amplifier
 
Table 3.2 Connector and applicable wire 
Applicable wire 
Connector 
Receptacle 
assembly 
Size  Insulator OD 
Stripped 
length [mm] 
Open tool 
Manu-
facturer
CNP1  07JFAT-SAXGFK-XL 
CNP2  03JFAT-SAXGFK-XL 
AWG 16 to 10  4.7 mm or shorter  11.5  J-FAT-OT-EXL  JST 
 





3. SIGNALS AND WIRING 
 
3 -  18 
 
(2)  Cable connection procedure 
(a)  Fabrication on cable insulator 
Refer to table 3.1 and 3.2 for stripped length of cable insulator. The appropriate stripped length of 
cables depends on their type, etc. Set the length considering their status. 
Insulato

r

Core
Stripped length
 
Twist strands lightly and straighten them as follows. 
Loose and bent strands Twist and straighten
the strands.
 
You can also use a ferrule to connect with the connectors. The following shows references to select 
ferrules according to wire sizes. 
 
Ferrule model (Phoenix Contact) 
Servo amplifier  Wire size 
For one  For two 
Crimp terminal 
(Phoenix Contact) 
AWG 16  AI1.5-10BK  AI-TWIN2×1.5-10BK 
MR-JE-10A to 
MR-JE-100A 
AWG 14  AI2.5-10BU   
AWG 16  AI1.5-10BK  AI-TWIN2×1.5-10BK 
AWG 14  AI2.5-10BU  AI-TWIN2×2.5-10BU 
MR-JE-200A to 
MR-JE-300A 
AWG 12  AI4-10GY   
CRIMPFOX-ZA3 
 
(b)  Inserting wire 
Insert the open tool as follows and push down it to open the spring. While the open tool is pushed 
down, insert the stripped wire into the wire insertion hole. Check the insertion depth so that the wire 
insulator does not get caught by the spring. 
Release the open tool to fix the wire. Pull the wire lightly to confirm that the wire is surely connected. 
The following shows a connection example of the CNP2 connector for 2 kW and 3 kW. 
1) Push down the open tool.
3) Release the open tool to fix the wire.
2) Insert the wire.
 
 





3. SIGNALS AND WIRING 
 
3 -  19 
 
3.4 Connectors and pin assignment 
 
POINT 
 
The pin assignment of the connectors are as viewed from the cable connector 
wiring section. 
For the CN1 connector, securely connect the external conductor of the shielded 
cable to the ground plate and fix it to the connector shell. 
Screw
Screw
Ground plate
Cable
 
 
 
The servo amplifier front view shown is that of the MR-JE-40A or less. Refer to chapter 9 DIMENSIONS for 
the appearances and connector layouts of the other servo amplifiers. 
 
CN1
The frames of the CN1 connector
are connected to the protective earth
terminal in the servo amplifier.
CN3 (USB connector)
Refer to section 11.4
This is a connector of 3M.
4
MRR
2
LG 8
6
1
P5
5
10
3
MR
7
9
CN2
MDR
MD
2
4
6
8
10
12
14
16
18
20
22
24
1
3
5
7
9
11
13
15
17
19
21
23
27
29
31
33
35
37
39
41
43
45
47
49
26
28
30
32
34
36
38
40
42
44
46
48
25 50
 
 





3. SIGNALS AND WIRING 
 
3 -  20 
 
The device assignment of CN1 connector pins changes depending on the control mode. For the pins 
which are given parameters in the related parameter column, their devices will be changed using those 
parameters. 
 
 (Note 2) I/O signals in control modes  
Pin No. 
(Note 1)
I/O 
P  P/S  S  S/T  T  T/P 
Related parameter 
1                 
2  I    -/VC  VC  VC/VLA  VLA  VLA/-   
3    LG  LG  LG  LG  LG  LG   
4  O  LA  LA  LA  LA  LA  LA   
5  O  LAR  LAR  LAR  LAR  LAR  LAR   
6  O  LB  LB  LB  LB  LB  LB   
7  O  LBR  LBR  LBR  LBR  LBR  LBR   
8  O  LZ  LZ  LZ  LZ  LZ  LZ   
9  O  LZR  LZR  LZR  LZR  LZR  LZR   
10  I  PP  PP/-        -/PP   
11  I  PG  PG/-        -/PG   
12    OPC  OPC/-        -/OPC   
13                 
14                 
15  I  SON  SON  SON  SON  SON  SON  Pr. PD03/Pr. PD04 
16                 
17                 
18                 
19  I  RES  RES/ST1 ST1  ST1/RS2 RS2  RS2/RES  Pr. PD11/Pr. PD12 
20    DICOM  DICOM  DICOM  DICOM  DICOM  DICOM   
21    DICOM  DICOM  DICOM  DICOM  DICOM  DICOM   
22                 
23  O  ZSP  ZSP  ZSP  ZSP  ZSP  ZSP  Pr. PD24 
24  O  INP  INP/SA  SA  SA/-    -/INP  Pr. PD25 
25                 
26  O  MO1  MO1  MO1  MO1  MO1  MO1  Pr. PC14 
27  I  TLA 
(Note 3) 
TLA 
(Note 3) 
TLA 
(Note 3) 
TLA/TC 
TC 
(Note 3) 
TC/TLA 
 
28    LG  LG  LG  LG  LG  LG   
29  O  MO2  MO2  MO2  MO2  MO2  MO2  Pr. PC15 
30    LG  LG  LG  LG  LG  LG   
31                 
32                 
33  O  OP  OP  OP  OP  OP  OP   
34    LG  LG  LG  LG  LG  LG   
35  I  NP  NP/-        -/NP   
36  I  NG  NG/-        -/NG   
37                 
38                 
39                 
40                 
41  I  CR  CR/ST2  ST2  ST2/RS1 RS1  RS1/CR  Pr. PD13/Pr. PD14 
42  I  EM2  EM2  EM2  EM2  EM2  EM2   
43  I  LSP  LSP  LSP  LSP/-    -/LSP  Pr. PD17/Pr. PD18 
44  I  LSN  LSN  LSN  LSN/-    -/LSN  Pr. PD19/Pr. PD20 
45                 
 





3. SIGNALS AND WIRING 
 
3 -  21 
 
 (Note 2) I/O signals in control modes  
Pin No. 
(Note 1)
I/O 
P  P/S  S  S/T  T  T/P 
Related parameter 
46    DOCOM  DOCOM DOCOM DOCOM DOCOM DOCOM   
47    DOCOM  DOCOM DOCOM DOCOM DOCOM DOCOM   
48  O  ALM  ALM  ALM  ALM  ALM  ALM   
49  O  RD  RD  RD  RD  RD  RD  Pr. PD28 
50                 
 
Note   1.  I: input signal, O: output signal 
  2. P: position control mode, S: speed control mode, T: torque control mode, P/S: position/speed control switching 
mode, S/T: speed/torque control switching mode, T/P: torque/position control switching mode 
  3. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03], [Pr. PD11], [Pr. PD13], 
[Pr. PD17], and [Pr. PD19]. 
 
3.5 Signal (device) explanations 
For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.9.2. In the control mode 
field of the table 
P: position control mode, S: speed control mode, T: torque control mode Torque control mode 
: devices used with initial setting status,  : devices used by setting [Pr. PA04] and [Pr. PD03] to [Pr. 
PD28] 
The pin numbers in the connector pin No. column are those in the initial status. 
 
(1)  I/O device 
(a)  Input device 
 
Control 
mode 
Device  Symbol 
Connector 
pin No. 
Function and application 
I/O 
division
P  S  T 
Turn off EM2 (open between commons) to decelerate the servo motor to a 
stop with commands. 
Turn  EM2  on  (short  between  commons)  in  the  forced  stop  state  to  reset 
that state. 
The following shows the setting of [Pr. PA04]. 
 
 Deceleration method    
 
[Pr. PA04] 
setting 
EM2/EM1
EM2 or EM1 is off  Alarm occurred       
 
0 _ _ _  EM1 
MBR (Electromagnetic 
brake interlock) turns 
off without the forced 
stop deceleration. 
MBR (Electromagnetic 
brake interlock) turns 
off without the forced 
stop deceleration. 
   
 
2 _ _ _  EM2 
MBR (Electromagnetic 
brake interlock) turns 
off after the forced 
stop deceleration. 
MBR (Electromagnetic 
brake interlock) turns 
off after the forced 
stop deceleration. 
   
Forced stop 2  EM2  CN1-42 
 
EM2 and EM1 are mutually exclusive. 
EM2 has the same function as EM1 in the torque control mode. 
DI-1 
  
Forced stop 1  EM1  (CN1-42)  When using EM1, set [Pr. PA04] to "0 _ _ _" to enable EM1. 
Turn EM1 off (open between commons) to bring the motor to a forced stop 
state.  The  base  circuit  is  shut  off,  the  dynamic  brake  is  operated  and 
decelerate the servo motor to a stop. 
Turn EM1 on (short between commons) in the forced stop state to reset 
that state. 
DI-1 
Servo-on  SON  CN1-15  Turn SON on to power on the base circuit and make the servo amplifier 
ready to operate. (servo-on status) 
Turn it off to shut off the base circuit and coast the servo motor. 
Set "_ _ _ 4" in [Pr. PD01] to switch this signal on (keep terminals 
connected) automatically in the servo amplifier. 
DI-1 
 





3. SIGNALS AND WIRING 
 
3 -  22 
 
Control 
mode 
Device  Symbol 
Connector 
pin No. 
Function and application 
I/O 
division
PST
Reset  RES  CN1-19  Turn on RES for more than 50 ms to reset the alarm. 
Some alarms cannot be deactivated by RES (Reset). Refer to section 8.1. 
Turning RES on in an alarm-free status shuts off the base circuit. The base 
circuit is not shut off when " _ _ 1 _ " is set in [Pr. PD30]. 
This device is not designed to make a stop. Do not turn it on during 
operation. 
DI-1 
Forward rotation 
stroke 
end 
LSP  CN1-43  To start operation, turn on LSP and LSN. Turn it off to bring the motor to a 
sudden stop and make it servo-locked. 
Setting [Pr. PD30] to " _ _ _ 1" will enable a slow stop. 
 
DI-1 
LSN  CN1-44    (Note) Input device  Operation         Reverse rotation 
stroke end 
   
LSP  LSN 
CCW 
direction 
CW 
direction 
    
    1 1 
   
    
    0 1  
 
    
    1 0 
 
      
    0 0       
    
Note. 0:  Off 
1:  On 
 
   
   Set [Pr. PD01] as indicated below to switch on the signals (keep terminals 
connected) automatically in the servo amplifier. 
 
   
     Status     
    
[Pr. PD01] 
LSP  LSN         
    
_ 4 _ _ 
Automatic 
on 
 
    
    
_ 8 _ _   
Automatic 
on 
    
    
_ C _ _ 
Automatic 
on 
Automatic 
on 
    
           
   When LSP or LSN turns off, [AL. 99 Stroke limit warning] occurs, and WNG 
(Warning) turns on. When using WNG, enable it by setting [Pr. PD24], [Pr. 
PD25] and [Pr. PD28]. 
   
 
External torque 
limit selection 
TL    Turning off TL will enable [Pr. PA11 Forward torque limit] and [Pr. PA12 
Reverse torque limit], and turning on it will enable TLA (Analog torque 
limit). For details, refer to section 3.6.1 (5). 
DI-1 
 
Internal torque 
limit selection 
TL1    To select [Pr. PC35 Internal torque limit 2], enable TL1 with [Pr. PD03] to 
[Pr. PD20]. For details, refer to section 3.6.1 (5). 
DI-1   
Forward rotation 
start 
ST1  This is used to start the servo motor. 
The following shows the directions. 
 
DI-1 
  (Note) Input device      
  ST2 ST1 
Servo motor starting direction
   
   0 0 Stop (servo-lock)    
   0 1 CCW    
   1 0 CW    
   1 1 Stop (servo-lock)    
  
 
 
Note. 0:  Off 
1:  On 
 
  
Reverse rotation 
start 
ST2    If both ST1 and ST2 are switched on or off during operation, the servo 
motor will be decelerated to a stop according to the [Pr. PC02] setting and 
servo-locked. 
When " _ _ _1" is set in [Pr. PC23], the servo motor is not servo-locked 
after deceleration to a stop. 
 
 
 
 
 





3. SIGNALS AND WIRING 
 
3 -  23 
 
Control 
mode 
Device  Symbol 
Connector 
pin No. 
Function and application 
I/O 
division
PST
Forward rotation 
selection 
RS1  This is used to select a servo motor torque generation directions. 
The following shows the torque generation directions. 
 
DI-1 
   (Note) Input device     
   RS2 RS1 
Torque generation direction 
   
  
 
 0 0 Torque is not generated.      
Reverse rotation 
selection 
RS2   
0  1 
Forward rotation in power 
running mode/reverse rotation 
in regenerative mode 
   
   
1  0 
Reverse rotation in power 
running mode/forward rotation 
in regenerative mode 
   
   1 1 Torque is not generated.    
  
 
 
Note. 0:  Off 
1:  On 
 
 
 
 
 
Speed selection 
1 
SP1    1. For speed control mode 
This is used to select the command speed for operation. 
 
DI-1   
SP2    (Note) Input device    DI-1 Speed selection 
2 
 
 
 SP3 SP2 SP1 
Speed command 
  
 
  
SP3    0  0  0  VC (Analog speed command)    DI-1 Speed selection 
3 
  
0  0  1 
Pr. PC05 Internal speed 
command 1 
     
    
0  1  0 
Pr. PC06 Internal speed 
command 2 
     
    
0  1  1 
Pr. PC07 Internal speed 
command 3 
     
    
1  0  0 
Pr. PC08 Internal speed 
command 4 
     
    
1  0  1 
Pr. PC09 Internal speed 
command 5 
     
    
1  1  0 
Pr. PC10 Internal speed 
command 6 
     
    
1  1  1 
Pr. PC11 Internal speed 
command 7 
     
   
Note. 0:  Off 
1:  On 
 
   
  2. For the torque control mode 
This is used to select the limited speed for operation. 
 
   
   (Note) Input device      
    SP3 SP2 SP1 
Speed limit 
     
    0 0 0 VLA (Analog speed limit)     
    0 0 1 Pr. PC05 Internal speed limit 1     
    0 1 0 Pr. PC06 Internal speed limit 2     
    0 1 1 Pr. PC07 Internal speed limit 3     
    1 0 0 Pr. PC08 Internal speed limit 4     
    1 0 1 Pr. PC09 Internal speed limit 5     
    1 1 0 Pr. PC10 Internal speed limit 6     
    1 1 1 Pr. PC11 Internal speed limit 7     
  
 
 
Note. 0:  Off 
1:  On 
 
 
  
 





3. SIGNALS AND WIRING 
 
3 -  24 
 
Control 
mode 
Device  Symbol 
Connector 
pin No. 
Function and application 
I/O 
division
PST
Proportion 
control 
PC    Turn PC on to switch the speed amplifier from the proportional integral type 
to the proportional type. 
If the servo motor at a stop is rotated even one pulse due to any external 
factor, it generates torque to compensate for a position shift. When the 
servo motor shaft is to be locked mechanically after positioning completion 
(stop), switching on the PC (Proportion control) upon positioning 
completion will suppress the unnecessary torque generated to compensate 
for a position shift. 
When the shaft is to be locked for a long time, switch on the PC 
(Proportion control) and TL (External torque limit selection) at the same 
time to make the torque less than the rated by TLA (Analog torque limit). 
DI-1 
 
Clear  CR  CN1-41  Turn CR on to clear the position control counter droop pulse on its leading 
edge. The pulse width should be 10 ms or longer. 
The delay amount set in [Pr. PB03 Position command 
acceleration/deceleration time constant] is also cleared. When " _ _ _1 " is 
set to [Pr. PD32], the pulses are always cleared while CR is on. 
DI-1 
  
Electronic gear 
selection 1 
CM1  The combination of CM1 and CM2 enables you to select four different 
electronic gear numerators set in the parameters. 
 
DI-1 
   (Note) Input device     
   CM2 CM1 
Electronic gear numerator 
   
  
 
 0 0  Pr. PA06      
 
 
CM2    0  1  Pr. PC32    DI-1 Electronic gear 
selection 2 
  1 0  Pr. PC33    
   1 1 Pr. PC34    
  
 
 
Note. 0:  Off 
1:  On 
 
  
 
 
Gain switching  CDP    Turn on CDP to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56] 
to [Pr. PB60] as the load to motor inertia ratio and gain values. 
DI-1 
 





3. SIGNALS AND WIRING 
 
3 -  25 
 
Control 
mode 
Device  Symbol 
Connector 
pin No. 
Function and application 
I/O 
division
PST
Control switching  LOP  «Position/speed control switching mode» 
This is used to select the control mode in the position/speed control 
switching mode. 
 
DI-1 
    (Note) 
LOP 
Control 
mode 
    
Refer to 
Function 
and 
application.
    0 Position        
    1 Speed        
   
Note. 0:  Off 
1:  On 
 
    
  «Speed/torque control switch mode» 
This is used to select the control mode in the speed/torque control 
switching mode. 
 
    
    (Note) 
LOP 
Control 
mode 
       
    0 Speed        
    1 Torque        
   
Note. 0:  Off 
1:  On 
 
    
  «Torque/position control switch mode» 
This is used to select the control mode in the torque/position control 
switching mode. 
 
    
    (Note) 
LOP 
Control 
mode 
       
    0 Torque        
    1 Position        
  
 
 
Note. 0:  Off 
1:  On 
 
    
Second 
acceleration/ 
deceleration 
selection 
STAB2  The device allows selection of the acceleration/deceleration time constant 
at servo motor rotation in the speed control mode or torque control mode. 
The s-pattern acceleration/deceleration time constant is always uniform. 
 
DI-1 
    (Note) 
STAB2 
Acceleration/deceleration time 
constant 
       
    0 Pr. PC01 Acceleration time 
constant 
Pr. PC02 Deceleration time 
constant 
       
    1 Pr. PC30 Acceleration time 
constant 2 
Pr. PC31 Deceleration time 
constant 2 
       
  
 
 
Note. 0:  Off 
1:  On 
 
 
 
  
 





3. SIGNALS AND WIRING 
 
3 -  26 
 
(b)  Output device 
 
Control 
mode 
Device  Symbol 
Connector 
pin No. 
Function and application 
I/O 
division
PST
Malfunction  ALM  CN1-48  When an alarm occurs, ALM will turn off. 
When an alarm does not occur, ALM will turn on after 2.5 s to 3.5 s after 
power-on. 
When [Pr. PD34] is "_ _ 1 _", an alarming or warning will turn off ALM. 
DO-1
Ready  RD  CN1-49  Enabling servo-on to make the servo amplifier ready to operate will turn on 
RD. 
DO-1
In-position  INP  CN1-24  When the number of droop pulses is in the preset in-position range, INP 
will turn on. The in-position range can be changed using [Pr. PA10]. When 
the in-position range is increased, INP may be on during low-speed 
rotation. 
INP turns on when servo-on turns on. 
DO-1
  
Speed reached  SA    When the servo motor speed reaches the following range, SA will turn on. 
Set speed ± ((Set speed × 0.05) + 20) r/min 
When the preset speed is 20 r/min or less, SA always turns on. 
SA does not turn on even when the SON (Servo-on) is turned off or the 
servo motor speed by the external force reaches the preset speed while 
both ST1 (Forward rotation start) and ST2 (reverse rotation start) are off. 
DO-1    
Limiting speed  VLC  VLC turns on when speed reaches a value limited with any of [Pr. PC05 
Internal speed limit 1] to [Pr. PC11 Internal speed limit 7] or VLA (Analog 
speed limit). 
This turns off when SON (Servo-on) turns off. 
DO-1    
Limiting torque  TLC 
 
TLC turns on when a generated torque reaches a value set with any of [Pr. 
PA11 Forward torque limit], [Pr. PA12 Reverse torque limit], or TLA 
(Analog torque limit). 
DO-1
 
Zero speed 
detection 
ZSP  CN1-23  ZSP turns on when the servo motor speed is zero speed (50r/min) or less. 
Zero speed can be changed with [Pr. PC17]. 
OFF
ON
Servo motor
speed
20 r/min
(Hysteresis width)
[Pr. PC17]
20 r/min
(Hysteresis width)
OFF level
-70 r/min
ON level
-50 r/min
ON level
50 r/min
OFF level
70 r/min
0 r/min
[Pr. PC17]
ZSP
(Zero speed
detection)
1)
3)
2)
4)
Forward
rotation
direction
Reverse
rotation
direction
 
ZSP will turn on when the servo motor is decelerated to 50 r/min (at 1)), 
and will turn off when the servo motor is accelerated to 70 r/min again (at 
2)). 
ZSP will turn on when the servo motor is decelerated again to 50 r/min (at 
3)), and will turn off when the servo motor speed has reached -70 r/min (at 
4)). 
The range from the point when the servo motor speed has reached on 
level, and ZSP turns on, to the point when it is accelerated again and has 
reached off level is called hysteresis width. 
Hysteresis width is 20 r/min for this servo amplifier. 
DO-1
Electromagnetic 
brake interlock 
MBR    When using the device, set operation delay time of the electromagnetic 
brake in [Pr. PC16]. 
When a servo-off status or alarm occurs, MBR will turn off. 
DO-1
Warning  WNG    When warning has occurred, WNG turns on. When a warning is not 
occurring, turning on the power will turn off WNG after 2.5 s to 3.5 s. 
DO-1
 





3. SIGNALS AND WIRING 
 
3 -  27 
 
Control 
mode 
Device  Symbol 
Connector 
pin No. 
Function and application 
I/O 
division
PST
Alarm code  ACD0  (CN1-24)  DI-1 
 ACD1 (CN1-23)      
 ACD2 (CN1-49) 
To use these signals, set " _ _ _ 1" in [Pr. PD34]. 
This signal is outputted when an alarm occurs. 
When an alarm is not occurring, respective ordinary signals are outputted. 
For details of the alarm codes, refer to chapter 8. 
When you select alarm code output while MBR or ALM is selected for 
CN1-23, CN1-24, or CN1-49 pin, [AL. 37 Parameter error] will occur. 
    
Variable gain 
selection 
CDPS    CDPS turns on during gain switching.  DO-1
During tough 
drive 
MTTR    When a tough drive is enabled in [Pr. PA20], activating the instantaneous 
power failure tough drive will turn on MTTR. 
DO-1
 
(2)  Input signal 
 
Control 
mode 
Device  Symbol 
Connector 
pin No. 
Function and application 
I/O 
division
PST
Analog torque 
limit 
TLA  CN1-27  To use the signal, enable TL (External torque limit selection) with [Pr. 
PD03] to [Pr. PD20]. 
When TLA is enabled, torque is limited in the full servo motor output torque 
range. Apply 0 V to +10 V DC between TLA and LG. Connect the positive 
terminal of the power supply to TLA. The maximum torque is generated at 
+10 V. (Refer to section 3.6.1 (5).) 
If a value equal to or larger than the maximum torque is inputted to TLA, 
the value is clamped at the maximum torque. 
Resolution: 10 bits 
Analog 
input 
 
Analog torque 
command 
TC    This is used to control torque in the full servo motor output torque range. 
Apply 0 V to ±8 V DC between TC and LG. The maximum torque is 
generated at ±8 V. (Refer to section 3.6.3 (1).) The speed at ±8 V can be 
changed with [Pr. PC13]. 
If a value equal to or larger than the maximum torque is inputted to TC, the 
value is clamped at the maximum torque. 
Analog 
input 
  
Analog speed 
command 
VC  CN1-2  Apply 0 V to ±10 V DC between VC and LG. Speed set in [Pr. PC12] is 
provided at ±10 V. (Refer to section 3.6.2 (1).) 
If a value equal to or larger than the permissible speed is inputted to VC, 
the value is clamped at the permissible speed. 
Resolution: 14 bits or equivalent 
Analog 
input 
   
Analog speed 
limit 
VLA    Apply 0 V to ±10 V DC between VLA and LG. Speed set in [Pr. PC12] is 
provided at ±10 V. (Refer to section 3.6.3 (3).) 
If a limited value equal to or larger than the permissible speed is inputted 
to VLA, the value is clamped at the permissible speed. 
Analog 
input 
  
Forward rotation 
pulse train 
Reverse rotation 
pulse train 
PP 
NP 
PG 
NG 
CN1-10 
CN1-35 
CN1-11 
CN1-36 
This is used to enter a command pulse train. 
The command input pulse train form, pulse train logic, and command input 
pulse train filter are changed in [Pr. PA13]. 
For open-collector type, set [Pr. PA13] to "_ 3 _ _". 
For differential receiver type, set [Pr. PA13] depending on the maximum 
input frequency. 
For open-collector type (sink input interface) 
The maximum input frequency is 200 kpulses/s. For A-phase/B-phase 
pulse train, 200 kpulses/s will be the frequency after multiplication by 
four. 
Input the forward rotation pulse train between PP and DOCOM.  
Input the reverse rotation pulse train between NP and DOCOM. 
For differential receiver type 
The maximum input frequency is 4 Mpulses/s. For A-phase/B-phase 
pulse train, 4 Mpulses/s will be the frequency after multiplication by four. 
Input the forward rotation pulse train between PG and PP.  
Input the reverse rotation pulse train between NG and NP. 
DI-2 
  
 





3. SIGNALS AND WIRING 
 
3 -  28 
 
(3)  Output signal 
 
Control 
mode 
Device  Symbol 
Connector 
pin No. 
Function and application 
I/O 
division
PST
Encoder A-
phase pulse 
(differential line 
driver) 
LA 
LAR 
CN1-4 
CN1-5 
DO-2
Encoder B-
phase pulse 
(differential line 
driver) 
LB 
LBR 
CN1-6 
CN1-7 
These devices output pulses of encoder output pulse set in [Pr. PA15] in 
the differential line driver type. 
In CCW rotation of the servo motor, the encoder B-phase pulse lags the 
encoder A-phase pulse by a phase angle of /2. 
The relation between rotation direction and phase difference of the A-
phase and B-phase pulses can be changed with [Pr. PC19]. 
    
Encoder Z-
phase pulse 
(differential line 
driver) 
LZ 
LZR 
CN1-8 
CN1-9 
The encoder zero-point signal is outputted in the differential line driver 
type. One pulse is outputted per servo motor revolution. This turns on 
when the zero-point position is reached. (negative logic) 
The minimum pulse width is about 400 s. For home position return using 
this pulse, set the creep speed to 100 r/min. or less. 
DO-2
Encoder Z-
phase pulse 
(open-collector) 
OP  CN1-33  The encoder zero-point signal is outputted in the open-collector type.  DO-2
Analog monitor 1  MO1  CN1-26  This is used to output the data set in [Pr. PC14] to between MO1 and LG in 
terms of voltage. 
Resolution: 10 bits or equivalent 
Analog 
output
Analog monitor 2  MO2  CN1-29  This signal outputs the data set in [Pr. PC15] to between MO2 and LG in 
terms of voltage. 
Resolution: 10 bits or equivalent 
Analog 
output
 
(4)  Power supply 
 
Control 
mode 
Device  Symbol 
Connector 
pin No. 
Function and application 
I/O 
division
PST
Digital I/F power 
supply input 
DICOM  CN1-20 
CN1-21 
Input 24 V DC (24 V DC ± 10% 300 mA) for I/O interface. The power 
supply capacity changes depending on the number of I/O interface points 
to be used. 
For sink interface, connect + of 24 V DC external power supply. 
For source interface, connect - of 24 V DC external power supply. 
 
Open-collector 
sink interface 
power supply 
input 
OPC  CN1-12  When inputting a pulse train in the open-collector type with sink interface, 
supply this terminal with the positive (+) power of 24 V DC. 
 
  
Digital I/F 
common 
DOCOM  CN1-46 
CN1-47 
Common terminal of input signal such as EM2 of the servo amplifier. This 
is separated from LG. 
For sink interface, connect - of 24 V DC external power supply. 
For source interface, connect + of 24 V DC external power supply. 
 
Control common  LG  CN1-3 
CN1-28 
CN1-30 
CN1-34 
This is a common terminal for TLA, TC, VC, VLA, OP, MO1, and MO2. 
Pins are connected internally. 
 
Shield  SD  Plate  Connect the external conductor of the shielded wire.   
 





3. SIGNALS AND WIRING 
 
3 -  29 
 
3.6 Detailed explanation of signals 
3.6.1 Position control mode 
 
POINT 
 
Adjust the logic of a positioning module and command pulse as follows. 
Q series/L series positioning module 
 
 Command pulse logic setting  
 
Signal type 
Q series/L series positioning 
module Pr. 23 setting 
MR-JE-_A servo amplifier 
[Pr. PA13] setting 
 
 Positive logic Positive logic (_ _ 0 _)  
 
Open-collector type 
Negative logic  Negative logic (_ _ 1 _)   
 Positive logic (Note) Negative logic (_ _ 1 _)  
 
Differential line driver type 
Negative logic (Note)  Positive logic (_ _ 0 _)   
 
 
Note. 
 
For Q series and L series, the logic means N-side waveform. Therefore, reverse the input 
pulse logic of the servo amplifier. 
 
F series positioning module 
 
 Command pulse logic setting  
 
Signal type 
F series positioning module 
(fixed) 
MR-JE-_A servo amplifier [Pr. 
PA13] setting 
 
 Open-collector type 
Differential line driver type 
Negative logic  Negative logic (_ _ 1 _) 
 
 
   
 
 
(1)  Pulse train input 
(a)  Input pulse waveform selection 
You can input command pulses in any of three different forms, and can choose positive or negative 
logic. Set the command pulse train form in [Pr. PA13]. Refer to section 5.2.1 for details. 
 
(b)  Connection and waveform 
1)  Open-collector type 
Connect as follows. 
1.2 k
Approx.
1.2 k
Approx.
SD
Servo amplifie

r

OPC
PP
NP
DOCOM
24 V DC
(Note)
 
 
Note. Pulse train input interface is comprised of a photocoupler. 
If a resistor is connected to the pulse train signal line, it may malfunction due to 
reduction in current. 
 





3. SIGNALS AND WIRING 
 
3 -  30 
 
The following section explains about the case where the negative logic and the forward/reverse 
rotation pulse trains are set to "_ _ 1 0" in [Pr. PA13]. 
Reverse rotation commandForward rotation command
(OFF)
(OFF) (OFF)(ON) (ON)
(ON) (OFF) (ON) (OFF) (ON)
(OFF)
Forward rotation pulse train
(transistor)
Reverse rotation pulse train
(transistor)
(ON)
 
2)  Differential line driver type 
Connect as follows. 
PP
NP
Servo amplifie

r

PG
NG
SD
Approximately
100
Approximately
100
(Note)
 
Note. Pulse train input interface is comprised of a photocoupler. 
If a resistor is connected to the pulse train signal line, it may malfunction due to 
reduction in current. 
 
The following example shows that an input waveform has been set to the negative logic and 
forward/reverse rotation pulse trains by setting "_ _ 1 0" in [Pr. PA13]. The waveforms of PP, PG, 
NP, and NG are based on LG. 
Reverse rotation
PP
PG
NP
NG
Reverse rotation
pulse train
Forward rotation
pulse train
Forward rotation
 
 





3. SIGNALS AND WIRING 
 
3 -  31 
 
(2)  INP (In-position) 
INP turns on when the number of droop pulses in the deviation counter falls within the preset in-position 
range ([Pr. PA10]). INP may turn on continuously during a low-speed operation with a large value set as 
the in-position range. 
In-position range
INP (In-position)
ON
OFF
ON
OFF
Alarm
No alarm
SON (Servo-on)
Alarm
Droop pulses
 
(3)  RD (Ready) 
RD (Ready)
ON
OFF
ON
OFF
Alarm
No alarm
SON (Servo-on)
Alarm
100 ms
or shorter
10 ms or shorter
10 ms or shorter
 
(4)  Electronic gear switching 
The combination of CM1 and CM2 enables you to select four different electronic gear numerators set in 
the parameters. 
As soon as CM1/CM2 is turned on or off, the numerator of the electronic gear changes. Therefore, if a 
shock occurs at switching, use the position smoothing ([Pr. PB03]) to relieve the shock. 
 
(Note) Input device 
CM2  CM1 
Electronic gear numerator 
0  0  Pr. PA06 
0  1  Pr. PC32 
1  0  Pr. PC33 
1  1  Pr. PC34 
 
Note. 0:  Off 
1:  On 
 





3. SIGNALS AND WIRING 
 
3 -  32 
 
(5)  Torque limit 
 
CAUTION 
If the torque limit is canceled during servo-lock, the servo motor may suddenly 
rotate according to position deviation in respect to the command position. 
 
 
(a)  Torque limit and torque 
By setting [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], torque 
is always limited to the maximum value during operation. A relation between the limit value and 
servo motor torque is as follows. 
Torque limit value
in [Pr. PA11]
Maximum
torque
Torque
0 100 [%]
Torque limit value
in [Pr. PA12]
100
CCW directionCW direction
 
A relation between the applied voltage of TLA (Analog torque limit) and the torque limit value of the 
servo motor is as follows. Torque limit values will vary about 5% relative to the voltage depending on 
products. At the voltage of less than 0.05 V, torque may vary as it may not be limited sufficiently. 
Therefore, use this function at the voltage of 0.05 V or more. 
±5%
Connection exampleTLA applied voltage vs. torque limit value
TLA applied voltage [V]
Maximum
torque
Torque
0
0
0.05
Servo amplifier
24 V DC
(Note)
TL
DICOM
TLA
LG
SD
0 V to +10 V
 
Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.
 
(b)  Torque limit value selection 
The following shows how to select a torque limit using TL (External torque limit selection) from [Pr. 
PA11 Forward torque limit] or [Pr. PA12 Reverse torque limit] and TLA (Analog torque limit). 
When TL1 (Internal torque limit selection) is enabled with [Pr. PD03] to [Pr. PD22], you can select 
[Pr. PC35 Internal torque limit 2]. 
However, if [Pr. PA11] and [Pr. PA12] value is less than the limit value selected by TL/TL1, [Pr. 
PA11] and [Pr. PA12] value will be enabled. 
 





3. SIGNALS AND WIRING 
 
3 -  33 
 
(Note) Input device  Enabled torque limit value 
TL1  TL 
Limit value status 
CCW power running/CW 
regeneration 
CW power running/CCW 
regeneration 
0  0    Pr. PA11  Pr .PA12 
TLA  > 
Pr. PA11 
Pr. PA12 
Pr. PA11  Pr. PA12 
0  1 
TLA  < 
Pr. PA11 
Pr. PA12 
TLA  TLA 
Pr. PC35  > 
Pr. PA11 
Pr. PA12 
Pr. PA11  Pr. PA12 
1  0 
Pr. PC35  < 
Pr. PA11 
Pr. PA12 
Pr. PC35  Pr. PC35 
TLA  >  Pr. PC35  Pr. PC35  Pr. PC35 
1  1 
TLA  <  Pr. PC35  TLA  TLA 
 
Note. 0:  Off 
1:  On 
 
(c)  TLC (Limiting torque) 
TLC turns on when the servo motor torque reaches the torque limited using the forward rotation 
torque limit, reverse rotation torque limit or analog torque limit. 
 





3. SIGNALS AND WIRING 
 
3 -  34 
 
3.6.2 Speed control mode 
(1)  Speed setting 
(a)  Speed command and speed 
The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage 
of VC (Analog speed command). A relation between VC (Analog speed command) applied voltage 
and the servo motor speed is as follows. 
Rated speed is achieved at ±10 V with initial setting. The speed at ±10 V can be changed with [Pr. 
PC12]. 
Speed
[r/min]
CW
direction
Rated speed [r/min]
Rated speed [r/min]
0
CCW direction
+10
-10
VC applied voltage [V]
Forward rotation
(CCW)
Reverse rotation
(CW)
 
The following table indicates the rotation direction according to ST1 (Forward rotation start) and ST2 
(Reverse rotation start) combination. 
 
(Note 1) Input device  (Note 2) Rotation direction 
VC (Analog speed command) 
ST2  ST1 
Polarity: +  0 V  Polarity: - 
Internal speed command 
0  0 
Stop 
(servo-lock) 
Stop 
(servo-lock) 
Stop 
(servo-lock) 
Stop 
(servo-lock) 
0  1  CCW  CW  CCW 
1  0  CW 
Stop 
(no servo-lock) 
CCW  CW 
1  1 
Stop 
(servo-lock) 
Stop 
(servo-lock) 
Stop 
(servo-lock) 
Stop 
(servo-lock) 
 
Note   1.  0:  Off 
1:  On 
  2. If the torque limit is canceled during servo-lock, the servo motor may suddenly rotate according to position deviation in respect 
to the command position. 
 
Normally, connect as follows. 
(Note)
ST1
ST2
DICOM
VC
LG
SD
Servo amplifie

r

24 V DC
-10 V to +10 V
 
Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.
 





3. SIGNALS AND WIRING 
 
3 -  35 
 
(b)  Speed command value selection 
To select VC (Analog speed command) and a speed command value of internal speed commands 1 
to 7, enable SP1 (Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3) with 
[Pr. PD03] to [Pr. PD20]. 
 
(Note) Input device 
SP3  SP2  SP1 
Speed command value 
0  0  0  VC (Analog speed command) 
0  0  1  Pr. PC05 Internal speed command 1 
0  1  0  Pr. PC06 Internal speed command 2 
0  1  1  Pr. PC07 Internal speed command 3 
1  0  0  Pr. PC08 Internal speed command 4 
1  0  1  Pr. PC09 Internal speed command 5 
1  1  0  Pr. PC10 Internal speed command 6 
1  1  1  Pr. PC11 Internal speed command 7 
 
Note. 0:  Off 
1:  On 
 
You can change the speed during rotation. To accelerate/decelerate, set acceleration/deceleration 
time constant in [Pr. PC01] or [Pr. PC02]. 
When the internal speed commands are used to command a speed, the speed does not vary with 
the ambient temperature. 
 
(2)  SA (Speed reached) 
SA turns on when the servo motor speed has nearly reached the speed set to the internal speed 
command or analog speed command. 
Internal speed
command 1
Internal speed
command 2
Set speed selection
ST1 or ST2
ON
OFF
Servo motor speed
SA (Speed reached)
ON
OFF
 
(3)  Torque limit 
As in section 3.6.1 (5) 
 





3. SIGNALS AND WIRING 
 
3 -  36 
 
3.6.3 Torque control mode 
(1)  Torque limit 
(a)  Torque command and torque 
The following shows a relation between the applied voltage of TC (Analog torque command) and the 
torque by the servo motor. 
The maximum torque is generated at ±8 V. The speed at ±8 V can be changed with [Pr. PC13]. 
Forward rotation
(CCW)
Reverse rotation
(CW)
Maximum torque
Torque
CCW direction
TC applied voltage [V]
CW direction
Maximum torque
-8
+8
-0.05
+0.05
 
Generated torque command values will vary about 5% relative to the voltage depending on products. 
The torque may vary if the voltage is low (-0.05 V to 0.05 V) and the actual speed is close to the limit 
value. In such a case, increase the speed limit value. 
The following table indicates the torque generation directions determined by RS1 (Forward rotation 
selection) and RS2 (Reverse rotation selection) when TC (Analog torque command) is used. 
 
(Note) Input device  Rotation direction 
TC (Analog torque command) 
RS2  RS1 
Polarity: +  0 V  Polarity: - 
0  0  Torque is not generated.  Torque is not generated. 
0  1 
CCW 
(Forward rotation in 
power running 
mode/reverse rotation in 
regenerative mode) 
CW 
(Reverse rotation in 
power running 
mode/forward rotation in 
regenerative mode) 
1  0 
CW 
(Reverse rotation in 
power running 
mode/forward rotation in 
regenerative mode) 
CCW 
(Forward rotation in 
power running 
mode/reverse rotation in 
regenerative mode) 
1  1  Torque is not generated. 
Torque is not generated. 
Torque is not generated. 
 
Note. 0:  Off 
1:  On 
 
Normally, connect as follows. 
RS2
24 V DC
DICOM
TC
LG
SD
RS1
-8 V to 8 V
Servo amplifier
(Note)
 
Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.
 





3. SIGNALS AND WIRING 
 
3 -  37 
 
(b)  Analog torque command offset 
Using [Pr. PC38], the offset voltage of -9999 mV to 9999 mV can be added to the TC applied voltage 
as follows. 
TC applied voltage [V]
Maximum torque
Torque
0 8 (-8)
[Pr. PC38]
offset range
-9999 mV to 9999 mV
 
(2)  Torque limit 
By setting [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], torque is 
always limited to the maximum value during operation. A relation between limit value and servo motor 
torque is as in section 3.6.1 (5). 
Note that TLA (Analog torque limit) is unavailable. 
 
(3)  Speed limit 
(a)  Speed limit value and speed 
The speed is limited to the values set with [Pr. PC05 Internal speed limit 0] to [Pr. PC11 Internal 
speed limit 7] or the value set in the applied voltage of VLA (Analog speed limit). A relation between 
VLA (Analog speed limit) applied voltage and the servo motor speed is as follows. 
When the servo motor speed reaches the speed limit value, torque control may become unstable. 
Make the set value more than 100 r/min greater than the desired speed limit value. 
Speed
[r/min]
CW
direction
0
CCW direction
+10
-10
VLA applied voltage [V]
Forward rotation
(CCW)
Reverse rotation
(CW)
Rated speed [r/min]
Rated speed [r/min]
 
The following table indicates the limit direction according to RS1 (Forward rotation selection) and 
RS2 (Reverse rotation selection) combination. 
 
(Note) Input device  Speed limit direction 
VLA (Analog speed limit) 
RS1  RS2 
Polarity: +  Polarity: - 
Internal speed command 
1  0  CCW  CW  CCW 
0  1  CW  CCW  CW 
 
Note. 0:  Off 
1:  On 
 





3. SIGNALS AND WIRING 
 
3 -  38 
 
Normally, connect as follows. 
-10 V to +10 V
VLA
LG
SD
Servo amplifie

r

 
(b)  Speed limit value selection 
To select VLA (Analog speed limit) and a speed limit value of internal speed limit 1 to 7, enable SP1 
(Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3) with [Pr. PD03] to [Pr. 
PD20]. 
 
(Note) Input device 
SP3  SP2  SP1 
Speed limit 
0  0  0  VLA (Analog speed limit) 
0  0  1  Pr. PC05 Internal speed limit 1 
0  1  0  Pr. PC06 Internal speed limit 2 
0  1  1  Pr. PC07 Internal speed limit 3 
1  0  0  Pr. PC08 Internal speed limit 4 
1  0  1  Pr. PC09 Internal speed limit 5 
1  1  0  Pr. PC10 Internal speed limit 6 
1  1  1  Pr. PC11 Internal speed limit 7 
 
Note. 0:  Off 
1:  On 
 
When the internal speed limits 1 to 7 are used to limit a speed, the speed does not vary with the 
ambient temperature. 
 
(c)  VLC (Limiting speed) 
VLC turns on when the servo motor speed reaches a speed limited with internal speed limits 1 to 7 
or analog speed limit. 
 





3. SIGNALS AND WIRING 
 
3 -  39 
 
3.6.4 Position/speed control switching mode 
Set " _ _ _ 1" in [Pr. PA01] to switch to the position/speed control switching mode. 
 
(1)  LOP (control switching) 
Use LOP (Control switching) to switch between the position control mode and the speed control mode 
with an external contact. The following shows a relation between LOP and control modes. 
 
(Note) 
LOP 
Control mode 
0  Position control mode 
1  Speed control mode 
 
Note. 0:  Off 
1:  On 
 
You can switch the control mode in the zero speed status. To ensure safety, switch modes after the 
servo motor has stopped. When position control mode is switched to speed control mode, droop pulses 
will be reset. 
If LOP is switched on/off at the speed higher than the zero speed, the control mode cannot be changed 
regardless of the speed. The following shows a switching timing chart. 
Zero speed
level
Position control
mode
ON
OFF
ON
OFF
LOP
(Control switching)
ZSP
(Zero speed detection)
Servo motor speed
Speed control
mode
Position control
mode
(Note)(Note)
 
Note. When ZSP is not turned on, the control mode is not switched even if LOP is turned 
on/off. After LOP is turned on/off, even if ZSP is turned on, the control mode is not 
switched. 
 
(2)  Torque limit in position control mode 
As in section 3.6.1 (5) 
 





3. SIGNALS AND WIRING 
 
3 -  40 
 
(3)  Speed setting in speed control mode 
(a)  Speed command and speed 
The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage 
of VC (Analog speed command). The relation between an applied voltage of VC (Analog speed 
command) and servo motor speed, and the rotation direction with turning on ST1/ST2 are the same 
as section 3.6.2 (1) (a). 
Normally, connect as follows. 
(Note)
ST1
ST2
DICOM
VC
LG
SD
Servo amplifie

r

24 V DC
-10 V to +10 V
 
Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.
 
(b)  Speed command value selection 
To select VC (Analog speed command) and a speed command value of internal speed commands 1 
to 7, enable SP1 (Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3) with 
[Pr. PD03] to [Pr. PD20]. 
 
(Note) Input device 
SP3  SP2  SP1 
Speed command value 
0  0  0  VC (Analog speed command) 
0  0  1  Pr. PC05 Internal speed command 1 
0  1  0  Pr. PC06 Internal speed command 2 
0  1  1  Pr. PC07 Internal speed command 3 
1  0  0  Pr. PC08 Internal speed command 4 
1  0  1  Pr. PC09 Internal speed command 5 
1  1  0  Pr. PC10 Internal speed command 6 
1  1  1  Pr. PC11 Internal speed command 7 
 
Note. 0:  Off 
1:  On 
 
You can change the speed during rotation. Acceleration/deceleration is performed with the setting 
values of [Pr. PC01] and [Pr. PC02]. 
When the internal speed commands 1 to 7 are used to command a speed, the speed does not vary 
with the ambient temperature. 
 
(c)  SA (Speed reached) 
As in section 3.6.2 (2) 
 





3. SIGNALS AND WIRING 
 
3 -  41 
 
3.6.5 Speed/torque control switching mode 
Set " _ _ _ 3" in [Pr. PA01] to switch to the speed/torque control switching mode. 
 
(1)  LOP (control switching) 
Use LOP (Control switching) to switch between the speed control mode and the torque control mode 
with an external contact. The following shows a relation between LOP and control modes. 
 
(Note) 
LOP 
Control mode 
0  Speed control mode 
1  Torque control mode 
 
Note. 0:  Off 
1:  On 
 
The control mode may be switched at any time. The following shows a switching timing chart. 
LOP
(Control switching)
Servo motor speed
TC
(Analog torque command)
ON
OFF
10V
0
(Note)
Load torque
Speed control
mode
Torque control
mode
Speed control
mode
Forward rotation
in driving mode
 
Note. When ST1 (Forward rotation start) and ST2 (Reverse rotation start) are switched off 
as soon as a mode is switched to the speed control, the servo motor comes to a stop 
according to the deceleration time constant. A shock may occur at switching control 
modes. 
 
(2)  Speed setting in speed control mode 
As in section 3.6.2 (1) 
 
(3)  Torque limit in speed control mode 
As in section 3.6.1 (5) 
 
(4)  Speed limit in torque control mode 
(a)  Speed limit value and speed 
The speed is limited to the limit value of the parameter or the value set in the applied voltage of VLA 
(Analog speed limit). 
A relation between the VLA (Analog speed limit) applied voltage and the limit value is as in section 
3.6.3 (3) (a). 
 





3. SIGNALS AND WIRING 
 
3 -  42 
 
Normally, connect as follows. 
-10 V to +10 V
VLA
LG
SD
Servo amplifie

r

 
(b)  Speed limit value selection 
To select VLA (Analog speed limit) and a speed limit value of internal speed limit 1 to 7, enable SP1 
(Speed selection 1), SP2 (Speed selection 2), and SP3 (Speed selection 3) with [Pr. PD03] to [Pr. 
PD20]. 
 
(Note) Input device 
SP3  SP2  SP1 
Speed limit 
0  0  0  VLA (Analog speed limit) 
0  0  1  Pr. PC05 Internal speed limit 1 
0  1  0  Pr. PC06 Internal speed limit 2 
0  1  1  Pr. PC07 Internal speed limit 3 
1  0  0  Pr. PC08 Internal speed limit 4 
1  0  1  Pr. PC09 Internal speed limit 5 
1  1  0  Pr. PC10 Internal speed limit 6 
1  1  1  Pr. PC11 Internal speed limit 7 
 
Note. 0:  Off 
1:  On 
 
When the internal speed command 1 is used to command a speed, the speed does not vary with the 
ambient temperature. 
 
(c)  VLC (Limiting speed) 
As in section 3.6.3 (3) (c) 
 
(5)  Torque control in torque control mode 
As in section 3.6.3 (1) 
 
(6)  Torque limit in torque control mode 
As in section 3.6.3 (2) 
 





3. SIGNALS AND WIRING 
 
3 -  43 
 
3.6.6 Torque/position control switching mode 
Set " _ _ _ 5" in [Pr. PA01] to switch to the torque/position control switching mode. 
 
(1)  LOP (control switching) 
Use LOP (Control switching) to switch between the torque control mode and the position control mode 
with an external contact. The following shows a relation between LOP and control modes. 
 
(Note) 
LOP 
Control mode 
0  Torque control mode 
1  Position control mode 
 
Note. 0:  Off 
1:  On 
 
You can switch the control mode in the zero speed status. To ensure safety, switch modes after the 
servo motor has stopped. When position control mode is switched to torque control mode, droop pulses 
will be reset. 
If LOP is switched on/off at the speed higher than the zero speed, the control mode cannot be changed 
regardless of the speed. The following shows a switching timing chart. 
Zero speed
level
Torque control
mode
Position control
mode
Position control
mode
Servo motor
speed
TC (Analog
torque command)
ZSP (Zero
speed detection)
LOP
(Control switching)
0 V
OFF
(Note) (Note)
ON
OFF
ON
10 V
 
Note. When ZSP is not turned on, the control mode is not switched even if LOP is turned 
on/off. After LOP is turned on/off, even if ZSP is turned on, the control mode is not 
switched. 
 
(2)  Speed limit in torque control mode 
As in section 3.6.3 (3) 
 
(3)  Torque control in torque control mode 
As in section 3.6.3 (1) 
 
(4)  Torque limit in torque control mode 
As in section 3.6.3 (2) 
 
(5)  Torque limit in position control mode 
As in section 3.6.1 (5) 
 





3. SIGNALS AND WIRING 
 
3 -  44 
 
3.7 Forced stop deceleration function 
 
POINT 
 
When alarms not related to the forced stop function occur, control of motor 
deceleration can not be guaranteed. (Refer to chapter 8.) 
In the torque control mode, the forced stop deceleration function is not available.
 
 
3.7.1 Forced stop deceleration function 
When EM2 is turned off, dynamic brake will start to stop the servo motor after forced stop deceleration. 
During this sequence, the display shows [AL. E6 Servo forced stop warning]. 
During normal operation, do not use EM2 (Forced stop 2) to alternate stop and drive. The the servo amplifier 
life may be shortened. 
 
(1)  Connection diagram 
Servo amplifie

r

Forced stop 2
DICOM
EM2
24 V DC
(Note)
 
Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 
3.9.3. 
 





3. SIGNALS AND WIRING 
 
3 -  45 
 
(2)  Timing chart 
 
POINT 
 
When LSP/LSN is turned on during a forced stop deceleration, the motor will 
stop depending on the setting of [Pr. PD30] as follows. 
 
 [Pr. PD30]  Stop system   
 _ _ _ 0 Switching to sudden stop   
 _ _ _ 1 Continuing forced stop deceleration  
      
 
When EM2 (Forced stop 2) turns off, the motor will decelerate according to [Pr. PC51 Forced stop 
deceleration time constant]. Once the motor speed is below [Pr. PC17 Zero speed] after completion of 
the deceleration command, base power is cut and the dynamic brake activates. 
Base circuit
(Energy supply to

t

he servo motor)
0 r/min
Servo motor speed
MBR
(Electromagnetic
brake interlock)
ON
OFF (Enabled)
ON
OFF
Deceleration time
Command
Rated speed
Ordinary
operation
Forced stop
deceleration
Dynamic brake
+
Electromagnetic brake
ON
OFF (Enabled)
EM2 (Forced stop 2)
Zero speed
([Pr. PC17])
[Pr. PC51]
 
 





3. SIGNALS AND WIRING 
 
3 -  46 
 
3.7.2 Base circuit shut-off delay time function 
The base circuit shut-off delay time function is used to prevent vertical axis from dropping at a forced stop 
(EM2 goes off) or alarm occurrence due to delay time of the electromagnetic brake. Use [Pr. PC16] to set 
the delay time between completion of EM2 (Forced stop 2) or activation of MBR (Electromagnetic brake 
interlock) due to an alarm occurrence, and shut-off of the base circuit. 
 
(1)  Timing chart 
 
MBR
(Electromagnetic
brake interlock)
ON
OFF (Enabled)
Base circuit
(Energy supply to

t

he servo motor)
0 r/min
Servo motor speed
ON
OFF (Enabled)
EM2 (Forced stop 2)
ON
OFF
[Pr. PC16]
 
When EM2 (Forced stop 2) turns off or an 
alarm occurs during driving, the servo motor 
will decelerate based on the deceleration 
time constant. MBR (Electromagnetic brake 
interlock) will turn off, and then after the 
delay time set in [Pr. PC16], the servo 
amplifier will be base circuit shut-off status. 
(2)  Adjustment 
While the servo motor is stopped, turn off EM2 (Forced stop 2), adjust the base circuit shut-off delay 
time in [Pr. PC16], and set the value to approximately 1.5 times of the smallest delay time in which the 
servo motor shaft does not freefall. 
 





3. SIGNALS AND WIRING 
 
3 -  47 
 
3.7.3 Vertical axis freefall prevention function 
The vertical axis freefall prevention function avoids machine damage by pulling up the shaft slightly like the 
following case. 
When the servo motor is used for operating vertical axis, the servo motor electromagnetic brake and the 
base circuit shut-off delay time function avoid dropping axis at forced stop. However, the functions may not 
avoid dropping axis a few m due to the backlash of the servo motor electromagnetic brake. 
The vertical axis freefall prevention function is enabled with the following conditions. 
Other than "0" is set to [Pr. PC54 Vertical axis freefall prevention compensation amount]. 
The servo motor speed decelerates lower than the value of zero speed by turning off EM2 (Forced stop 
2) or by an alarm occurrence. 
The base circuit shut-off delay time function is enabled. 
EM2 (Forced stop 2) turned off or an alarm occurred while the servo motor speed is zero speed or less. 
 
(1)  Timing chart 
MBR
(Electromagnetic
brake interlock)
ON
OFF (Enabled)
Base circuit
(Energy supply to
the servo motor)
ON
OFF

A

ctual operation of
electromagnetic brake
Disabled
Enabled
Position
Travel distance
ON
OFF (Enabled)
EM2 (Forced stop 2)
Set the base circuit shut-off delay time. ([Pr. PC16])
 
(2)  Adjustment 
Set the freefall prevention compensation amount in [Pr. PC54]. 
While the servo motor is stopped, turn off the EM2 (Forced stop 2). Adjust the base circuit shut-off 
delay time in [Pr. PC16] in accordance with the travel distance ([Pr. PC54). Adjust it considering the 
freefall prevention compensation amount by checking the servo motor speed, torque ripple, etc. 
 
3.7.4 Residual risks of the forced stop function (EM2) 
(1)  The forced stop function is not available for alarms that activate the dynamic brake when the alarms 
occur. 
 
(2)  When an alarm that activates the dynamic brake during forced stop deceleration occurs, the braking 
distance until the servo motor stops will be longer than that of normal forced stop deceleration without 
the dynamic brake. 
 





3. SIGNALS AND WIRING 
 
3 -  48 
 
3.8 Alarm occurrence timing chart 
 
CAUTION 
When an alarm has occurred, remove its cause, make sure that the operation 
signal is not being input, ensure safety, and reset the alarm before restarting 
operation. 
 
 
POINT 
 
In the torque control mode, the forced stop deceleration function is not available.
 
 
To deactivate an alarm, cycle the power, push the "SET" button in the current alarm window, or cycle the 
RES (Reset) However, the alarm cannot be deactivated unless its cause is removed. 
 
3.8.1 When you use the forced stop deceleration function 
 
POINT 
 
To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04]. 
 
 
(1)  When the forced stop deceleration function is enabled 
Controller command is ignored.
Alarm occurrence
Alarm No.No alarm
(Note)
Model speed command 0
and equal to or less than
zero speed
MBR
(Electromagnetic
brake interlock)
ON
OFF
ON (no alarm)
OFF (alarm)
Base circuit
(Energy supply to
the servo motor)
ON
OFF
Servo amplifier
display
0 r/min
Servo motor speed
ALM (Malfunction)
 
Note. The model speed command is a speed command generated in the servo amplifier for forced stop deceleration 
of the servo motor. 
 





3. SIGNALS AND WIRING 
 
3 -  49 
 
(2)  When the forced stop deceleration function is not enabled 
MBR
(Electromagnetic
brake interlock)
ON
OFF
ON (no alarm)
OFF (alarm)
Base circuit
(Energy supply to
the servo motor)
ON
OFF
Servo amplifier
display
0 r/min
Servo motor speed
ALM (Malfunction)
No alarm Alarm No.
Braking by the dynamic brake
Dynamic brake
+ Braking by the electromagnetic brake
Operation delay time of the electromagnetic brake
Alarm occurrence
 
 
3.8.2 When you do not use the forced stop deceleration function 
 
POINT 
 
To disable the function, set "0 _ _ _" in [Pr. PA04]. 
 
 
The operation status during an alarm is the same as section 3.8.1 (2). 
 





3. SIGNALS AND WIRING 
 
3 -  50 
 
3.9 Interfaces 
3.9.1 Internal connection diagram 
The following diagram is for sink I/O interface when command pulse train input is differential line driver type. 
3
SON SON SON
CN1
15
RES ST1
19
CR ST2 41
EM2
42
LSN 44
OPC
12
20
21
LSN
LSP 43LSP
DICOM
DICOM
RS2
RS1
PST
CN1
47
23
24
48
49
DOCOM
46 DOCOM
ZSP
INP
RD
ZSP
ALM
RD
ZSP
RD
SA
P
ST
CN1
P
ST
4
5
6
7
8
9
33
34
LA
LAR
LB
LBR
LZ
LZR
OP
LG
CN1
P
ST
MO1
MO2
LG
26
29
30
Differential line
driver output
(35 mA or less)
Open-collector
output
CN1PST
2VC VLA
27
TLA TLA TC
3LG
28LG
Case
SD
(Note 2)
Approx.
6.2 k
Approx.
6.2 k
Analog monitor
Servo amplifie

r

(Note 4)
24 V DC
CN2
P
ST
2
4
7
8
MR
MRR
MD
MDR
LG
Encoder
E
Servo motor
(Note 3)
(Note 3)
USB
PST
D+
GND
D-
2
3
5
CN3
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
± 10 V DC
± 10 V DC
(Note 4) 24 V DC
RA
RA
M
Isolated
PP
10
PG 11
NP 35
NG
36
Approx.
100 
Approx.
100 
Approx.
1.2 k
Approx.
1.2 k
 
 





3. SIGNALS AND WIRING 
 
3 -  51 
 
Note   1.  P: position control mode, S: speed control mode, T: torque control mode 
  2. This is for the differential line driver pulse train input. For the open-collector pulse train input, connect as follows. 
DOCOM 46
OPC 12
20
47
PP 10
PG 11
NP 35
NG 36
DICOM
DOCOM
24 V DC
 
  3. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3. 
  4. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they 
can be configured by one. 
 





3. SIGNALS AND WIRING 
 
3 -  52 
 
3.9.2 Detailed explanation of interfaces 
This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in 
section 3.5. Refer to this section and make connection with the external device. 
 
(1)  Digital input interface DI-1 
This is an input circuit whose photocoupler cathode side is input terminal. Transmit signals from sink 
(open-collector) type transistor output, relay switch, etc. The following is a connection diagram for sink 
input. Refer to section 3.9.3 for source input. 
Approximately
6.2 k
Approximately
5 mA
TR
24 V DC ± 10%
300 mA
Switch
For transisto

r

EM2
etc.
Servo amplifie

r

DICOM
V
CES
1.0 V
I
CEO
100 A
 
(2)  Digital output interface DO-1 
This is a circuit in which the collector side of the output transistor is the output terminal. When the output 
transistor is turned on, the current flows from the collector terminal. 
A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush 
current suppressing resistor (R) for a lamp load. 
(Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A 
maximum of 2.6 V voltage drop occurs in the servo amplifier. 
The following shows a connection diagram for sink output. Refer to section 3.9.3 for source output. 
(Note) 24 V DC  10%
300 mA
If polarity of diode is
reversed, servo amplifier
will malfunction.
Servo amplifier
ALM
etc.
Load
DOCOM
 
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high 
voltage (maximum of 26.4 V) from external source. 
 





3. SIGNALS AND WIRING 
 
3 -  53 
 
(3)  Pulse train input interface DI-2 
Give a pulse train signal in the differential line driver type or open-collector type. 
 
(a)  Differential line driver type 
1)  Interface 
SD
PG (NG)
PP (NP)
Max. input pulse
frequency 4 Mpulses/s
(Note 2)
Servo amplifie

r

Am26LS31 or equivalent
Approximalely
100 
V
OH
: 2.5 V
V
OL
: 0.5 VV
(Note 1)
10 m or less
 
Note   1.  Pulse train input interface is comprised of a photocoupler. 
If a resistor is connected to the pulse train signal line, it may malfunction due to 
reduction in current. 
  2. When the input pulse frequency is 4 Mpulses/s, set [Pr. PA13] to "_ 0 _ _". 
 
2)  Input pulse condition 
0.9
0.1
tc tLH
tc tHL
tF
PP PG
NP    NG
tLH = tHL < 50 ns
tc > 75 ns
tF > 3 µs
 
(b)  Open-collector type 
1)  Interface 
Approximately
1.2 k
Servo amplifie

r

24 V DC
OPC
PP, NP
DOCOM
SD
Max. input pulse
frequency 200 kpulses/s
2 m or less
(Note)
 
Note. Pulse train input interface is comprised of a photocoupler. 
If a resistor is connected to the pulse train signal line, it may malfunction due to 
reduction in current. 
 





3. SIGNALS AND WIRING 
 
3 -  54 
 
2)  Input pulse condition 
0.9
0.1
tc tLH
tc tHL
tF
PP
NP
tLH = tHL < 0.2 µs
tc > 2 µs
tF > 3 µs
 
(4)  Encoder output pulse DO-2 
(a)  Open-collector type 
Interface 
Maximum sink current: 35 mA 
Photocoupler
Servo amplifier
OP
LG
SD
Servo amplifier
OP
LG
SD
5 V DC  to 24 V DC
 
(b)  Differential line driver type 
1)  Interface 
Maximum output current: 35 mA 
150 
100 
Am26LS32 or equivalent
Servo amplifie

r

LA
(LB, LZ)
LAR
(LBR, LZR)
SD
LG
High-speed photocoupler
Servo amplifie

r

LAR
(LBR, LZR)
SD
LA
(LB, LZ)
 
 





3. SIGNALS AND WIRING 
 
3 -  55 
 
2)  Output pulse 
/2
T
400
s or more
Time cycle (T) is determined by the settings of
[Pr. PA15] and [Pr. PC19].
LA
LAR
LB
LBR
LZ
LZR
OP
Servo motor CCW rotation
 
(5)  Analog input 
Input impedance 
10 k to 12 k 
VC etc.
LG
SD
Approx.
10 k
Servo amplifie

r

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

r

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





3. SIGNALS AND WIRING 
 
3 -  56 
 
3.9.3 Source I/O interfaces 
In this servo amplifier, source type I/O interfaces can be used. 
 
(1)  Digital input interface DI-1 
This is an input circuit whose photocoupler anode side is the input terminal. Transmit signals from 
source (open-collector) type transistor output, relay switch, etc. 
Approximately
6.2 k
DC 24 V ± 10
300 mA
Switch
For transistor
EM2
etc.
Servo amplifie

r

DICOM
Approximately
5 mA
V
CES
 1.0 V
I
CEO
 100 A
TR
 
(2)  Digital output interface DO-1 
This is a circuit in which the emitter side of the output transistor is the output terminal. When the output 
transistor is turned on, the current flows from the output terminal to a load. 
A maximum of 2.6 V voltage drop occurs in the servo amplifier. 
(Note) 24 V DC ± 10%
300 mA
Servo amplifie

r

ALM
etc.
DOCOM
Load
If polarity of diode is
reversed, servo amplifier
will malfunction.
 
Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high 
voltage (maximum of 26.4 V) from external source. 
 





3. SIGNALS AND WIRING 
 
3 -  57 
 
3.10 Servo motor with an electromagnetic brake 
3.10.1 Safety precautions 
 
CAUTION 
Configure an electromagnetic brake circuit so that it is activated also by an 
external EMG stop switch. 
Servo motor
Electromagnetic brake
B
U
RA
Contacts must be opened when ALM (Malfunction)
or MBR (Electromagnetic brake interlock) turns off.
24 V DC
Contacts must be opened with the
EMG stop switch.
 
The electromagnetic brake is provided for holding purpose and must not be used 
for ordinary braking. 
Before operating the servo motor, be sure to confirm that the electromagnetic 
brake operates properly. 
Do not use the 24 V DC interface power supply for the electromagnetic brake. 
Always use the power supply designed exclusively for the electromagnetic brake. 
Otherwise, it may cause a malfunction. 
 
 
POINT 
 
Refer to "HF-KN/HF-SN Servo Motor Instruction Manual" for specifications such 
as the power supply capacity and operation delay time of the electromagnetic 
brake. 
Refer to "HF-KN/HF-SN Servo Motor Instruction Manual" for the selection of a 
surge absorber for the electromagnetic brake. 
 
 
Note the following when the servo motor with an electromagnetic brake is used. 
 
1)  The brake will operate when the power (24 V DC) turns off. 
 
2)  The status is base circuit shut-off during RES (Reset) on. When you use the motor in vertical axis 
system, use MBR (Electromagnetic brake interlock). 
 
3)  Turn off SON (Servo-on) after the servo motor stopped. 
 
(1)  Connection diagram 
B2
B1
MBR
DOCOM
RA1
U
B
Servo motor
24 V DC
ALM
(Malfaunction)
Servo amplifie

r

MBR
RA1
(Note 1)
(Note 2)
24 V DC
 
Note   1.  Create the circuit in order to shut off by interlocking with the emergency stop switch. 
  2. Do not use the 24 V DC interface power supply for the electromagnetic brake. 
 





3. SIGNALS AND WIRING 
 
3 -  58 
 
(2)  Setting 
(a)  Enable MBR (Electromagnetic brake interlock) with [Pr. PD03] to [Pr. PD20]. 
 
(b)  In [Pr. PC16 Electromagnetic brake sequence output], set the time delay (Tb) from electromagnetic 
brake operation to base circuit shut-off at a servo-off as in the timing chart in section 3.10.2 (1). 
 
3.10.2 Timing chart 
(1)  When you use the forced stop deceleration function 
 
POINT 
 
To enable the function, set "2 _ _ _ (initial value)" in [Pr. PA04]. 
 
 
(a)  SON (Servo-on) on/off 
When SON (Servo-on) is turned off, the servo lock will be released after Tb [ms], and the servo 
motor will coast. If the electromagnetic brake is enabled during servo-lock, the brake life may be 
shorter. Therefore, set Tb about 1.5 times of the minimum delay time where the moving part will not 
drop down for a vertical axis system, etc. 
Approx. 95 ms
Approx. 95 ms
MBR
(Electromagnetic
brake interlock)
(Note 1)
ON
OFF
ON
OFF
0 r/min
Base circuit
Servo motor speed
SON (Servo-on)
ON
OFF
Coasting
Tb
Operation delay time of
the electromagnetic brake
Release
Activate
Position command
(Note 4)
Electromagnetic
brake
Release delay time and external relay, etc. (Note 2)
(Note 3)
0 r/min
 
Note   1.  ON:  Electromagnetic brake is not activated. 
OFF:  Electromagnetic brake has been activated. 
  2. Electromagnetic brake is released after the release delay time of electromagnetic brake and operation time of external circuit 
relay, etc. For the release delay time of electromagnetic brake, refer to "HF-KN/HF-SN Servo Motor Instruction Manual". 
  3. Give a position command after the electromagnetic brake is released. 
  4. This is in position control mode. 
 





3. SIGNALS AND WIRING 
 
3 -  59 
 
(b)  Forced stop 2 on/off 
 
POINT 
 
In the torque control mode, the forced stop deceleration function is not available.
 
 
ON
ON
OFF
(Note 2)
Model speed command 0
and equal to or less than
zero speed
ON
OFF
OFF
EM2 (Forced stop 2)
MBR
(Electromagnetic
brake interlock)
ON (no alarm)
OFF (alarm)
Base circuit
(Energy supply to
the servo motor)
0 r/min
Servo motor speed

A

LM (Malfunction)
(Note 1)
 
Note   1.  ON:  Electromagnetic brake is not activated. 
OFF:  Electromagnetic brake has been activated. 
  2. The model speed command is a speed command generated in the servo amplifier for forced stop 
deceleration of the servo motor. 
 
(c)  Alarm occurrence 
The operation status during an alarm is the same as section 3.8. 
 
(d)  Power off 
MBR
(Electromagnetic
brake interlock)
(Note 2)
ON
OFF
Base circuit
ON
OFF

A

larm
[AL.10 Undervoltage]
No alarm
Alarm
Approx. 10 ms
Dynamic brake
Dynamic brake
+ Electromagnetic brake
Electromagnetic brake
(Note 1)
Operation delay time of
the electromagnetic brake
Servo motor speed
ON
OFF
Power supply
0 r/min
 
Note   1.  Variable according to the operation status. 
  2. ON:  Electromagnetic brake is not activated. 
OFF:  Electromagnetic brake has been activated. 
 





3. SIGNALS AND WIRING 
 
3 -  60 
 
(2)  When you do not use the forced stop deceleration function 
 
POINT 
 
To disable the function, set "0 _ _ _" in [Pr. PA04]. 
 
 
(a)  SON (Servo-on) on/off 
It is the same as (1) (a) in this section. 
 
(b)  EM1 (Forced stop 1) on/off 
Dynamic brake
Dynamic brake
+ Electromagnetic brake
Electromagnetic brake
MBR
(Electromagnetic
brake interlock)
Operation delay time
of the electromagnetic
brake
Approx. 210 ms
Approx. 210 ms
Electromagnetic brake
has released.
(Note)
ON
OFF
Base circuit
ON
OFF
Servo motor speed
EM1 (Forced stop)
Disabled (ON)
Enabled (OFF)
0 r/min
Approx. 10 ms
 
Note. ON:  Electromagnetic brake is not activated. 
OFF:  Electromagnetic brake has been activated. 
 
(c)  Alarm occurrence 
The operation status during an alarm is the same as section 3.8. 
 
(d)  Power off 
It is the same as (1) (d) of this section. 
 





3. SIGNALS AND WIRING 
 
3 -  61 
 
3.11 Grounding 
 
WARNING 
Ground the servo amplifier and servo motor securely. 
To prevent an electric shock, always connect the protective earth (PE) terminal 
(marked 
) of the servo amplifier to the protective earth (PE) of the cabinet. 
 
 
The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on 
the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt 
and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground. 
To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB(NA)67310). 
 
Ensure to connect the
wire to the PE terminal
of the servo amplifier.
Do not connect the wire
directly to the grounding
of the cabinet.
Line filter
(Note)
Power
supply
V
U
Cabinet
Servo motor
M
U
V
W
W
Encoder
CN2
Servo amplifier
L1
L2
L3
CN1
Protective earth (PE)
Outer
box
MC
MCCB
Programmable
controller
 
Note. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For the power 
supply specifications, refer to section 1.3. 
 





3. SIGNALS AND WIRING 
 
3 -  62 
 
MEMO 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 





4. STARTUP 
4 -  1 
 
4. STARTUP 
WARNING 
 
Do not operate the switches with wet hands. Otherwise, it may cause an electric 
shock. 
 
 
CAUTION 
Before starting operation, check the parameters. Improper settings may cause 
some machines to operate unexpectedly. 
The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot 
while power is on or for some time after power-off. Take safety measures, e.g. 
provide covers, to avoid accidentally touching the parts (cables, etc.) by hand. 
During operation, never touch the rotor of the servo motor. Otherwise, it may 
cause injury. 
 
 
4.1 Switching power on for the first time 
When switching power on for the first time, follow this section to make a startup. 
 
4.1.1 Startup procedure 
Wiring check
Parameter setting
Test operation of the servo motor
alone in test operation mode
Test operation of the servo motor
alone by commands
Test operation with the servo motor
and machine connected
Gain adjustment
Actual operation
Stop
Surrounding environment check
 
Check whether the servo amplifier and servo motor are wired correctly using 
visual inspection, DO forced output function (section 4.5.8), etc. (Refer to 
section 4.1.2.) 
 
Check the surrounding environment of the servo amplifier and servo motor. 
(Refer to section 4.1.3.) 
 
Set the parameters as necessary, such as the used operation mode and 
regenerative option selection. (Refer to chapter 5, and sections 4.2.4, 4.3.4, 
and 4.4.4.) 
 
For the test operation, with the servo motor disconnected from the machine 
and operated at the speed as low as possible, check whether the servo 
motor rotates correctly. (Refer to sections 4.2.3, 4.3.3, and 4.4.3.) 
 
For the test operation with the servo motor disconnected from the machine 
and operated at the speed as low as possible, give commands to the servo 
amplifier and check whether the servo motor rotates correctly. 
 
After connecting the servo motor with the machine, check machine motions 
with sending operation commands from the controller. 
 
Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)
 
 
 
Stop giving commands and stop operation. Other conditions that stop the 
servo motor are mentioned in sections 4.2.2, 4.3.2, and 4.4.2. 
 





4. STARTUP 
4 -  2 
 
4.1.2 Wiring check 
(1)  Power supply system wiring 
Before switching on the power supply, check the following items. 
 
(a)  Power supply system wiring 
The power supplied to the power input terminals (L1, L2, and L3) of the servo amplifier should satisfy 
the defined specifications. (Refer to section 1.3.) 
 
(b)  Connection of servo amplifier and servo motor 
1)  The servo amplifier power output (U, V, and W) should match in phase with the servo motor 
power input terminals (U, V, and W). 
Servo amplifie

r

Servo moto

r

M
U
V
W
U
V
W
 
2)  The power supplied to the servo amplifier should not be connected to the power outputs (U, V, 
and W). Doing so will fail the connected servo amplifier and servo motor. 
Servo amplifier Servo motor
M
U
V
W
U
V
W
L1
L2
L3
 
3)  The grounding terminal of the servo motor is connected to the PE terminal of the servo amplifier. 
Servo amplifie

r

Servo moto

r

M
 
4)  The CN2 connector of the servo amplifier should be connected to the encoder of the servo motor 
securely using the encoder cable. 
 
(c)  When you use an option and peripheral equipment 
1)  When you use a regenerative option for 1 kW or less servo amplifiers 
The built-in regenerative resistor and wirings should be removed from the servo amplifier. 
The lead wire of built-in regenerative resistor connected to P+ terminal and C terminal should 
not be connected. 
The regenerative option should be connected to P+ terminal and C terminal. 
A twisted cable should be used. (Refer to section 11.2.4.) 
 
2)  When you use a regenerative option for 2 kW or more servo amplifiers 
The lead wire between P+ terminal and D terminal should not be connected. 
The regenerative option should be connected to P+ terminal and C terminal. 
A twisted cable should be used. (Refer to section 11.2.4.) 
 





4. STARTUP 
4 -  3 
 
(2)  I/O signal wiring 
(a)  The I/O signals should be connected correctly. 
Use DO forced output to forcibly turn on/off the pins of the CN1 connector. This function can be used 
to perform a wiring check. Switch off SON (Servo-on) to enable the function. 
Refer to section 3.2 for details of I/O signal connection. 
 
(b)  A voltage exceeding 24 V DC is not applied to the pins of the CN1 connector. 
 
(c)  Between SD and DOCOM of the CN1 connector should not be shorted. 
Servo amplifie

r

DOCOM
SD
CN1
 
4.1.3 Surrounding environment 
(1)  Cable routing 
(a)  The wiring cables should not be stressed. 
 
(b)  The encoder cable should not be used in excess of its bending life. (Refer to section 10.4.) 
 
(c)  The connector of the servo motor should not be stressed. 
 
(2)  Environment 
Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like. 
 





4. STARTUP 
4 -  4 
 
4.2 Startup in position control mode 
Make a startup in accordance with section 4.1. This section provides descriptions specific to the position 
control mode. 
 
4.2.1 Power on and off procedures 
(1)  Power-on 
Switch power on in the following procedure. Always follow this procedure at power-on. 
 
1)  Switch off SON (Servo-on). 
 
2)  Make sure that a command pulse train is not input. 
 
3)  Turn on the power. 
When main circuit power/control circuit power is switched on, the display shows "C (Cumulative 
feedback pulses)", and in 2 s later, shows data. 
 
(2)  Power-off 
1)  Make sure that a command pulse train is not input. 
 
2)  Switch off SON (Servo-on). 
 
3)  Shut off the power. 
 
4.2.2 Stop 
If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and 
brings it to a stop. Refer to section 3.10 for the servo motor with an electromagnetic brake. 
 
Operation/command  Stopping condition 
Switch off SON (Servo-on).  The base circuit is shut off and the servo motor coasts. 
Alarm occurrence  The servo motor decelerates to a stop with the command. With some alarms, 
however, the dynamic brake operates to bring the servo motor to a stop. (Refer to 
chapter 8.) 
EM2 (Forced stop 2) off  The servo motor decelerates to a stop with the command. [AL. E6 Servo forced stop 
warning] occurs. EM2 has the same function as EM1 in the torque control mode. 
Refer to section 3.5 for EM1. 
LSP (Forward rotation stroke end) off, LSN 
(Reverse rotation stroke end) off 
It will bring the motor to a sudden stop and make it servo-locked. It can be run in the 
opposite direction. 
 





4. STARTUP 
4 -  5 
 
4.2.3 Test operation 
Before starting actual operation, perform test operation to make sure that the machine operates normally. 
Refer to section 4.2.1 for how to power on and off the servo amplifier. 
 
Test operation of the servo motor
alone in JOG operation of test
operation mode
Test operation of the servo motor
alone by commands
Test operation with the servo motor
and machine connected
 
In this step, confirm that the servo amplifier and servo motor operate 
normally. 
With the servo motor disconnected from the machine, use the test operation 
mode and check whether the servo motor correctly rotates at the slowest 
speed. Refer to section 4.5.9 for the test operation mode. 
 
In this step, confirm that the servo motor correctly rotates at the slowest 
speed under the commands from the controller. 
Make sure that the servo motor rotates in the following procedure. 
 
1)  Switch on EM2 (Forced stop 2) and SON (Servo-on). When the servo 
amplifier is put in a servo-on status, RD (Ready) switches on. 
 
2)  Switch on LSP (Forward rotation stroke end) and LSN (Reverse rotation 
stroke end). 
 
3)  When a pulse train is input from the controller, the servo motor starts 
rotating. Give a low speed command at first and check the rotation 
direction, etc. of the servo motor. If the machine does not operate in the 
intended direction, check the input signal. 
 
In this step, connect the servo motor with the machine and confirm that the 
machine operates normally under the commands from the controller. 
Make sure that the servo motor rotates in the following procedure. 
 
1)  Switch on EM2 (Forced stop 2) and SON (Servo-on). When the servo 
amplifier is put in a servo-on status, RD (Ready) switches on. 
 
2)  Switch on LSP (Forward rotation stroke end) and LSN (Reverse rotation 
stroke end). 
 
3)  When a pulse train is input from the controller, the servo motor starts 
rotating. Give a low speed command at first and check the operation 
direction, etc. of the machine. If the machine does not operate in the 
intended direction, check the input signal. In the status display, check for 
any problems of the servo motor speed, command pulse frequency, load 
ratio, etc. 
 
4)  Then, check automatic operation with the program of the controller. 
 





4. STARTUP 
4 -  6 
 
4.2.4 Parameter setting 
 
POINT 
 
The following encoder cables are of four-wire type. When using any of these 
encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect 
setting will result in [AL. 16 Encoder initial communication error 1]. 
MR-EKCBL30M-L 
MR-EKCBL30M-H 
MR-EKCBL40M-H 
MR-EKCBL50M-H 
 
 
In the position control mode, the servo amplifier can be used by merely changing the basic setting 
parameters ([Pr. PA _ _ ]) mainly. 
As necessary, set other parameters. 
 
4.2.5 Actual operation 
Start actual operation after confirmation of normal operation by test operation and completion of the 
corresponding parameter settings. Perform a home position return as necessary. 
 





4. STARTUP 
4 -  7 
 
4.2.6 Trouble at start-up 
 
CAUTION 
Never make a drastic adjustment or change to the parameter values as doing so 
will make the operation unstable. 
 
 
POINT 
 
Using the optional MR Configurator2, you can refer to reason for rotation failure, 
etc. 
 
 
The following faults may occur at start-up. If any of such faults occurs, take the corresponding action. 
 
(1)  Troubleshooting 
 
No.  Start-up sequence  Fault  Investigation  Possible cause  Reference
Not improved even if CN1 and 
CN2 connectors are disconnected.
1.  Power supply voltage fault 
2.  The servo amplifier is 
malfunctioning. 
Improved when CN1 connector is 
disconnected. 
Power supply of CN1 cabling is 
shorted. 
1  Power on  LED is not lit. 
LED flickers. 
Improved when CN2 connector is 
disconnected. 
1.  Power supply of encoder 
cabling is shorted.  
2.  Encoder is malfunctioning. 
 
   Alarm occurs.  Refer to chapter 8 and remove cause.  Chapter 8
2  Alarm occurs.  Refer to chapter 8 and remove cause.  Chapter 8
 
Switch on SON 
(Servo-on). 
Servo motor shaft is 
not servo-locked. 
(Servo motor shaft is 
free.) 
1.  Check the display to see if the 
servo amplifier is ready to 
operate. 
2.  Check the external I/O signal 
indication (section 4.5.7) to see 
if SON (Servo-on) is on. 
1.  SON (Servo-on) is not input. 
(wiring mistake) 
2.  24 V DC power is not 
supplied to DICOM. 
Section 
4.5.7 
1.  Wiring mistake 
(a) For open collector pulse 
train input, 24 V DC power 
is not supplied to OPC. 
(b) LSP and LSN are not on. 
2.  Pulse is not input from the 
controller. 
Section 
4.5.3 
Servo motor does not 
rotate. 
Mistake in setting of [Pr. PA13]. 
3  Input command 
pulse (test 
operation). 
Servo motor run in 
reverse direction. 
Check the cumulative command 
pulse on the status display 
(section 4.5.3). 
1.  Mistake in wiring to controller. 
2.  Mistake in setting of [Pr. 
PA14]. 
Chapter 
5 
Rotation ripples (speed 
fluctuations) are large 
at low speed. 
Make gain adjustment in the 
following procedure. 
1.  Increase the auto tuning 
response level. 
2.  Repeat acceleration and 
deceleration several times to 
complete auto tuning. 
Gain adjustment fault   Chapter 
6 
4  Gain adjustment 
Large load inertia 
moment causes the 
servo motor shaft to 
oscillate side to side. 
If the servo motor may be driven 
with safety, repeat acceleration 
and deceleration several times to 
complete auto tuning. 
Gain adjustment fault  Chapter 
6 
5  Cyclic operation  Position shift occurs  Confirm the cumulative command 
pulses, cumulative feedback 
pulses and actual servo motor 
position. 
Pulse counting error, etc. due to 
noise. 
(2) of 
this 
section 
 





4. STARTUP 
4 -  8 
 
(2)  How to find the cause of position shift 
Encoder
Q
P
C
M
L
(b) Cumulative command pulses
(c) Cumulative feedback pulses
(d) Machine stop position M
Cause B
(a) Output pulse
      counter
Cause A
SON (Servo-on) input
LSP/LSN (Stroke end) input
Servo amplifierControlle

r

Servo motor
Machine
Electronic gear
[Pr.PA05], [Pr.PA06],
[Pr.PA07], [Pr.PA21]
Cause C
 
When a position shift occurs, check (a) output pulse counter Q, (b) cumulative command pulse P, (c) 
cumulative feedback pulse C, and (d) machine stop position M in the above diagram. 
Also, Causes A, B, and C indicate the causes of position mismatch. For example, Cause A indicates that 
noise entered the wiring between the controller and servo amplifier, causing command input pulses to be 
miscounted. 
 
In a normal status without position shift, there are the following relationships. 
 
1)  Q = P (Output counter = Cumulative command pulses) 
 
2)  When [Pr. PA21] is "0 _ _ _" 
 
P • 
CMX [Pr. PA06]
CDV [Pr. PA07]
 = C (Cumulative command pulses × Electronic gear = Cumulative feedback 
pulses) 
 
3)  When [Pr. PA21] is "1 _ _ _" 
 
P • 
131072
FBP [Pr. PA05]
 = C 
 
4)  C •  = M (Cumulative feedback pulses × Travel distance per pulse = Machine position) 
 
Check for a position mismatch in the following sequence. 
 
1)  When Q  P 
Noise entered the pulse train signal wiring between the controller and servo amplifier, causing 
command input pulses to be miscounted. (Cause A) 
Make the following check or take the following measures. 
Check how the shielding is done. 
Change the open collector type to the differential line driver type. 
Run wiring away from the power circuit. 
Install a data line filter. (Refer to section 11.9 (2) (a).) 
Change the [Pr. PA13 Command pulse input form] setting. 
 





4. STARTUP 
4 -  9 
 
2)  When P • 
CMX
CDV
  C 
During operation, SON (Servo-on), LSP (Forward rotation stroke end), or LSN (Reverse rotation 
stroke end) was switched off; or CR (Clear) or RES (Reset) was switched on. (Cause C) 
 
3)  When C •   M 
Mechanical slip occurred between the servo motor and machine. (Cause B) 
 
4.3 Startup in speed control mode 
Make a startup in accordance with section 4.1. This section provides the methods specific to the speed 
control mode. 
 
4.3.1 Power on and off procedures 
(1)  Power-on 
Switch power on in the following procedure. Always follow this procedure at power-on. 
 
1)  Switch off SON (Servo-on). 
 
2)  Make sure that ST1 (Forward rotation start) and ST2 (Reverse rotation start) are off. 
 
3)  Turn on the power. 
When main circuit power/control circuit power is switched on, the display shows "r (Servo motor 
speed)", and in 2 s later, shows data. 
 
(2)  Power-off 
1)  Switch off ST1 (Forward rotation start) and ST2 (Reverse rotation start). 
 
2)  Switch off SON (Servo-on). 
 
3)  Shut off the power. 
 
4.3.2 Stop 
If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and 
brings it to a stop. 
Refer to section 3.10 for the servo motor with an electromagnetic brake. 
 
Operation/command  Stopping condition 
Switch off SON (Servo-on).  The base circuit is shut off and the servo motor coasts. 
Alarm occurrence  The servo motor decelerates to a stop with the command. With some alarms, 
however, the dynamic brake operates to bring the servo motor to a stop. (Refer to 
chapter 8.) 
EM2 (Forced stop 2) off  The servo motor decelerates to a stop with the command. [AL. E6 Servo forced stop 
warning] occurs. EM2 has the same function as EM1 in the torque control mode. 
Refer to section 3.5 for EM1. 
LSP (Forward rotation stroke end) off, LSN 
(Reverse rotation stroke end) off 
It will bring the motor to a sudden stop and make it servo-locked. It can be run in the 
opposite direction. 
Simultaneous on or off of ST1 (Forward 
rotation start) and ST2 (Reverse rotation 
start) 
The servo motor is decelerated to a stop. 
 





4. STARTUP 
4 -  10 
 
4.3.3 Test operation 
Before starting actual operation, perform test operation to make sure that the machine operates normally. 
Refer to section 4.3.1 for how to power on and off the servo amplifier. 
 
Test operation of the servo motor
alone in JOG operation of test
operation mode
Test operation of the servo motor
alone by commands
Test operation with the servo
motor and machine connected
 
In this step, confirm that the servo amplifier and servo motor operate 
normally. 
With the servo motor disconnected from the machine, use the test operation 
mode and check whether the servo motor correctly rotates at the slowest 
speed. Refer to section 4.5.9 for the test operation mode. 
 
In this step, confirm that the servo motor correctly rotates at the slowest 
speed under the commands from the controller. 
Make sure that the servo motor rotates in the following procedure. 
 
1)  Switch on EM2 (Forced stop 2) and SON (Servo-on). When the servo 
amplifier is put in a servo-on status, RD (Ready) switches on. 
 
2)  Switch on LSP (Forward rotation stroke end) and LSN (Reverse rotation 
stroke end). 
 
3)  When VC (Analog speed command) is input from the controller and ST1 
(Forward rotation start) or ST2 (Reverse rotation start) is switched on, 
the servo motor starts rotating. Give a low speed command at first and 
check the rotation direction, etc. of the servo motor. If the machine does 
not operate in the intended direction, check the input signal. 
 
In this step, connect the servo motor with the machine and confirm that the 
machine operates normally under the commands from the controller. 
Make sure that the servo motor rotates in the following procedure. 
 
1)  Switch on EM2 (Forced stop 2) and SON (Servo-on). When the servo 
amplifier is put in a servo-on status, RD (Ready) switches on. 
 
2)  Switch on LSP (Forward rotation stroke end) and LSN (Reverse rotation 
stroke end). 
 
3)  When VC (Analog speed command) is input from the controller and ST1 
(Forward rotation start) or ST2 (Reverse rotation start) is switched on, 
the servo motor starts rotating. Give a low speed command at first and 
check the operation direction, etc. of the machine. If the machine does 
not operate in the intended direction, check the input signal. In the status 
display, check for any problems of the servo motor speed, load ratio, etc.
 
4)  Then, check automatic operation with the program of the controller. 
 





4. STARTUP 
4 -  11 
 
4.3.4 Parameter setting 
 
POINT 
 
The following encoder cables are of four-wire type. When using any of these 
encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect 
setting will result in [AL. 16 Encoder initial communication error 1]. 
MR-EKCBL30M-L 
MR-EKCBL30M-H 
MR-EKCBL40M-H 
MR-EKCBL50M-H 
 
 
When using this servo in the speed control mode, change [Pr. PA01] setting to select the speed control 
mode. In the speed control mode, the servo can be used by merely changing the basic setting parameters 
([Pr. PA _ _ ]) and extension setting parameters ([Pr. PC _ _ ]) mainly. 
As necessary, set other parameters. 
 





4. STARTUP 
4 -  12 
 
4.3.5 Actual operation 
Start actual operation after confirmation of normal operation by test operation and completion of the 
corresponding parameter settings. 
 
4.3.6 Trouble at start-up 
 
CAUTION 
Never make a drastic adjustment or change to the parameter values as doing so 
will make the operation unstable. 
 
 
POINT 
 
Using the optional MR Configurator2, you can refer to reason for rotation failure, 
etc. 
 
 
The following faults may occur at start-up. If any of such faults occurs, take the corresponding action. 
 
No.  Start-up sequence  Fault  Investigation  Possible cause  Reference
Not improved even if CN1 and 
CN2 connectors are 
disconnected. 
1.  Power supply voltage fault 
2.  The servo amplifier is 
malfunctioning. 
Improved when CN1 connector is 
disconnected. 
Power supply of CN1 cabling is 
shorted. 
1  Power on  LED is not lit. 
LED flickers. 
Improved when CN2 connector is 
disconnected. 
1.  Power supply of encoder 
cabling is shorted. 
2.  Encoder is malfunctioning. 
 
   Alarm occurs.  Refer to chapter 8 and remove cause.  Chapter 8
2  Alarm occurs.  Refer to chapter 8 and remove cause.  Chapter 8
 
Switch on SON 
(Servo-on). 
Servo motor shaft is 
not servo-locked. 
(Servo motor shaft is 
free.) 
1.  Check the display to see if the 
servo amplifier is ready to 
operate. 
2.  Check the external I/O signal 
indication (section 4.5.7) to 
see if SON (Servo-on) is on. 
1.  SON (Servo-on) is not input. 
(wiring mistake) 
2.  24 V DC power is not supplied 
to DICOM. 
Section 
4.5.7 
Call the status display (section 
4.5.3) and check the input 
voltage of VC (Analog speed 
command). 
Analog speed command is 0 V.  Section 
4.5.3 
Call the external I/O signal 
display (section 4.5.7) and check 
the on/off status of the input 
signal. 
LSP, LSN, ST1, and ST2 are off.  Section 
4.5.7 
Check the internal speed 
commands 1 to 7 ([Pr. PC05] to 
[Pr. PC11]). 
Set value is 0.  Section 
5.2.3 
Check the forward rotation 
torque limit ([Pr. PA11]) and the 
reverse rotation torque limit ([Pr. 
PA12]). 
Torque limit level is too low as 
compared to the load torque. 
Section 
5.2.1 
3  Switch on ST1 
(Forward rotation 
start) or ST2 
(Reverse rotation 
start). 
Servo motor does not 
rotate. 
When TLA (Analog torque limit) 
is usable, check the input voltage 
on the status display. 
Torque limit level is too low as 
compared to the load torque. 
Section 
4.5.3 
 





4. STARTUP 
4 -  13 
 
No.  Start-up sequence  Fault  Investigation  Possible cause  Reference
Rotation ripples (speed 
fluctuations) are large 
at low speed.  
Make gain adjustment in the 
following procedure. 
1.  Increase the auto tuning 
response level. 
2.  Repeat acceleration and 
deceleration several times to 
complete auto tuning. 
Gain adjustment fault  Chapter 
6 
4  Gain adjustment 
Large load inertia 
moment causes the 
servo motor shaft to 
oscillate side to side. 
If the servo motor may be driven 
with safety, repeat acceleration 
and deceleration several times to 
complete auto tuning. 
Gain adjustment fault  Chapter 
6 
 
4.4 Startup in torque control mode 
Make a startup in accordance with section 4.1. This section provides the methods specific to the torque 
control mode. 
 
4.4.1 Power on and off procedures 
(1)  Power-on 
Switch power on in the following procedure. Always follow this procedure at power-on. 
 
1)  Switch off SON (Servo-on). 
 
2)  Make sure that RS1 (Forward rotation selection) and RS2 (Reverse rotation selection) are off. 
 
3)  Turn on the power. 
Data is displayed in 2 s after "U" (Analog torque command) is displayed. 
 
(2)  Power-off 
1)  Switch off RS1 (Forward rotation selection) or RS2 (Reverse rotation selection). 
 
2)  Switch off SON (Servo-on). 
 
3)  Shut off the power. 
 
4.4.2 Stop 
If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and 
brings it to a stop. Refer to section 3.10 for the servo motor with an electromagnetic brake. 
 
Operation/command  Stopping condition 
Switch off SON (Servo-on).  The base circuit is shut off and the servo motor coasts. 
Alarm occurrence  The servo motor decelerates to a stop with the command. With some alarms, 
however, the dynamic brake operates to bring the servo motor to a stop. (Refer to 
chapter 8.) 
EM2 (Forced stop 2) off  This stops the servo motor with the dynamic brake. [AL. E6 Servo forced stop 
warning] occurs. EM2 has the same function as EM1 in the torque control mode. 
Refer to section 3.5 for EM1. 
Simultaneous on or off of RS1 (Forward 
rotation selection) and RS2 (Reverse rotation 
selection) 
The servo motor coasts. 
 





4. STARTUP 
4 -  14 
 
4.4.3 Test operation 
Before starting actual operation, perform test operation to make sure that the machine operates normally. 
Refer to section 4.4.1 for how to power on and off the servo amplifier. 
 
Test operation of the servo motor
alone in JOG operation of test
operation mode
Test operation of the servo
motor alone by commands
Test operation with the servo
motor and machine connected
 
In this step, confirm that the servo amplifier and servo motor operate 
normally. 
With the servo motor disconnected from the machine, use the test operation 
mode and check whether the servo motor correctly rotates at the slowest 
speed. Refer to section 4.5.9 for the test operation mode. 
 
In this step, confirm that the servo motor correctly rotates at the slowest 
speed under the commands from the controller. 
Make sure that the servo motor rotates in the following procedure. 
 
1)  Switch on SON (Servo-on). When the servo amplifier is put in a servo-on 
status, RD (Ready) switches on. 
 
2)  When TC (Analog speed command) is input from the controller and RS1 
(Forward rotation start) or RS2 (Reverse rotation start) is switched on, 
the servo motor starts rotating. Give a low torque command at first and 
check the rotation direction, etc. of the servo motor. If the machine does 
not operate in the intended direction, check the input signal. 
 
In this step, connect the servo motor with the machine and confirm that the 
machine operates normally under the commands from the controller. 
Make sure that the servo motor rotates in the following procedure. 
 
1)  Switch on SON (Servo-on). When the servo amplifier is put in a servo-on 
status, RD (Ready) switches on. 
 
2)  When TC (Analog speed command) is input from the controller and RS1 
(Forward rotation start) or RS2 (Reverse rotation start) is switched on, 
the servo motor starts rotating. Give a low torque command at first and 
check the operation direction, etc. of the machine. If the machine does 
not operate in the intended direction, check the input signal. In the status 
display, check for any problems of the servo motor speed, load ratio, etc.
 
3)  Then, check automatic operation with the program of the controller. 
 





4. STARTUP 
4 -  15 
 
4.4.4 Parameter setting 
 
POINT 
 
The following encoder cables are of four-wire type. When using any of these 
encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect 
setting will result in [AL. 16 Encoder initial communication error 1]. 
MR-EKCBL30M-L 
MR-EKCBL30M-H 
MR-EKCBL40M-H 
MR-EKCBL50M-H 
 
 
When using this servo in the torque control mode, change [Pr. PA01] setting to select the torque control 
mode. In the torque control mode, the servo can be used by merely changing the basic setting parameters 
([Pr. PA _ _ ]) and extension setting parameters ([Pr. PC _ _ ]) mainly. 
As necessary, set other parameters. 
 
4.4.5 Actual operation 
Start actual operation after confirmation of normal operation by test operation and completion of the 
corresponding parameter settings. 
 





4. STARTUP 
4 -  16 
 
4.4.6 Trouble at start-up 
 
CAUTION 
Never make a drastic adjustment or change to the parameter values as doing so 
will make the motion unstable. 
 
 
POINT 
 
Using the optional MR Configurator2, you can refer to reason for rotation failure, 
etc. 
 
 
The following faults may occur at start-up. If any of such faults occurs, take the corresponding action. 
 
No. 
Start-up sequence  Fault  Investigation  Possible cause  Reference
Not improved even if CN1 and 
CN2 connectors are 
disconnected. 
1.  Power supply voltage fault 
2.  The servo amplifier is 
malfunctioning. 
Improved when CN1 connector is 
disconnected. 
Power supply of CN1 cabling is 
shorted. 
1 
Power on 
LED is not lit. 
LED flickers. 
Improved when CN2 connector is 
disconnected. 
1.  Power supply of encoder 
cabling is shorted. 
2.  Encoder is malfunctioning. 
 
  
Alarm occurs.  Refer to chapter 8 and remove cause.  Chapter 8
2 
Alarm occurs.  Refer to chapter 8 and remove cause.  Chapter 8
 
Switch on SON 
(Servo-on). 
Servo motor shaft is 
free. 
Call the external I/O signal 
display (section 4.5.7) and check 
the on/off status of the input 
signal. 
1.  SON (Servo-on) is not input. 
(wiring mistake) 
2.  24 V DC power is not supplied 
to DICOM. 
Section 
4.5.7 
Call the status display (section 
4.5.3) and check the input 
voltage of TC (Analog torque 
command). 
Analog torque command is 0 V.  Section 
4.5.3 
Call the external I/O signal 
display (section 4.5.7) and check 
the on/off status of the input 
signal. 
RS1 and RS2 are off.  Section 
4.5.7 
Check the internal speed limit 1 
to 7 ([Pr. PC05] to [Pr. PC11]). 
Set value is 0.  Section 
5.2.3 
Check the analog torque 
command maximum output ([Pr. 
PC13]) value. 
Torque command level is too low 
as compared to the load torque. 
Section 
5.2.3 
3 
Switch on RS1 
(Forward rotation 
start) or RS2 
(Reverse rotation 
start). 
Servo motor does not 
rotate. 
Check the forward rotation 
torque limit ([Pr. PA11]) and the 
reverse rotation torque limit ([Pr. 
PA12]). 
Set value is 0.  Section 
5.2.1 
 





4. STARTUP 
4 -  17 
 
4.5 Display and operation sections 
4.5.1 Summary 
The MR-JE-A servo amplifier has the display section (5-digit, 7-segment LED) and operation section (4 
pushbuttons) for servo amplifier status display, alarm display, parameter setting, etc. Push the "MODE" and 
"SET" buttons at the same time for 3 s or more to switch to the one-touch tuning mode. 
The operation section and display data are described below. 
Display mode change
Low/High switching
Decimal LED Displays the decimal points, alarm presence/absence, etc.
Lit to indicate the decimal point.
Decimal
Lit to indicate a negative when "-"
(negative) cannot be displayed.
Flickers to indicate alarm occurrence.
Flickers to indicate the test operation
mode.
5-digit, 7-segment LED Displays data.
MODE
SET
AUTO
Display/data scrolling (UP)
Display/data scrolling (DOWN)
Display/data determination
Data clear
To the one-touch tuning mode
 
 





4. STARTUP 
4 -  18 
 
4.5.2 Display flowchart 
Press the "MODE" button once to shift to the next display mode. Refer to section 4.5.3 and later for the 
description of the corresponding display mode. 
To refer to and set the gain/filter parameters, extension setting parameters and I/O setting parameters, 
enable them with [Pr. PA19 Parameter writing inhibit]. 
 
Display mode transition  Initial screen  Function  Reference 
 
Servo status display. 
 appears at power-on. 
(Note) 
Section 
4.5.3 
 
One-touch tuning 
Select this when performing the one-touch 
tuning. 
Section 6.2 
 
Sequence display, external signal display, 
output signal (DO) forced output, test 
operation, software version display, VC 
automatic offset, servo motor series ID 
display, servo motor type ID display, servo 
motor encoder ID display, drive recorder 
enabled/disabled display. 
Section 
4.5.4 
 
Current alarm display, alarm history display, 
parameter error number display. 
Section 
4.5.5 
 
Display and setting of basic setting 
parameters. 
Section 
4.5.6 
 
Display and setting of gain/filter parameters.   
 
Display and setting of extension setting 
parameters. 
 
 
Display and setting of I/O setting parameters.   
 
Display and setting of extension setting 2 
parameters. 
 
Status display
Diagnosis
Alarms
Basic setting
parameters
Gain/filter
parameters
Extension setting
parameters
Extension setting 2
parameters
Extension setting 3
parameters
I/O setting
parameters
Button
MODE
One-touch tuning
 
Display and setting of extension setting 3 
parameters. 
 
 
Note. When the axis name is set to the servo amplifier using MR Configurator2, the axis name is displayed and the servo status is then 
displayed. 
 





4. STARTUP 
4 -  19 
 
4.5.3 Status display mode 
The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or 
"DOWN" button to change display data as desired. When the required data is selected, the corresponding 
symbol is displayed. Press the "SET" button to display that data. At only power-on, however, data appears 
after the symbol of the status display selected in [Pr. PC36] has been shown for 2 s. 
 
(1)  Display transition 
After selecting the status display mode with the "MODE" button, pressing the "UP" or "DOWN" button 
changes the display as shown below. 
Regenerative load ratio
Cumulative feedback
pulses
Effective load ratio
Peak load ratio
Instantaneous torque
Within one-revolution
position (1 pulse unit)
Servo motor speed
Within one-revolution position
(1000 pulse unit)
Droop pulses
Cumulative command
pulses
Load to motor inertia ratio
ABS counter (Note)
Command pulse frequency
Bus voltage
Encoder inside temperature
Settling time
Oscillation detection frequency
Number of tough drives
Unit power consumption 1
(increment of 1 W)
Unit total power consumption 1
(increment of 1 Wh)
Unit power consumption 2
(increment of 1 kW)
Unit total power consumption 2
(increment of 100 kWh)
Unit total power
consumption 2
(increment of 100 kWh)
Cumulative feedback pulses
Analog torque limit
voltage
Analog torque command
voltage
Analog speed command
voltage
Analog speed limit
voltage
DOWN
UP
 
Note. Travel distance from power on is displayed by counter value. 
 





4. STARTUP 
4 -  20 
 
(2)  Display examples 
The following table shows the display examples. 
 
Displayed data 
Item  Status 
Servo amplifier display 
Forward rotation at 2500 
r/min 
 
 
 
Servo motor speed 
Reverse rotation at 3000 
r/min 
 
 
 
Reverse rotation is indicated by "- ". 
Load to motor inertia ratio 7.00 times 
 
 
 
11252 pulses 
 
 
 
Cumulative feedback 
pulses 
-12566 pulses 
 
Lit
 
 
Negative value is indicated by the lit decimal 
points in the upper four digits. 
 





4. STARTUP 
4 -  21 
 
(3)  Status display list 
The following table lists the servo statuses that may be shown. Refer to appendix 4 for the measurement 
point. 
 
Status display  Symbol  Unit  Description 
Cumulative feedback pulses  C  pulse 
Feedback pulses from the servo motor encoder are counted and displayed. 
The values in excess of ±99999 can be counted. However, the counter shows 
only the lower five digits of the actual value since the servo amplifier display is 
five digits. 
Press the "SET" button to reset the display value to zero. 
The value of minus is indicated by the lit decimal points in the upper four digits. 
Servo motor speed  r  r/min 
The servo motor speed is displayed. 
It is displayed rounding off 0.1 r/min unit. 
Droop pulses  E  pulse 
The number of droop pulses in the deviation counter are displayed. 
The decimal points in the upper four digits are lit for reverse rotation pulses. 
The values in excess of ±99999 can be counted. However, the counter shows 
only the lower five digits of the actual value since the servo amplifier display is 
five digits. 
The number of pulses displayed is in the encoder pulse unit. 
Cumulative command pulses  P  pulse 
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 values in excess of ±99999 can be counted. However, the counter shows 
only the lower five digits of the actual value since the servo amplifier display is 
five digits. 
Press the "SET" button to reset the display value to zero. 
When the servo motor is rotating in the reverse direction, the decimal points in 
the upper four digits are lit. 
Command pulse frequency  n  kpulse/s 
The frequency of position command input pulses is counted and displayed. 
The value displayed is not multiplied by the electronic gear (CMX/CDV). 
1)  Torque control mode 
Input voltage of VLA (Analog speed limit) voltage is displayed. 
Analog speed command 
voltage 
Analog speed limit voltage 
F  V 
2)  Speed control mode 
Input voltage of VC (Analog speed command) voltage is displayed 
1)  Position control mode and speed control mode 
Voltage of TLA (Analog torque limit) voltage is displayed. 
Analog torque command 
voltage 
Analog torque limit voltage 
U  V 
2)  Torque control mode 
Voltage of TC (Analog torque command) voltage is displayed. 
Regenerative load ratio  L  % 
The ratio of regenerative power to permissible regenerative power is displayed in 
%. 
Effective load ratio  J  % 
The continuous effective load current is displayed. 
The effective value in the past 15 s is displayed relative to the rated current of 
100 %. 
Peak load ratio  b  % 
The maximum occurrence torque is displayed. 
The highest value in the past 15 s is displayed relative to the rated current of 100 
%. 
Instantaneous torque  T  % 
The instantaneous occurrence torque is displayed. 
The value of torque being occurred is displayed in real time considering a rated 
torque as 100%. 
Within one-revolution position 
(1 pulse unit) 
Cy1  pulse 
Position within one revolution is displayed in encoder pulses. 
The values in excess of ±99999 can be counted. However, the counter shows 
only the lower five digits of the actual value since the servo amplifier display is 
five digits. 
When the servo motor rotates in the CCW direction, the value is added. 
Within one-revolution position 
(1000 pulses unit) 
Cy2 
1000 
pulses 
The within one-revolution position is displayed in 1000 pulse increments of the 
encoder. 
When the servo motor rotates in the CCW direction, the value is added. 
ABS counter  LS  rev  Travel distance from power on is displayed by counter value. 
Load to motor inertia ratio  dC  Multiplier 
The estimated ratio of the load inertia moment to the servo motor shaft inertia 
moment is displayed. 
 





4. STARTUP 
4 -  22 
 
Status display  Symbol  Unit  Description 
Bus voltage  Pn  V  The voltage of main circuit converter (between P+ and N-) is displayed. 
Encoder inside temperature  ETh  °C  Inside temperature of encoder detected by the encoder is displayed. 
Settling time  ST  ms  Settling time is displayed. When it exceeds 1000 ms, "1000" will be displayed. 
Oscillation detection 
frequency 
oF  Hz  Frequency at the time of oscillation detection is displayed. 
Number of tough drive 
operations 
Td  times  The number of tough drive functions activated is displayed. 
Unit power consumption 1 
(increment of 1 W) 
PC1  W 
Unit power consumption is displayed by increment of 1 W. Positive value indicate 
power running, and negative value indicate regeneration. The values in excess of 
±99999 can be counted. However, the counter shows only the lower five digits of 
the actual value since the servo amplifier display is five digits. 
Unit power consumption 2 
(increment of 1 kW) 
PC2  kW 
Unit power consumption is displayed by increment of 1 kW. Positive value 
indicate power running, and negative value indicate regeneration. 
Unit total power consumption 
1 (increment of 1 Wh) 
TPC1  Wh 
Unit total power consumption is displayed by increment of 1 Wh. Positive value is 
cumulated during power running and negative value during regeneration. The 
values in excess of ±99999 can be counted. However, the counter shows only 
the lower five digits of the actual value since the servo amplifier display is five 
digits. 
Unit total power consumption 
2 (increment of 100 kWh) 
TPC2  100 kWh 
Unit total power consumption is displayed by increment of 100 kWh. Positive 
value is cumulated during power running and negative value during regeneration.
 
(4)  Changing the status display screen 
The status display item of the servo amplifier display shown at power-on can be changed by changing 
[Pr. PC36] settings. The item displayed in the initial status changes with the control mode as follows. 
 
Control mode  Status display 
Position  Cumulative feedback pulses 
Position/speed  Cumulative feedback pulses/servo motor speed 
Speed  Servo motor speed 
Speed/torque  Servo motor speed/analog torque command voltage 
Torque  Analog torque command voltage 
Torque/position  Analog torque command voltage/cumulative feedback 
pulses 
 





4. STARTUP 
4 -  23 
 
4.5.4 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. 
 
Drive recorder enabled 
When an alarm occurs in the status, the drive 
recorder will operate and write the status of 
occurrence. 
Drive recorder enabled/disabled display 
 
Drive recorder disabled 
The drive recorder will not operate on the 
following conditions. 
1.  You are using the graph function of MR 
Configurator2. 
2.  You are using the machine analyzer 
function. 
3.  [Pr. PF21] is set to "-1". 
External I/O signal display  Refer to section 4.5.7. 
This Indicates the on/off status of external I/O 
signal. 
The upper segments correspond to the input 
signals and the lower segments to the output 
signals. 
Output signal (DO) forced output 
 
This allows digital output signal to be 
switched on/off forcibly. 
For details, refer to section 4.5.8. 
JOG operation 
 
JOG operation can be performed when there 
is no command from an external controller. 
For details, refer to section 4.5.9 (2). 
Positioning operation 
 
Positioning operation can be performed when 
there is no command from an external 
controller. 
MR Configurator2 is required to perform 
positioning operation. 
For details, refer to section 4.5.9 (3). 
Motor-less operation 
 
Without connecting the servo motor, output 
signals or status display monitoring can be 
provided in response to the input device as if 
the servo motor is actually running. 
For details, refer to section 4.5.9 (4). 
Machine analyzer 
operation 
 
Merely connecting the servo amplifier allows 
the resonance point of the mechanical system 
to be measured. 
MR Configurator2 is required to perform 
machine analyzer operation. 
Refer to section 11.4 for details. 
Test operation 
mode 
For manufacturer 
adjustment 
 
This is for manufacturer adjustment. 
 





4. STARTUP 
4 -  24 
 
Name  Display  Description 
Software version - Lower 
 
Indicates the version of the software. 
Software version - Upper 
 
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 VC (Analog 
speed 
 command) or VLA (Analog speed limit) of 0 
V, this function automatically makes zero-
adjustment of offset voltages. 
When using this function, enable the function 
in the following procedure. When it is 
enabled, [Pr. PC37] value changes to the 
automatically adjusted offset voltage. 
1)  Push "SET" once. 
2)  Set the number in the first digit to 1 with 
"UP"/"DOWN". 
3)  Push "SET". 
This function cannot be used if the input 
voltage of VC or VLA is - +0.4 V or less, or + 
0.4 V or more. (Note) 
Servo motor series ID 
 
Push the "SET" button to show the series ID 
of the servo motor currently connected. 
For indication details, refer to appendix 1 of 
"HF-KN/HF-SN servo Motor Instruction 
Manual". 
Servo motor type ID 
 
Push the "SET" button to show the type ID of 
the servo motor currently connected. 
For indication details, refer to appendix 1 of 
"HF-KN/HF-SN servo Motor Instruction 
Manual". 
Servo motor encoder ID 
 
Push the "SET" button to show the encoder 
ID of the servo motor currently connected. 
For indication details, refer to appendix 1 of 
"HF-KN/HF-SN servo Motor Instruction 
Manual". 
For manufacturer adjustment 
 
This is for manufacturer adjustment. 
For manufacturer adjustment 
 
This is for manufacturer adjustment. 
 
Note. Even if Automatic VC offset is performed and 0 V is input, the servo motor may not completely stop due to an internal error. To 
completely stop the servo motor, switch off ST1 or ST2. 
 





4. STARTUP 
4 -  25 
 
4.5.5 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. 
 
Name  Display  Description 
 
Indicates no occurrence of an alarm. 
Current alarm 
 
Indicates the occurrence of [AL. 33.1 Main 
circuit voltage error]. 
Flickers at alarm occurrence. 
 
Indicates that the last alarm is [AL. 50.1 
Thermal overload error 1 during operation]. 
 
 
 
Indicates the second last alarm is [AL. 33.1 
Main circuit voltage error]. 
 
 
 
Indicates the third last alarm is [AL. 10.1 
Voltage drop in the power]. 
 
 
   
 
Indicates  that  there  is  no  tenth  alarm  in  the 
past. 
 
Indicates  that  there  is  no  eleventh  alarm  in 
the past. 
 
Indicates that  there  is no twelfth  alarm  in  the 
past. 
   
Alarm history 
 
Indicates that there is no sixteenth alarm in 
the past. 
 
This indicates no occurrence of [AL. 37 
Parameter error]. 
Parameter error No. 
 
The data content error of [Pr. PA12 Reverse 
rotation torque limit]. 
 





4. STARTUP 
4 -  26 
 
Functions at occurrence of an alarm 
(1)  Any mode screen displays the current alarm. 
 
(2)  Even during alarm occurrence, the other screen can be viewed by pressing the button in the operation 
area. At this time, the decimal point in the fourth digit remains flickering. 
 
(3)  For any alarm, remove its cause and clear it in any of the following methods. (Refer to chapter 8 for the 
alarms that can be cleared.) 
 
(a)  Switch power off, then on. 
 
(b)  Push the "SET" button on the current alarm screen. 
 
(c)  Turn on RES (Reset). 
 
(4)  Use [Pr. PC18] to clear the alarm history. 
 
(5)  Push "UP" or "DOWN" to move to the next history. 
 
4.5.6 Parameter mode 
(1)  Parameter mode transition 
After selecting the corresponding parameter mode with the "MODE" button, pushing the "UP" or 
"DOWN" button changes the display as shown below. 
[Pr. PB01]
[Pr. PA02]
[Pr. PA01]
I/O setting
parameters
[Pr. PD01]
[Pr. PD02]
[Pr. PD47]
[Pr. PD48]
[Pr. PC01]
[Pr. PC02]
[Pr. PC79]
Extension setting
parameters
[Pr. PC80]
[Pr. PB02]
[Pr. PB63]
[Pr. PB64]
To status display mode
[Pr. PA31]
Basic setting
parameters
[Pr. PA32]
Extension setting 2
parameters
[Pr. PE01]
[Pr. PE02]
[Pr. PE63]
[Pr. PE64]
Extension setting 3
parameters
[Pr. PF01]
[Pr. PF02]
[Pr. PF47]
[Pr. PF48]
Gain/filter
parameters
MODE
UP
DOWN
From an alarm
mode
 
 





4. STARTUP 
4 -  27 
 
(2)  Operation example 
(a)  Parameters of 5 or less digits 
The following example shows the operation procedure performed after power-on to change the 
control mode to the speed control mode with [Pr. PA01 Operation mode]. Press "MODE" to switch to 
the basic setting parameter screen. 
The parameter number is displayed.
Press "UP" or "DOWN" to change the number.
The set value of the specified parameter number flickers.
Press "SET" twice.
Press "SET" to enter.
Press "UP" twice.
During flickering, the set value can be changed.
Use "UP" or "DOWN".
(_ _ _ 2: Speed control mode)
……
……
……
 
To shift to the next parameter, press the "UP" or "DOWN" button. 
When changing the [Pr. PA01] setting, change its set value, then switch power off once and switch it 
on again to enable the new value. 
 
(b)  Parameters of 6 or more digits 
The following example gives the operation procedure to change the electronic gear numerator to 
"123456" with [Pr. PA06 Electronic gear numerator]. 
The screen flickers.
Press "MODE" to switch to the basic setting parameter screen.
Press "UP" or "DOWN" to select [Pr. PA06].
Press "SET" once.
Press "SET" once.
Setting of upper 1 digit
Press "UP" or "DOWN" to
change the setting.
Press "SET" once.
Enter the setting.
Press "MODE" once.
Press "MODE" once.
Setting of lower 4 digits
…… ……
…… …
 
 





4. STARTUP 
4 -  28 
 
4.5.7 External I/O signal display 
 
POINT 
 
The I/O signal settings can be changed using the I/O setting parameters [Pr. 
PD03] to [Pr. PD28]. 
 
 
The on/off states of the digital I/O signals connected to the servo amplifier can be confirmed. 
 
(1)  Operation 
The display screen at power-on. Using the "MODE" button, display the diagnostic screen. 
Press "UP" twice.
……
External I/O signal display screen
 
(2)  Display definition 
The 7-segment LED segments and CN1 connector pins correspond as shown below. 
Input signal
Output signals
Always lit
CN1
42
CN1
41
CN1
48
CN1
19
CN1
15
CN1
23
CN1
49
CN1
24
Light on: on
Light off: off
CN1
33
CN1
44
CN1
43
 
The LED segment corresponding to the pin is lit to indicate on, and is extinguished to indicate off. 
The signals corresponding to the pins in the respective control modes are indicated below. 
 





4. STARTUP 
4 -  29 
 
(a)  Control modes and I/O signals 
 
(Note 2) Symbols of I/O signals in control modes 
Connecto

r

Pin No. 
Signal 
input/output 
(Note 1) I/O 
P  P/S  S  S/T  T  T/P 
Related parameter 
 15  I  SON SON SON SON SON SON Pr. PD03/Pr. PD04 
 16                 
 17                 
 18                 
 19  I  RES RES/ST1 ST1 ST1/RS2 RS2 RS2/RES Pr. PD11/Pr. PD12 
 22                 
 23  O  ZSP ZSP ZSP ZSP  ZSP  ZSP  Pr. PD24 
 24  O  INP INP/SA SA SA/-    -/INP  Pr. PD25 
CN1  25                 
 33  O  OP  OP  OP  OP  OP  OP   
 41  I  CR CR/ST2 ST2 ST2/RS1 RS1 RS1/CR Pr. PD13/Pr. PD14 
 42  I  EM2 EM2 EM2 EM2 EM2 EM2   
 43  I  LSP LSP LSP LSP/-    -/LSP Pr. PD17/Pr. PD18 
 44  I  LSN LSN LSN LSN/-    -/LSN Pr. PD19/Pr. PD20 
 45                 
 48  O  ALM ALM ALM ALM ALM ALM   
 49  O  RD  RD  RD  RD  RD  RD  Pr. PD28 
 
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 switching mode, S/T: speed/torque control switching mode, T/P: torque/position switching mode 
 
(b)  Symbol and signal names 
 
Symbol  Signal name  Symbol  Signal name 
SON  Servo-on  RES  Reset 
LSP  Forward rotation stroke end  EM2  Forced stop 2 
LSN  Reverse rotation stroke end  LOP  Control switching 
CR  Clear  TLC  Limiting torque 
SP1  Speed selection 1  VLC  Limiting speed 
SP2  Speed selection 2  RD  Ready 
PC  Proportion control  ZSP  Zero speed detection 
ST1  Forward rotation start  INP  In-position 
ST2  Reverse rotation start  SA  Speed reached 
RS1  Forward rotation selection  ALM  Malfunction 
RS2  Reverse rotation selection  OP  Encoder Z-phase pulse (open collector) 
TL  External torque limit selection     
 





4. STARTUP 
4 -  30 
 
(3)  Display data at initial values 
(a)  Position control mode 
Light on: on
Light off: off
EM2 (CN1-42)
Input signal
Output signals
OP (CN1-33)
ALM (CN1-48)
CR (CN1-41)
RES (CN1-19)
SON (CN1-15)
LSN (CN1-44)
LSP (CN1-43)
RD (CN1-49)
INP (CN1-24)
ZSP (CN1-23)
 
(b)  Speed control mode 
Light on: on
Light off: off
EM2 (CN1-42)
Input signal
Output signals
OP (CN1-33)
ALM (CN1-48)
ST2 (CN1-41)
ST1 (CN1-19)
SON (CN1-15)
LSN (CN1-44)
LSP (CN1-43)
RD (CN1-49)
SA (CN1-24)
ZSP (CN1-23)
 
(c)  Torque control mode 
Light on: on
Light off: off
EM2 (CN1-42)
Input signal
Output signals
OP (CN1-33)
ALM (CN1-48)
RS1 (CN1-41)
RS2 (CN1-19)
SON (CN1-15)
RD (CN1-49)
ZSP (CN1-23)
 
 





4. STARTUP 
4 -  31 
 
4.5.8 Output signal (DO) forced output 
 
POINT 
 
When the servo system is used in a vertical lift application, turning on MBR 
(Electromagnetic brake interlock) by the DO forced output after assigning it to 
connector CN1 will release the electromagnetic brake, causing a drop. Take 
drop preventive measures on the machine side. 
 
 
Output signals can be switched on/off forcibly independently of the servo status. This function is used for 
output signal wiring check, etc. This operation must be performed in the servo off state by turning off SON 
(Servo-on). 
 
Operation 
The display screen at power-on. Using the "MODE" button, display the diagnostic screen. 
……
……
……
……
……
Switch on/off the signal below the lit segment.
Indicates on/off of output signal. Definitions of on/off
are the same as those for the external I/O signals.
(Light on: on, light off: off)
Press "UP" three times.
Press "SET" for longer than 2 s.
CN1
33
CN1
48
CN1
23
CN1
24
CN1
49
Press "MODE" once.
Press "UP" once.
CN1-24 switches on.
(Between CN1-24 and DOCOM are connected.)
The lit LED moves to the upper LED of CN1-24.
Press "DOWN" once.
CN1-24 switches off.
Press "SET" for longer than 2 s.
Always lit.
 
 





4. STARTUP 
4 -  32 
 
4.5.9 Test operation mode 
 
CAUTION 
The test operation mode is designed for checking servo operation. Do not use it 
for actual operation. 
If the servo motor operates unexpectedly, use EM2 (Forced stop 2) to stop it. 
 
 
POINT 
 
MR Configurator2 is required to perform positioning operation. 
Test operation cannot be performed if SON (Servo-on) is not turned off. 
 
 
(1)  Mode switching 
The display screen at power-on. Select JOG operation or motor-less operation in the following 
procedure. Using the "MODE" button, display the diagnostic screen. 
Press "UP" four times.
Press "SET" for longer than 2 s.
When this screen appears,
JOG operation can be performed.
Flickers in the test operation mode.
……
 
 





4. STARTUP 
4 -  33 
 
(2)  JOG operation 
 
POINT 
 
When performing JOG operation, turn on EM2, LSP and LSN. LSP and LSN can 
be set to automatic on by setting [Pr. PD01] to " _ C _ _ ". 
 
 
JOG operation can be performed when there is no command from the controller. 
 
(a)  Operation 
The servo motor rotates while holding down the "UP" or the "DOWN" button. The servo motor stops 
rotating by releasing the button. The operation condition can be changed using MR Configurator2. 
The initial operation condition and setting range for operation are listed below. 
 
Item  Initial setting  Setting range 
Speed [r/min]  200 
0 to permissible instantaneous 
speed 
Acceleration/deceleration 
time constant [ms] 
1000  0 to 50000 
 
The following table shows how to use the buttons. 
 
Button  Description 
"UP" 
Press to start CCW rotation. 
Release to stop. 
"DOWN" 
Press to start CW rotation. 
Release to stop. 
 
If the USB cable is disconnected during JOG operation using the MR Configurator2, the servo motor 
decelerates to a stop. 
 
(b)  Status display 
Press the "MODE" button in the JOG operation-ready status to call the status display screen. When 
the JOG operation is performed using the "UP" or "DOWN" button, the servo status is displayed 
during the JOG operation. Every time the "MODE" button is pressed, the next status display screen 
appears. When one cycle of the screen display is complete, it returns to the JOG operation-ready 
status screen. Refer to section 4.5.3 for details of status display. Note that the status display screen 
cannot be changed by the "UP" or "DOWN" button during the JOG operation. 
 
(c)  Termination of JOG operation 
To end the JOG operation, shut the power off once, or press the "MODE" button to switch to the next 
screen, and then hold down the "SET" button for 2 s or longer. 
 
 





4. STARTUP 
4 -  34 
 
(3)  Positioning operation 
 
POINT 
 
MR Configurator2 is required to perform positioning operation. 
Turn on EM2 (forced stop 2) when performing positioning operation. 
 
 
Positioning operation can be performed when there is no command from the controller. 
 
(a)  Operation 
a)
m)
b)
n)
g)
l)
k)j)
c)
d)
e)
f)
h)
i)
 
a) Motor speed [r/min] 
Enter the servo motor speed into the "Motor speed" input field. 
 
b) Acceleration/deceleration time constant [ms] 
Enter the acceleration/deceleration time constant into the "Accel/decel time" input field. 
 
c)  Travel distance [pulse] 
Enter the travel distance into the "Travel distance" input field. 
 
d) LSP/LSN are automatically turned on 
When setting the external stroke signal to automatic on, click the check box to enable it. When 
it is not selected, turn on LSP and LSN externally. 
 
e) Move till Z-phase signal 
Travel is made until the travel distance is reached and the first Z-phase signal in the travelling 
direction turns on. 
 





4. STARTUP 
4 -  35 
 
f)  Travel distance unit selection 
Select with the option buttons whether the travel distance set in c) is in the command pulse 
unit or in the encoder pulse unit. 
When the command input pulse unit is selected, the value, which is the set travel distance 
multiplied by the electronic gear, will be the command value. When the encoder pulse unit is 
selected, the travel distance is not multiplied by the electronic gear. 
 
g) Enable repeat operation 
To perform repeat operation, click the check. The initial setting and setting range for the repeat 
operation are listed below. 
 
Item  Initial setting  Setting range 
Repeat pattern 
Fwd. rot. (CCW) to rev. rot. 
(CW) 
Fwd. rot. (CCW) to rev. rot. 
(CW) 
Fwd. rot. (CCW) to fwd. rot. 
(CCW) 
Rev. rot. (CW) to fwd. rot. 
(CCW) 
Rev. rot. (CW) to rev. rot. 
(CW) 
Dwell time [s]  2.0  0.1 to 50.0 
Number of operations 
[times] 
1  1 to 9999 
 
To perform continuous operation with the repeat pattern and dwell time settings, which are set 
by referring to the above table, click the check box of "Make the aging function enabled". 
 
h) Forward/reverse the servo motor 
 Click the "Forward CCW" button to rotate the servo motor in the forward rotation direction. 
Click the "Reverse CW" button to rotate the servo motor in the reverse rotation direction. 
 
i)  Pause the servo motor 
Click the "Pause" button during servo motor rotation to temporarily stop the servo motor. 
This button is enabled during servo motor rotation. 
 
h) Stop the servo motor 
Click the "Stop" button during servo motor rotation to stop the servo motor. 
 
k)  Forced stop 
Click the "Forced stop" button during servo motor rotation to make a sudden stop. 
This button is enabled during servo motor rotation. 
 
l)  Operation status 
The operation status during the repeat operation, and the number of operations are displayed 
 
m) Axis No. 
Axis No. in operation is displayed. 
 
n) Termination of positioning operation window 
Click the close button to cancel the positioning operation mode and close the window. 
 
(b)  Status display 
The status display can be monitored during positioning operation. 
 





4. STARTUP 
4 -  36 
 
(4)  Motor-less operation 
Without connecting the servo motor, output signals or status display can be provided in response to the 
input device as if the servo motor is actually running. This operation can be used to check the sequence 
of a controller or the like. 
 
(a)  Start of motor-less operation 
After setting "_ _ _ 1" in [Pr. PC60], cycle the power. After that, perform external operation as in 
ordinary operation. 
 
(b)  Termination of motor-less operation 
To terminate the motor-less operation, set [Pr. PC60] to "_ _ _ 0" and then turn the power off. 
 
(5)  Program operation 
Positioning operation can be performed in two or more operation patterns combined, without using a 
controller. Use this operation with the forced stop reset. This operation may be used independently of 
whether servo-on or servo-off and whether a controller is connected or not. 
Exercise control on the program operation screen of MR Configurator2. For full information, refer to the 
MR Configurator2 Installation Guide. 
 
Operation  Screen control 
Start  Click the "Operation start" button. 
Stop  Click the "Stop" button. 
Forced stop  Click the "Forced Stop" button. 
 
(6)  Output signal (DO) forced output 
Output signals can be switched on/off forcibly independently of the servo status. This function is used for 
output signal wiring check, etc. Exercise control on the DO forced output screen of MR Configurator2. 
 
 





5. PARAMETERS 
5 -  1 
 
5. PARAMETERS 
CAUTION 
Never make a drastic adjustment or change to the parameter values as doing so 
will make the operation unstable. 
If fixed values are written in the digits of a parameter, do not change these values.
Do not change parameters for manufacturer setting. 
Do not set a value other than the described values to each parameter. 
 
 
5.1 Parameter list 
 
POINT 
 
To enable a parameter whose symbol is preceded by *, turn off the power for 1 s 
or more after setting and turn it on again. However, the time will be longer 
depending on a setting value of [Pr. PF25 SEMI-F47 function - Instantaneous 
power failure detection time (instantaneous power failure tough drive - detection 
time)] when "SEMI-F47 function selection (instantaneous power failure tough 
drive selection)" is enabled in [Pr. PA20]. 
The symbols in the control mode column mean as follows. 
P:  Position control mode 
S:  Speed control mode 
T:  Torque control mode 
 
 
5.1.1 Basic setting parameters ([Pr. PA_ _ ]) 
Control mode
No.  Symbol  Name 
Initial 
value 
Unit 
P  S  T 
PA01  *STY  Operation mode  1000h   
PA02  *REG  Regenerative option  0000h   
PA03    For manufacturer setting  0000h         
PA04  *AOP1  Function selection A-1  2000h     
PA05  *FBP  Number of command input pulses per revolution  10000      
PA06  CMX  Electronic gear numerator (command pulse multiplication numerator)  1      
PA07  CDV  Electronic gear denominator (command pulse multiplication denominator) 1      
PA08  ATU  Auto tuning mode  0001h     
PA09  RSP  Auto tuning response  16     
PA10  INP  In-position range  100  [pulse]    
PA11  TLP  Forward rotation torque limit  100.0  [%] 
PA12  TLN  Reverse rotation torque limit  100.0  [%] 
PA13  *PLSS  Command pulse input form  0100h      
PA14  *POL  Rotation direction selection  0      
PA15  *ENR  Encoder output pulses  4000  [pulse/rev] 
PA16  *ENR2  Encoder output pulses 2  1   
PA17  For manufacturer setting  0000h 
PA18 
 
  0000h 
       
PA19  *BLK  Parameter writing inhibit  00AAh   
PA20  *TDS  Tough drive setting  0000h   
PA21  *AOP3  Function selection A-3  0001h     
PA22    For manufacturer setting  0000h         
PA23  DRAT  Drive recorder arbitrary alarm trigger setting  0000h   
PA24  AOP4  Function selection A-4  0000h     
PA25  OTHOV  One-touch tuning - Overshoot permissible level  0  [%]   
PA26  *AOP5  Function selection A-5  0000h     
PA27  For manufacturer setting  0000h 
PA28 
 
  0000h 
 
     
 





5. PARAMETERS 
5 -  2 
 
Control mode
No.  Symbol  Name 
Initial 
value 
Unit 
P  S  T 
PA29  For manufacturer setting  0000h 
PA30    0000h 
PA31    0000h 
PA32 
 
  0000h 
 
     
 
5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) 
Control mode
No.  Symbol  Name 
Initial 
value 
Unit 
P  S  T 
PB01  FILT  Adaptive tuning mode (adaptive filter II)  0000h   
PB02 
VRFT  Vibration suppression control tuning mode (advanced vibration 
suppression control II) 
0000h   
  
PB03 
PST  Position command acceleration/deceleration time constant (position 
smoothing) 
0  [ms] 
  
PB04  FFC  Feed forward gain  0  [%]    
PB05    For manufacturer setting  500         
PB06  GD2  Load to motor inertia ratio  7.00  [Multiplier]   
PB07  PG1  Model loop gain  15.0  [rad/s]    
PB08  PG2  Position loop gain   37.0    [rad/s]    
PB09  VG2  Speed loop gain  823 [rad/s]    
PB10  VIC  Speed integral compensation   33.7  [ms]    
PB11  VDC  Speed differential compensation  980     
PB12  OVA  Overshoot amount compensation    0  [%]    
PB13  NH1  Machine resonance suppression filter 1   4500    [Hz]  
PB14  NHQ1  Notch shape selection 1    0000h   
PB15  NH2  Machine resonance suppression filter 2  4500  [Hz]  
PB16  NHQ2   Notch shape selection 2  0000h   
PB17  NHF  Shaft resonance suppression filter  0000h   
PB18  LPF  Low-pass filter setting  3141   [rad/s]    
PB19  VRF11  Vibration suppression control 1 - Vibration frequency  100.0   [Hz]     
PB20  VRF12  Vibration suppression control 1 - Resonance frequency  100.0   [Hz]     
PB21  VRF13  Vibration suppression control 1 - Vibration frequency damping    0.00      
PB22  VRF14  Vibration suppression control 1 - Resonance frequency damping  0.00      
PB23  VFBF   Low-pass filter selection  0100h   
PB24  *MVS  Slight vibration suppression control  0000h      
PB25  *BOP1   Function selection B-1  0000h      
PB26  *CDP  Gain switching function  0000h      
PB27  CDL  Gain switching condition  10  [kpulse/s]/ 
[pulse]/ 
[r/min] 
 
PB28  CDT  Gain switching time constant  1  [ms]   
PB29  GD2B  Load to motor inertia ratio after gain switching   7.00  [Multiplier]   
PB30  PG2B  Gain switching position loop gain  0.0     [rad/s]     
PB31  VG2B  Gain switching speed loop gain    0   [rad/s]    
PB32  VICB  Speed integral compensation after gain switching    0.0  [ms]    
PB33  VRF1B  Vibration suppression control 1 - Vibration frequency after gain switching  0.0    [Hz]     
PB34  VRF2B  Vibration suppression control 1 - Resonance frequency after gain 
switching 
  0.0   [Hz]    
PB35  VRF3B  Vibration suppression control 1 - Vibration frequency damping after gain 
switching 
0.00      
PB36  VRF4B   Vibration suppression control 1 - Resonance frequency damping after 
gain switching 
0.00      
PB37  For manufacturer setting  1600 
PB38    0.00    
PB39    0.00 
PB40 
 
     0.00     
 
     
 





5. PARAMETERS 
5 -  3 
 
Control mode
No.  Symbol  Name 
Initial 
value 
Unit 
P  S  T 
PB41  For manufacturer setting  0000h 
PB42    0000h 
PB43    0000h     
PB44 
 
     0.00    
 
     
PB45  CNHF  Command notch filter    0000h       
PB46  NH3  Machine resonance suppression filter 3  4500  [Hz]  
PB47   NHQ3  Notch shape selection 3  0000h   
PB48   NH4  Machine resonance suppression filter 4  4500   [Hz]  
PB49   NHQ4  Notch shape selection 4  0000h   
PB50  NH5  Machine resonance suppression filter 5  4500     [Hz] 
PB51  NHQ5  Notch shape selection 5  0000h   
PB52  VRF21  Vibration suppression control 2 - Vibration frequency  100.0  [Hz]    
PB53  VRF22  Vibration suppression control 2 - Resonance frequency  100.0  [Hz]    
PB54  VRF23   Vibration suppression control 2 - Vibration frequency damping  0.00      
PB55  VRF24  Vibration suppression control 2 - Resonance frequency damping  0.00      
PB56  VRF21B  Vibration suppression control 2 - Vibration frequency after gain switching  0.0  [Hz]    
PB57  VRF22B  Vibration suppression control 2 - Resonance frequency after gain 
switching 
0.0  [Hz]    
PB58  VRF23B  Vibration suppression control 2 - Vibration frequency damping after gain 
switching 
0.00      
PB59  VRF24B  Vibration suppression control 2 - Resonance frequency damping after 
gain switching 
0.00      
PB60  PG1B  Model loop gain after gain switching  0.0  [rad/s]   
PB61  For manufacturer setting  0.0 
PB62    0000h 
PB63    0000h 
PB64 
 
  0000h 
 
     
 
5.1.3 Extension setting parameters ([Pr. PC_ _ ]) 
Control mode
No.  Symbol  Name 
Initial 
value 
Unit 
P  S  T 
PC01  STA  Acceleration time constant  0  [ms]   
PC02  STB  Deceleration time constant  0  [ms]   
PC03  STC   S-pattern acceleration/deceleration time constant  0  [ms]   
PC04  TQC  Torque command time constant  0  [ms]     
 Internal speed command 1      PC05  SC1 
Internal speed limit 1    
100  [r/min] 
  
Internal speed command 2      PC06  SC2 
 Internal speed limit 2 
500  [r/min] 
  
 Internal speed command 3      PC07  SC3 
Internal speed limit 3 
1000  [r/min] 
  
 Internal speed command 4     PC08  SC4 
Internal speed limit 4    
200  [r/min] 
  
Internal speed command 5     PC09  SC5 
 Internal speed limit 5 
300  [r/min] 
  
Internal speed command 6     PC10  SC6 
Internal speed limit 6 
500  [r/min] 
  
Internal speed command 7     PC11  SC7 
 Internal speed limit 7 
800  [r/min] 
  
Analog speed command - Maximum speed     PC12  VCM 
Analog speed limit - Maximum speed 
0  [r/min] 
  
PC13  TLC  Analog torque command maximum output  100.0 [%]   
PC14  MOD1  Analog monitor 1 output  0000h  
PC15  MOD2  Analog monitor 2 output  0001h  
 





5. PARAMETERS 
5 -  4 
 
Control mode
No.  Symbol  Name 
Initial 
value 
Unit 
P  S  T 
PC16  MBR   Electromagnetic brake sequence output  0  [ms] 
PC17  ZSP  Zero speed  50  [r/min] 
PC18  *BPS  Alarm history clear  0000h   
PC19  *ENRS  Encoder output pulse selection  0000h  
PC20  For manufacturer setting  0 
PC21 
 
  0000h 
 
     
PC22  *COP1  Function selection C-1  0020h   
PC23  *COP2  Function selection C-2  0000h     
PC24  *COP3  Function selection C-3  0000h      
PC25    For manufacturer setting  0000h         
PC26  *COP5  Function selection C-5  0000h     
PC27    For manufacturer setting  0000h         
PC28  For manufacturer setting  0000h 
PC29 
 
      0000h 
 
     
PC30  STA2  Acceleration time constant 2   0    [ms]   
PC31  STB2   Deceleration time constant 2   0   [ms]   
PC32  CMX2  Command input pulse multiplication numerator 2   1       
PC33  CMX3  Command input pulse multiplication numerator 3  1      
PC34  CMX4 Command input pulse multiplication numerator 4  1       
PC35  TL2  Internal torque limit 2  100.0 [%] 
PC36  *DMD  Status display selection   0000h   
Analog speed command offset     PC37  VCO 
 Analog speed limit offset 
  0   [mV] 
  
Analog torque command offset     PC38  TPO 
Analog torque limit offset 
0  [mV] 
   
PC39  MO1  Analog monitor 1 offset    0   [mV] 
PC40  MO2   Analog monitor 2 offset  0  [mV] 
PC41  For manufacturer setting    0 
PC42 
 
  0     
 
     
PC43  ERZ  Error excessive alarm level   0  [rev]     
PC44   For manufacturer setting  0000h 
PC45      0000h 
PC46    0 
     PC47      0 
PC48      0 
PC49      0 
PC50 
 
    0000h 
 
     
PC51  RSBR   Forced stop deceleration time constant   100  [ms]    
PC52  For manufacturer setting    0 
PC53 
 
  0 
 
     
     PC54  RSUP1  Vertical axis freefall prevention compensation amount    0  [0.0001rev]    
PC55  For manufacturer setting  0 
PC56    100     
PC57    0000h 
PC58      0 
PC59 
 
  0000h     
 
     
PC60    *COPD Function selection C-D  0000h   
PC61  For manufacturer setting    0000h 
PC62    0000h 
PC63    0000h 
PC64    0000h 
PC65      0000h 
PC66    0000h 
PC67    0000h 
PC68 
 
  0000h 
 
     
 





5. PARAMETERS 
5 -  5 
 
Control mode
No.  Symbol  Name 
Initial 
value 
Unit 
P  S  T 
PC69  For manufacturer setting  0000h 
PC70      0000h 
PC71    0000h 
PC72       0000h 
PC73      0000h 
PC74      0000h 
PC75    0000h 
PC76    0000h 
PC77      0000h 
PC78      0000h 
PC79      0000h 
PC80 
 
  0000h 
 
     
 
5.1.4 I/O setting parameters ([Pr. PD_ _ ]) 
Control mode
No.  Symbol  Name 
Initial 
value 
Unit 
P  S  T 
PD01  *DIA1  Input signal automatic on selection 1   0000h   
PD02    For manufacturer setting    0000h         
PD03  *DI1L  Input device selection 1L  0202h      
PD04  *DI1H  Input device selection 1H  0002h    
PD05  For manufacturer setting  2100h   
PD06    0021h   
PD07    0704h 
PD08     0007h 
PD09    0805h 
PD10 
 
  0008h 
 
     
PD11  *DI5L   Input device selection 5L  0703h     
PD12  *DI5H  Input device selection 5H  0007h       
PD13  *DI6L  Input device selection 6L  0806h   
PD14  *DI6H  Input device selection 6H  0008h       
PD15  For manufacturer setting    0000h 
PD16 
 
  0000h 
 
     
PD17  *DI8L  Input device selection 8L  0A0Ah     
PD18  *DI8H  Input device selection 8H  0000h       
PD19  *DI9L  Input device selection 9L  0B0Bh     
PD20  *DI9H Input device selection 9H   0000h       
PD21  For manufacturer setting  2323h 
PD22      0023h 
PD23 
 
  0004h 
 
     
PD24  *DO2 Output device selection 2  000Ch  
PD25  *DO3  Output device selection 3  0004h  
PD26  For manufacturer setting  0007h   
PD27 
 
  0003h 
 
     
PD28  *DO6  Output device selection 6   0002h   
PD29  *DIF  Input filter setting    0004h   
PD30  *DOP1  Function selection D-1  0000h    
PD31    For manufacturer setting    0000h         
PD32  *DOP3  Function selection D-3  0000h      
PD33    For manufacturer setting    0000h         
PD34  DOP5  Function selection D-5  0000h  
PD35  For manufacturer setting  0000h 
PD36      0000h 
PD37    0000h 
PD38 
 
  0 
 
     
 





5. PARAMETERS 
5 -  6 
 
Control mode
No.  Symbol  Name 
Initial 
value 
Unit 
P  S  T 
PD39  For manufacturer setting  0 
PD40    0 
PD41      0000h 
PD42    0000h 
PD43    0000h 
PD44      0000h 
PD45    0000h 
PD46    0000h 
PD47      0000h 
PD48 
 
  0000h 
       
 
5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) 
Control mode
No.  Symbol  Name 
Initial 
value 
Unit 
P  S  T 
PE01  For manufacturer setting    0000h     
PE02      0000h 
PE03      0003h 
PE04    1   
PE05    1 
PE06      400 
PE07      100 
PE08    10 
PE09    0000h 
PE10      0000h 
PE11      0000h 
PE12    0000h 
PE13      0000h 
PE14    0111h 
PE15    20 
PE16      0000h 
PE17    0000h 
PE18    0000h 
PE19      0000h 
PE20      0000h 
PE21      0000h 
PE22      0000h 
PE23    0000h 
PE24    0000h 
PE25    0000h 
PE26      0000h 
PE27      0000h 
PE28      0000h 
PE29    0000h 
PE30      0000h 
PE31    0000h 
PE32    0000h 
PE33      0000h 
PE34    1 
PE35    1 
PE36    0.0 
PE37      0.00     
PE38      0.00     
PE39      20 
PE40 
 
    0000h 
 
     
 





5. PARAMETERS 
5 -  7 
 
Control mode
No.  Symbol  Name 
Initial 
value 
Unit 
P  S  T 
PE41  EOP3 Function selection E-3  0000h   
PE42  For manufacturer setting  0     
PE43    0.0 
PE44      0000h 
PE45      0000h 
PE46    0000h 
PE47      0000h 
PE48    0000h 
PE49      0000h 
PE50      0000h 
PE51      0000h 
PE52    0000h 
PE53      0000h 
PE54    0000h 
PE55      0000h 
PE56    0000h 
PE57      0000h 
PE58    0000h 
PE59    0000h 
PE60    0000h 
PE61    0.00 
PE62    0.00 
PE63    0.00 
PE64 
 
  0.00 
 
     
 
5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) 
Control mode
No.  Symbol  Name 
Initial 
value 
Unit 
P  S  T 
PF01   For manufacturer setting  0000h 
PF02      0000h 
PF03    0000h 
PF04      0   
PF05      0 
PF06    0000h 
PF07    1 
PF08      1 
PF09      0000h 
PF10      0000h 
PF11    0000h 
PF12    10000 
PF13      100 
PF14      100 
PF15      2000    
PF16    0000h 
PF17    10     
PF18     0000h 
PF19     0000h 
PF20 
 
    0000h 
 
     
PF21  DRT  Drive recorder switching time setting    0   [s] 
PF22     For manufacturer setting   200         
PF23  OSCL1  Vibration tough drive - Oscillation detection level  50  [%]    
PF24  *OSCL2 Vibration tough drive function selection   0000h     
PF25  CVAT 
SEMI-F47 function - Instantaneous power failure detection time 
(instantaneous power failure tough drive - detection time) 
  200  [ms] 
 





5. PARAMETERS 
5 -  8 
 
Control mode
No.  Symbol  Name 
Initial 
value 
Unit 
P  S  T 
PF26   For manufacturer setting  0 
PF27      0 
PF28    0 
PF29    0000h 
PF30 
 
  0 
 
     
PF31  FRIC Machine diagnosis function - Friction judgement speed  0  [r/min] 
PF32  For manufacturer setting    50     
PF33    0000h    
PF34    0000h 
PF35    0000h 
PF36    0000h 
PF37      0000h 
PF38      0000h 
PF39      0000h 
PF40      0000h 
PF41      0000h 
PF42    0000h 
PF43    0000h 
PF44    0000h 
PF45    0000h 
PF46    0000h 
PF47      0000h 
PF48 
 
  0000h 
 
     
 
5.2 Detailed list of parameters 
 
POINT 
 
Set a value to each "x" in the "Setting digit" columns. 
 
 
5.2.1 Basic setting parameters ([Pr. PA_ _ ]) 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PA01 
*STY 
Operation 
mode 
_ _ _ x  Control mode selection 
Select a control mode. 
0:  Position control mode 
1:  Position control mode and speed control mode 
2:  Speed control mode 
3:  Speed control mode and torque control mode 
4:  Torque control mode 
5:  Torque control mode and position control mode 
0h 
 _ _ x _ For manufacturer setting  0h    
 _ x _ _   0h       
 x _ _ _   1h       
 





5. PARAMETERS 
5 -  9 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PA02 
*REG 
Regenerative 
option 
 
_ _ x x  Regenerative option 
Used to select the regenerative option. 
Incorrect setting may cause the regenerative option to burn. 
If a selected regenerative option is not for use with the servo amplifier, [AL. 37 
Parameter error] occurs. 
 
00:  Regenerative option is not used. 
For servo amplifier of 200 W or less, regenerative resistor is not used. 
For servo amplifier of 0.4 kW to 3 kW, built-in regenerative resistor is used. 
02:  MR-RB032 
03:  MR-RB12 
04:  MR-RB32 
05:  MR-RB30 
06:  MR-RB50 (Cooling fan is required.) 
00h 
 _ x _ _ For manufacturer setting  0h    
 x _ _ _   0h       
PA04  _ _ _ x  For manufacturer setting  0h       
*AOP1  _ _ x _    0h       
Function 
selection A-1 
_ x _ _    0h       
 x _ _ _ Forced stop deceleration function selection 
0:  Forced stop deceleration function disabled (EM1) 
2:  Forced stop deceleration function enabled (EM2) 
Refer to table 5.1 for details. 
2h 
 
 
Table 5.1 Deceleration method 
 
   Deceleration method     
  
Setting 
value 
EM2/EM1 
EM2 or EM1 is off  Alarm occurred     
  0 _ _ _ EM1 MBR (Electromagnetic 
brake interlock) turns off 
without the forced stop 
deceleration. 
MBR (Electromagnetic 
brake interlock) turns off 
without the forced stop 
deceleration. 
  
  2 _ _ _ EM2 MBR (Electromagnetic 
brake interlock) turns off 
after the forced stop 
deceleration. 
MBR (Electromagnetic 
brake interlock) turns off 
after the forced stop 
deceleration. 
  
             
PA05 
*FBP 
Number of 
command 
input pulses 
per revolution 
 The servo motor rotates based on set command input pulses. 
To  enable  the  parameter  value,  select  "Number  of  command  input  pulses  per 
revolution (1 _ _ _)" of "Electronic gear selection" in [Pr. PA21]. 
 
Setting range:  1000 to 1000000 
10000 
  
 





5. PARAMETERS 
5 -  10 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PA06 
CMX 
Electronic 
gear 
numerator 
(command 
pulse 
multiplication 
numerator) 
 Set the numerator of the electronic gear. 
To enable the parameter, select "Electronic gear (0 _ _ _)" of "Electronic gear 
selection" in [Pr. PA21]. 
The following shows a standard of the setting range of the electronic gear. 
 
1
10
 
󰃹
 
CMX
CDV
 
󰃹
 4000 
 
If the set value is outside this range, noise may be generated during 
acceleration/deceleration or operation may not be performed at the preset speed 
and/or acceleration/deceleration time constants. 
CDV
FBP
Command
pulse train
Pt
"0" (initial value)
CMX
Deviation
counter
+
-
Electronic gear
([Pr. PA06]   [Pr. PA07])
Number of command input pulses per revolutio

n

([Pr. PA05] "1000" to "1000000")
Servo motor
Encoder
M
"1"
Electronic gear selection
(x _ _ _ ) ([Pr. PA21])
Pt (servo motor resolution): 131072 pulses/rev
 
Always set the electronic gear with servo-off state to prevent unexpected operation 
due to improper setting. 
 
Setting range:  1 to 16777215 
1 
  
PA07 
CDV 
Electronic 
gear 
denominator 
(command 
pulse 
multiplication 
denominator) 
 Set the denominator of the electronic gear. 
To enable the parameter, select "Electronic gear (0 _ _ _)" of "Electronic gear 
selection" in [Pr. PA21]. 
 
Setting range:  1 to 16777215 
1 
  
 





5. PARAMETERS 
5 -  11 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PA08 
ATU 
Auto tuning 
mode 
_ _ _ x  Gain adjustment mode selection 
Select the gain adjustment mode. 
0:  2 gain adjustment mode 1 (interpolation mode) 
1:  Auto tuning mode 1 
2:  Auto tuning mode 2 
3:  Manual mode 
4:  2 gain adjustment mode 2 
Refer to table 5.2 for details. 
1h 
 
 _ _ x _ For manufacturer setting  0h    
 _ x _ _   0h       
 x _ _ _   0h       
  
Table 5.2 Gain adjustment mode selection 
 
  Setting 
value 
Gain adjustment 
mode 
Automatically adjusted parameter 
  
  _ _ _ 0 2 gain adjustment 
mode 1 (interpolation 
mode) 
[Pr. PB06 Load to motor inertia ratio] 
[Pr. PB08 Position loop gain] 
[Pr. PB09 Speed loop gain] 
[Pr. PB10 Speed integral compensation] 
  
  _ _ _ 1 Auto tuning mode 1 [Pr. PB06 Load to motor inertia ratio] 
[Pr. PB07 Model loop gain] 
[Pr. PB08 Position loop gain] 
[Pr. PB09 Speed loop gain] 
[Pr. PB10 Speed integral compensation] 
  
  _ _ _ 2 Auto tuning mode 2 [Pr. PB07 Model loop gain] 
[Pr. PB08 Position loop gain] 
[Pr. PB09 Speed loop gain] 
[Pr. PB10 Speed integral compensation] 
  
  _ _ _ 3 Manual mode      
  _ _ _ 4 2 gain adjustment 
mode 2 
[Pr. PB08 Position loop gain] 
[Pr. PB09 Speed loop gain] 
[Pr. PB10 Speed integral compensation] 
  
          
 





5. PARAMETERS 
5 -  12 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
Set a response of the auto tuning. 
 
16 
 Machine characteristic  Machine characteristic         
PA09 
RSP 
Auto tuning 
response 
 
Setting 
value 
Response 
Guideline for 
machine 
resonance 
frequency [Hz] 
 
Setting 
value 
Response
Guideline for 
machine 
resonance 
frequency [Hz] 
    
  1 
Low 
respon
se 
2.7 
 21 
Middle 
respon
se 
67.1 
    
  2  3.6  22  75.6     
  3  4.9  23  85.2     
  4  6.6  24  95.9     
  5  10.0  25  108.0     
  6  11.3  26  121.7     
  7  12.7  27  137.1     
  8  14.3  28  154.4     
  9  16.1  29  173.9     
  10  18.1  30  195.9     
  11  20.4  31  220.6     
  12  23.0  32  248.5     
  13  25.9  33  279.9     
  14  29.2  34  315.3     
  15  32.9  35  355.1     
  16  37.0  36  400.0     
  17  41.7  37  446.6     
  18  47.0  38  501.2     
  19 
 
52.9    39 
 
571.5         
  20 
Middle 
respon
se 
59.6 
 40 
High 
respon
se 
642.7 
    
             
 Setting range:  1 to 40          
 
PA10 
INP 
In-position 
range 
 Set an in-position range per command pulse. 
To change it to the servo motor encoder pulse unit, set [Pr. PC24]. 
 
Setting range:  0 to 65535 
100 
[pulse] 
  
PA11 
TLP 
Forward 
rotation 
torque limit 
 You can limit the torque generated by the servo motor. Set the parameter referring 
section 3.6.1 (5). 
The larger value of [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse 
rotation torque limit] will be the maximum output voltage (8 V). 
Set the parameter on the assumption that the maximum torque is 100 [%]. The 
parameter is for limiting the torque of the servo motor in the CCW power running or 
CW regeneration. Set this parameter to "0.0" to generate no torque. 
 
Setting range:  0.0 to 100.0 
100.0 
[%] 
PA12 
TLN 
Reverse 
rotation 
torque limit 
 You can limit the torque generated by the servo motor. Set the parameter referring 
section 3.6.1 (5). 
The larger value of [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse 
rotation torque limit] will be the maximum output voltage (8 V). 
Set the parameter on the assumption that the maximum torque is 100 [%]. The 
parameter is for limiting the torque of the servo motor in the CW power running or 
CCW regeneration. Set this parameter to "0.0" to generate no torque. 
 
Setting range:  0.0 to 100.0 
100.0 
[%] 
 





5. PARAMETERS 
5 -  13 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PA13 
*PLSS 
Command 
pulse input 
form 
_ _ _ x  Command input pulse train form selection 
0: Forward/reverse rotation pulse train 
1: Signed pulse train 
2: A-phase/B-phase pulse train (The servo amplifier imports input pulses after 
multiplying by four.) 
Refer to table 5.3 for settings. 
0h    
 _ _ x _ Pulse train logic selection 
0: Positive logic 
1: Negative logic 
Refer to table 5.3 for settings. 
0h 
  
 _ x _ _ Command input pulse train filter selection 
Selecting proper filter enables to enhance noise immunity. 
0: Command input pulse train is 4 Mpulses/s or less. 
1: Command input pulse train is 1 Mpulse/s or less. 
2: Command input pulse train is 500 kpulses/s or less. 
3: Command input pulse train is 200 kpulses/s or less. 
1 Mpulse/s or lower commands are supported by "1". When inputting commands 
over 1 Mpulse/s and 4 Mpulses/s or lower, set "0". 
Setting a value not according to the command pulse frequency may cause the 
following malfunctions. 
Setting a value higher than actual command will lower noise immunity. 
Setting a value lower than actual command will cause a position mismatch. 
1h    
 x _ _ _ For manufacturer setting  0h    
 
 
 
Table 5.3 Command input pulse train form selection 
  
 
 
 
Setting 
value 
Pulse train form 
Forward rotation 
command 
Reverse rotation 
command 
  
 
 
 _ _ 1 0h  
Forward rotation 
pulse train 
Reverse rotation 
pulse train 
NP
PP
 
  
 
 
 _ _ 1 1h 
Negative logic 
Signed pulse train 
PP
L
H
NP
 
  
 
 
 _ _ 1 2h  
A-phase pulse 
train 
B-phase pulse 
train 
PP
NP
 
  
 
 
 _ _ 0 0h  
Forward rotation 
pulse train 
Reverse rotation 
pulse train 
NP
PP
 
  
 
 
 _ _ 0 1h 
Positive logic 
Signed pulse train 
L
H
PP
NP
 
  
 
 
 _ _ 0 2h  
A-phase pulse 
train 
B-phase pulse 
train 
PP
NP
 
  
 
            
 Arrows in the table indicate the timing of importing pulse trains. A-phase pulse train and B-phase pulse train are 
imported after they have been multiplied by 4. 
 





5. PARAMETERS 
5 -  14 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
Select servo motor rotation direction relative to the input pulse train. 
 
0 
 Servo motor rotation direction    
PA14 
*POL 
Rotation 
direction 
selection 
 
Setting 
value 
When forward rotation 
pulse is input 
When reverse rotation 
pulse is input 
 
  
  0 CCW CW    
  1 CW CCW    
  
The following shows the servo motor rotation directions. 
Forward rotation (CCW)
Reverse rotation (CW)
 
  
 
 
Setting range:  0, 1     
 
 
PA15 
*ENR 
Encoder 
output pulses 
 Set the encoder output pulses from the servo amplifier by using the number of 
output pulses per revolution, dividing ratio, or electronic gear ratio. (after 
multiplication by 4) 
To set a numerator of the electronic gear, select "A-phase/B-phase pulse electronic 
gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr. PC19]. 
The maximum output frequency is 4.6 Mpulses/s. Set the parameter within this 
range. 
 
Setting range:  1 to 4194304 
4000 
[pulse/ 
rev] 
PA16 
*ENR2 
Encoder 
output pulses 
2 
 Set a denominator of the electronic gear for the A/B-phase pulse output. 
To set a denominator of the electronic gear, select "A-phase/B-phase pulse 
electronic gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr. 
PC19]. 
 
Setting range:  1 to 4194304 
1 
 





5. PARAMETERS 
5 -  15 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
 Select a reference range and writing range of the parameter. 
Refer to table 5.4 for settings. 
00AAh 
  
Table 5.4 [Pr. PA19] setting value and reading/writing range 
 
    
PA19 
*BLK 
Parameter 
writing inhibit 
 
PA19 
Setting 
operation 
PA  PB  PC  PD  PE  PF   
    
   Reading 
 
          
  
Other 
than 
below 
Writing 
 
      
    
   Reading Only 19          
  
000Ah 
Writing  Only 19                    
   Reading 
     
        
  
000Bh 
Writing 
     
        
   Reading 
       
       
  
000Ch 
Writing 
       
       
   Reading 
           
      
  
00AAh 
(initial 
value) 
Writing 
           
 
    
   Reading 
 
          
  
100Bh 
Writing  Only 19                    
   Reading 
       
       
  
100Ch 
Writing  Only 19                    
   Reading 
           
      
  
10AAh 
Writing  Only 19                    
               
Alarms may not be avoided with the tough drive function depending on the situations of the power supply and load 
fluctuation. 
You can assign MTTR (During tough drive) to pins CN1-23, CN1-24, and CN1-49 with [Pr. PD24], [Pr. PD25], and [Pr. 
PD28]. 
PA20 
*TDS 
Tough drive 
setting 
_ _ _ x  For manufacturer setting  0h       
 _ _ x _ Vibration tough drive selection 
0:  Disabled 
1:  Enabled 
 
Selecting "1" enables to suppress vibrations by automatically changing setting 
values of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine 
resonance suppression filter 2] in case that the vibration exceed the value of the 
oscillation level set in [Pr. PF23]. 
To output the oscillation detection alarm as a warning, set [Pr. PF24 Vibration tough 
drive function selection]. 
Refer to section 7.3 for details. 
0h 
 
 _ x _ _ SEMI-F47 function selection (instantaneous power failure tough drive selection) 
0:  Disabled 
1:  Enabled 
 
Selecting "1" enables to avoid occurring [AL. 10 Undervoltage] using the electrical 
energy charged in the capacitor in the servo amplifier in case that an instantaneous 
power failure occurs during operation. In [Pr. PF25 SEMI-F47 function - 
Instantaneous power failure detection time (instantaneous power failure tough drive - 
detection time)], set the time until the occurrence of [AL. 10.1 Voltage drop in the 
power]. 
When the parameter is enabled, the power should be off for the setting value of [Pr. 
PF25] + 1.5 s or more before cycling the power to enable a parameter whose symbol 
is preceded by "*". 
0h 
 x _ _ _ For manufacturer setting  0h    
 





5. PARAMETERS 
5 -  16 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PA21 
*AOP3 
Function 
selection A-3 
_ _ _ x  One-touch tuning function selection 
0:  Disabled 
1:  Enabled 
 
When the digit is "0", the one-touch tuning is not available. 
1h 
 
 _ _ x _ For manufacturer setting  0h    
 _ x _ _   0h       
 x _ _ _ Electronic gear selection 
0:  Electronic gear ([Pr. PA06] and [Pr. PA07]) 
1:  Number of command input pulses per revolution ([Pr. PA05]) 
0h 
  
_ _ x x  Alarm detail No. setting 
Set the digits when you execute the trigger with arbitrary alarm detail No. for the 
drive recorder function. 
When these digits are "0 0", only the arbitrary alarm No. setting will be enabled. 
00h PA23 
DRAT 
Drive 
recorder 
arbitrary 
alarm trigger 
setting 
x x _ _  Alarm No. setting 
Set the digits when you execute the trigger with arbitrary alarm No. for the drive 
recorder function. 
When "0 0" are set, arbitrary alarm trigger of the drive recorder will be disabled. 
00h 
 Setting example: 
To activate the drive recorder when [AL. 50 Overload 1] occurs, set "5 0 0 0". 
To activate the drive recorder when [AL. 50.3 Thermal overload error 4 during operation] occurs, set "5 0 0 3". 
PA24 
AOP4 
Function 
selection A-4 
_ _ _ x  Vibration suppression mode selection 
0:  Standard mode 
1:  3 inertia mode 
2:  Low response mode 
 
When you select the standard mode or low response mode, "Vibration suppression 
control 2" is not available. 
When you select the 3 inertia mode, the feed forward gain is not available. 
Before changing the control mode during the 3 inertia mode or low response mode, 
stop the motor. 
0h 
 
 _ _ x _ For manufacturer setting  0h    
 _ x _ _   0h       
 x _ _ _   0h       
PA25 
OTHOV 
One-touch 
tuning - 
Overshoot 
permissible 
level 
 Set a permissible value of overshoot amount for one-touch tuning as a percentage of 
the in-position range. 
However, setting "0" will be 50%. 
0 
[%] 
 
PA26 
*AOP5 
Function 
selection A-5 
_ _ _ x  Torque limit function selection at instantaneous power failure 
0:  Disabled 
1:  Enabled 
Selecting "1" for this digit will limit torques to save electric energy when an 
instantaneous power failure occurs during operation and will make [AL. 10 
Undervoltage] less likely to occur. 
The torque limit function at instantaneous power failure is enabled when "SEMI-F47 
function selection (instantaneous power failure tough drive selection)" in [Pr. PA20] 
is "Enabled (_ 1 _ _)". 
0h   
 _ _ x _ For manufacturer setting  0h    
 _ x _ _   0h       
 x _ _ _   0h       
 





5. PARAMETERS 
5 -  17 
 
5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PB01 
FILT 
Adaptive 
tuning mode 
(adaptive 
filter II) 
_ _ _ x  Filter tuning mode selection 
Set the adaptive filter tuning. 
Select the adjustment mode of the machine resonance suppression filter 1. Refer to 
section 7.1.2 for details. 
0:  Disabled 
1:  Automatic setting (Do not use this in the torque control mode.) 
2:  Manual setting 
0h 
 _ _ x _ For manufacturer setting  0h    
 _ x _ _   0h       
 x _ _ _   0h       
_ _ _ x  Vibration suppression control 1 tuning mode selection 
Select the tuning mode of the vibration suppression control 1. Refer to section 7.1.5 
for details. 
0:  Disabled 
1:  Automatic setting 
2:  Manual setting 
0h 
  PB02 
VRFT 
Vibration 
suppression 
control tuning 
mode 
(advanced 
vibration 
suppression 
control II) 
_ _ x _  Vibration suppression control 2 tuning mode selection 
Select the tuning mode of the vibration suppression control 2. To enable the digit, 
select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr. 
PA24]. Refer to section 7.1.5 for details. 
0:  Disabled 
1:  Automatic setting 
2:  Manual setting 
0h 
  
 _ x _ _ For manufacturer setting  0h    
 x _ _ _   0h       
PB03 
PST 
Position 
command 
acceleration/d
eceleration 
time constant 
(position 
smoothing) 
 This is used to set the constant of a primary delay to the position command. 
You can select a control method from "Primary delay" or "Linear 
acceleration/deceleration" in [Pr. PB25 Function selection B-1]. The setting range of 
"Linear acceleration/deceleration" is 0 ms to 10 ms. Setting of longer than 10 ms will 
be recognized as 10 ms. 
When the linear acceleration/deceleration is selected, do not set the "Control mode 
selection" ([Pr. PA01]) to the setting other than "_ _ _ 0". Doing so will cause the 
servo motor to make a sudden stop at the time of position control mode switching. 
(Example) When a command is given from a synchronizing encoder, synchronous 
operation will start smoothly even if it start during line operation. 
Synchronizing
encoder
Start
Servo motor
Servo amplifier
 
ON
OFF
With time
constant setting
Without time
constant setting
Servo motor
speed
Start
t
 
Setting range:  0 to 65535 
0 
[ms] 
  
 





5. PARAMETERS 
5 -  18 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PB04 
FFC 
Feed forward 
gain 
 Set the feed forward gain. 
When the setting is 100%, the droop pulses during operation at constant speed are 
nearly zero. However, sudden acceleration/deceleration will increase the overshoot. 
As a guideline, when the feed forward gain setting is 100%, set 1 s or more as the 
acceleration time constant up to the rated speed. 
 
Setting range:  0 to 100 
0 
[%] 
  
PB06 
GD2 
Load to motor 
inertia ratio 
 This is used to set the load to motor inertia ratio. 
The setting of the parameter will be the automatic setting or manual setting 
depending on the [Pr. PA08] setting. Refer to the following table for details. When 
the parameter is automatic setting, the value will vary between 0.00 and 100.00. 
 
Setting range:  0.00 to 300.00 
7.00 
[Multiplier]
 
 
           
   Pr. PA08  This parameter      
  _ _ _ 0 (2 gain adjustment mode 1 
(interpolation mode) 
Automatic setting           
  _ _ _ 1: (Auto tuning mode 1)         
  _ _ _ 2: (Auto tuning mode 2)  Manual setting      
  _ _ _ 3: (Manual mode)         
  _ _ _ 4: (2 gain adjustment mode 2)         
           
PB07 
PG1 
Model loop 
gain 
 Set the response gain up to the target position. 
Increasing the setting value will also increase the response level to the position 
command but will be liable to generate vibration and/or noise. 
The setting of the parameter will be the automatic setting or manual setting 
depending on the [Pr. PA08] setting. Refer to the following table for details. 
 
Setting range:  1.0 to 2000.0 
15.0 
[rad/s] 
 
           
   Pr. PA08  This parameter      
  _ _ _ 0 (2 gain adjustment mode 1 
(interpolation mode) 
Manual setting           
  _ _ _ 1: (Auto tuning mode 1) Automatic setting      
  _ _ _ 2: (Auto tuning mode 2)        
  _ _ _ 3: (Manual mode)  Manual setting      
  _ _ _ 4: (2 gain adjustment mode 2)       
           
PB08 
PG2 
Position loop 
gain 
 This is used to set the gain of the position loop. 
Set this parameter to increase the position response to level load disturbance. 
Increasing the setting value will also increase the response level to the load 
disturbance but will be liable to generate vibration and/or noise. 
The setting of the parameter will be the automatic setting or manual setting 
depending on the [Pr. PA08] setting. Refer to the following table for details. 
 
Setting range:  1.0 to 2000.0 
37.0 
[rad/s] 
  
           
   Pr. PA08  This parameter      
  _ _ _ 0 (2 gain adjustment mode 1 
(interpolation mode) 
Automatic setting           
  _ _ _ 1: (Auto tuning mode 1)        
  _ _ _ 2: (Auto tuning mode 2)        
  _ _ _ 3: (Manual mode)  Manual setting      
  _ _ _ 4: (2 gain adjustment mode 2) Automatic setting      
           
 





5. PARAMETERS 
5 -  19 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PB09 
VG2 
Speed loop 
gain 
 This is used to set the gain of the speed loop. 
Set this parameter when vibration occurs on machines of low rigidity or large 
backlash. Increasing the setting value will also increase the response level but will 
be liable to generate vibration and/or noise. 
The setting of the parameter will be the automatic setting or manual setting 
depending on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details. 
 
Setting range:  20 to 65535 
823 
[rad/s] 
 
PB10 
VIC 
Speed 
integral 
compensation 
 This is used to set the integral time constant of the speed loop. 
Decreasing the setting value will increase the response level but will be liable to 
generate vibration and/or noise. 
The setting of the parameter will be the automatic setting or manual setting 
depending on the [Pr. PA08] setting. Refer to the table of [Pr. PB08] for details. 
 
Setting range:  0.1 to 1000.0 
33.7 
[ms] 
 
PB11 
VDC 
Speed 
differential 
compensation 
 This is used to set the differential compensation. 
To enable the setting value, turn on PC (proportional control). 
 
Setting range:  0 to 1000 
980 
 
PB12 
OVA 
Overshoot 
amount 
compensation 
 Set a viscous friction torque per percent to the servo motor rated speed. 
When the response level is low, or when the torque is limited, the efficiency of the 
parameter can be lower. 
 
Setting range:  0 to 100 
0 
[%] 
  
PB13 
NH1 
Machine 
resonance 
suppression 
filter 1 
 Machine resonance suppression filter 1 
Set the notch frequency of the machine resonance suppression filter 1. 
When "Automatic setting (_ _ _ 1)" of "Filter tuning mode selection" is selected in 
[Pr. PB01], this parameter will be adjusted automatically. 
When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. 
PB01], the setting value will be enabled. 
 
Setting range:  10 to 4500 
4500 
[Hz] 
Set the shape of the machine resonance suppression filter 1. 
When you select "Automatic setting (_ _ _ 1)" of "Filter tuning mode selection" in [Pr. PB01], this parameter will be 
adjusted automatically. 
Set manually for the manual setting. 
PB14 
NHQ1 
Notch shape 
selection 1 
_ _ _ x  For manufacturer setting  0h       
 _ _ x _ Notch depth selection 
0:  -40 dB 
1:  -14 dB 
2:  -8 dB 
3:  -4 dB 
0h 
 _ x _ _ Notch width selection 
0:   = 2 
1:   = 3 
2:   = 4 
3:   = 5 
0h 
 x _ _ _ For manufacturer setting  0h    
PB15 
NH2 
Machine 
resonance 
suppression 
filter 2 
 Set the notch frequency of the machine resonance suppression filter 2. 
To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance 
suppression filter 2 selection" in [Pr. PB16]. 
 
Setting range:  10 to 4500 
4500 
[Hz] 
 





5. PARAMETERS 
5 -  20 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
Set the shape of the machine resonance suppression filter 2.         PB16 
NHQ2 
Notch shape 
selection 2 
_ _ _ x  Machine resonance suppression filter 2 selection 
0:  Disabled 
1:  Enabled 
0h 
 _ _ x _ Notch depth selection 
0:  -40 dB 
1:  -14 dB 
2:  -8 dB 
3:  -4 dB 
0h 
 _ x _ _ Notch width selection 
0:   = 2 
1:   = 3 
2:   = 4 
3:   = 5 
0h 
 x _ _ _ For manufacturer setting  0h    
PB17 
NHF 
Shaft 
resonance 
suppression 
filter 
Set the shaft resonance suppression filter. 
This is used to suppress a low-frequency machine vibration. 
When you select "Automatic setting (_ _ _ 0)" of "Shaft resonance suppression filter selection" in [Pr. PB23], the value 
will be calculated automatically from the servo motor you use and load to motor inertia ratio. Set manually for "Manual 
setting (_ _ _ 1)". 
When "Shaft resonance suppression filter selection" is "Disabled (_ _ _ 2)" in [Pr. PB23], the setting value of this 
parameter will be disabled. 
When you select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4 selection" in [Pr. PB49], the shaft 
resonance suppression filter is not available. 
 _ _ x x Shaft resonance suppression filter setting frequency selection 
Refer to table 5.5 for settings. 
Set the value closest to the frequency you need. 
00h 
 _ x _ _ Notch depth selection 
0:  -40 dB 
1:  -14 dB 
2:  -8 dB 
3:  -4 dB 
0h 
 x _ _ _ For manufacturer setting  0h    
   
Table 5.5 Shaft resonance suppression filter 
setting frequency selection 
     
  Setting 
value 
Frequency [Hz] 
 Setting 
value 
Frequency [Hz] 
     
  00 Disabled  10 562       
  01 Disabled  11 529       
  02 4500  12 500       
  03 3000  13 473       
  04 2250  14 450       
  05 1800  15 428       
  06 1500  16 409       
  07 1285  17 391       
  08 1125  18 375       
  09 1000  19 360       
  0A 900  1A 346       
  0B 818  1B 333       
  0C 750  1C 321       
  0D 692  1D 310       
  0E 642  1E 300       
  0F 600  1F 290       
               
 





5. PARAMETERS 
5 -  21 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PB18 
LPF 
Low-pass 
filter setting 
 Set the low-pass filter. 
The following shows a relation of a required parameter to this parameter. 
 
Setting range:  100 to 18000 
3141 
[rad/s] 
 
             
  [Pr. PB23] [Pr. PB18]        
  _ _ 0 _ (Initial value) Automatic setting        
  _ _ 1 _ Setting value 
enabled 
     
  _ _ 2 _ Setting value 
disabled 
     
             
PB19 
VRF11 
Vibration 
suppression 
control 1 - 
Vibration 
frequency 
 Set the vibration frequency for vibration suppression control 1 to suppress low-
frequency machine vibration. 
When "Vibration suppression control 1 tuning mode selection" is "Automatic setting 
(_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. Set manually for 
"Manual setting (_ _ _ 2)". Refer to section 7.1.5 for details. 
 
Setting range:  0.1 to 300.0 
100.0 
[Hz] 
  
PB20 
VRF12 
Vibration 
suppression 
control 1 - 
Resonance 
frequency 
 Set the resonance frequency for vibration suppression control 1 to suppress low-
frequency machine vibration. 
When "Vibration suppression control 1 tuning mode selection" is "Automatic setting 
(_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. Set manually for 
"Manual setting (_ _ _ 2)". Refer to section 7.1.5 for details. 
 
Setting range:  0.1 to 300.0 
100.0 
[Hz] 
  
PB21 
VRF13 
Vibration 
suppression 
control 1 - 
Vibration 
frequency 
damping 
 Set a damping of the vibration frequency for vibration suppression control 1 to 
suppress low-frequency machine vibration. 
When "Vibration suppression control 1 tuning mode selection" is "Automatic setting 
(_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. Set manually for 
"Manual setting (_ _ _ 2)". Refer to section 7.1.5 for details. 
 
Setting range:  0.00 to 0.30 
0.00 
  
PB22 
VRF14 
Vibration 
suppression 
control 1 - 
Resonance 
frequency 
damping 
 Set a damping of the resonance frequency for vibration suppression control 1 to 
suppress low-frequency machine vibration. 
When "Vibration suppression control 1 tuning mode selection" is "Automatic setting 
(_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. Set manually for 
"Manual setting (_ _ _ 2)". Refer to section 7.1.5 for details. 
 
Setting range:  0.00 to 0.30 
0.00 
  
PB23 
VFBF 
Low-pass 
filter selection 
_ _ _ x  Shaft resonance suppression filter selection 
Select the shaft resonance suppression filter. 
0:  Automatic setting 
1:  Manual setting 
2:  Disabled 
When you select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4 
selection" in [Pr. PB49], the shaft resonance suppression filter is not available. 
0h 
 _ _ x _ Low-pass filter selection 
Select the low-pass filter. 
0:  Automatic setting 
1:  Manual setting 
2:  Disabled 
0h 
 
 _ x _ _ For manufacturer setting  1h    
 x _ _ _   0h       
 





5. PARAMETERS 
5 -  22 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PB24 
*MVS 
Slight 
vibration 
suppression 
control 
_ _ _ x  Slight vibration suppression control selection 
Select the slight vibration suppression control. 
0:  Disabled 
1:  Enabled 
To enable the slight vibration suppression control, select "Manual mode (_ _ _ 3)" of 
"Gain adjustment mode selection" in [Pr. PA08]. Slight vibration suppression control 
cannot be used in the speed control mode. 
0h 
  
 _ _ x _ For manufacturer setting  0h    
 _ x _ _   0h       
 x _ _ _   0h       
_ _ _ x  For manufacturer setting  0h       PB25 
*BOP1 
Function 
selection B-1 
_ _ x _  Position acceleration/deceleration filter type selection 
Select the position acceleration/deceleration filter type. 
0:  Primary delay 
1:  Linear acceleration/deceleration 
When you select "Linear acceleration/deceleration", do not switch the control mode. 
Doing so will cause the servo motor to make a sudden stop at the time of control 
mode switching. 
0h 
  
 _ x _ _ For manufacturer setting  0h    
 x _ _ _   0h       
Select the gain switching condition. 
Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60]. 
PB26 
*CDP 
Gain 
switching 
function 
_ _ _ x  Gain switching selection 
0:  Disabled 
1:  Input device (gain switching (CDP)) 
2:  Command frequency 
3:  Droop pulses 
4:  Servo motor speed 
0h 
 
 _ _ x _ Gain switching condition selection 
0:  Gain after switching is enabled with gain switching condition or more 
1:  Gain after switching is enabled with gain switching condition or less 
0h 
 
 _ x _ _ For manufacturer setting  0h    
 x _ _ _   0h       
PB27 
CDL 
Gain 
switching 
condition 
 This is used to set the value of gain switching (command frequency, droop pulses, 
and servo motor speed) selected in [Pr. PB26]. 
The set value unit differs depending on the switching condition item. (Refer to 
section 7.2.3.) 
 
Setting range:  0 to 9999 
10 
[kpulse/s] 
/[pulse] 
/[r/min]
 
 
PB28 
CDT 
Gain 
switching 
time constant 
 This is used to set the time constant at which the gains will change in response to 
the conditions set in [Pr. PB26] and [Pr. PB27]. 
 
Setting range:  0 to 100 
1 
[ms] 
 
PB29 
GD2B 
Load to motor 
inertia ratio 
after gain 
switching 
 This is used to set the load to motor inertia ratio when gain switching is enabled. 
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain 
adjustment mode selection" in [Pr. PA08]. 
 
Setting range:  0.00 to 300.00 
7.00 
[Multipli
er] 
 
PB30 
PG2B 
Gain 
switching 
position loop 
gain 
 Set the position loop gain when the gain switching is enabled. 
When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB08]. 
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain 
adjustment mode selection" in [Pr. PA08]. 
 
Setting range:  0.0 to 2000.0 
0.0 
[rad/s] 
  
 





5. PARAMETERS 
5 -  23 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PB31 
VG2B 
Gain 
switching 
speed loop 
gain 
 Set the speed loop gain when the gain switching is enabled. 
When you set a value less than 20 rad/s, the value will be the same as [Pr. PB09]. 
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain 
adjustment mode selection" in [Pr. PA08]. 
 
Setting range:  0 to 65535 
0 
[rad/s] 
 
PB32 
VICB 
Speed 
integral 
compensation 
after gain 
switching 
 Set the speed integral compensation when the gain changing is enabled. 
When you set a value less than 0.1 ms, the value will be the same as [Pr. PB10]. 
This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain 
adjustment mode selection" in [Pr. PA08]. 
 
Setting range:  0.0 to 5000.0 
0.0 
[ms] 
 
PB33 
VRF1B 
Vibration 
suppression 
control 1 - 
Vibration 
frequency 
after gain 
switching 
 Set the vibration frequency for vibration suppression control 1 when the gain 
switching is enabled. 
When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB19]. 
This parameter will be enabled only when the following conditions are fulfilled. 
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". 
"Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual 
setting (_ _ _ 2)". 
"Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_ 
_ _ 1)". 
Switching during driving may cause a shock. Be sure to switch them after the servo 
motor stops. 
 
Setting range:  0.0 to 300.0 
0.0 
[Hz] 
  
PB34 
VRF2B 
Vibration 
suppression 
control 1 - 
Resonance 
frequency 
after gain 
switching 
 Set the resonance frequency for vibration suppression control 1 when the gain 
switching is enabled. 
When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB20]. 
This parameter will be enabled only when the following conditions are fulfilled. 
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". 
"Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual 
setting (_ _ _ 2)". 
"Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_ 
_ _ 1)". 
Switching during driving may cause a shock. Be sure to switch them after the servo 
motor stops. 
 
Setting range:  0.0 to 300.0 
0.0 
[Hz] 
  
PB35 
VRF3B 
Vibration 
suppression 
control 1 - 
Vibration 
frequency 
damping after 
gain 
switching 
 Set a damping of the vibration frequency for vibration suppression control 1 when 
the gain switching is enabled. 
This parameter will be enabled only when the following conditions are fulfilled. 
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". 
"Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual 
setting (_ _ _ 2)". 
"Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_ 
_ _ 1)". 
Switching during driving may cause a shock. Be sure to switch them after the servo 
motor stops. 
 
Setting range:  0.00 to 0.30 
0.00 
  
PB36 
VRF4B 
Vibration 
suppression 
control 1 - 
Resonance 
frequency 
damping after 
gain 
switching 
 Set a damping of the resonance frequency for vibration suppression control 1 when 
the gain switching is enabled. 
This parameter will be enabled only when the following conditions are fulfilled. 
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". 
"Vibration suppression control 1 tuning mode selection" in [Pr. PB02] is "Manual 
setting (_ _ _ 2)". 
"Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_ 
_ _ 1)". 
Switching during driving may cause a shock. Be sure to switch them after the servo 
motor stops. 
 
Setting range:  0.00 to 0.30 
0.00 
  
 





5. PARAMETERS 
5 -  24 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
Set the command notch filter.         
_ _ x x  Command notch filter setting frequency selection 
Refer to table 5.6 for the relation of setting values to frequency. 
00h    
PB45 
CNHF 
Command 
notch filter 
_ x _ _  Notch depth selection 
Refer to table 5.7 for details. 
0h 
  
 x _ _ _ For manufacturer setting  0h    
   
Table 5.6 Command notch filter setting frequency selection 
     
  Setting 
value 
Frequency 
[Hz] 
 Setting 
value 
Frequency 
[Hz] 
 Setting 
value 
Frequency 
[Hz] 
 
  00 Disabled  20 70  40 17.6  
  01 2250  21 66  41 16.5  
  02 1125  22 62  42 15.6  
  03 750  23 59  43 14.8  
  04 562  24 56  44 14.1  
  05 450  25 53  45 13.4  
  06 375  26 51  46 12.8  
  07 321  27 48  47 12.2  
  08 281  28 46  48 11.7  
  09 250  29 45  49 11.3  
  0A 225  2A 43  4A 10.8  
  0B 204  2B 41  4B 10.4  
  0C 187  2C 40  4C 10  
  0D 173  2D 38  4D 9.7  
  0E 160  2E 37  4E 9.4  
  0F 150  2F 36  4F 9.1  
  10 140  30 35.2  50 8.8  
  11 132  31 33.1  51 8.3  
  12 125  32 31.3  52 7.8  
  13 118  33 29.6  53 7.4  
  14 112  34 28.1  54 7.0  
  15 107  35 26.8  55 6.7  
  16 102  36 25.6  56 6.4  
  17 97  37 24.5  57 6.1  
  18 93  38 23.4  58 5.9  
  19 90  39 22.5  59 5.6  
  1A 86  3A 21.6  5A 5.4  
  1B 83  3B 20.8  5B 5.2  
  1C 80  3C 20.1  5C 5.0  
  1D 77  3D 19.4  5D 4.9  
  1E 75  3E 18.8  5E 4.7  
  1F 72  3F 18.2  5F 4.5  
            
  
Table 5.7 Notch depth selection 
     
  Setting 
value 
Depth [dB]   
Setting 
value 
Depth [dB] 
     
  0 -40.0  8 -6.0       
  1 -24.1  9 -5.0       
  2 -18.1  A -4.1       
  3 -14.5  B -3.3       
  4 -12.0  C -2.5       
  5 -10.1  D -1.8       
  6 -8.5  E -1.2       
  7 -7.2  F -0.6       
             
 





5. PARAMETERS 
5 -  25 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PB46 
NH3 
Machine 
resonance 
suppression 
filter 3 
 
Set the notch frequency of the machine resonance suppression filter 3. 
To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance 
suppression filter 3 selection" in [Pr. PB47]. 
 
Setting range:  10 to 4500 
4500 
[Hz] 
Set the shape of the machine resonance suppression filter 3.         PB47 
NHQ3 
Notch shape 
selection 3 
_ _ _ x  Machine resonance suppression filter 3 selection 
0:  Disabled 
1:  Enabled 
0h 
 _ _ x _ Notch depth selection 
0:  -40 dB 
1:  -14 dB 
2:  -8 dB 
3:  -4 dB 
0h 
 _ x _ _ Notch width selection 
0:   = 2 
1:   = 3 
2:   = 4 
3:   = 5 
0h 
 x _ _ _ For manufacturer setting  0h    
PB48 
NH4 
Machine 
resonance 
suppression 
filter 4 
 Set the notch frequency of the machine resonance suppression filter 4. 
To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance 
suppression filter 4 selection" in [Pr. PB49]. 
 
Setting range:  10 to 4500 
4500 
[Hz] 
Set the shape of the machine resonance suppression filter 4.         PB49 
NHQ4 
Notch shape 
selection 4 
_ _ _ x  Machine resonance suppression filter 4 selection 
0:  Disabled 
1:  Enabled 
When you select "Enabled" of this digit, [Pr. PB17 Shaft resonance suppression 
filter] is not available. 
0h 
 _ _ x _ Notch depth selection 
0:  -40 dB 
1:  -14 dB 
2:  -8 dB 
3:  -4 dB 
0h 
 _ x _ _ Notch width selection 
0:   = 2 
1:   = 3 
2:   = 4 
3:   = 5 
0h 
 x _ _ _ For manufacturer setting  0h    
PB50 
NH5 
Machine 
resonance 
suppression 
filter 5 
 Set the notch frequency of the machine resonance suppression filter 5. 
To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance 
suppression filter 5 selection" in [Pr. PB51]. 
 
Setting range:  10 to 4500 
4500 
[Hz] 
 





5. PARAMETERS 
5 -  26 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
Set the shape of the machine resonance suppression filter 5. 
When you select "Enabled (_ _ _ 1)" of "Robust filter selection" in [Pr. PE41], the machine resonance suppression 
filter 5 is not available. 
PB51 
NHQ5 
Notch shape 
selection 5 
_ _ _ x  Machine resonance suppression filter 5 selection 
0:  Disabled 
1:  Enabled 
0h 
 _ _ x _ Notch depth selection 
0:  -40 dB 
1:  -14 dB 
2:  -8 dB 
3:  -4 dB 
0h 
 _ x _ _ Notch width selection 
0:   = 2 
1:   = 3 
2:   = 4 
3:   = 5 
0h 
 x _ _ _ For manufacturer setting  0h    
PB52 
VRF21 
Vibration 
suppression 
control 2 - 
Vibration 
frequency 
 Set the vibration frequency for vibration suppression control 2 to suppress low-
frequency machine vibration. 
When "Vibration suppression control 2 tuning mode selection" is "Automatic setting 
(_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. Set manually for 
"Manual setting (_ _ 2 _)". 
To enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode 
selection" in [Pr. PA24]. 
 
Setting range:  0.1 to 300.0 
100.0 
 [Hz] 
  
PB53 
VRF22 
Vibration 
suppression 
control 2 - 
Resonance 
frequency 
 Set the resonance frequency for vibration suppression control 2 to suppress low-
frequency machine vibration. 
When "Vibration suppression control 2 tuning mode selection" is "Automatic setting 
(_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. Set manually for 
"Manual setting (_ _ 2 _)". 
To enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode 
selection" in [Pr. PA24]. 
 
Setting range:  0.1 to 300.0 
100.0 
 [Hz] 
  
PB54 
VRF23 
Vibration 
suppression 
control 2 - 
Vibration 
frequency 
damping 
 Set a damping of the vibration frequency for vibration suppression control 2 to 
suppress low-frequency machine vibration. 
When "Vibration suppression control 2 tuning mode selection" is "Automatic setting 
(_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. Set manually for 
"Manual setting (_ _ 2 _)". 
To enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode 
selection" in [Pr. PA24]. 
 
Setting range:  0.00 to 0.30 
0.00 
  
PB55 
VRF24 
Vibration 
suppression 
control 2 - 
Resonance 
frequency 
damping 
 Set a damping of the resonance frequency for vibration suppression control 2 to 
suppress low-frequency machine vibration. 
When "Vibration suppression control 2 tuning mode selection" is "Automatic setting 
(_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. Set manually for 
"Manual setting (_ _ 2 _)". 
To enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode 
selection" in [Pr. PA24]. 
 
Setting range:  0.00 to 0.30 
0.00 
  
 





5. PARAMETERS 
5 -  27 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PB56 
VRF21B 
Vibration 
suppression 
control 2 - 
Vibration 
frequency 
after gain 
switching 
 Set the vibration frequency for vibration suppression control 2 when the gain 
switching is enabled. 
When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB52]. 
This parameter will be enabled only when the following conditions are fulfilled. 
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". 
"Vibration suppression mode selection" in [Pr. PA24] is "3 inertia mode (_ _ _ 1)". 
"Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual 
setting (_ _ 2 _)". 
"Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_ 
_ _ 1)". 
Switching during driving may cause a shock. Be sure to switch them after the servo 
motor stops. 
 
Setting range:  0.0 to 300.0 
0.0  
[Hz] 
  
PB57 
VRF22B 
Vibration 
suppression 
control 2 - 
Resonance 
frequency 
after gain 
switching 
 Set the resonance frequency for vibration suppression control 2 when the gain 
switching is enabled. 
When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB53]. 
This parameter will be enabled only when the following conditions are fulfilled. 
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". 
"Vibration suppression mode selection" in [Pr. PA24] is "3 inertia mode (_ _ _ 1)". 
"Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual 
setting (_ _ 2 _)". 
"Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_ 
_ _ 1)". 
Switching during driving may cause a shock. Be sure to switch them after the servo 
motor stops. 
 
Setting range:  0.0 to 300.0 
0.0  
[Hz] 
  
PB58 
VRF23B 
Vibration 
suppression 
control 2 - 
Vibration 
frequency 
damping after 
gain 
switching 
 Set a damping of the vibration frequency for vibration suppression control 2 when 
the gain switching is enabled. 
This parameter will be enabled only when the following conditions are fulfilled. 
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". 
"Vibration suppression mode selection" in [Pr. PA24] is "3 inertia mode (_ _ _ 1)". 
"Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual 
setting (_ _ 2 _)". 
"Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_ 
_ _ 1)". 
Switching during driving may cause a shock. Be sure to switch them after the servo 
motor stops. 
 
Setting range:  0.00 to 0.30 
0.00 
  
PB59 
VRF24B 
Vibration 
suppression 
control 2 - 
Resonance 
frequency 
damping after 
gain 
switching 
 Set a damping of the resonance frequency for vibration suppression control 2 when 
the gain switching is enabled. 
This parameter will be enabled only when the following conditions are fulfilled. 
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". 
"Vibration suppression mode selection" in [Pr. PA24] is "3 inertia mode (_ _ _ 1)". 
"Vibration suppression control 2 tuning mode selection" in [Pr. PB02] is "Manual 
setting (_ _ 2 _)". 
"Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_ 
_ _ 1)". 
Switching during driving may cause a shock. Be sure to switch them after the servo 
motor stops. 
 
Setting range:  0.00 to 0.30 
0.00 
  
 





5. PARAMETERS 
5 -  28 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PB60 
PG1B 
Model loop 
gain after 
gain 
switching 
 Set the model loop gain when the gain switching is enabled. 
When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB07]. 
This parameter will be enabled only when the following conditions are fulfilled. 
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)". 
"Gain switching selection" in [Pr. PB26] is "Input device (gain switching (CDP)) (_ 
_ _ 1)". 
Switching during driving may cause a shock. Be sure to switch them after the servo 
motor stops. 
 
Setting range:  0.0 to 2000.0 
0.0  
[rad/s] 
 
 
5.2.3 Extension setting parameters ([Pr. PC_ _ ]) 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PC01 
STA 
Acceleration 
time constant 
 This is used to set the acceleration time required to reach the rated speed from 0 
r/min in response to VC (Analog speed command) and [Pr. PC05 Internal speed 
command 1] to [Pr. PC11 Internal speed command 7]. 
If the preset speed command is lowe

r

than the rated speed, acceleration/
deceleration time will be shorter.
Time
[Pr. PC02] setting
0 r/min
Rated
speed
Speed
[Pr. PC01] setting
 
For example for the servo motor of 3000 r/min rated speed, set 3000 (3s) to increase 
speed from 0 r/min to 1000 r/min in 1 second. 
 
Setting range:  0 to 50000 
0  
[ms] 
 
PC02 
STB 
Deceleration 
time constant 
 This is used to set the deceleration time required to reach 0 r/min from the rated 
speed in response to VC (Analog speed command) and [Pr. PC05 Internal speed 
command 1] to [Pr. PC11 Internal speed command 7]. 
 
Setting range:  0 to 50000 
0  
[ms] 
 
 





5. PARAMETERS 
5 -  29 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PC03 
STC 
S-pattern 
acceleration/d
eceleration 
time constant 
 This is used to smooth start/stop of the servo motor. 
Set the time of the arc part for S-pattern acceleration/deceleration. 
Speed
command
Servo motor
speed
0 r/min
STA
STC
Time
STC
STB
STC STC
 
STA:  Acceleration time constant ([Pr. PC01]) 
STB:  Deceleration time constant ([Pr. PC02]) 
STC:  S-pattern acceleration/deceleration time constant ([Pr. PC03]) 
Long setting of STA (acceleration time constant) or STB (deceleration time constant) 
may produce an error in the time of the arc part for the setting of the S-pattern 
acceleration/deceleration time constant. 
The upper limit value of the actual arc part time is limited by 
 
2000000
STA
 for acceleration or by 
2000000
STB
 for deceleration. 
 
(Example) At the setting of STA 20000, STB 5000 and STC 200, the actual arc part 
times are as follows. 
 
During acceleration: 100 ms 
 
2000000
20000
 = 100 [ms] 
󰃹
 200 [ms] 
 Therefore, it will be limited to 100 [ms]. 
During deceleration: 200 ms 
 
2000000
5000
 = 400 [ms] 
󰃻
 200 [ms] 
 Therefore, it will be 200 [ms] as you set. 
 
Setting range:  0 to 5000 
0  
[ms] 
 
 
PC04 
TQC 
Torque 
command 
time constant 
 This is used to set the constant of a primary delay to the torque command. 
TQC TQC
Time
Torque
Torque command
After filtering
 
TQC:  Torque command time constant 
 
Setting range:  0 to 50000 
0  
[ms] 
  
 





5. PARAMETERS 
5 -  30 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
 This is used to set speed 1 of internal speed commands. 
 
Setting range:  0 to permissible instantaneous speed 
100  
[r/min] 
 
 PC05 
SC1 
Internal 
speed 
command 
1/internal 
speed limit 1 
 This is used to set speed 1 of internal speed limits. 
 
Setting range:  0 to permissible instantaneous speed 
   
 This is used to set speed 2 of internal speed commands. 
 
Setting range:  0 to permissible instantaneous speed 
500  
[r/min] 
 
 PC06 
SC2 
Internal 
speed 
command 2 
Internal 
speed limit 2 
 This is used to set speed 2 of internal speed limits. 
 
Setting range:  0 to permissible instantaneous speed 
   
 This is used to set speed 3 of internal speed commands. 
 
Setting range:  0 to permissible instantaneous speed 
1000  
[r/min] 
 
 PC07 
SC3 
Internal 
speed 
command 3 
Internal 
speed limit 3 
 This is used to set speed 3 of internal speed limits. 
 
Setting range:  0 to permissible instantaneous speed 
   
 This is used to set speed 4 of internal speed commands. 
 
Setting range:  0 to permissible instantaneous speed 
200  
[r/min] 
 
 PC08 
SC4 
Internal 
speed 
command 4 
Internal 
speed limit 4 
 This is used to set speed 4 of internal speed limits. 
 
Setting range:  0 to permissible instantaneous speed 
   
 This is used to set speed 5 of internal speed commands. 
 
Setting range:  0 to permissible instantaneous speed 
300  
[r/min] 
 
 PC09 
SC5 
Internal 
speed 
command 5 
Internal 
speed limit 5 
 This is used to set speed 5 of internal speed limits. 
 
Setting range:  0 to permissible instantaneous speed 
   
 This is used to set speed 6 of internal speed commands. 
 
Setting range:  0 to permissible instantaneous speed 
500  
[r/min] 
 
 PC10 
SC6 
Internal 
speed 
command 6 
Internal 
speed limit 6 
 This is used to set speed 6 of internal speed limits. 
 
Setting range:  0 to permissible instantaneous speed 
   
 This is used to set speed 7 of internal speed commands. 
 
Setting range:  0 to permissible instantaneous speed 
800  
[r/min] 
 
 PC11 
SC7 
Internal 
speed 
command 7 
Internal 
speed limit 7 
 This is used to set speed 7 of internal speed limits. 
 
Setting range:  0 to permissible instantaneous speed 
   
 





5. PARAMETERS 
5 -  31 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
 This is used to set the speed at the maximum input voltage (10 V) of VC (Analog 
speed command). 
When "0" is set, the analog speed command maximum speed would be the rated 
speed of the servo motor connected. 
If a value equal to or larger than the permissible speed is inputted to VC, the value is 
clamped at the permissible speed. 
Setting range: 0 to 50000 
0  
[r/min] 
 
 PC12 
VCM 
Analog speed 
command - 
Maximum 
speed 
Analog speed 
limit - 
Maximum 
speed 
 This is used to set the speed at the maximum input voltage (10 V) of VLA (Analog 
speed limit). 
When "0" is set, the analog speed command maximum speed would be the rated 
speed of the servo motor connected. 
If a limited value equal to or larger than the permissible speed is inputted to VLA, the 
value is clamped at the permissible speed. 
Setting range: 0 to 50000 
   
PC13 
TLC 
Analog torque 
command 
maximum 
output 
 This is used to set the output torque at the analog torque command voltage (TC = ±8 
V) of +8 V on the assumption that the maximum torque is 100.0%. 
For example, set 50.0. 
 
The maximum torque × 
50.0
100.0
 is outputted. 
 
If a value equal to or larger than the maximum torque is inputted to TC, the value is 
clamped at the maximum torque. 
Setting range: 0.0 to 1000.0 
100.0  
[%] 
  
_ _ x x  Analog monitor 1 output selection 
Select a signal to output to MO1 (Analog monitor 1). Refer to appendix 4 (3) for 
detection point of output selection. 
Refer to table 5.8 for settings. 
00h PC14 
MOD1 
Analog 
monitor 1 
output 
_ x _ _  For manufacturer setting  0h       
 x _ _ _   0h       
  
 
Table 5.8 Analog monitor setting value 
    
  
 
Setting 
value 
Item 
    
  
 
00  Servo motor speed (±8 V/max. speed)         
  
 
01  Torque (±8 V/max. torque) (Note 2)         
  
 
02  Servo motor speed (+8 V/max. speed)         
  
 
03  Torque (+8 V/max. torque) (Note 2)         
  
 
04  Current command (±8 V/max. current command)         
  
 
05  The command pulse frequency (±10 V/4 Mpulses/s)         
  
 
06  Servo motor-side droop pulses (±10 V/100 pulses) (Note 1)         
  
 
07  Servo motor-side droop pulses (±10 V/1000 pulses) (Note 1)         
  
 
08  Servo motor-side droop pulses (±10 V/10000 pulses) (Note 1)         
  
 
09  Servo motor-side droop pulses (±10 V/100000 pulses) (Note 1)         
  
 
0D  Bus voltage (+8 V/400 V)         
  
 
0E  Speed command 2 (±8 V/max. speed)         
  
 
17  Encoder inside temperature (±10 V/±128 ˚C)   
 
   
           
  
 
Note   1.  Encoder pulse unit 
     
  
 
  2. 8 V is outputted at the maximum torque. However, when [Pr. PA11] and [Pr. PA12] are set to limit 
torque, 8 V is outputted at the torque highly limited. 
 





5. PARAMETERS 
5 -  32 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PC15 
MOD2 
Analog 
monitor 2 
output 
_ _ x x  Analog monitor 2 output selection 
Select a signal to output to MO2 (Analog monitor 2). Refer to appendix 4 (3) for 
detection point of output selection. 
Refer to [Pr. PC14] for settings. 
01h 
 _ x _ _ For manufacturer setting  0h    
 x _ _ _   0h       
PC16 
MBR 
Electromagne
tic brake 
sequence 
output 
 This is used to set the delay time between MBR (Electromagnetic brake interlock) 
and the base drive circuit is shut-off. 
 
 
Setting range:  0 to 1000 
0  
[ms] 
PC17 
ZSP 
Zero speed 
 Used to set the output range of ZSP (Zero speed detection). 
ZSP (Zero speed detection) has hysteresis of 20 r/min. 
 
Setting range:  0 to 10000 
50  
[r/min] 
 
PC18 
*BPS 
Alarm history 
clear 
_ _ _ x  Alarm history clear selection 
Used to clear the alarm history. 
0:  Disabled 
1:  Enabled 
When you select "Enabled", the alarm history will be cleared at next power-on. After 
the alarm history is cleared, the setting is automatically disabled. 
0h 
 _ _ x _ For manufacturer setting  0h    
 _ x _ _   0h       
 x _ _ _   0h       
PC19 
*ENRS 
Encoder 
output pulse 
selection 
_ _ _ x  Encoder output pulse phase selection 
Select the encoder pulse direction. 
0: Increasing A-phase 90° in CCW 
1: Increasing A-phase 90° in CW 
 
0h 
    Servo motor rotation direction       
   
Setting 
value 
CCW  CW           
   
0 

A

-phase
B-phase

A

-phase
B-phase
     
   
1 

A

-phase
B-phase

A

-phase
B-phase
     
             
 _ _ x _ Encoder output pulse setting selection 
0:  Output pulse setting 
1:  Dividing ratio setting 
2:  The same output pulse setting as the command pulse 
3:  A-phase/B-phase pulse electronic gear setting 
When you select "1", the settings of [Pr. PA16 Encoder output pulses 2] will be 
disabled. 
When you select "2", the settings of [Pr. PA15 Encoder output pulses] and [Pr. PA16 
Encoder output pulses 2] will be disabled. When you select the setting, do not 
change the settings in [Pr. PA06] and [Pr. PA07] after the power-on. 
0h 
 _ x _ _ For manufacturer setting  0h    
 x _ _ _   0h       
 





5. PARAMETERS 
5 -  33 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
_ _ _ x  For manufacturer setting  0h       
_ _ x _    0h       
_ x _ _    2h       
PC22 
*COP1 
Function 
selection C-1 
x _ _ _  Encoder cable communication method selection 
Select the encoder cable communication method. 
0:  Two-wire type 
1:  Four-wire type 
If the setting is incorrect, [AL. 16 Encoder initial communication error 1] or [AL. 20 
Encoder normal communication error 1] occurs. 
0h 
PC23 
*COP2 
Function 
selection C-2 
_ _ _ x  Servo-lock selection at speed control stop 
Select the servo-lock selection at speed control stop. 
In the speed control mode, the servo motor shaft can be locked to prevent the shaft 
from being moved by an external force. 
0:  Enabled (servo-lock) 
The operation to maintain the stop position is performed. 
1:  Disabled (no servo-lock) 
The stop position is not maintained. 
The control to make the speed 0 r/min is performed. 
0h   
 
 _ _ x _ For manufacturer setting  0h    
 _ x _ _ VC/VLA voltage averaging selection 
Select the VC/VLA voltage average. 
This is used to set the filtering time when VC (Analog speed command) or VLA 
(Analog speed limit) is imported. 
Set 0 to vary the speed to voltage fluctuation in real time. Increase the set value to 
vary the speed slower to voltage fluctuation. 
 
0h 
   Setting 
value 
Filtering time [ms] 
    
   0 0      
   1 0.444      
   2 0.888      
   3 1.777      
   4 3.555      
   5 7.111      
         
 
  
 x _ _ _ Speed limit selection at torque control 
Select the speed limit selection at torque control. 
0:  Enabled 
1:  Disabled 
Do not use this function except when configuring an external speed loop. 
0h     
PC24 
*COP3 
Function 
selection C-3 
_ _ _ x  In-position range unit selection 
Select a unit of in-position range. 
0:  Command input pulse unit 
1:  Servo motor encoder pulse unit 
0h 
  
 _ _ x _ For manufacturer setting  0h    
 _ x _ _   0h       
 x _ _ _ Error excessive alarm level unit selection 
Select a setting unit of the error excessive alarm level set in [Pr. PC43]. 
0: 1 rev unit 
1: 0.1 rev unit 
2: 0.01 rev unit 
3: 0.001 rev unit 
0h 
  
 





5. PARAMETERS 
5 -  34 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PC26 
*COP5 
Function 
selection C-5 
_ _ _ x  [AL. 99 Stroke limit warning] selection 
Select [AL. 99 Stroke limit warning]. 
0:  Enabled 
1:  Disabled 
0h 
 
 _ _ x _ For manufacturer setting  0h    
 _ x _ _   0h       
 x _ _ _   0h       
PC30 
STA2 
Acceleration 
time constant 
2 
 To enable the parameter, turn on STAB2 (Speed acceleration/deceleration 
selection). 
This is used to set the acceleration time required to reach the rated speed from 0 
r/min in response to VC (Analog speed command) and [Pr. PC05 Internal speed 
command 1] to [Pr. PC11 Internal speed command 7]. 
 
Setting range:  0 to 50000 
0  
[ms] 
 
PC31 
STB2 
Deceleration 
time constant 
2 
 To enable the parameter, turn on STAB2 (Speed acceleration/deceleration 
selection). 
This is used to set the deceleration time required to reach 0 r/min from the rated 
speed in response to VC (Analog speed command) and [Pr. PC05 Internal speed 
command 1] to [Pr. PC11 Internal speed command 7]. 
 
Setting range:  0 to 50000 
0  
[ms] 
 
PC32 
CMX2 
Commanded 
pulse 
multiplication 
numerator 2 
 To enable the parameter, select "Electronic gear (0 _ _ _)" of "Electronic gear 
selection" in [Pr. PA21]. 
 
Setting range:  1 to 16777215 
1    
PC33 
CMX3 
Commanded 
pulse 
multiplication 
numerator 3 
 To enable the parameter, select "Electronic gear (0 _ _ _)" of "Electronic gear 
selection" in [Pr. PA21]. 
 
Setting range:  1 to 16777215 
1    
PC34 
CMX4 
Commanded 
pulse 
multiplication 
numerator 4 
 To enable the parameter, select "Electronic gear (0 _ _ _)" of "Electronic gear 
selection" in [Pr. PA21]. 
 
Setting range:  1 to 16777215 
1    
PC35 
TL2 
Internal 
torque limit 2 
 Set the parameter on the assumption that the maximum torque is 100 %. The 
parameter is for limiting the torque of the servo motor. 
No torquet is generated when this parameter is set to "0.0". 
When TL1 (Internal torque limit selection) is turned on, Internal torque limits 1 and 2 
are compared and the lower value will be enabled. 
 
Setting range:  0.0 to 100.0 
100.0  
[%] 
 





5. PARAMETERS 
5 -  35 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PC36 
*DMD 
Status display 
selection 
_ _ x x  Status display selection at power-on 
This is used to select a status display shown at power-on. 
00:  Cumulative feedback pulses 
01:  Servo motor speed 
02:  Droop pulses 
03:  Cumulative command pulses 
04:  Command pulse frequency 
05:  Analog speed command voltage (Note 1) 
06:  Analog torque command voltage (Note 2) 
07:  Regenerative load ratio 
08:  Effective load ratio 
09:  Peak load ratio 
0A:  Instantaneous torque 
0B:  Within one-revolution position (1 pulse unit) 
0C:  Within one-revolution position (100 pulses unit) 
0D:  ABS counter (Note 3) 
0E:  Load to motor inertia ratio 
0F:  Bus voltage 
10:  Encoder inside temperature 
11:  Settling time 
12:  Oscillation detection frequency 
13:  Number of tough operations 
14:  Unit power consumption (increment of 1 W) 
15:  Unit power consumption (increment of 1 kW) 
16:  Unit total power consumption (increment of 1 Wh) 
17:  Unit total power consumption (increment of 100 kWh) 
 
00h 
  
Note   1. It is for the speed control mode. It will be the analog speed limit voltage in 
the torque control mode. 
    
  
  2.It is for the torque control mode. It will be the analog torque limit voltage in 
the speed control mode and position control mode. 
    
  
  3.Travel distance from power on is displayed by counter value. 
    
 _ x _ _ Status display at power-on in corresponding control mode 
0:  Depends on the control mode 
 
0h 
   Control mode Status display at power-on      
   Position Cumulative feedback pulses       
   Position/speed Cumulative feedback pulses/servo motor speed      
   Speed Servo motor speed       
   Speed/torque Servo motor speed/analog torque command 
voltage 
     
   Torque Analog torque command voltage      
   Torque/position Analog torque command voltage/cumulative 
feedback pulses 
     
  1:  Depends on the last two digit setting of the parameter      
 x _ _ _ For manufacturer setting  0h    
 





5. PARAMETERS 
5 -  36 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PC37 
VCO 
Analog speed 
command 
offset/Analog 
speed limit 
offset 
This is used to set the offset voltage of VC (Analog speed command). 
For example, if CCW rotation is provided by switching on ST1 (Forward rotation 
start) with applying 0 V to VC, set a negative value. 
When automatic VC offset is used, the automatically offset value is set to this 
parameter. (Refer to section 4.5.4.) 
The initial value is provided before shipment by the automatic VC offset function on 
condition that the voltage between VC and LG is 0 V. 
 
Setting range:  -9999 to 9999 
The 
value 
differs 
depend
ing on 
the 
servo 
amplifi
ers. 
[mV] 
 
 
 
 
This is used to set the offset voltage of VLA (Analog speed limit). 
For example, if CCW rotation is provided by switching on RS1 (Forward rotation 
selection) with applying 0 V to VLA, set a negative value. 
When automatic VC offset is used, the automatically offset value is set to this 
parameter. (Refer to section 4.5.4.) 
The initial value is provided before shipment by the automatic VC offset function on 
condition that the voltage between VLA and LG is 0 V. 
 
Setting range:  -9999 to 9999 
   
This is used to set the offset voltage of TC (Analog torque command). 
 
 
Setting range:  -9999 to 9999 
  
PC38 
TPO 
Analog torque 
command 
offset/Analog 
torque limit 
offset 
 
This is used to set the offset voltage of TLA (Analog torque limit). 
 
 
Setting range:  -9999 to 9999 
0  
[mV] 
 
 
PC39 
MO1 
Analog 
monitor 1 
offset 
 This is used to set the offset voltage of MO1 (Analog monitor 1). 
 
 
 
Setting range:  -9999 to 9999 
0  
[mV] 
PC40 
MO2 
Analog 
monitor 2 
offset 
 This is used to set the offset voltage of MO2 (Analog monitor 2). 
 
 
 
Setting range:  -9999 to 9999 
0  
[mV] 
PC43 
ERZ 
Error 
excessive 
alarm level 
 Set an error excessive alarm level. 
You can change the setting unit with "Error excessive alarm level" in [Pr. PC24]. 
However, setting "0" will be 3 rev. Setting over 200 rev will be clamped with 200 rev. 
 
Setting range:  0 to 1000 
0  
[rev] 
  
 





5. PARAMETERS 
5 -  37 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PC51 
RSBR 
Forced stop 
deceleration 
time constant 
 This is used to set deceleration time constant when you use the forced stop 
deceleration function. 
Set the time per ms from the rated speed to 0 r/min. 
Forced stop deceleration
[Pr. PC51]
0 r/min
Servo motor speed
Rated speed
Dynamic brake
deceleration
 
[Precautions] 
If the servo motor torque is saturated at the maximum torque during forced stop 
deceleration because the set time is too short, the time to stop will be longer than 
the set time constant. 
[AL. 50 Overload alarm 1] or [AL. 51 Overload alarm 2] may occur during forced 
stop deceleration, depending on the set value. 
After an alarm that leads to a forced stop deceleration, if an alarm that does not 
lead to a forced stop deceleration occurs or if the power supply is cut, dynamic 
braking will start regardless of the deceleration time constant setting. 
 
Setting range:  0 to 20000 
100  
[ms] 
 
PC54 
RSUP1 
Vertical axis 
freefall 
prevention 
compensation 
amount 
 Set the compensation amount of the vertical axis freefall prevention function. 
Set it per servo motor rotation amount. 
The function will pull up an shaft per rotation amount to the servo motor rotation 
direction at the time of inputting forward rotation pulse for a positive number, and at 
the time of inputting reverse rotation pulse for a negative number. 
For example, if a positive compensation amount is set when the [Pr. PA14 Rotation 
direction selection] setting is "1", compensation will be performed to the CW 
direction. 
The vertical axis freefall prevention function is performed when all of the following 
conditions are met. 
1)  Position control mode 
2)  The value of the parameter is other than "0". 
3)  The forced stop deceleration function is enabled. 
4)  Alarm occurs or EM2 turns off when the servo motor speed is zero speed or less. 
5)  MBR (Electromagnetic brake interlock) was enabled in [Pr. PD24], [Pr. PD25], 
and [Pr. PD28], and the base circuit shut-off delay time was set in [Pr. PC16]. 
 
Setting range:  -25000 to 25000 
0  
[0.0001  
rev] 
  
_ _ _ x  Motor-less operation selection 
This is used to select the motor-less operation. 
0:  Disabled 
1:  Enabled 
0h 
 
_ _ x _  For manufacturer setting  0h       
_ x _ _    0h       
PC60 
*COPD 
Function 
selection C-D 
x _ _ _    0h       
 





5. PARAMETERS 
5 -  38 
 
5.2.4 I/O setting parameters ([Pr. PD_ _ ]) 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
Select input devices to turn on them automatically.         
_ _ _ x (BIN): For manufacturer setting  0h       
_ _ x _ (BIN): For manufacturer setting         
PD01 
*DIA1 
Input signal 
automatic on 
selection 1 
_ x _ _ (BIN): SON (Servo-on)   
 0:  Disabled (Use for an external input signal.)   
 1:  Enabled (automatic on)   
 
_ _ _ x 
(HEX) 
x _ _ _ (BIN): For manufacturer setting         
_ _ _ x (BIN): PC (Proportional control)  0h 
0:  Disabled (Use for an external input signal.)   
1:  Enabled (automatic on)   
 
_ _ x _ (BIN): TL (External torque limit selection)   
0:  Disabled (Use for an external input signal.)   
1:  Enabled (automatic on)   
 
_ x _ _ (BIN): For manufacturer setting         
 _ _ x _ 
(HEX) 
x _ _ _ (BIN): For manufacturer setting         
_ _ _ x (BIN): For manufacturer setting  0h       
_ _ x _ (BIN): For manufacturer setting         
_ x _ _ (BIN): LSP (Forward rotation stroke end)   
0:  Disabled (Use for an external input signal.)   
1:  Enabled (automatic on)   
 
x _ _ _ (BIN): LSN (Reverse rotation stroke end)   
0:  Disabled (Use for an external input signal.)   
 _ x _ _ 
(HEX) 
1:  Enabled (automatic on)   
 
 x _ _ _ For manufacturer setting  0h    
 Convert the setting value into hexadecimal as follows. 
0
Initial value
BIN HEX
Signal name
0
0
0
0
0
SON (Servo-on)
0
Initial value
BIN HEX
Signal name
0
0
0
0
PC (Proportional control)
TL (External torque limit selection)
0
BIN 0: Use for an external input signal.
BIN 1: Automatic on
Initial value
BIN HEX
Signal name
0
0
0
0
LSP (Forward rotation stroke end)
LSN (Reverse rotation stroke end)
 
    
 





5. PARAMETERS 
5 -  39 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
Any input device can be assigned to the CN1-15 pin.         
_ _ x x  Position control mode - Device selection 
Refer to table 5.9 for settings. 
02h    
PD03 
*DI1L 
Input device 
selection 1L 
x x _ _  Speed control mode - Device selection 
Refer to table 5.9 for settings. 
02h   
 
    
Table 5.9 Selectable input devices 
     
    Input device (Note 1)       
   
Setting 
value 
P  S  T           
   02 SON SON SON       
   03 RES RES RES       
   04 PC PC        
   05 TL TL        
   06 CR         
   07  ST1 RS2       
   08  ST2 RS1       
   09 TL1 TL1        
   0A LSP LSP        
   0B LSN LSN        
   0D CDP CDP        
   20  SP1 SP1       
   21  SP2 SP2       
   22  SP3 SP3       
   23 LOP (Note 2) LOP (Note 2) LOP (Note 2)      
   24 CM1         
   25 CM2         
   26  STAB2 STAB2       
          
   
Note   1.  P: position control mode, S: speed control mode, T: torque control mode 
The diagonal lines indicate manufacturer settings. Never change the setting. 
   
  2. 
When assigning LOP (Control switching), assign it to the same pin in all control modes. 
 
Any input device can be assigned to the CN1-15 pin.         
_ _ x x  Torque control mode - Device selection 
Refer to table 5.9 in [Pr. PD03] for settings. 
02h     
PD04 
*DI1H 
Input device 
selection 1H 
_ x _ _  For manufacturer setting  0h       
 x _ _ _   0h       
Any input device can be assigned to the CN1-19 pin.         
_ _ x x  Position control mode - Device selection 
Refer to table 5.9 in [Pr. PD03] for settings. 
03h    
PD11 
*DI5L 
Input device 
selection 5L 
x x _ _  Speed control mode - Device selection 
Refer to table 5.9 in [Pr. PD03] for settings. 
07h   
 
Any input device can be assigned to the CN1-19 pin.         
_ _ x x  Torque control mode - Device selection 
Refer to table 5.9 in [Pr. PD03] for settings. 
07h     
PD12 
*DI5H 
Input device 
selection 5H 
_ x _ _  For manufacturer setting  0h       
 x _ _ _   0h       
Any input device can be assigned to the CN1-41 pin.         
_ _ x x  Position control mode - Device selection 
Refer to table 5.9 in [Pr. PD03] for settings. 
06h    
PD13 
*DI6L 
Input device 
selection 6L 
x x _ _  Speed control mode - Device selection 
Refer to table 5.9 in [Pr. PD03] for settings. 
08h   
 
 





5. PARAMETERS 
5 -  40 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
Any input device can be assigned to the CN1-41 pin.         
_ _ x x  Torque control mode - Device selection 
Refer to table 5.9 in [Pr. PD03] for settings. 
08h     
PD14 
*DI6H 
Input device 
selection 6H 
_ x _ _  For manufacturer setting  0h       
 x _ _ _   0h       
Any input device can be assigned to the CN1-43 pin.         
_ _ x x  Position control mode - Device selection 
Refer to table 5.9 in [Pr. PD03] for settings. 
0Ah    
PD17 
*DI8L 
Input device 
selection 8L 
x x _ _  Speed control mode - Device selection 
Refer to table 5.9 in [Pr. PD03] for settings. 
0Ah   
 
Any input device can be assigned to the CN1-43 pin.         
_ _ x x  Torque control mode - Device selection 
Refer to table 5.9 in [Pr. PD03] for settings. 
00h     
PD18 
*DI8H 
Input device 
selection 8H 
_ x _ _  For manufacturer setting  0h       
 x _ _ _   0h       
Any input device can be assigned to the CN1-44 pin.         
_ _ x x  Position control mode - Device selection 
Refer to table 5.9 in [Pr. PD03] for settings. 
0Bh    
PD19 
*DI9L 
Input device 
selection 9L 
x x _ _  Speed control mode - Device selection 
Refer to table 5.9 in [Pr. PD03] for settings. 
0Bh   
 
Any input device can be assigned to the CN1-44 pin.         
_ _ x x  Torque control mode - Device selection 
Refer to table 5.9 in [Pr. PD03] for settings. 
00h     
PD20 
*DI9H 
Input device 
selection 9H 
_ x _ _  For manufacturer setting  0h       
 x _ _ _   0h       
_ _ x x  Device selection 
Any output device can be assigned to the CN1-23 pin. 
Refer to table 5.10 for settings. 
0Ch 
PD24 
*DO2 
Output device 
selection 2 
_ x _ _  For manufacturer setting  0h       
 x _ _ _   0h       
    
Table 5.10 Selectable output devices 
     
    Output device (Note)       
   
Setting 
value 
P  S  T           
   00 Always off Always off Always off       
   02 RD RD RD       
   03 ALM ALM ALM       
   04 INP SA Always off       
   05 MBR MBR MBR       
   07 TLC TLC VLC       
   08 WNG WNG WNG       
   0A Always off SA Always off       
   0B Always off Always off VLC       
   0C ZSP ZSP ZSP       
   0D MTTR MTTR MTTR       
   0F CDPS Always off Always off       
             
   
Note. P: position control mode, S: speed control mode, T: torque control mode 
    
   
  
    
 





5. PARAMETERS 
5 -  41 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
_ _ x x  Device selection 
Any output device can be assigned to the CN1-24 pin. 
Refer to table 5.10 in [Pr. PD24] for settings. 
04h 
PD25 
*DO3 
Output device 
selection 3 
_ x _ _  For manufacturer setting  0h       
 x _ _ _   0h       
_ _ x x  Device selection 
Any output device can be assigned to the CN1-49 pin. 
Refer to table 5.10 in [Pr. PD24] for settings. 
02h 
PD28 
*DO6 
Output device 
selection 6 
_ x _ _  For manufacturer setting  0h       
 x _ _ _   0h       
Select a filter for the input signal.         PD29 
*DIF 
Input filter 
setting 
_ _ _ x  Input signal filter selection 
If external input signal causes chattering due to noise, etc., input filter is used to 
suppress it. 
0:  None 
1:  0.888 [ms] 
2:  1.777 [ms] 
3:  2.666 [ms] 
4:  3.555 [ms] 
4h 
 _ _ x _ RES (Reset) dedicated filter selection 
0:  Disabled 
1:  Enabled (50 [ms]) 
0h 
 _ x _ _ CR (Clear) dedicated filter selection 
0:  Disabled 
1:  Enabled (50 [ms]) 
0h 
 x _ _ _ For manufacturer setting  0h    
PD30 
*DOP1 
Function 
selection D-1 
_ _ _ x  Stop method selection for LSP (Forward rotation stroke end) off and LSN (Reverse 
rotation stroke end) off 
Select a stop method for LSP (Forward rotation stroke end) off and LSN (Reverse 
rotation stroke end) off 
0:  Quick stop 
1:  Slow stop 
0h   
 _ _ x _ Base circuit status selection for RES (Reset) on 
0:  Base circuit shut-off 
1:  No base circuit shut-off 
0h 
 _ x _ _ For manufacturer setting  0h    
 x _ _ _   0h       
PD32 
*DOP3 
Function 
selection D-3 
_ _ _ x  CR (Clear) selection 
This is used to set CR (Clear). 
0:  Deleting droop pulses at the leading edge of turning on of CR 
1:  Continuous deleting of droop pulses while CR is on 
0h 
  
 _ _ x _ For manufacturer setting  0h    
 _ x _ _   0h       
 x _ _ _   0h       
 





5. PARAMETERS 
5 -  42 
 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PD34 
*DOP5 
Function 
selection D-5 
_ _ _ x  Alarm code output 
This is used to select if output alarm codes. 
Alarm codes are outputted to pins CN1-23, CN1-24, and CN1-49. 
0:  Disabled 
1:  Enabled 
For details of the alarm codes, refer to chapter 8. 
When you select alarm code output while MBR or ALM is selected for CN1-23, CN1-
24, or CN1-49 pin, [AL. 37 Parameter error] will occur. 
0h 
 _ _ x _ Selection of output device at warning occurrence 
Select ALM (Malfunction) output status at warning occurrence. 
 
0h 
   Setting 
value 
Device status           
   
0 
OFF
ON
OFF
ON
WNG

A

LM
Warning occurrence
 
     
   
1 
OFF
ON
OFF
ON
WNG

A

LM
Warning occurrence
 
     
            
 _ x _ _ For manufacturer setting  0h    
 x _ _ _   0h       
 
5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PE41 
EOP3 
Function 
selection E-3 
_ _ _ x  Robust filter selection 
0:  Disabled 
1:  Enabled 
When you select "Enabled" of this digit, the machine resonance suppression filter 5 
set in [Pr. PB51] is not available. 
0h 
 _ _ x _ For manufacturer setting  0h    
 _ x _ _   0h       
 x _ _ _   0h       
 





5. PARAMETERS 
5 -  43 
 
5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) 
Control mode
No./ 
symbol/name 
Setting 
digit 
Function 
Initial 
value 
[unit] 
P  S  T 
PF21 
DRT 
Drive 
recorder 
switching 
time setting 
 This is used to set a drive recorder switching time. 
When a USB communication is cut during using a graph function or a graph function 
is terminated, the function will be changed to the drive recorder function after the 
setting time of this parameter. 
When a value from "1" to "32767" is set, it will switch after the setting value. 
When "0" is set, it will switch after 600 s. 
When "-1" is set, the drive recorder function is disabled. 
 
Setting range:  -1 to 32767 
0 
[s] 
 
PF23 
OSCL1 
Vibration 
tough drive - 
Oscillation 
detection 
level 
 This is used to set a filter readjustment sensitivity of [Pr. PB13 Machine resonance 
suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] while the 
vibration tough drive is enabled. 
Example:  When you set "50" to the parameter, the filter will be readjusted at the 
time of 50% or more oscillation level. 
 
Setting range:  0 to 100 
50 
[%] 
 
 
PF24 
*OSCL2 
Vibration 
tough drive 
function 
selection 
_ _ _ x  Oscillation detection alarm selection 
Select alarm or warning when an oscillation continues at a filter readjustment 
sensitivity level of [Pr. PF23]. 
The digit is continuously enabled regardless of the vibration tough drive in [Pr. 
PA20]. 
0:  [AL. 54 Oscillation detection] will occur at oscillation detection. 
1:  [AL. F3.1 Oscillation detection warning] will occur at oscillation detection. 
2:  Oscillation detection function disabled 
0h 
 
 
 _ _ x _ For manufacturer setting  0h    
 _ x _ _   0h       
 x _ _ _   0h       
PF25 
CVAT 
SEMI-F47 
function - 
Instantaneous 
power failure 
detection time 
(instantaneous 
power failure 
tough drive - 
detection time) 
 Set the time of the [AL. 10.1 Voltage drop in the power] occurrence. 
To disable the parameter, select "Disabled (_ 0 _ _)" of "SEMI-F47 function selection 
(instantaneous power failure tough drive selection)" in [Pr. PA20]. 
When "Enabled (_ 1 _ _)" is selected of "SEMI-F47 function selection (instantaneous 
power failure tough drive selection)" in [Pr. PA20], the power should be off for the 
setting value of this parameter + 1.5 s or more before cycling the power to enable a 
parameter whose symbol is preceded by "*". 
Setting range:  30 to 2000 
200 
[ms] 
 
PF31 
FRIC 
Machine 
diagnosis 
function - 
Friction 
judgement 
speed 
 Set a servo motor speed to divide a friction estimation area into high and low for the 
friction estimation process of the machine diagnosis. 
However, setting "0" will be the value half of the rated speed. 
When your operation pattern is under rated speed, we recommend that you set half 
value to the maximum speed with this. 
Maximum speed in operation
[Pr. PF31] setting
Operation pattern
0 r/min
Servo motor
speed
Forward rotation
direction
Reverse rotation
direction
 
Setting range:  0 to  
permissible speed 
0 
[r/min] 
 
 





5. PARAMETERS 
5 -  44 
 
MEMO 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 





6. NORMAL GAIN ADJUSTMENT 
6 -  1 
 
6. NORMAL GAIN ADJUSTMENT 
POINT 
 
In the torque control mode, you do not need to make gain adjustment. 
Before making gain adjustment, check that your machine is not being operated 
at maximum torque of the servo motor. If operated over maximum torque, the 
machine may vibrate and may operate unexpectedly. In addition, make gain 
adjustment with a safety margin considering characteristic differences of each 
machine. It is recommended that generated torque during operation is under 
90% of the maximum torque of the servo motor. 
 
 
6.1 Different adjustment methods 
6.1.1 Adjustment on a single servo amplifier 
The following table shows the gain adjustment modes that can be set on a single servo amplifier. For gain 
adjustment, first execute "Auto tuning mode 1". If you are not satisfied with the result of the adjustment, 
execute "Auto tuning mode 2" and "Manual mode" in this order. 
 
(1)  Gain adjustment mode explanation 
 
Gain adjustment mode  [Pr. PA08] setting 
Estimation of load to motor 
inertia ratio 
Automatically set 
parameters 
Manually set 
parameters 
Auto tuning mode 1 
(initial value) 
_ _ _ 1  Always estimated  GD2 ([Pr. PB06]) 
PG1 ([Pr. PB07]) 
PG2 ([Pr. PB08]) 
VG2 ([Pr. PB09]) 
VIC ([Pr. PB10]) 
RSP ([Pr. PA09]) 
Auto tuning mode 2  _ _ _ 2  PG1 ([Pr. PB07]) 
PG2 ([Pr. PB08]) 
VG2 ([Pr. PB09]) 
VIC ([Pr. PB10]) 
GD2 ([Pr. PB06]) 
RSP ([Pr. PA09]) 
Manual mode  _ _ _ 3 
Fixed to [Pr. PB06] value 
 GD2 ([Pr. PB06]) 
PG1 ([Pr. PB07]) 
PG2 ([Pr. PB08]) 
VG2 ([Pr. PB09]) 
VIC ([Pr. PB10]) 
2 gain adjustment mode 1 
(interpolation mode) 
_ _ _ 0  Always estimated  GD2 ([Pr. PB06]) 
PG2 ([Pr. PB08]) 
VG2 ([Pr. PB09]) 
VIC ([Pr. PB10]) 
PG1 ([Pr. PB07]) 
RSP ([Pr. PA09]) 
2 gain adjustment mode 2  _ _ _ 4  Fixed to [Pr. PB06] value  PG2 ([Pr. PB08]) 
VG2 ([Pr. PB09]) 
VIC ([Pr. PB10]) 
GD2 ([Pr. PB06]) 
PG1 ([Pr. PB07]) 
RSP ([Pr. PA09]) 
 





6. NORMAL GAIN ADJUSTMENT 
6 -  2 
 
(2)  Adjustment sequence and mode usage 
2 gain adjustment mode 1
(interpolation mode)
Interpolation
made for 2 or more
axes?
The load fluctuation
is large during driving?
Start
End
Yes
No
Yes
No
Yes
No
No
Yes
One-touch tuning
Yes
Yes
Yes
Error handling
is possible?
Handle the error
Adjustment OK?
Finished normally?
2 gain adjustment mode 2
Manual mode
Auto tuning mode 1
Yes
Adjustment OK?
Auto tuning mode 2
No
No
No
Adjustment OK?
Adjustment OK?
No
 
6.1.2 Adjustment using MR Configurator2 
This section explains the functions and adjustment using the servo amplifier with MR Configurator2. 
 
Function  Description  Adjustment 
Machine analyzer  With the machine and servo motor coupled, 
the characteristic of the mechanical system 
can be measured by giving a random 
vibration command from a personal 
computer to the servo and measuring the 
machine response. 
You can grasp the machine resonance 
frequency and determine the notch 
frequency of the machine resonance 
suppression filter. 
 





6. NORMAL GAIN ADJUSTMENT 
6 -  3 
 
6.2 One-touch tuning 
You can execute the one-touch tuning with MR Configurator2 or push buttons. The following parameters are 
set automatically with one-touch tuning. 
 
Table 6.1 List of parameters automatically set with one-touch tuning 
Parameter  Symbol  Name    Parameter  Symbol Name 
PA08  ATU  Auto tuning mode    PB14  NHQ1  Notch shape selection 1 
PA09  RSP  Auto tuning response 
 
PB15  NH2 
Machine resonance suppression filter 
2 
 PB16 NHQ2 Notch shape selection 2 
PB01  FILT 
Adaptive tuning mode (adaptive filter 
II) 
 PB18  LPF Low-pass filter setting 
 
PB19  VRF11
Vibration suppression control 1 - 
Vibration frequency 
PB02  VRFT 
Vibration suppression control tuning 
mode (advanced vibration suppression 
control II) 
 
PB20  VRF12
Vibration suppression control 1 - 
Resonance frequency 
 
PB21  VRF13
Vibration suppression control 1 - 
Vibration frequency damping 
PB03  PST 
Position command 
acceleration/deceleration time 
constant (position smoothing) 
 
PB22  VRF14
Vibration suppression control 1 - 
Resonance frequency damping 
PB06  GD2  Load to motor inertia ratio    PB23  VFBF  Low-pass filter selection 
PB07  PG1  Model loop gain    PB47  NHQ3  Notch shape selection 3 
PB08  PG2  Position loop gain 
 
PB48  NH4 
Machine resonance suppression filter 
4 
PB09  VG2  Speed loop gain    PB49  NHQ4  Notch shape selection 4 
PB10  VIC  Speed integral compensation   PB51 NHQ5 Notch shape selection 5 
PB12  OVA  Overshoot amount compensation   PE41 EOP3 Function selection E-3 
PB13  NH1 
Machine resonance suppression filter 
1 
 
  
 
 
6.2.1 One-touch tuning flowchart 
(1)  When you use MR Configurator2 
Make one-touch tuning as follows. 
 
 
 
 
Startup a system referring to chapter 4. 
 
 
 
Rotate the servo motor by an external controller, etc. (The one-touch tuning cannot be performed if the 
servo motor is not operating.) 
 
 
Start one-touch tuning of MR Configurator2. 
 
 
 
Select a response mode (high mode, basic mode, and low mode) in the one-touch tuning window of 
MR Configurator2. 
 
 
Start
Startup of the system
Operation
One-touch tuning start
Response mode selection
One-touch tuning execution
End
 
Push the start button to start one-touch tuning. Push it during motor driving. 
When one-touch tuning is completed normally, the parameters described in table 6.1 will be set 
automatically. 
 





6. NORMAL GAIN ADJUSTMENT 
6 -  4 
 
(2)  When you use push buttons 
Make one-touch tuning as follows. 
 
 
 
 
Startup a system referring to chapter 4. 
 
 
 
Rotate the servo motor by an external controller, etc. (The one-touch tuning cannot be performed if the 
servo motor is not operating.) 
 
 
Select the initial screen ("AUTO") of the one-touch tuning with the "MODE" button during motor 
driving. Push the "SET" button for 2 s or more during displaying "AUTO" to switch to the response 
mode selection ("AUTO."). Push the "MODE" and "SET" buttons at the same time for 3 s or more to 
switch to the response mode selection ("AUTO.") without going through the initial screen of the one-
touch tuning ("AUTO"). 
 
The initial value of response mode is "AUTO." (basic mode). As necessary, push the "UP" or "DOWN" 
button to select "AUTO.H" (high mode) or "AUTO.L" (low mode). 
 
 
Start
Startup of the system
Operation
One-touch tuning start
Response mode selection
One-touch tuning execution
End
 
Push the "SET" button to start one-touch tuning. Push the "SET" button during servo motor driving. 
When one-touch tuning is completed normally, the parameters described in table 6.1 will be set 
automatically. 
 





6. NORMAL GAIN ADJUSTMENT 
6 -  5 
 
6.2.2 Display transition and operation procedure of one-touch tuning 
(1)  When you use MR Configurator2 
(a)  Response mode selection 
Select a response mode from three modes in the one-touch tuning window of MR Configurator2. 
 
Response mode  Explanation 
High mode  This mode is for high rigid system. 
Basic mode  This mode is for standard system. 
Low mode  This mode is for low rigid system. 
 
Refer to the following table for selecting a response mode. 
 





6. NORMAL GAIN ADJUSTMENT 
6 -  6 
 
Response mode  Machine characteristic 
Low mode  Basic mode  High mode 
Response 
Guideline of corresponding machine 
 Low response
 
 
 
 
 
 
 
 
 
 
  
 
  
 
High response
General machine
tool conveyor
Arm robot
Precision working
machine
Inserter
Mounter
Bonder
 
 





6. NORMAL GAIN ADJUSTMENT 
6 -  7 
 
(b)  One-touch tuning execution 
 
POINT 
 
For equipment in which overshoot during one-touch tuning is in the permissible 
level of the in-position range, changing the value of [Pr. PA25 One-touch tuning 
- Overshoot permissible level] will shorten the settling time and improve the 
response. 
 
 
After the response mode is selected in (a), pushing the start button during driving will start one-touch 
tuning. If the start button is pushed while the motor stops, "C 0 0 2" or "C 0 0 4" will be displayed at 
status in error code. (Refer to table 6.2 of (1) (d) of this section for error codes.) 
 
During processing of one-touch tuning, the status will be displayed in the progress window as 
follows. One-touch tuning will be finished at 100%. 
 
Completing the one-touch tuning starts writing tuning parameters to the servo amplifier. "0 0 0 0" is 
displayed at status in error code. In addition, settling time and overshoot amount will be displayed in 
"Adjustment result" after adjustment. 
 





6. NORMAL GAIN ADJUSTMENT 
6 -  8 
 
(c)  Stop of one-touch tuning 
During one-touch tuning, pushing the stop button stops one-touch tuning. 
If the one-touch tuning is stopped, "C 0 0 0" will be displayed at status in error code. 
 
(d)  Error occurrence 
If a tuning error occurs during tuning, one-touch tuning will be forcibly terminated. With that, the 
following error code will be displayed in status. Check the cause of tuning error. 
 
Table 6.2 Error code list during one-touch tuning 
Error code  Name  Description  Action 
C000  Tuning canceled  The stop button or "SET" of the push button 
was pushed. 
 
C001  Overshoot exceeded  The overshoot amount is lager than the value 
set in [Pr. PA10 In-position range]. 
Increase the in-position range. 
C002  Servo-off during tuning  The one-touch tuning was attempted during 
servo-off. 
Perform the one-touch tuning after servo-on. 
C003  Control mode error  The one-touch tuning was attempted while the 
torque control mode was selected in the 
control modes. 
Select the position control mode or speed 
control mode for the control mode from the 
controller, and then make one-touch tuning. 
C004  Time-out  1.  One cycle time during the operation has 
been over 30 s. 
Set the one cycle time during the operation to 
30 s or less. 
   2. The command speed is low.  Set the servo motor speed to100 r/min or 
higher. 
   3. The operation interval of the continuous 
operation is short. 
Maintain the operation interval during motor 
driving about 200 ms. 
C005  Load to motor inertia 
ratio misestimated 
1.  The estimation of the load to motor inertia 
ratio at one-touch tuning was a failure. 
Drive the motor with meeting conditions as 
follows. 
Time to reach 2000 r/min is the 
acceleration/deceleration time constant of 5 
s or less. 
Speed is 150 r/min or higher. 
The load to motor inertia ratio is 100 times 
or less. 
The acceleration/deceleration torque is 
10% or more of the rated torque. 
   2. The load to motor inertia ratio was not 
estimated due to such as an oscillation. 
Set to the auto tuning mode that does not 
estimate the load to motor inertia ratio as 
follows, and then execute the one-touch 
tuning. 
Select "Auto tuning mode 2 (_ _ _ 2)", 
"Manual mode (_ _ _ 3)", or "2 gain 
adjustment mode 2 (_ _ _ 4)" of "Gain 
adjustment mode selection" in [Pr. PA08]. 
Set [Pr. PB06 Load to motor inertia ratio] 
properly with manual setting. 
C00F  One-touch tuning 
disabled 
"One-touch tuning function selection" in [Pr. 
PA21] is "Disabled (_ _ _ 0)". 
Select "Enabled (_ _ _ 1)". 
 
(e)  If an alarm occurs 
If an alarm occurs during tuning, one-touch tuning will be forcibly terminated. 
Remove the cause of the alarm and execute one-touch tuning again. 
 
(f)  If a warning occurs 
If a warning which continue the motor driving occurs during the tuning, one-touch tuning will be 
continued. 
If a warning which does not continue the motor driving occurs during the tuning, one-touch tuning will 
be stopped. 
 





6. NORMAL GAIN ADJUSTMENT 
6 -  9 
 
(g)  Clearing one-touch tuning 
You can clear the parameter values set with one-touch tuning. 
Refer to table 6.1 for the parameters which you can clear. 
Pushing "Return to value before tuning" in the one-touch tuning window of MR Configurator2 
enables to rewrite the parameter to the value before pushing the start button. 
In addition, pushing "Return to initial value" in the one-touch tuning window enables to rewrite the 
parameter to the initial value. 
 
When clearing one-touch tuning is completed, the following window will be displayed. (returning to 
initial value) 
 
 





6. NORMAL GAIN ADJUSTMENT 
6 -  10 
 
(2)  When you use push buttons 
 
POINT 
 
Push the "MODE" and "SET" buttons at the same time for 3 s or more to switch 
to the response mode selection ("AUTO.") without going through the initial 
screen of the one-touch tuning ("AUTO"). 
 
 
(a)  Response mode selection 
Select a response mode of the one-touch tuning from 3 modes with "UP" or "DOWN". Refer to (1) (a) 
of this section for a guideline of response mode. 
Response mode selection display
Low mode: This mode is for low rigid system.
Basic mode: This mode is for standard system.
High mode: This mode is for high rigid system.
DOWNUP
 
 





6. NORMAL GAIN ADJUSTMENT 
6 -  11 
 
(b)  One-touch tuning execution 
 
POINT 
 
For equipment in which overshoot during one-touch tuning is in the permissible 
level of the in-position range, changing the value of [Pr. PA25 One-touch tuning 
- Overshoot permissible level] will shorten the settling time and improve the 
response. 
 
 
After the response mode is selected in (a), pushing the "SET" button will start one-touch tuning. 
Completing the one-touch tuning will start writing the auto-tuned parameters to the servo
amplifier.
The one-touch tuning progress is displayed with 0% to 100%.
The decimal point moves left to right in rotation during the tuning.
To switch the display to the status display during the tuning, push the "MODE" button.
One-touch tuning in
progress
Complete
 
(c)  Stop of one-touch tuning 
The stop symbol and error code "C 000" (cancel during tuning) will be displayed by turns
with 2 s interval.
2 s interval
Error code
The one-touch tuning mode can be stopped by pushing the "SET" button regardless of
displayed item.
Stop symbol
Initial screen
Pushing the "SET" button will switch to the initial screen.
 
 





6. NORMAL GAIN ADJUSTMENT 
6 -  12 
 
(d)  If an error occurs 
Check the error cause referring table 6.2 of (1) (d) of this section.
2 s interval
Error code
If an error occurs during the one-touch tuning, the tuning will be forcibly terminated and the
stop symbol and error code from "C 001" to "C 00F" will be displayed by turns with 2 s
interval.
Stop symbol
Initial screen
Pushing the "SET" button will switch to the initial screen.
 
(e)  If an alarm occurs 
If an alarm occurs during tuning, one-touch tuning will be forcibly terminated and the alarm
No. will be displayed.
One-touch tuning in progress
Alarm display
 
(f)  If a warning occurs 
If a warning occurs during tuning, the alarm No. of the warning will be displayed.
When the warning is one which continue the motor driving, the one-touch tuning will be
continued.
One-touch tuning in progress
Alarm display (warning)
 
 





6. NORMAL GAIN ADJUSTMENT 
6 -  13 
 
(g)  Clearing one-touch tuning 
Refer to table 6.1 for the parameters which you can clear. 
You can initialize the parameters changed by the one-touch tuning with the clear mode. You can 
reset the parameters to before tuning with the back mode. 
 
1)  Push the "MODE" button to switch to the initial screen "AUTO" of the one-touch tuning. 
 
2)  Select the clear mode or back mode with the "UP" or "DOWN" button. 
One-touch tuning clear mode selection
DOWNUP
To clear the one-touch tuning, push the "SET" button for 2 s.
The one-touch tuning clear mode is in progress.
The clear mode symbol flickers for 3 s.
Clearing one-touch tuning is completed, the initial screen will be displayed.
One-touch tuning clear mode display (initializing)
Initial screen
Auto mode
Clear mode
Back mode
 
 
6.2.3 Caution for one-touch tuning 
(1)  The tuning is not available in the torque control mode. 
 
(2)  The one-touch tuning cannot be executed while an alarm or warning which withholds the motor driving is 
occurring. 
 
(3)  You can execute the one-touch tuning during the following test operation modes marked by "". 
 
Test operation mode 
How to one-touch tuning 
Output signal (DO) forced 
output 
JOG operation 
Positioning 
operation 
Motor-less 
operation 
Program 
operation 
MR Configurator2   
   
 
 
Push buttons           
 





6. NORMAL GAIN ADJUSTMENT 
6 -  14 
 
6.3 Auto tuning 
6.3.1 Auto tuning mode 
The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load to 
motor inertia ratio) in real time and automatically sets the optimum gains according to that value. This 
function permits ease of gain adjustment of the servo amplifier. 
 
(1)  Auto tuning mode 1 
The servo amplifier is factory-set to the auto tuning mode 1. 
In this mode, the load to motor inertia ratio of a machine is always estimated to set the optimum gains 
automatically. 
The following parameters are automatically adjusted in the auto tuning mode 1. 
 
Parameter  Symbol Name 
PB06  GD2  Load to motor inertia ratio 
PB07  PG1  Model loop gain 
PB08  PG2  Position loop gain 
PB09  VG2  Speed loop gain 
PB10  VIC  Speed integral compensation 
 
POINT 
 
The auto tuning mode 1 may not be performed properly if all of the following 
conditions are not satisfied. 
Time to reach 2000 r/min is the acceleration/deceleration time constant of 5 s 
or less. 
Speed is 150 r/min or higher. 
The load to motor inertia ratio is 100 times or less. 
The acceleration/deceleration torque is 10% or more of the rated torque. 
Under operating conditions which will impose sudden disturbance torque during 
acceleration/deceleration or on a machine which is extremely loose, auto tuning 
may not function properly, either. In such cases, use the auto tuning mode 2 or 
manual mode to make gain adjustment. 
 
 
(2)  Auto tuning mode 2 
Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. Since 
the load to motor inertia ratio is not estimated in this mode, set the value of a correct load to motor 
inertia ratio in [Pr. PB06]. 
The following parameters are automatically adjusted in the auto tuning mode 2. 
 
Parameter  Symbol Name 
PB07  PG1  Model loop gain 
PB08  PG2  Position loop gain 
PB09  VG2  Speed loop gain 
PB10  VIC  Speed integral compensation 
 





6. NORMAL GAIN ADJUSTMENT 
6 -  15 
 
6.3.2 Auto tuning mode basis 
The block diagram of real-time auto tuning is shown below. 
Loop gain
PG1, PG2,
VG2, VIC
Current
control
Load to motor
inertia ratio
estimation section
Gain table
[Pr. PB06 Load to
motor inertia ratio]
Response
level setting
Gain adjustment mode selection
[Pr. PA08]
+
-
+
-
Real-time
auto tuning section
Set 0 or 1 to turn on.
Switch
Current feedback
Position/speed
feedback
Speed feedback
Load moment
of inertia
Encoder
Command
Automatic setting
[Pr. PA09]
M
Servo motor
000
 
When a servo motor is accelerated/decelerated, the load to motor inertia ratio estimation section always 
estimates the load to motor inertia ratio from the current and speed of the servo motor. The results of 
estimation are written to [Pr. PB06 Load to motor inertia ratio]. These results can be confirmed on the status 
display screen of the MR Configurator2. 
If you have already known the value of the load to motor inertia ratio or failed to estimate, set "Gain 
adjustment mode selection" to "Auto tuning mode 2 (_ _ _ 2)" in [Pr. PA08] to stop the estimation (turning off 
the switch in above diagram), and set the load to motor inertia ratio ([Pr. PB06]) manually. 
From the preset load to motor inertia ratio ([Pr. PB06]) value and response ([Pr. PA09]), the optimum loop 
gains are automatically set on the basis of the internal gain table. 
The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since power-on. 
At power-on, auto tuning is performed with the value of each loop gain saved in the EEP-ROM being used 
as an initial value. 
 
POINT 
 
If sudden disturbance torque is imposed during operation, the load to motor 
inertia ratio may be misestimated temporarily. In such a case, set "Gain 
adjustment mode selection" to "Auto tuning mode 2 (_ _ _ 2)" in [Pr. PA08] and 
then set the correct load to motor inertia ratio in [Pr. PB06]. 
When any of the auto tuning mode 1 and auto tuning mode settings is changed 
to the manual mode 2 setting, the current loop gains and load to motor inertia 
ratio estimation value are saved in the EEP-ROM. 
 
 





6. NORMAL GAIN ADJUSTMENT 
6 -  16 
 
6.3.3 Adjustment procedure by auto tuning 
Since auto tuning is enabled before shipment from the factory, simply running the servo motor automatically 
sets the optimum gains that match the machine. Merely changing the response level setting value as 
required completes the adjustment. The adjustment procedure is as follows. 
Auto tuning adjustment
Acceleration/deceleration repeated
Auto tuning conditions
are not satisfied? (Estimation of
load to motor inertia ratio is
 difficult.)
Load to motor inertia ratio
estimation value stable?
Set [Pr. PA08] to "_ _ _ 2" and set
[Pr. PB06 Load to motor inertia ratio]
manually.
Adjust response level setting so
that desired response is achieved
on vibration-free level.
To 2 gain adjustment
mode 2
Requested performance
satisfied?
End
Yes
No
Yes
No
No
Yes
Acceleration/deceleration repeated
 
 





6. NORMAL GAIN ADJUSTMENT 
6 -  17 
 
6.3.4 Response level setting in auto tuning mode 
Set the response of the whole servo system by [Pr. PA09]. As the response level setting is increased, the 
track ability and settling time for a command decreases, but a too high response level will generate vibration. 
Hence, make setting until desired response is obtained within the vibration-free range. 
If the response level setting cannot be increased up to the desired response because of machine resonance 
beyond 100 Hz, filter tuning mode selection in [Pr. PB01] or machine resonance suppression filter in [Pr. 
PB13] to [Pr. PB16], and [Pr. PB46] to [Pr. PB51] may be used to suppress machine resonance. 
Suppressing machine resonance may allow the response level setting to increase. Refer to section 7.1.1 and 
7.1.2 for settings of the adaptive tuning mode and machine resonance suppression filter. 
 
[Pr. PA09] 
Machine characteristic    Machine characteristic 
Setting value 
Response 
Guideline for 
machine resonance 
frequency [Hz] 
 
Setting value 
Response 
Guideline for 
machine resonance 
frequency [Hz] 
1  Low response  2.7    21  Middle response  67.1 
2  3.6    22  75.6 
3  4.9    23  85.2 
4  6.6    24  95.9 
5  10.0    25  108.0 
6  11.3    26  121.7 
7  12.7    27  137.1 
8  14.3    28  154.4 
9  16.1    29  173.9 
10  18.1    30  195.9 
11  20.4    31  220.6 
12  23.0    32  248.5 
13  25.9    33  279.9 
14  29.2    34  315.3 
15  32.9    35  355.1 
16  37.0    36  400.0 
17  41.7    37  446.6 
18  47.0    38  501.2 
19 
 
52.9    39 
 
571.5 
20  Middle response 59.6    40  High response  642.7 
 
 





6. NORMAL GAIN ADJUSTMENT 
6 -  18 
 
6.4 Manual mode 
If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with 
three parameters. 
 
POINT 
 
If machine resonance occurs, filter tuning mode selection in [Pr. PB01] or 
machine resonance suppression filter in [Pr. PB13] to [Pr. PB16] and [Pr. PB46] 
to [Pr. PB51] may be used to suppress machine resonance. (Section 7.1.1, 
7.1.2) 
 
 
(1)  For speed control 
(a)  Parameter 
The following parameters are used for gain adjustment. 
 
Parameter  Symbol Name 
PB06  GD2  Load to motor inertia ratio 
PB07  PG1  Model loop gain 
PB09  VG2  Speed loop gain 
PB10  VIC  Speed integral compensation 
 
(b)  Adjustment procedure 
 
Step  Operation  Description 
1  Brief-adjust with auto tuning. Refer to section 6.3.3.   
2 
Change the setting of auto tuning to the manual mode ([Pr. 
PA08]: _ _ _ 3). 
 
3 
Set an estimated value to the load to motor inertia ratio. (If the 
estimate value with auto tuning is correct, setting change is not 
required.) 
 
4 
Set a slightly smaller value to the model loop gain 
Set a slightly larger value to the speed integral compensation. 
 
5 
Increase the speed loop gain within the vibration- and unusual 
noise-free range, and return slightly if vibration takes place. 
Increase the speed loop 
gain. 
6 
Decrease the speed integral compensation within the vibration-
free range, and return slightly if vibration takes place. 
Decrease the time 
constant of the speed 
integral compensation. 
7 
Increase the model loop gain, and return slightly if overshoot 
takes place. 
Increase the model loop 
gain. 
8 
If the gains cannot be increased due to mechanical system 
resonance or the like and the desired response cannot be 
achieved, response may be increased by suppressing resonance 
with the adaptive tuning mode or machine resonance 
suppression filter and then executing steps 3 to 7. 
Suppression of machine 
resonance 
Refer to section 7.1.1 and 
7.1.2. 
9  While checking the motor status, fine-adjust each gain. Fine adjustment 
 





6. NORMAL GAIN ADJUSTMENT 
6 -  19 
 
(c)  Parameter adjustment 
1)  [Pr. PB09 Speed loop gain] 
This parameter determines the response level of the speed control loop. Increasing the setting 
increases the response level, but the mechanical system is liable to vibrate. The actual response 
frequency of the speed loop is as indicated in the following expression. 
 
Speed loop response frequency [Hz] = 
(1 + Load to motor inertia ratio) × 2
Speed loop gain
 
 
2)  [Pr. PB10 Speed integral compensation] 
To eliminate stationary deviation against a command, the speed control loop is under proportional 
integral control. For the speed integral compensation, set the time constant of this integral 
control. Increasing the setting lowers the response level. However, if the load to motor inertia 
ratio is large or the mechanical system has any vibratory element, the mechanical system is liable 
to vibrate unless the setting is increased to some degree. The guideline is as indicated in the 
following expression. 
 
Speed integral compensation setting [ms]  
2000 to 3000
Speed loop gain/(1 + Load to motor inertia ratio)
 
 
3)  [Pr. PB07 Model loop gain] 
This parameter determines the response level to a speed command. Increasing the value 
improves track ability to a speed command, but a too high value will make overshoot liable to 
occur at settling. 
 
Estimated model loop gain  
(1 + Load to motor inertia ratio)
Speed loop gain
 × 
8
1
4
1
to
 
 
(2)  For position control 
(a)  Parameter 
The following parameters are used for gain adjustment. 
 
Parameter  Symbol Name 
PB06  GD2  Load to motor inertia ratio 
PB07  PG1  Model loop gain 
PB08  PG2  Position loop gain 
PB09  VG2  Speed loop gain 
PB10  VIC  Speed integral compensation 
 





6. NORMAL GAIN ADJUSTMENT 
6 -  20 
 
(b)  Adjustment procedure 
 
Step  Operation  Description 
1  Brief-adjust with auto tuning. Refer to section 6.3.3.   
2 
Change the setting of auto tuning to the manual mode ([Pr. 
PA08]: _ _ _ 3). 
 
3 
Set an estimated value to the load to motor inertia ratio. (If the 
estimate value with auto tuning is correct, setting change is not 
required.) 
 
4 
Set a slightly smaller value to the model loop gain and the 
position loop gain. 
Set a slightly larger value to the speed integral compensation. 
 
5 
Increase the speed loop gain within the vibration- and unusual 
noise-free range, and return slightly if vibration takes place. 
Increase the speed loop 
gain. 
6 
Decrease the speed integral compensation within the vibration-
free range, and return slightly if vibration takes place. 
Decrease the time 
constant of the speed 
integral compensation. 
7 
Increase the position loop gain, and return slightly if vibration 
takes place. 
Increase the position loop 
gain. 
8 
Increase the model loop gain, and return slightly if overshoot 
takes place. 
Increase the model loop 
gain. 
9 
If the gains cannot be increased due to mechanical system 
resonance or the like and the desired response cannot be 
achieved, response may be increased by suppressing resonance 
with the adaptive tuning mode or machine resonance 
suppression filter and then executing steps 3 to 8. 
Suppression of machine 
resonance 
Section 7.1.1 and 7.1.2 
10 
While checking the settling characteristic and motor status, fine-
adjust each gain. 
Fine adjustment 
 
(c)  Parameter adjustment 
1)  [Pr. PB09 Speed loop gain] 
This parameter determines the response level of the speed control loop. Increasing the setting 
increases the response level, but the mechanical system is liable to vibrate. The actual response 
frequency of the speed loop is as indicated in the following expression. 
 
Speed loop response frequency [Hz] = 
(1 + Load to motor inertia ratio) × 2
Speed loop gain
 
 
2)  [Pr. PB10 Speed integral compensation] 
To eliminate stationary deviation against a command, the speed control loop is under proportional 
integral control. For the speed integral compensation, set the time constant of this integral 
control. Increasing the setting lowers the response level. However, if the load to motor inertia 
ratio is large or the mechanical system has any vibratory element, the mechanical system is liable 
to vibrate unless the setting is increased to some degree. The guideline is as indicated in the 
following expression. 
 
Speed integral compensation setting [ms]  
2000 to 3000
Speed loop gain/(1 + Load to motor inertia ratio)
 
 





6. NORMAL GAIN ADJUSTMENT 
6 -  21 
 
3)  [Pr. PB08 Position loop gain] 
This parameter determines the response level to a disturbance to the position control loop. 
Increasing the position loop gain increases the response level to a disturbance, but the 
mechanical system is liable to vibrate. 
 
Position loop gain guideline  
(1 + Load to motor inertia ratio)
Speed loop gain
 × 
8
1
4
1
to
 
 
4)  [Pr. PB07 Model loop gain] 
This parameter determines the response level to a position command. Increasing the value 
improves track ability to a position command, but a too high value will make overshoot liable to 
occur at settling. 
 
Estimated model loop gain  
(1 + Load to motor inertia ratio)
Speed loop gain
 × 
8
1
4
1
to
 
 





6. NORMAL GAIN ADJUSTMENT 
6 -  22 
 
6.5 2 gain adjustment mode 
The 2 gain adjustment mode is used to match the position loop gains of the axes when performing the 
interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, 
manually set the model loop gain that determines command track ability. Other parameters for gain 
adjustment are set automatically. 
 
(1)  2 gain adjustment mode 1 
For the 2 gain adjustment mode 1, manually set the model loop gain that determines command track 
ability. The mode constantly estimates the load to motor inertia ratio, and automatically set other 
parameters for gain adjustment to optimum gains using auto tuning response. 
The following parameters are used for 2 gain adjustment mode 1. 
 
(a)  Automatically adjusted parameter 
The following parameters are automatically adjusted by auto tuning. 
 
Parameter  Symbol Name 
PB06  GD2  Load to motor inertia ratio 
PB08  PG2  Position loop gain 
PB09  VG2  Speed loop gain 
PB10  VIC  Speed integral compensation 
 
(b)  Manually adjusted parameter 
The following parameters are adjustable manually. 
 
Parameter  Symbol Name 
PA09  RSP  Auto tuning response 
PB07  PG1  Model loop gain 
 
(2)  2 gain adjustment mode 2 
Use 2 gain adjustment mode 2 when proper gain adjustment cannot be made with 2 gain adjustment 
mode 1. Since the load to motor inertia ratio is not estimated in this mode, set the value of a proper load 
to motor inertia ratio in [Pr. PB06]. 
The following parameters are used for 2 gain adjustment mode 2. 
 
(a)  Automatically adjusted parameter 
The following parameters are automatically adjusted by auto tuning. 
 
Parameter  Symbol Name 
PB08  PG2  Position loop gain 
PB09  VG2  Speed loop gain 
PB10  VIC  Speed integral compensation 
 
(b)  Manually adjusted parameter 
The following parameters are adjustable manually. 
 
Parameter  Symbol Name 
PA09  RSP  Auto tuning response 
PB06  GD2  Load to motor inertia ratio 
PB07  PG1  Model loop gain 
 





6. NORMAL GAIN ADJUSTMENT 
6 -  23 
 
(3)  Adjustment procedure of 2 gain adjustment mode 
 
POINT 
 
Set the same value in [Pr. PB07 Model loop gain] for the axis used in 2 gain 
adjustment mode. 
 
 
Step  Operation  Description 
1 
Set to the auto tuning mode.  Select the auto tuning 
mode 1. 
2 
During operation, increase the response level setting value in [Pr. 
PA09], and return the setting if vibration occurs. 
Adjustment in auto tuning 
mode 1 
3 
Check value of the model loop gain and the load to motor inertia 
ratio in advance. 
Check the upper setting 
limits. 
4 
Set the 2 gain adjustment mode 1 ([Pr. PA08]: _ _ _ 0).  Select the 2 gain 
adjustment mode 1 
(interpolation mode). 
5 
When the load to motor inertia ratio is different from the design 
value, select the 2 gain adjustment mode 2 ([Pr. PA08]: _ _ _ 4) 
and then set the load to motor inertia ratio manually in [Pr. PB06]. 
Check the load to motor 
inertia ratio. 
6 
Set the model loop gain of all the axes to be interpolated to the 
same value. At that time, adjust to the setting value of the axis, 
which has the smallest model loop gain. 
Set position loop gain. 
7 
Considering the interpolation characteristic and motor status, 
fine-adjust the model loop gain and response level setting. 
Fine adjustment 
 
(4)  Parameter adjustment 
[Pr. PB07 Model loop gain] 
This parameter determines the response level of the position control loop. Increasing the value improves 
track ability to a position command, but a too high value will make overshoot liable to occur at settling. 
The droop pulse value is determined by the following expression. 
 
Number of droop pulses [pulse] = 
Model loop gain setting
Position command frequency [pulse/s]
 
 
Position command frequency = 
Speed [r/min]
60
 × Encoder resolution (number of pulses per servo motor 
revolution) 
 





6. NORMAL GAIN ADJUSTMENT 
6 -  24 
 
MEMO 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  1 
 
7. SPECIAL ADJUSTMENT FUNCTIONS 
POINT 
 
The functions given in this chapter need not be used normally. Use them if you 
are not satisfied with the machine status after making adjustment in the methods 
in chapter 6. 
 
 
7.1 Filter setting 
The following filters are available with MR-JE servo amplifiers. 
Command
pulse train
Command
filter
Low-pass
filter
setting
Encoder
Servo motor
PWM
M
Load
[Pr. PB18]
+
-
Machine
resonance
suppression
filter 1
[Pr. PB13] [Pr. PB15] [Pr. PB46]
Machine
resonance
suppression
filter 2
Machine
resonance
suppression
filter 3
Machine
resonance
suppression
filter 4
Machine
resonance
suppression
filter 5
Shaft
resonance
suppression
filter
Robust filter
[Pr. PB48]
[Pr. PB50]
[Pr. PB17]
Speed
control
[Pr. PB49] [Pr. PE41]
 
7.1.1 Machine resonance suppression filter 
 
POINT 
 
The machine resonance suppression filter is a delay factor for the servo system. 
Therefore, vibration may increase if you set an incorrect resonance frequency or 
set notch characteristics too deep or too wide. 
If the frequency of machine resonance is unknown, decrease the notch 
frequency from higher to lower ones in order. The optimum notch frequency is 
set at the point where vibration is minimal. 
A deeper notch has a higher effect on machine resonance suppression but 
increases a phase delay and may increase vibration. 
A deeper notch has a higher effect on machine resonance suppression but 
increases a phase delay and may increase vibration. 
The machine characteristic can be grasped beforehand by the machine analyzer 
on MR Configurator2. This allows the required notch frequency and notch 
characteristics to be determined. 
 
 
If a mechanical system has a natural resonance point, increasing the servo system response level may 
cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance 
frequency. Using the machine resonance suppression filter and adaptive tuning can suppress the resonance 
of the mechanical system. The setting range is 10 Hz to 4500 Hz. 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  2 
 
(1)  Function 
The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of 
the specific frequency to suppress the resonance of the mechanical system. You can set the gain 
decreasing frequency (notch frequency), gain decreasing depth and width. 
Response of
mechanical system
Notch
characteristics
Machine resonance point
Notch frequency
Frequency
Frequency
Notch width
Notch depth
 
You can set five machine resonance suppression filters at most. 
 
Filter  Setting parameter  Precaution 
Parameter that is 
reset with vibration 
tough drive function 
Parameter 
automatically 
adjusted with one-
touch tuning 
Machine resonance 
suppression filter 1 
PB01/PB13/PB14  The filter can be set automatically with 
"Filter tuning mode selection" in [Pr. 
PB01]. 
PB13  PB01/PB13/PB14 
Machine resonance 
suppression filter 2 
PB15/PB16    PB15  PB15/PB16 
Machine resonance 
suppression filter 3 
PB46/PB47      PB47 
Machine resonance 
suppression filter 4 
PB48/PB49  Enabling the filter disables the shaft 
resonance suppression filter. 
The shaft resonance suppression filter is 
enabled for the initial setting. 
 PB48/PB49 
Machine resonance 
suppression filter 5 
PB50/PB51  The setting of this filter is disabled while 
you use the robust filter. 
The robust filter is disabled for the initial 
setting. 
 PB51 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  3 
 
(2)  Parameter 
(a)  Machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]) 
Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1 
([Pr. PB13] and [Pr. PB14]) 
When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the setting 
of the machine resonance suppression filter 1 is enabled. 
 
(b)  Machine resonance suppression filter 2 ([Pr. PB15] and [Pr. PB16]) 
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 2 selection" in 
[Pr. PB16]. 
How to set the machine resonance suppression filter 2 ([Pr. PB15] and [Pr. PB16]) is the same as for 
the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]). 
 
(c)  Machine resonance suppression filter 3 ([Pr. PB46] and [Pr. PB47]) 
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 3 selection" in 
[Pr. PB47]. 
How to set the machine resonance suppression filter 3 ([Pr. PB46] and [Pr. PB47]) is the same as for 
the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]). 
 
(d)  Machine resonance suppression filter 4 ([Pr. PB48] and [Pr. PB49]) 
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4 selection" in 
[Pr. PB49]. However, enabling the machine resonance suppression filter 4 disables the shaft 
resonance suppression filter. 
How to set the machine resonance suppression filter 4 ([Pr. PB48] and [Pr. PB49]) is the same as for 
the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]). 
 
(e)  Machine resonance suppression filter 5 ([Pr. PB50] and [Pr. PB51]) 
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 5 selection" in 
[Pr. PB51]. However, enabling the robust filter ([Pr. PE41: _ _ _ 1]) disables the machine resonance 
suppression filter 5. 
How to set the machine resonance suppression filter 5 ([Pr. PB50] and [Pr. PB51]) is the same as for 
the machine resonance suppression filter 1 ([Pr. PB13] and [Pr. PB14]). 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  4 
 
7.1.2 Adaptive filter II 
 
POINT 
 
The machine resonance frequency which adaptive filter II (adaptive tuning) can 
respond to is about 100 Hz to 2.25 kHz. As for the resonance frequency out of 
the range, set manually. 
When adaptive tuning is executed, vibration sound increases as an excitation 
signal is forcibly applied for several seconds. 
When adaptive tuning is executed, machine resonance is detected for a 
maximum of 10 s and a filter is generated. After filter generation, the adaptive 
tuning mode automatically shifts to the manual setting. 
Adaptive tuning generates the optimum filter with the currently set control gains. 
If vibration occurs when the response setting is increased, execute adaptive 
tuning again. 
During adaptive tuning, a filter having the best notch depth at the set control 
gain is generated. To allow a filter margin against machine resonance, increase 
the notch depth in the manual setting. 
Adaptive vibration suppression control may provide no effect on a mechanical 
system which has complex resonance characteristics. 
 
 
(1)  Function 
Adaptive filter II (adaptive tuning) is a function in which the servo amplifier detects machine vibration for 
a predetermined period of time and sets the filter characteristics automatically to suppress mechanical 
system vibration. Since the filter characteristics (frequency, depth) are set automatically, you need not 
be conscious of the resonance frequency of a mechanical system. 
Response of
mechanical systemNotch depth
Machine resonance point
Notch frequency
Frequency
Frequency
 
Response of
mechanical systemNotch depth
Machine resonance point
Notch frequency
Frequency
Frequency
When machine resonance is large and 
frequency is low 
 When machine resonance is small and 
frequency is high 
 
(2)  Parameter 
Select how to set the filter tuning in [Pr. PB01 Adaptive tuning mode (adaptive filter II)]. 
[Pr. PB01]
Filter tuning mode selection
000
0
1
2
Setting
value
Filter tuning mode selection
Disabled
Automatic setting
Manual setting
PB13/PB14
Automatically set parameter
 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  5 
 
(3)  Adaptive tuning mode procedure 
Tuning ends automatically after the
predetermined period of time.
([Pr. PB01] will be "_ _ _ 2" or
"_ _ _ 0".)
Adaptive tuning
Operation
Is the target response
reached?
Decrease the response until vibration
or unusual noise is resolved.
End
Yes
No
No
Yes
Increase the response setting.
Has vibration or unusual
noise occurred?
Has vibration or unusual
noise been resolved?
Using the machine analyzer, set the
filter manually.
Yes
No
Execute or re-execute adaptive
tuning. (Set [Pr. PB01] to "_ _ _ 1".)
Factor
The response has increased to the machine limit.
The machine is too complicated to provide the
optimum filter.
If assumption fails after tuning is executed at a large vibration o

r

oscillation, decrease the response setting temporarily down to
the vibration level and execute again.
 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  6 
 
7.1.3 Shaft resonance suppression filter 
(1)  Function 
When a load is mounted to the servo motor shaft, resonance by shaft torsion during driving may 
generate a mechanical vibration at high frequency. The shaft resonance suppression filter suppresses 
the vibration. 
When you select "Automatic setting", the filter will be set automatically on the basis of the motor you use 
and the load to motor inertia ratio. The disabled setting increases the response of the servo amplifier for 
high resonance frequency. 
 
(2)  Parameter 
Set "Shaft resonance suppression filter selection" in [Pr. PB23]. 
[Pr. PB23]
Shaft resonance suppression filter selection
0: Automatic setting
1: Manual setting
2: Disabled
010
 
To set [Pr. PB17 Shaft resonance suppression filter] automatically, select "Automatic setting". 
To set [Pr. PB17 Shaft resonance suppression filter] manually, select "Manual setting". The setting 
values are as follows. 
 
Shaft resonance suppression filter setting frequency selection 
Setting value Frequency [Hz]    Setting value Frequency [Hz] 
_ _ 0 0  Disabled    _ _ 1 0  562 
_ _ 0 1  Disabled    _ _ 1 1  529 
_ _ 0 2  4500    _ _ 1 2  500 
_ _ 0 3  3000    _ _ 1 3  473 
_ _ 0 4  2250    _ _ 1 4  450 
_ _ 0 5  1800    _ _ 1 5  428 
_ _ 0 6  1500    _ _ 1 6  409 
_ _ 0 7  1285    _ _ 1 7  391 
_ _ 0 8  1125    _ _ 1 8  375 
_ _ 0 9  1000    _ _ 1 9  360 
_ _ 0 A  900    _ _ 1 A  346 
_ _ 0 B  818    _ _ 1 B  333 
_ _ 0 C  750    _ _ 1 C  321 
_ _ 0 D  692    _ _ 1 D  310 
_ _ 0 E  642    _ _ 1 E  300 
_ _ 0 F  600    _ _ 1 F  290 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  7 
 
7.1.4 Low-pass filter 
(1)  Function 
When a ball screw or the like is used, resonance of high frequency may occur as the response level of 
the servo system is increased. To prevent this, the low-pass filter is enabled for a torque command as 
the initial value. The filter frequency of the low-pass filter is automatically adjusted to the value in the 
following equation. 
 
Filter frequency ([rad/s]) = 
1 + GD2
VG2
 × 10  
 
To set [Pr. PB18] manually, select "Manual setting (_ _ 1 _)" of "Low-pass filter selection" in [Pr. PB23]. 
 
(2)  Parameter 
Set "Low-pass filter selection" in [Pr. PB23]. 
[Pr. PB23]
Low-pass filter selection
0: Automatic setting
1: Manual setting
2: Disabled
01 0
 
7.1.5 Advanced vibration suppression control II 
 
POINT 
 
The function is enabled when "Gain adjustment mode selection" in [Pr. PA08] is 
"Auto tuning mode 2 (_ _ _ 2)", "Manual mode (_ _ _ 3)", or "2 gain adjustment 
mode 2 (_ _ _ 4)". 
The machine resonance frequency supported in the vibration suppression 
control tuning mode is 1.0 Hz to 100.0 Hz. As for the vibration out of the range, 
set manually. 
Stop the servo motor before changing the vibration suppression control-related 
parameters. Otherwise, it may cause an unexpected operation. 
For positioning operation during execution of vibration suppression control 
tuning, provide a stop time to ensure a stop after vibration damping. 
Vibration suppression control tuning may not make normal estimation if the 
residual vibration at the servo motor side is small. 
Vibration suppression control tuning sets the optimum parameter with the 
currently set control gains. When the response setting is increased, set vibration 
suppression control tuning again. 
When using the vibration suppression control 2, set "_ _ _ 1" in [Pr. PA24]. 
 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  8 
 
(1)  Function 
Vibration suppression control is used to further suppress load-side vibration, such as work-side vibration 
and base shake. The servo motor-side operation is adjusted for positioning so that the machine does not 
vibrate. 
Vibration suppression: off (normal)
Servo motor side
Load side
t
Position
 
Vibration suppression control: on
Servo motor side
Load side
Position
t
When the advanced vibration suppression control II ([Pr. PB02 Vibration suppression control tuning 
mode]) is executed, the vibration frequency at load side is automatically estimated to suppress machine 
side vibration two times at most. 
In the vibration suppression control tuning mode, this mode shifts to the manual setting after the 
positioning operation is performed the predetermined number of times. For manual setting, adjust the 
vibration suppression control 1 with [Pr. PB19] to [Pr. PB22] and vibration suppression control 2 with [Pr. 
PB52] to [Pr. PB55]. 
 
(2)  Parameter 
Set [Pr. PB02 Vibration suppression control tuning mode (advanced vibration suppression control II)]. 
When you use a vibration suppression control, set "Vibration suppression control 1 tuning mode 
selection". When you use two vibration suppression controls, set "Vibration suppression control 2 tuning 
mode selection" in addition. 
[Pr. PB02]
Vibration suppression control 1 tuning mode
00
_ _ _ 0
_ _ _ 1
_ _ _ 2
Setting
value
Vibration suppression control 1
tuning mode selection
Disabled
Automatic setting
Manual setting
PB19/PB20/PB21/PB22
Automatically set parameter
Vibration suppression control 2 tuning mode
_ _ 0 _
_ _ 1 _
_ _ 2 _
Setting
value
Vibration suppression control 2
tuning mode selection
Disabled
Automatic setting
Manual setting
PB52/PB53/PB54/PB55
Automatically set parameter
 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  9 
 
(3)  Vibration suppression control tuning procedure 
The following flow chart is for the vibration suppression control 1. For the vibration suppression control 2, 
set "_ _ 1 _" in [Pr. PB02] to execute the vibration suppression control tuning. 
No
Vibration suppression control tuning
Operation
Is the target response
reached?
Execute or re-execute vibration
suppression control tuning.
(Set [Pr. PB02] to "_ _ _ 1".)
Decrease the response until vibration
of workpiece end/device is resolved.
End
Yes
No
No
Yes
Increase the response setting.
Has vibration of workpiece
end/device increased?
Has vibration
of workpiece end/device
been resolved?
Using a machine analyzer or
considering load-side vibration
waveform, set the vibration
suppression control manually.
Factor
Estimation cannot be made as load-side vibration
has not been transmitted to the servo motor side.
The response of the model loop gain has
increased to the load-side vibration frequency
(vibration suppression control limit).
Yes
Tuning ends automatically after
positioning operation is performed
the predetermined number of times.
([Pr. PB02] will be "_ _ _ 2" or
"_ _ _ 0".)
Stop operation.
Resume operation.
 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  10 
 
(4)  Vibration suppression control manual mode 
 
POINT 
 
When load-side vibration does not show up in servo motor-side vibration, the 
setting of the servo motor-side vibration frequency does not produce an effect. 
When the anti-resonance frequency and resonance frequency can be confirmed 
using the machine analyzer or external equipment, do not set the same value 
but set different values to improve the vibration suppression performance. 
A vibration suppression control effect is not produced if the relation between the 
[Pr. PB07 Model loop gain] value and vibration frequency is as follows. 
 
Vibration suppression control 1: 
  [Pr. PB19] < 
2
1
 (0.9 × [Pr. PB07]) 
  [Pr. PB20] < 
2
1
 (0.9 × [Pr. PB07]) 
Vibration suppression control 2: 
  [Pr. PB19] < [Pr. PB52] 
  [Pr. PB52] < 5.0 + 0.1 × [Pr. PB07] 
  [Pr. PB53] < 5.0 + 0.1 × [Pr. PB07] 
  [Pr. PB07] < 2 (0.3 × [Pr. PB19] + 
8
1
 × [Pr. PB52]) 
  1.1 < [Pr. PB52] / [Pr. PB19] < 5.5 
 
 
Measure work-side vibration and device shake with the machine analyzer or external measuring 
instrument, and set the following parameters to adjust vibration suppression control manually. 
 
Setting item 
Vibration suppression 
control 1 
Vibration suppression 
control 2 
Vibration suppression control - Vibration 
frequency 
[Pr. PB19]  [Pr. PB52] 
Vibration suppression control - Resonance 
frequency 
[Pr. PB20]  [Pr. PB53] 
Vibration suppression control - Vibration 
frequency damping 
[Pr. PB21]  [Pr. PB54] 
Vibration suppression control - Resonance 
frequency damping 
[Pr. PB22]  [Pr. PB55] 
 
Step 1.  Select "Manual setting (_ _ _ 2)" of "Vibration suppression control 1 tuning mode selection" or 
"Manual setting (_ _ 2 _)" of "Vibration suppression control 2 tuning mode selection" in [Pr. 
PB02]. 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  11 
 
Step 2.  Set "Vibration suppression control - Vibration frequency" and "Vibration suppression control - 
Resonance frequency" as follows. 
 
(a)  When a vibration peak can be confirmed with machine analyzer using MR Configurator2, or external 
equipment. 
1 Hz
Gain characteristics
Phase
-90 deg.
300 Hz
Vibration suppression control 1 -
Vibration frequency
(anti-resonance frequency)
[Pr. PB19]
Vibration suppression control 1 -
Resonance frequency
[Pr. PB20]
Vibration suppression control 2 -
Vibration frequency
(anti-resonance frequency)
[Pr. PB52]
Vibration suppression control 2 -
Resonance frequency
[Pr. PB53]
Resonance of more than
300 Hz is not the target of control.
 
(b)  When vibration can be confirmed using monitor signal or external sensor 
t
Motor-side vibration
(droop pulses)
Position command frequency
t
External acceleration pickup signal, etc.
Vibration suppression control -
Vibration frequency
Vibration suppression control -
Resonance frequency
Set the same value.
Vibration cycle [Hz] Vibration cycle [Hz]
 
Step 3.  Fine-adjust "Vibration suppression control - Vibration frequency damping" and "Vibration 
suppression control - Resonance frequency damping". 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  12 
 
7.1.6 Command notch filter 
 
POINT 
 
By using the advanced vibration suppression control II and the command notch 
filter, the load-side vibration of three frequencies can be suppressed. 
The frequency range of machine vibration, which can be supported by the 
command notch filter, is between 4.5 Hz and 2250 Hz. Set a frequency close to 
the machine vibration frequency and within the range. 
When [Pr. PB45 Command notch filter] is changed during the positioning 
operation, the changed setting is not reflected. The setting is reflected 
approximately 150 ms after the servo motor stops (after servo-lock). 
 
 
(1)  Function 
Command notch filter has a function that lowers the gain of the specified frequency contained in a 
position command. By lowering the gain, load-side vibration, such as work-side vibration and base 
shake, can be suppressed. Which frequency to lower the gain and how deep to lower the gain can be 
set. 
Position
Load side
t
 
Command notch filter: disabled 
Load side
t
Position
Command notch filter: enabled 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  13 
 
(2)  Parameter 
Set [Pr. PB45 Command notch filter] as shown below. For the command notch filter setting frequency, 
set the closest value to the vibration frequency [Hz] at the load side. 
Setting
value
Command notch filter setting frequency
Setting
value
Frequency
[Hz]
00
01
02
03
0
Frequency
[Hz]
Setting
value
Frequency
[Hz]
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
10
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
20
21
22
23
24
25
26
27
28
29
2A
2B
2C
2D
2E
2F
30
31
32
33
34
35
36
37
38
39
3A
3B
3C
3D
3E
3F
40
41
42
43
44
45
46
47
48
49
4A
4B
4C
4D
4E
4F
50
51
52
53
54
55
56
57
58
59
5A
5B
5C
5D
5E
5F
Disabled
2250
1125
750
562
450
375
321
281
250
225
204
187
173
160
150
140
132
125
118
112
107
102
97
93
90
86
83
80
77
75
72
70
66
62
59
56
53
51
48
46
45
43
41
40
38
37
36
35.2
33.1
31.3
29.6
28.1
26.8
25.6
24.5
23.4
22.5
21.6
20.8
20.1
19.4
18.8
18.2
17.6
16.5
15.6
14.8
14.1
13.4
12.8
12.2
11.7
11.3
10.8
10.4
10.0
9.7
9.4
9.1
8.8
8.3
7.8
7.4
7.0
6.7
6.4
6.1
5.9
5.6
5.4
5.2
5.0
4.9
4.7
4.5
Notch depth
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Setting
value
Depth
[dB]
[Pr. PB45]
-40.0
-24.1
-18.1
-14.5
-12.0
-10.1
-8.5
-7.2
-6.0
-5.0
-4.1
-3.3
-2.5
-1.8
-1.2
-0.6
 
7.2 Gain switching function 
You can switch gains with the function. You can switch gains during rotation and during stop, and can use an 
input device to switch gains during operation. 
 
7.2.1 Applications 
The following shows when you use the function. 
 
(1)  You want to increase the gains during servo-lock but decrease the gains to reduce noise during rotation. 
 
(2)  You want to increase the gains during settling to shorten the stop settling time. 
 
(3)  You want to change the gains using an input device to ensure stability of the servo system since the 
load to motor inertia ratio varies greatly during a stop (e.g. a large load is mounted on a carrier). 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  14 
 
7.2.2 Function block diagram 
The control gains, load to motor inertia ratio, and vibration suppression control settings are changed 
according to the conditions selected by [Pr. PB26 Gain switching function] and [Pr. PB27 Gain switching 
condition]. 
Command pulse
frequency
+
-
Droop pulses
Model speed
Input device (CDP)
Comparator
Changing
CDP
[Pr. PB26]
+
-
+
-
GD2
[Pr. PB06]
GD2B
[Pr. PB29]
Enabled
GD2 value
PG1
[Pr. PB07]
PG1B
[Pr. PB60]
Enabled
PG1 value
PG2
[Pr. PB08]
PG2B
[Pr. PB30]
Enabled
PG2 value
VG2
[Pr. PB09]
VG2B
[Pr. PB31]
Enabled
VG2 value
VIC
[Pr. PB10]
VICB
[Pr. PB32]
Enabled
VIC value
VRF11
[Pr. PB19]
VRF11B
[Pr. PB33]
Enabled
VRF11 value
VRF12
[Pr. PB20]
VRF12B
[Pr. PB34]
Enabled
VRF12 value
CDL
[Pr. PB27]
VRF13
[Pr. PB21]
VRF13B
[Pr. PB35]
Enabled
VRF13 value
VRF14
[Pr. PB22]
VRF14B
[Pr. PB36]
Enabled
VRF14 value
VRF21
[Pr. PB52]
VRF21B
[Pr. PB56]
Enabled
VRF21 value
VRF22
[Pr. PB53]
VRF22B
[Pr. PB57]
Enabled
VRF22 value
VRF23
[Pr. PB54]
VRF23B
[Pr. PB58]
Enabled
VRF23 value
VRF24
[Pr. PB55]
VRF24B
[Pr.  PB59]
Enabled
VRF24 value
 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  15 
 
7.2.3 Parameter 
When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment mode 
selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning 
mode. 
 
(1)  Variable gain operation setting parameter 
 
Parameter  Symbol  Name  Unit  Description 
PB26  CDP  Gain switching selection    Used to select the changing condition. 
PB27  CDL  Gain switching condition  [kpulse/s]
/[pulse] 
/[r/min] 
Used to set the changing condition values. 
PB28  CDT  Gain switching time constant  [ms]  You can set the filter time constant for a gain change at 
changing. 
 
(a)  [Pr. PB26 Gain switching function] 
Used to set the gain switching condition. Select the switching condition in the first digit and second 
digit. 
Gain switching selection
0: Disabled
1: Input device ((CDP) gain switching )
2: Command frequency
3: Droop pulses
4: Servo motor speed
00
Gain switching condition
0: Gain after switching is enabled with gain switching condition or more
1: Gain after switching is enabled with gain switching condition or less
[Pr. PB26]
 
(b)  [Pr. PB27 Gain switching condition] 
Set a level to switch gains after you select "Command frequency", "Droop pulses", or "Servo motor 
speed" in [Pr. PB26 Gain switching function]. 
The setting unit is as follows. 
 
Gain switching condition  Unit 
Command frequency  [kpulse/s] 
Droop pulses  [pulse] 
Servo motor speed  [r/min] 
 
(c)  [Pr. PB28 Gain switching time constant] 
You can set the primary delay filter to each gain at gain switching. This parameter is used to 
suppress shock given to the machine if the gain difference is large at gain switching, for example. 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  16 
 
(2)  Switchable gain parameter 
 
Before switching  After switching 
Loop gain 
Parameter  Symbol  Name  Parameter Symbol  Name 
Load to motor inertia ratio  PB06  GD2  Load to motor inertia ratio  PB29  GD2B  Gain switching 
Load to motor inertia ratio 
Model loop gain  PB07  PG1  Model loop gain  PB60  PG1B  Gain switching 
Model loop gain 
Position loop gain  PB08  PG2  Position loop gain  PB30  PG2B  Gain switching 
Position loop gain 
Speed loop gain  PB09  VG2  Speed loop gain  PB31  VG2B  Gain switching 
Speed loop gain 
Speed integral 
compensation 
PB10  VIC  Speed integral 
compensation 
PB32  VICB  Gain switching 
Speed integral 
compensation 
Vibration suppression 
control 1 
Used to set the value of the 
after-changing vibration 
suppression control 
vibration frequency setting. 
PB19  VRF11  Vibration suppression 
control 1 
Used to set the value of the 
after-changing vibration 
suppression control 
vibration frequency setting.
PB33  VRF11B  Vibration suppression 
control 1 - Vibration 
frequency after gain 
switching 
Vibration suppression 
control 1 - Resonance 
frequency 
PB20  VRF12  Vibration suppression 
control 1 - Resonance 
frequency 
PB34  VRF12B  Vibration suppression 
control 1 - Resonance 
frequency after gain 
switching 
Vibration suppression 
control 1 - Vibration 
frequency damping 
PB21  VRF13  Vibration suppression 
control 1 - Vibration 
frequency damping 
PB35  VRF13B  Vibration suppression 
control 1 - Vibration 
frequency damping after 
gain switching 
Vibration suppression 
control 1 - Resonance 
frequency damping 
PB22  VRF14  Vibration suppression 
control 1 - Resonance 
frequency damping 
PB36  VRF14B  Vibration suppression 
control 1 - Resonance 
frequency damping after 
gain switching 
Vibration suppression 
control 2 - Vibration 
frequency 
PB52  VRF21  Vibration suppression 
control 2 - Vibration 
frequency 
PB56  VRF21B  Vibration suppression 
control 2 - Vibration 
frequency after gain 
switching 
Vibration suppression 
control 2 - Resonance 
frequency 
PB53  VRF22  Vibration suppression 
control 2 - Resonance 
frequency 
PB57  VRF22B  Vibration suppression 
control 2 - Resonance 
frequency after gain 
switching 
Vibration suppression 
control 2 - Vibration 
frequency damping 
PB54  VRF23  Vibration suppression 
control 2 - Vibration 
frequency damping 
PB58  VRF23B  Vibration suppression 
control 2 - Vibration 
frequency damping after 
gain switching 
Vibration suppression 
control 2 - Resonance 
frequency damping 
PB55  VRF24  Vibration suppression 
control 2 - Resonance 
frequency damping 
PB59  VRF24B  Vibration suppression 
control 2 - Resonance 
frequency damping after 
gain switching 
 
(a)  [Pr. PB06] to [Pr. PB10] 
These parameters are the same as in ordinary manual adjustment. Gain switching allows the values 
of load to motor inertia ratio, position loop gain, speed loop gain, and speed integral compensation to 
be switched. 
 
(b)  [Pr.PB19] to [Pr.PB22]/[Pr.PB52] to [Pr.PB55] 
These parameters are the same as in ordinary manual adjustment. You can switch the vibration 
frequency, resonance frequency, vibration frequency damping, and resonance frequency damping 
by switching gain during motor stop. 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  17 
 
(c)  [Pr. PB29 Load to motor inertia ratio after gain switching] 
Set the load to motor inertia ratio after gain switching. If the load to motor inertia ratio does not 
change, set it to the same value as [Pr. PB06 Load to motor inertia ratio]. 
 
(d)  [Pr. PB30 Position loop gain after gain switching], [Pr. PB31 Speed loop gain after gain switching], 
and [Pr. PB32 Speed integral compensation after gain switching] 
Set the values of after switching position loop gain, speed loop gain and speed integral 
compensation. 
 
(e)  Vibration suppression control after gain switching ([Pr. PB33] to [Pr. PB36]/[Pr. PB56] to [Pr. 
PB59])/[Pr. PB60 Model loop gain after gain switching] 
The gain switching vibration suppression control and model loop gain are used only with input device 
(CDP) on/off. 
You can switch the vibration frequency, resonance frequency, vibration frequency damping, 
resonance frequency damping, and model loop gain of the vibration suppression control 1 and 
vibration suppression control 2. 
 
7.2.4 Gain switching procedure 
This operation will be described by way of setting examples. 
 
(1)  When you choose switching by input device (CDP) 
(a)  Setting 
 
Parameter  Symbol  Name  Setting value  Unit 
PB06  GD2  Load to motor inertia ratio  4.00  [Multiplier] 
PB07  PG1  Model loop gain  100  [rad/s] 
PB08  PG2  Position loop gain  120  [rad/s] 
PB09  VG2  Speed loop gain  3000  [rad/s] 
PB10  VIC  Speed integral compensation  20  [ms] 
PB19  VRF11  Vibration suppression control 1 - 
Vibration frequency 
50  [Hz] 
PB20  VRF12  Vibration suppression control 1 - 
Resonance frequency 
50  [Hz] 
PB21  VRF13  Vibration suppression control 1 - 
Vibration frequency damping 
0.20   
PB22  VRF14  Vibration suppression control 1 - 
Resonance frequency damping 
0.20   
PB52  VRF21  Vibration suppression control 2 - 
Vibration frequency 
20  [Hz] 
PB53  VRF22  Vibration suppression control 2 - 
Resonance frequency 
20  [Hz] 
PB54  VRF23  Vibration suppression control 2 - 
Vibration frequency damping 
0.10   
PB55  VRF24  Vibration suppression control 2 - 
Resonance frequency damping 
0.10   
PB29  GD2B  Gain switching 
Load to motor inertia ratio 
10.00  [Multiplier] 
PB60  PG1B  Model loop gain after gain 
switching 
50  [rad/s] 
PB30  PG2B  Gain switching position loop gain  84  [rad/s] 
PB31  VG2B  Gain switching speed loop gain  4000  [rad/s] 
PB32  VICB  Speed integral compensation after 
gain switching 
50  [ms] 
PB26  CDP  Gain switching function  0001 
(Switch by input device 
(CDP) on/off.) 
 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  18 
 
Parameter  Symbol  Name  Setting value  Unit 
PB28  CDT  Gain switching time constant  100  [ms] 
PB33  VRF11B  Vibration suppression control 1 - 
Vibration frequency after gain 
switching 
60  [Hz] 
PB34  VRF12B  Vibration suppression control 1 - 
Resonance frequency after gain 
switching 
60  [Hz] 
PB35  VRF13B  Vibration suppression control 1 - 
Vibration frequency damping after 
gain switching 
0.15   
PB36  VRF14B  Vibration suppression control 1 - 
Resonance frequency damping 
after gain switching 
0.15   
PB56  VRF21B  Vibration suppression control 2 - 
Vibration frequency after gain 
switching 
30  [Hz] 
PB57  VRF22B  Vibration suppression control 2 - 
Resonance frequency after gain 
switching 
30  [Hz] 
PB58  VRF23B  Vibration suppression control 2 - 
Vibration frequency damping after 
gain switching 
0.05   
PB59  VRF24B  Vibration suppression control 2 - 
Resonance frequency damping 
after gain switching 
0.05   
 
(b)  Switching timing chart 
After-switching gain
63.4%
CDT = 100 ms
Before-switching gain
Gain switching
CDP (gain switching)
OFF
ON
OFF
 
Model loop gain  100   50  100 
Load to motor inertia ratio  4.00   10.00  4.00 
Position loop gain  120   84  120 
Speed loop gain  3000   4000  3000 
Speed integral compensation  20   50  20 
Vibration suppression control 1 - Vibration 
frequency 
50   60  50 
Vibration suppression control 1 - 
Resonance frequency 
50   60  50 
Vibration suppression control 1 - Vibration 
frequency damping 
0.20   0.15  0.20 
Vibration suppression control 1 - 
Resonance frequency damping 
0.20   0.15  0.20 
Vibration suppression control 2 - Vibration 
frequency 
20   30  20 
Vibration suppression control 2 - 
Resonance frequency 
20   30  20 
Vibration suppression control 2 - Vibration 
frequency damping 
0.10   0.05  0.10 
Vibration suppression control 2 - 
Resonance frequency damping 
0.10   0.05  0.10 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  19 
 
(2)  When you choose switching by droop pulses 
In this case, the vibration suppression control after gain switching and model loop gain after gain 
switching cannot be used. 
 
(a)  Setting 
 
Parameter  Symbol  Name  Setting value  Unit 
PB06  GD2  Load to motor inertia ratio  4.00  [Multiplier] 
PB08  PG2  Position loop gain  120  [rad/s] 
PB09  VG2  Speed loop gain  3000  [rad/s] 
PB10  VIC  Speed integral compensation  20  [ms] 
PB29  GD2B  Load to motor inertia ratio after 
gain switching 
10.00  [Multiplier] 
PB30  PG2B  Gain switching position loop gain  84  [rad/s] 
PB31  VG2B  Gain switching speed loop gain  4000  [rad/s] 
PB32  VICB  Speed integral compensation after 
gain switching 
50  [ms] 
PB26  CDP  Gain switching selection  0003 
(switching by droop pulses) 
 
PB27  CDL  Gain switching condition  50  [pulse] 
PB28  CDT  Gain switching time constant  100  [ms] 
 
(b)  Switching timing chart 
After-switching gain
63.4%
CDT = 100 ms
Before-switching gain
Gain switching
Droop pulses
[pulse]
+CDL
-CDL
0
Command pulses
Droop pulses
Command pulses
 
Load to motor inertia ratio  4.00   10.00     4.00  10.00 
Position loop gain  120   84     120  84 
Speed loop gain  3000   4000     3000  4000 
Speed integral compensation  20   50     20  50 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  20 
 
7.3 Tough drive function 
 
POINT 
 
Set enable/disable of the tough drive function with [Pr. PA20 Tough drive 
setting]. (Refer to section 5.2.1.) 
 
 
This function makes the equipment continue operating even under the condition that an alarm occurs. 
 
7.3.1 Vibration tough drive function 
This function prevents vibration by resetting a filter instantaneously when machine resonance occurs due to 
varied vibration frequency caused by machine aging. 
To reset the machine resonance suppression filters with the function, [Pr. PB13 Machine resonance 
suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] should be set in advance. 
Set [Pr. PB13] and [Pr. PB15] as follows. 
 
(1)  One-touch tuning execution (section 6.2) 
 
(2)  Manual setting (section 5.2.2) 
 
The vibration tough drive function operates when a detected machine resonance frequency is within ±30% 
for a value set in [Pr. PB13 Machine resonance suppression filter 1] or [Pr. PB15 Machine resonance 
suppression filter 2]. 
To set a detection level of the function, set sensitivity in [Pr. PF23 Vibration tough drive - Oscillation 
detection level]. 
 
POINT 
 
Resetting [Pr. PB13] and [Pr. PB15] by the vibration tough drive function is 
performed constantly. However, the number of write times to the EEPROM is 
limited to once per hour. 
The vibration tough drive function does not reset [Pr. PB46 Machine resonance 
suppression filter 3], [Pr. PB48 Machine resonance suppression filter 4], and [Pr. 
PB50 Machine resonance suppression filter 5]. 
The vibration tough drive function does not detect a vibration of 100 Hz or less. 
 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  21 
 
The following shows the function block diagram of the vibration tough drive function. 
The function detects machine resonance frequency and compare it with [Pr. PB13] and [Pr. PB15], and reset 
a machine resonance frequency of a parameter whose set value is closer. 
 
Filter  Setting parameter  Precaution 
Parameter that is 
reset with vibration 
tough drive function
Machine resonance 
suppression filter 1 
PB01/PB13/PB14  The filter can be set automatically with 
"Filter tuning mode selection" in [Pr. 
PB01]. 
PB13 
Machine resonance 
suppression filter 2 
PB15/PB16    PB15 
Machine resonance 
suppression filter 3 
PB46/PB47     
Machine resonance 
suppression filter 4 
PB48/PB49  Enabling the filter disables the shaft 
resonance suppression filter. 
The shaft resonance suppression filter is 
enabled for the initial setting. 
 
Machine resonance 
suppression filter 5 
PB50/PB51  The setting of this filter is disabled while 
you use the robust filter. 
The robust filter is disabled for the initial 
setting. 
 
 
Command
pulse train
Command
filter
Encoder
Servo motor
PWM
M
Load
+
-
Machine
resonance
suppression
filter 1
[Pr. PB13] [Pr. PB15] [Pr. PB46]
Machine
resonance
suppression
filter 2
Machine
resonance
suppression
filter 3
Machine
resonance
suppression
filter 4
Machine
resonance
suppression
filter 5
Shaft
resonance
suppression
filter
Robust filter
[Pr. PB48]
[Pr. PB50]
[Pr. PB17]
[Pr. PB49] [Pr. PE41]
Updates the parameter
whose setting is the
closest to the machine
resonance frequency.
Vibration tough drive
 
Torque
ALM
(Malfunction)
WNG
(Warning)
MTTR
(During tough drive)
ON
OFF
[Pr. PF23 Vibration tough drive - Oscillation detection level]
Detects the machine resonance and reconfigures the filter automatically.
During tough drive (MTTR) is not turned on in the vibration tough drive function.
ON
OFF
ON
OFF
5 s
 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  22 
 
7.3.2 Instantaneous power failure tough drive function 
 
CAUTION 
The immunity to instantaneous power failures is increased by the instantaneous 
power failure tough drive function. However, it is not guarantee to comply with the 
SEMI-F47 standard. 
 
 
The instantaneous power failure tough drive function avoids [AL. 10 Undervoltage] even when an 
instantaneous power failure occurs during operation. When the instantaneous power failure tough drive 
activates, the function will increase the immunity to instantaneous power failures using the electrical energy 
charged in the capacitor in the servo amplifier and will change an alarm level of [AL. 10 Undervoltage] 
simultaneously. The [AL. 10.1 Voltage drop in the power] detection time for the power supply can be 
changed by [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time (instantaneous power 
failure tough drive - detection time)]. In addition, [AL.10.2 Bus voltage drop] detection level for the bus 
voltage is changed automatically. 
 
POINT 
 
MBR (Electromagnetic brake interlock) will not turn off during the instantaneous 
power failure tough drive. 
Selecting "Enabled (_ _ _ 1)" for "Torque limit function selection at 
instantaneous power failure" in [Pr. PA26] will limit torques to save electric 
energy when an instantaneous power failure occurs during operation and will 
make [AL. 10 Undervoltage] less likely to occur. 
When the load of instantaneous power failure is large, the undervoltage alarm 
([AL. 10.2]) caused by the bus voltage drop may occur regardless of the set 
value of [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection 
time (instantaneous power failure tough drive - detection time)]. 
 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  23 
 
(1)  Instantaneous power failure time > [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection 
time (instantaneous power failure tough drive - detection time)] 
The alarm occurs when the instantaneous power failure time exceeds [Pr. PF25 SEMI-F47 function - 
Instantaneous power failure detection time (instantaneous power failure tough drive - detection time)]. 
MTTR (During tough drive) turns on after the instantaneous power failure is detected. 
MBR (Electromagnetic brake interlock) turns off when the alarm occurs. 
Power supply
Bus voltage
Undervoltage level
(158 V DC)

A

LM
(Malfunction)
[Pr. PF25]
Instantaneous power failure time
MTTR
(During tough drive)
MBR
(Electromagnetic
brake interlock)
Base circuit
ON
OFF
ON
OFF
ON
OFF
WNG
(Warning)
ON
OFF
ON
OFF
ON
OFF
 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  24 
 
(2)  Instantaneous power failure time < [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection 
time (instantaneous power failure tough drive - detection time)] 
Operation status differs depending on how bus voltage decrease. 
 
(a)  When the bus voltage decreases lower than 158 V DC within the instantaneous power failure time 
[AL. 10 Undervoltage] occurs when the bus voltage decrease lower than 158 V DC regardless of the 
enabled instantaneous power failure tough drive. 
Power supply
Bus voltage
Undervoltage level
(158 V DC)

A

LM
(Malfunction)
[Pr. PF25]
Instantaneous power failure time
MTTR
(During tough drive)
MBR
(Electromagnetic
brake interlock)
Base circuit
ON
OFF
ON
OFF
ON
OFF
WNG
(Warning)
ON
OFF
ON
OFF
ON
OFF
 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  25 
 
(b)  When the bus voltage does not decrease lower than 158 V DC within the instantaneous power 
failure time 
The operation continues without alarming. 
Power supply
Bus voltage
Undervoltage level
(158 V DC)

A

LM
(Malfunction)
[Pr. PF25]
Instantaneous power failure time
MTTR
(During tough drive)
MBR
(Electromagnetic
brake interlock)
Base circuit
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
WNG
(Warning)
ON
OFF
 
 





7. SPECIAL ADJUSTMENT FUNCTIONS 
7 -  26 
 
MEMO 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 





8. TROUBLESHOOTING 
8 -  1 
 
8. TROUBLESHOOTING 
POINT 
 
As soon as an alarm occurs, turn SON (Servo-on) off and interrupt the power. 
 
 
8.1 Alarm and warning list 
When an error occurs during operation, the corresponding alarm or warning is displayed. If any alarm or 
warning has occurred, refer to section 8.2 or 8.3 and take the appropriate action. When an alarm occurs, 
ALM will turn off. 
To output alarm codes, set [Pr. PD34] to "_ _ _ 1". Alarm codes are outputted by on/off of bit 0 to bit 2. 
Warnings ([AL. 91] to [AL. F3]) do not have alarm codes. The alarm codes in the following table will be 
outputted when they occur. The alarm codes will not be outputted in normal condition. 
After its cause has been removed, the alarm can be deactivated in any of the methods marked  in the 
alarm deactivation column. Warnings are automatically canceled after the cause of occurrence is removed. 
For the alarms and warnings in which "SD" is written in the stop method column, the servo motor stops with 
the dynamic brake after forced stop deceleration. For the alarms and warnings written "DB" in the stop 
method column, the servo motor stops with the dynamic brake without forced stop deceleration. 
 
Table 8.1 Alarm list 
Alarm code  Alarm deactivation 
  No. 
CN1 
49 
(Bit 2) 
CN1 
23 
(Bit 1) 
CN1 
24 
(Bit 0) 
Name 
Detailed 
display
Detail name 
Stop 
method 
(Note 2, 
3) 
Alarm 
reset 
(RES) 
Press 
the 
"SET" 
button 
on the 
current 
alarm 
screen.
Power 
off to  
On 
(Note 4)
10.1  Voltage drop in the power  DB 
 
   
10  0  1  0  Undervoltage 
10.2  Bus voltage drop  SD 
 
   
       12.1 RAM error 1  DB     
 
Alarm 
12.2  RAM error 2  DB     
 
 
12  0  0  0  Memory error 1 (RAM) 
12.4  RAM error 4  DB     
 
           12.5 RAM error 5  DB     
 
 13.1 Clock error 1 DB   
 
 
13  0  0  0  Clock error 
13.2  Clock error 2  DB     
 
           14.1 Control process error 1  DB     
 
           14.2 Control process error 2  DB     
 
           14.3 Control process error 3  DB     
 
           14.4 Control process error 4  DB     
 
 14.5 Control process error 5 DB   
 
 
14  0  0  0  Control process error 
14.6  Control process error 6  DB     
 
           14.7 Control process error 7  DB     
 
           14.8 Control process error 8  DB     
 
           14.9 Control process error 9  DB     
 
           14.A Control process error 10  DB     
 
 15.1 EEP-ROM error at power on DB   
 
 
15  0  0  0 
Memory error 2 
(EEP-ROM) 
15.2  EEP-ROM error during operation  DB     
 
 





8. TROUBLESHOOTING 
8 -  2 
 
Alarm code  Alarm deactivation 
  No. 
CN1 
49 
(Bit 2) 
CN1 
23 
(Bit 1) 
CN1 
24 
(Bit 0) 
Name 
Detailed 
display
Detail name 
Stop 
method 
(Note 2, 
3) 
Alarm 
reset 
(RES) 
Press 
the 
"SET" 
button 
on the 
current 
alarm 
screen.
Power 
off to  
On 
(Note 4)
       16.1 
Encoder initial communication - Receive 
data error 1 
DB     
 
       16.2 
Encoder initial communication - Receive 
data error 2 
DB     
 
       16.3 
Encoder initial communication - Receive 
data error 3 
DB     
 
Alarm 
       16.5 
Encoder initial communication - 
Transmission data error 1 
DB     
 
           16.6 
Encoder initial communication - 
Transmission data error 2 
DB     
 
 16.7 
Encoder initial communication - 
Transmission data error 3 
DB     
 
 
16  1  1  0 
Encoder initial 
communication error 1 
16.A 
Encoder initial communication - Process 
error 1 
DB     
 
           16.B 
Encoder initial communication - Process 
error 2 
DB     
 
           16.C 
Encoder initial communication - Process 
error 3 
DB     
 
           16.D 
Encoder initial communication - Process 
error 4 
DB     
 
           16.E 
Encoder initial communication - Process 
error 5 
DB     
 
           16.F 
Encoder initial communication - Process 
error 6 
DB     
 
           17.1 Board error 1  DB     
 
 17  0  0  0  Board error  17.3 Board error 2  DB     
 
           17.4 Board error 3  DB     
 
 19.1 FLASH-ROM error 1 DB   
 
 
19  0  0  0 
Memory error 3 
(FLASH-ROM) 
19.2  FLASH-ROM error 2  DB     
 
 1A  1  1  0 
Servo motor combination 
error 
1A.1  Servo motor combination error  DB     
 
 1E  1  1  0 
Encoder initial 
communication error 2 
1E.1  Encoder malfunction  DB     
 
 1F  1  1  0 
Encoder initial 
communication error 3 
1F.1  Incompatible encoder  DB     
 
           20.1 
Encoder normal communication - Receive 
data error 1 
DB     
 
           20.2 
Encoder normal communication - Receive 
data error 2 
DB     
 
           20.3 
Encoder normal communication - Receive 
data error 3 
DB     
 
 20.5 
Encoder normal communication - 
Transmission data error 1 
DB     
 
 
20  1  1  0 
Encoder normal 
communication error 1 
20.6 
Encoder normal communication - 
Transmission data error 2 
DB     
 
           20.7 
Encoder normal communication - 
Transmission data error 3 
DB     
 
           20.9 
Encoder normal communication - Receive 
data error 4 
DB     
 
           20.A 
Encoder normal communication - Receive 
data error 5 
DB     
 
           21.1 Encoder data error 1  DB     
 
           21.2 Encoder data update error  DB     
 
 21.3 Encoder data waveform error DB   
 
 
21  1  1  0 
Encoder normal 
communication error 2 
21.5  Encoder hardware error 1  DB     
 
            21.6  Encoder hardware error 2  DB     
 
           21.9 Encoder data error 2  DB     
 
 





8. TROUBLESHOOTING 
8 -  3 
 
Alarm code  Alarm deactivation 
  No. 
CN1 
49 
(Bit 2) 
CN1 
23 
(Bit 1) 
CN1 
24 
(Bit 0) 
Name 
Detailed 
display
Detail name 
Stop 
method 
(Note 2, 
3) 
Alarm 
reset 
(RES) 
Press 
the 
"SET" 
button 
on the 
current 
alarm 
screen.
Power 
off to  
On 
(Note 4)
24.1 
Ground fault detected by hardware 
detection circuit 
DB     
 
Alarm 
24  1  0  0  Main circuit error 
24.2 
Ground fault detected by software 
detection function 
DB 
     
            30.1  Regeneration heat error  DB 
 
(Note 1) 
 
(Note 1)
 
(Note 1)
 30  0  0  1 
Regenerative error 
(Note 1) 
30.2  Regeneration signal error  DB 
 
(Note 1) 
 
(Note 1)
 
(Note 1)
           30.3 Regeneration feedback signal error  DB 
 
(Note 1) 
 
(Note 1)
 
(Note 1)
 31  1  0  1  Overspeed  31.1 Abnormal motor speed  SD 
     
           32.1 
Overcurrent detected at hardware 
detection circuit (during operation) 
DB     
 
 32.2 
Overcurrent detected at software detection 
function (during operation) 
DB 
     
 
32  1  0  0  Overcurrent 
32.3 
Overcurrent detected at hardware 
detection circuit (during a stop) 
DB     
 
           32.4 
Overcurrent detected at software detection 
function (during a stop) 
DB 
     
 33  0  0  1  Overvoltage  33.1 Main circuit voltage error  DB 
     
 35  1  0  1 Command frequency error 35.1 Command frequency error  SD 
     
 37.1 Parameter setting range error DB   
 
 
37  0  0  0  Parameter error 
37.2  Parameter combination error  DB     
 
 45  0  1  1 
Main circuit device 
overheat (Note 1) 
45.1  Main circuit device overheat error  SD 
 
(Note 1) 
 
(Note 1)
 
(Note 1)
            46.1  Abnormal temperature of servo motor 1  SD 
 
(Note 1) 
 
(Note 1)
 
(Note 1)
 46  0  1  1 
Servo motor overheat 
(Note 1) 
46.5  Abnormal temperature of servo motor 3  DB 
 
(Note 1) 
 
(Note 1)
 
(Note 1)
            46.6  Abnormal temperature of servo motor 4  DB 
 
(Note 1) 
 
(Note 1)
 
(Note 1)
 47  0  1  1  Cooling fan error  47.2 Cooling fan speed reduction error  SD     
 
           50.1 Thermal overload error 1 during operation SD 
 
(Note 1) 
 
(Note 1)
 
(Note 1)
           50.2 Thermal overload error 2 during operation SD 
 
(Note 1) 
 
(Note 1)
 
(Note 1)
 50.3 Thermal overload error 4 during operation SD 
 
(Note 1) 
 
(Note 1)
 
(Note 1)
 
50  0  1  1  Overload 1 (Note 1) 
50.4  Thermal overload error 1 during a stop  SD 
 
(Note 1) 
 
(Note 1)
 
(Note 1)
           50.5 Thermal overload error 2 during a stop  SD 
 
(Note 1) 
 
(Note 1)
 
(Note 1)
           50.6 Thermal overload error 4 during a stop  SD 
 
(Note 1) 
 
(Note 1)
 
(Note 1)
 51.1 Thermal overload error 3 during operation DB 
 
(Note 1) 
 
(Note 1)
 
(Note 1)
 
51  0  1  1  Overload 2 (Note 1) 
51.2  Thermal overload error 3 during a stop  DB 
 
(Note 1) 
 
(Note 1)
 
(Note 1)
           52.1 Excess droop pulse 1  SD 
     
 52.3 Excess droop pulse 2 SD 
     
 
52  1  0  1  Error excessive 
52.4  Error excessive during 0 torque limit  SD 
     
           52.5 Excess droop pulse 3  DB 
     
 54  0  1  1  Oscillation detection  54.1  Oscillation detection error  DB 
     
 56.2 Over speed during forced stop DB 
     
 
56  1  1  0  Forced stop error 
56.3  Estimated distance over during forced stop  DB 
     
 





8. TROUBLESHOOTING 
8 -  4 
 
Alarm code  Alarm deactivation 
  No. 
CN1 
49 
(Bit 2) 
CN1 
23 
(Bit 1) 
CN1 
24 
(Bit 0) 
Name 
Detailed 
display
Detail name 
Stop 
method 
(Note 2, 
3) 
Alarm 
reset 
(RES) 
Press 
the 
"SET" 
button 
on the 
current 
alarm 
screen.
Power 
off to  
On 
(Note 4)
8A  0  0  0 
USB communication time-
out error 
8A.1  USB communication time-out error  SD 
     
Alarm 
       8E.1 USB communication receive error  SD 
     
           8E.2 USB communication checksum error  SD 
     
  8E  0  0  0  USB communication error  8E.3 USB communication character error  SD 
     
           8E.4 USB communication command error  SD 
     
           8E.5 USB communication data number error  SD 
     
 88888        Watchdog  8888._Watchdog  SD     
 
 
Note   1.  Leave for about 30 minutes of cooling time after removing the cause of occurrence. 
  2. Stop method indicates as follows: 
DB: Stop with dynamic brake 
SD: Forced stop deceleration 
  3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr. PA04]. 
  4. To cancel the alarm, turn off the power and check that the 5-digit, 7-segment LED display is off, and then turn on the power. 
 





8. TROUBLESHOOTING 
8 -  5 
 
Table 8.2 Warning list 
 
  No.  Name 
Detailed 
display 
Detail name 
Stop 
method
(Note 2, 
3) 
 
91 
Servo amplifier overheat 
warning (Note 1) 
91.1  Main circuit device overheat warning   
 
99.1  Forward rotation stroke end off  (Note 4)  
Warning 
99  Stroke limit warning 
99.2  Reverse rotation stroke end off  (Note 4)  
 E0 
Excessive regeneration 
warning (Note 1) 
E0.1  Excessive regeneration warning   
 
     E1.1 
Thermal overload warning 1 during 
operation 
 
 
     E1.2 
Thermal overload warning 2 during 
operation 
 
 
 E1.3 
Thermal overload warning 3 during 
operation 
 
 
 
E1 
Overload warning 1 
(Note 1) 
E1.4 
Thermal overload warning 4 during 
operation 
 
 
     E1.5 Thermal overload error 1 during a stop     
     E1.6 Thermal overload error 2 during a stop     
     E1.7 Thermal overload error 3 during a stop     
     E1.8 Thermal overload error 4 during a stop     
 E6 Servo forced stop warning E6.1 Forced stop warning  SD   
 E8 
Cooling fan speed 
reduction warning 
E8.1  Decreased cooling fan speed warning   
 
 E9.1 Servo-on signal on during main circuit off DB  
 
E9  Main circuit off warning 
E9.2 
Bus voltage drop during low speed 
operation 
DB 
 
 EC 
Overload warning 2 
(Note 1) 
EC.1  Overload warning 2   
 
 ED 
Output watt excess 
warning 
ED.1  Output watt excess warning   
 
 F0.1 
Instantaneous power failure tough drive 
warning 
 
 
 
F0  Tough drive warning 
F0.3  Vibration tough drive warning     
 F2.1 
Drive recorder - Area writing time-out 
warning 
 
 
 
F2 
Drive recorder - Miswriting 
warning 
F2.2  Drive recorder - Data miswriting warning     
 F3 
Oscillation detection 
warning 
F3.1  Oscillation detection warning   
 
 
Note   1.  Leave for about 30 minutes of cooling time after removing the cause of occurrence. 
  2. Stop method indicates as follows: 
DB: Stop with dynamic brake 
SD: Forced stop deceleration 
  3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr. PA04]. 
  4. Quick stop or slow stop can be selected using [Pr. PD30]. 
 





8. TROUBLESHOOTING 
8 -  6 
 
8.2 Remedies for alarms 
 
CAUTION 
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate 
the alarm before restarting operation. Otherwise, it may cause injury. 
As soon as an alarm occurs, make the Servo-off status and interrupt the power. 
 
 
POINT 
 
When any of the following alarms has occurred, do not cycle the power 
repeatedly to restart. Doing so will cause a malfunction of the servo amplifier 
and servo motor. Remove its cause and allow about 30 minutes for cooling 
before resuming the operation. 
[AL. 30 Regenerative error]  [AL. 45 Main circuit device overheat] 
[AL. 46 Servo motor overheat]  [AL. 50 Overload 1] 
[AL. 51 Overload 2] 
 
 
Remove the cause of the alarm in accordance with this section. Use MR Configurator2 to refer to the cause 
of alarm occurrence. 
 
Alarm No.: 10 or less  Name: Undervoltage 
Alarm content 
The power supply voltage dropped. 
The bus voltage dropped. 
Display  Detail name  Cause  Check method  Check result  Action 
10.1  Voltage drop in 
the power 
(1)  Check the power 
connector. 
It has a failure.  Connect it correctly. 
    
The connection of the 
power connector has a 
failure. 
 It has no failure. Check (2). 
   (2) Power supply voltage is 
low. 
The voltage is lower than 
160 V AC. 
Review the voltage of 
the power supply. 
     
Check if the voltage of 
the power supply is 160 
V AC or lower. 
The voltage is higher 
than 160 V AC. 
Check (3). 
   (3) An instantaneous power 
failure has occurred for 
longer time than the 
specified time. The time 
will be 60 ms when [Pr. 
PA20] is "_ 0 _ _". The 
time will be the value set 
in [Pr. PF25] when [Pr. 
PA20] is "_ 1 _ _". 
Check if the power has a 
problem. 
It has a problem.  Review the power. 
10.2  (1)  It has a failure.  Connect it correctly. 
 
Bus voltage 
drop 
 
The connection of the 
power connector has a 
failure. 
Check the power 
connector. 
It has no failure.  Check (2). 
   (2) Power supply voltage is 
low. 
The voltage is lower than 
160 V AC. 
Increase the power 
supply voltage. 
     
Check if the voltage of 
the power supply is 160 
V AC or lower. 
The voltage is higher 
than 160 V AC. 
Check (3). 
   (3) The alarm has occurred 
during acceleration. 
Check that the bus 
voltage during 
acceleration is 200 V DC 
or more. 
The voltage is less than 
200 V DC. 
Increase the acceleration 
time constant. Or 
increase the power 
supply capacity. 
        The voltage is 200 V DC 
or more. 
Check (4). 
   (4) The servo amplifier is 
malfunctioning. 
Check the bus voltage 
value. 
The voltage of the power 
supply is 160 V AC or 
more, and the bus 
voltage is less than 200 
V DC. 
Replace the servo 
amplifier. 
 





8. TROUBLESHOOTING 
8 -  7 
 
Alarm No.: 12  Name: Memory error 1 (RAM) 
Alarm content  A part (RAM) in the servo amplifier is failure. 
Display  Detail name  Cause  Check method  Check result  Action 
12.1  RAM error 1  (1)  A part in the servo 
amplifier is failure. 
It is repeatable.  Replace the servo 
amplifier. 
     
Disconnect the cables 
except the power supply, 
and then check the 
repeatability. 
It is not repeatable.  Check (2). 
   (2) Something near the 
device caused it. 
Check the power supply 
for noise. 
It has a failure.  Take countermeasures 
against its cause. 
12.2  RAM error 2  Check it with the check method for [AL. 12.1]. 
12.4  RAM error 4           
12.5  RAM error 5           
 
Alarm No.: 13  Name: Clock error 
Alarm content  A part in the servo amplifier is failure. 
Display  Detail name  Cause  Check method  Check result  Action 
13.1  Clock error 1  (1)  A part in the servo 
amplifier is failure. 
It is repeatable.  Replace the servo 
amplifier. 
     
Disconnect the cables 
except the power supply, 
and then check the 
repeatability. 
It is not repeatable.  Check (2). 
   (2) Something near the 
device caused it. 
Check the power supply 
for noise.  
Check if the connector is 
shorted. 
It has a failure.  Take countermeasures 
against its cause. 
13.2  Clock error 2  Check it with the check method for [AL. 13.1]. 
 
Alarm No.: 14  Name: Control process error 
Alarm content  The process did not complete within the specified time. 
Display  Detail name  Cause  Check method  Check result  Action 
14.1  (1)  It is incorrect.  Set it correctly. 
 
Control process 
error 1 
 
The parameter setting is 
incorrect. 
Check if the parameter 
setting is incorrect. 
It is correct.  Check (2). 
   (2) Something near the 
device caused it. 
It has a failure.  Take countermeasures 
against its cause. 
     
Check the power supply 
for noise. Check if the 
connector is shorted. 
It has no failure.  Check (3). 
   (3) The servo amplifier is 
malfunctioning. 
Replace the servo 
amplifier, and then check 
the repeatability. 
It is not repeatable.  Replace the servo 
amplifier. 
14.2  (1)  It is incorrect.  Set it correctly. 
 
Control process 
error 2 
 
The parameter setting is 
incorrect. 
Check if the parameter 
setting is incorrect. 
It is correct.  Check (2). 
   (2) Something near the 
device caused it. 
It has a failure.  Take countermeasures 
against its cause. 
     
Check the power supply 
for noise. Check if the 
connector is shorted. 
It has no failure.  Check (3). 
   (3) The servo amplifier is 
malfunctioning. 
Replace the servo 
amplifier, and then check 
the repeatability. 
It is not repeatable.  Replace the servo 
amplifier. 
14.3  Control process 
error 3 
Check it with the check method for [AL. 14.1]. 
14.4  Control process 
error 4 
        
14.5  Control process 
error 5 
        
14.6  Control process 
error 6 
        
14.7  Control process 
error 7 
        
14.8  Control process 
error 8 
        
14.9  Control process 
error 9 
        
14.A  Control process 
error 10 
        
 





8. TROUBLESHOOTING 
8 -  8 
 
Alarm No.: 15  Name: Memory error 2 (EEP-ROM) 
Alarm content  A part (EEP-ROM) in the servo amplifier is failure. 
Display  Detail name  Cause  Check method  Check result  Action 
15.1  EEP-ROM error 
at power on 
(1)  It is repeatable.  Replace the servo 
amplifier. 
    
EEP-ROM is 
malfunctioning at power 
on. 
Disconnect the cables 
except the power supply, 
and then check the 
repeatability. 
It is not repeatable.  Check (2). 
   (2) Something near the 
device caused it. 
It has a failure.  Take countermeasures 
against its cause. 
     
Check the power supply 
for noise. Check if the 
connector is shorted. 
It has no failure.  Check (3). 
   (3) The number of write 
times exceeded 100,000.
Check if parameters has 
been used very 
frequently. 
It has a failure.  Replace the servo 
amplifier. Change the 
process to use 
parameters less 
frequently after 
replacement. 
15.2  EEP-ROM error 
during operation 
(1)  It occurs.  Replace the servo 
amplifier. 
    
EEP-ROM is 
malfunctioning during 
normal operation. 
Check if the error occurs 
when you change 
parameters during 
normal operation. 
It does not occur.  Check (2). 
   (2)  It takes an hour or more. Replace the servo 
amplifier. 
    
A write error occurred 
while tuning results was 
processed. 
Check if the alarm 
occurs after an hour from 
power on. 
It takes less than an 
hour. 
Check (3). 
   (3) Something near the 
device caused it. 
Check the power supply 
for noise. Check if the 
connector is shorted. 
It has a failure.  Take countermeasures 
against its cause. 
 
Alarm No.: 16  Name: Encoder initial communication error 1 
Alarm content  An error occurred in the communication between an encoder and servo amplifier. 
Display  Detail name  Cause  Check method  Check result  Action 
16.1  (1)  An encoder cable is 
malfunctioning. 
It has a failure.  Replace or repair the 
cable. 
   
Check if the encoder 
cable is disconnected or 
shorted. 
It has no failure.  Check (2). 
 
Encoder initial 
communication 
- Receive data 
error 1 
(2)  The servo amplifier is 
malfunctioning. 
It is not repeatable.  Replace the servo 
amplifier. 
     
Replace the servo 
amplifier, and then check 
the repeatability. 
It is repeatable.  Check (3). 
   (3)  It is not repeatable.  Replace the servo motor.
    
An encoder is 
malfunctioning. 
Replace the servo motor, 
and then check the 
repeatability. 
It is repeatable.  Check (4). 
   (4) Something near the 
device caused it. 
Check the noise, 
ambient temperature, 
vibration, etc. 
It has a failure.  Take countermeasures 
against its cause. 
16.2  Encoder initial 
communication - 
Receive data 
error 2 
Check it with the check method for [AL. 16.1]. 
 





8. TROUBLESHOOTING 
8 -  9 
 
Alarm No.: 16  Name: Encoder initial communication error 1 
Alarm content  An error occurred in the communication between an encoder and servo amplifier. 
Display  Detail name  Cause  Check method  Check result  Action 
16.3  (1)  It is not connected.  Connect it correctly. 
  
An encoder cable was 
disconnected. 
Check if the encoder 
cable is connected 
correctly. 
It is connected.  Check (2). 
 
Encoder initial 
communication - 
Receive data 
error 3 
(2)  The setting is incorrect.  Set it correctly. 
    
The parameter setting of 
two-wire type/four-wire 
type is incorrect. 
Check the [Pr. PC22] 
setting. 
The setting is correct.  Check (3). 
   (3) An encoder cable is 
malfunctioning. 
It has a failure.  Replace or repair the 
cable. 
     
Check if the encoder 
cable is disconnected or 
shorted. 
It has no failure.  Check (4). 
   (4) The power voltage has 
been unstable. 
Check the power 
voltage. 
It is an instantaneous 
power failure. 
Review the power and 
related parts. 
        It has no failure.  Check (5). 
   (5) The servo amplifier is 
malfunctioning. 
It is not repeatable.  Replace the servo 
amplifier. 
     
Replace the servo 
amplifier, and then check 
the repeatability. 
It is repeatable.  Check (6). 
   (6) An encoder is 
malfunctioning. 
It is not repeatable.  Replace the servo motor.
     
Replace the servo motor, 
and then check the 
repeatability. 
It is repeatable.  Check (7). 
   (7) Something near the 
device caused it. 
Check the noise, 
ambient temperature, 
vibration, etc. 
It has a failure.  Take countermeasures 
against its cause. 
16.5  Encoder initial 
communication - 
Transmission 
data error 1 
Check it with the check method for [AL. 16.1]. 
16.6  Encoder initial 
communication - 
Transmission 
data error 2 
        
16.7  Encoder initial 
communication - 
Transmission 
data error 3 
        
16.A  (1)  The servo amplifier is 
malfunctioning. 
It is not repeatable.  Replace the servo 
amplifier. 
 
Encoder initial 
communication - 
Process error 1 
  
Replace the servo 
amplifier, and then check 
the repeatability. 
It is repeatable.  Check (2). 
   (2)  It is not repeatable.  Replace the servo motor.
    
An encoder is 
malfunctioning. 
Replace the servo motor, 
and then check the 
repeatability. 
It is repeatable.  Check (3). 
   (3) Something near the 
device caused it. 
Check the noise, 
ambient temperature, 
vibration, etc. 
It has a failure.  Take countermeasures 
against its cause. 
16.B  Encoder initial 
communication - 
Process error 2 
Check it with the check method for [AL. 16.A]. 
16.C  Encoder initial 
communication - 
Process error 3 
        
16.D  Encoder initial 
communication - 
Process error 4 
        
16.E  Encoder initial 
communication - 
Process error 5 
        
16.F  Encoder initial 
communication - 
Process error 6 
        
 





8. TROUBLESHOOTING 
8 -  10 
 
Alarm No.: 17  Name: Board error 
Alarm content  A part in the servo amplifier is malfunctioning. 
Display  Detail name  Cause  Check method  Check result  Action 
17.1  Board error 1  (1)  A current detection 
circuit is malfunctioning. 
It occurs.  Replace the servo 
amplifier. 
     
Check if the alarm 
occurs during the servo-
on status. 
It does not occur.  Check (2). 
   (2) Something near the 
device caused it. 
Check the noise, 
ambient temperature, 
etc. 
It has a failure.  Take countermeasures 
against its cause. 
17.3  Board error 2  Check it with the check method for [AL. 17.1]. 
17.4  Board error 3  (1)  It is repeatable.  Replace the servo 
amplifier. 
    
The servo amplifier 
recognition signal was 
not read properly. 
Disconnect the cables 
except the power supply, 
and then check the 
repeatability. 
It is not repeatable.  Check (2). 
   (2) Something near the 
device caused it. 
Check the noise, 
ambient temperature, 
etc. 
It has a failure.  Take countermeasures 
against its cause. 
 
Alarm No.: 19  Name: Memory error 3 (FLASH-ROM) 
Alarm content  A part (Flash-ROM) in the servo amplifier is failure. 
Display  Detail name  Cause  Check method  Check result  Action 
19.1  FLASH-ROM 
error 1 
(1)  The Flash-ROM is 
malfunctioning. 
It is repeatable.  Replace the servo 
amplifier. 
     
Disconnect the cables 
except the power supply, 
and then check the 
repeatability. 
It is not repeatable.  Check (2). 
   (2) Something near the 
device caused it. 
Check the noise, 
ambient temperature, 
etc. 
It has a failure.  Take countermeasures 
against its cause. 
19.2  FLASH-ROM 
error 2 
Check it with the check method for [AL. 19.1]. 
 
Alarm No.: 1A  Name: Servo motor combination error 
Alarm content  The combination of servo amplifier and servo motor is incorrect. 
Display  Detail name  Cause  Check method  Check result  Action 
1A.1  (1)  The combination is 
incorrect. 
Use them in the correct 
combination. 
 
Servo motor 
combination 
error 
 
The servo amplifier and 
the servo motor was 
connected incorrectly. 
Check the model name 
of the servo motor and 
corresponding servo 
amplifier. 
The combination is 
correct. 
Check (2). 
   (2) An encoder is 
malfunctioning. 
Replace the servo motor, 
and then check the 
repeatability. 
It is not repeatable.  Replace the servo motor.
 
Alarm No.: 1E  Name: Encoder initial communication error 2 
Alarm content  An encoder is malfunctioning. 
Display  Detail name  Cause  Check method  Check result  Action 
1E.1  (1)  It is not repeatable.  Replace the servo motor.
 
Encoder 
malfunction 
 
An encoder is 
malfunctioning. 
Replace the servo motor, 
and then check the 
repeatability. 
It is repeatable.  Check (2). 
   (2) Something near the 
device caused it. 
Check the noise, 
ambient temperature, 
vibration, etc. 
It has a failure.  Take countermeasures 
against its cause. 
 





8. TROUBLESHOOTING 
8 -  11 
 
Alarm No.: 1F  Name: Encoder initial communication error 3 
Alarm content  The connected encoder is not compatible with the servo amplifier. 
Display  Detail name  Cause  Check method  Check result  Action 
1F.1  Incompatible 
encoder 
(1)  Check the model of the 
servo motor. 
It is not compatible with 
the amplifier. 
Replace it with the servo 
motor which is 
compatible. 
    
A servo motor, which is 
not compatible with the 
servo amplifier, was 
connected. 
 It is compatible with the 
amplifier. 
Check (2). 
   (2) The software version of 
the servo amplifier does 
not support the servo 
motor. 
Check if the software 
version supports the 
servo motor. 
It is not supported.  Replace the servo 
amplifier to one which 
software version 
supports the servo 
motor. 
        It is supported.  Check (3). 
   (3)  It is not repeatable.  Replace the servo motor.
    
An encoder is 
malfunctioning. 
Replace the servo motor, 
and then check the 
repeatability. 
It is repeatable.  Replace the servo 
amplifier. 
 
Alarm No.: 20  Name: Encoder normal communication error 1 
Alarm content  An error occurred in the communication between an encoder and servo amplifier. 
Display  Detail name  Cause  Check method  Check result  Action 
20.1  (1)  An encoder cable is 
malfunctioning. 
It has a failure.  Repair or replace the 
cable. 
   
Check if the encoder 
cable is disconnected or 
shorted. 
It has no failure.  Check (2). 
 
Encoder normal 
communication - 
Receive data 
error 1 
(2)  The servo amplifier is 
malfunctioning. 
It is not repeatable.  Replace the servo 
amplifier. 
     
Replace the servo 
amplifier, and then check 
the repeatability. 
It is repeatable.  Check (3). 
   (3)  It is not repeatable.  Replace the servo motor.
    
An encoder is 
malfunctioning. 
Replace the servo motor, 
and then check the 
repeatability. 
It is repeatable.  Check (4). 
   (4) Something near the 
device caused it. 
Check the noise, 
ambient temperature, 
vibration, etc. 
It has a failure.  Take countermeasures 
against its cause. 
20.2  Encoder normal 
communication - 
Receive data 
error 2 
Check it with the check method for [AL. 20.1]. 
20.3  Encoder normal 
communication - 
Receive data 
error 3 
        
20.5  Encoder normal 
communication - 
Transmission 
data error 1 
        
20.6  Encoder normal 
communication - 
Transmission 
data error 2 
        
20.7  Encoder normal 
communication - 
Transmission 
data error 3 
        
20.9  Encoder normal 
communication - 
Receive data 
error 4 
        
20.A  Encoder normal 
communication - 
Receive data 
error 5 
        
 





8. TROUBLESHOOTING 
8 -  12 
 
Alarm No.: 21  Name: Encoder normal communication error 2 
Alarm content  The encoder detected an error signal. 
Display  Detail name  Cause  Check method  Check result  Action 
21.1  Encoder data 
error 1 
(1)  It is not repeatable.  Use the encoder with low 
loop gain. 
    
The encoder detected a 
high speed/acceleration 
rate due to an oscillation 
or other factors. 
Decrease the loop gain, 
and then check the 
repeatability. 
It is repeatable.  Check (2). 
   (2)  It is not repeatable.  Replace the servo motor.
    
An encoder is 
malfunctioning. 
Replace the servo motor, 
and then check the 
repeatability. 
It is repeatable.  Check (3). 
   (3) Something near the 
device caused it. 
Check the noise, 
ambient temperature, 
vibration, etc. 
It has a failure.  Take countermeasures 
against its cause. 
21.2  (1)  It is not repeatable.  Replace the servo motor.
 
Encoder data 
update error 
 
An encoder is 
malfunctioning. 
Replace the servo motor, 
and then check the 
repeatability. 
It is repeatable.  Check (2). 
   (2) Something near the 
device caused it. 
Check the noise, 
ambient temperature, 
etc. 
It has a failure.  Take countermeasures 
against its cause. 
21.3  Encoder data 
waveform error 
Check it with the check method for [AL. 21.2]. 
21.5  Encoder 
hardware error 
1 
Check it with the check method for [AL. 21.2]. 
21.6  Encoder 
hardware error 
2 
        
21.9  Encoder data 
error 2 
Check it with the check method for [AL. 21.1]. 
 
Alarm No.: 24  Name: Main circuit error 
Alarm content 
A ground fault occurred on the servo motor power lines. 
A ground fault occurred at the servo motor. 
Display  Detail name  Cause  Check method  Check result  Action 
24.1  (1)  The servo amplifier is 
malfunctioning. 
It occurs.  Replace the servo 
amplifier. 
 
Ground fault 
detected by 
hardware 
detection circuit 
  
Disconnect the servo 
motor power cables (U, 
V, and W) and check if 
the alarm occurs. 
It does not occur.  Check (2). 
   (2)  It is shorted.  Replace the servo motor 
power cable. 
    
A ground fault or short 
occurred at the servo 
motor power cable. 
Check if only the servo 
motor power cable is 
shorted. 
It is not shorted.  Check (3). 
   (3) A ground fault occurred 
at the servo motor. 
It is shorted.  Replace the servo motor.
     
Disconnect the servo 
motor power cables on 
motor side, and check 
insulation of the motor 
(between U, V, W, and 
). 
It is not shorted.  Check (4). 
   (4)  They are in contact.  Correct the wiring. 
    
The servo amplifier 
power input cable and 
servo motor power input 
cable were shorted. 
Shut off the power, and 
check if the servo 
amplifier power input 
cable and servo motor 
power input cable are in 
contact. 
They are not in contact.  Check (5). 
   (5) Something near the 
device caused it. 
Check the noise, 
ambient temperature, 
etc. 
It has a failure.  Take countermeasures 
against its cause. 
24.2  Ground fault 
detected by 
software 
detection 
function 
Check it with the check method for [AL. 24.1]. 
 





8. TROUBLESHOOTING 
8 -  13 
 
Alarm No.: 30  Name: Regenerative error 
Alarm content 
Permissible regenerative power of the built-in regenerative resistor or regenerative option is exceeded. 
A regenerative transistor in the servo amplifier is malfunctioning. 
Display  Detail name  Cause  Check method  Check result  Action 
30.1  Regeneration 
heat error 
(1)  The setting value is 
incorrect. 
Set it correctly. 
    
The setting of the 
regenerative resistor 
(regenerative option) is 
incorrect. 
Check the regenerative 
resistor (regenerative 
option) and [Pr. PA02] 
setting. 
It is set correctly.  Check (2). 
   (2)  It is not connected 
correctly. 
Connect it correctly. 
    
The regenerative resistor 
(regenerative option) is 
not connected. 
Check if the regenerative 
resistor (regenerative 
option) is connected 
correctly. 
It is connected correctly.  Check (3). 
   (3) Power supply voltage 
high. 
Check the input power 
supply voltage. 
It is over 240 V AC.  Reduce the power 
supply voltage. 
        It is 240 V AC or less. Check (4). 
   (4) The regenerative load 
ratio has been over 
100%. 
Check the regenerative 
load ratio when alarm 
occurs. 
It is 100% or more.  Reduce the frequency of 
positioning. Reduce the 
load. Use a regenerative 
option if it is not being 
used. Review the 
regenerative option 
capacity. 
30.2  Regeneration 
signal error 
(1)  A detection circuit of the 
servo amplifier is 
malfunctioning. 
Check if the regenerative 
resistor (regenerative 
option) is overheating. 
It is overheating 
abnormally. 
Replace the servo 
amplifier. 
30.3  (1)  The alarm occurs.  Replace the servo 
amplifier. 
 
Regeneration 
feedback signal 
error 
 
A detection circuit of the 
servo amplifier is 
malfunctioning. 
Remove the regenerative 
option or built-in 
regenerative resistor and 
then check if the alarm 
occur at power on. 
The alarm does not 
occur. 
Check (2). 
   (2) Something near the 
device caused it. 
Check the noise, ground 
fault, ambient 
temperature, etc. 
It has a failure.  Take countermeasures 
against its cause. 
 
Alarm No.: 31  Name: Overspeed 
Alarm content  The servo motor seed has exceeded the permissible instantaneous speed. 
Display  Detail name  Cause  Check method  Check result  Action 
31.1  (1)  The command pulse 
frequency is high. 
Check the command 
pulse frequency. 
The command pulse 
frequency is high. 
Check operation pattern.
 
Abnormal 
motor speed 
     The command pulse 
frequency is low. 
Check (2). 
   (2) The servo motor was at 
the maximum torque at 
the time of acceleration. 
It is the maximum torque.  Increase the 
acceleration/deceleration 
time constant. Or reduce 
the load. 
     
Check if the torque at the 
time of acceleration is 
the maximum torque. 
It is lower than the 
maximum torque. 
Check (3). 
   (3) The servo system is 
unstable and oscillating. 
Check if the servo motor 
is oscillating. 
It is oscillating.  Adjust the servo gain. Or 
reduce the load. 
        It is not oscillating.  Check (4). 
   (4) The velocity waveform 
has overshot. 
It is overshooting.  Increase the 
acceleration/deceleration 
time constant. 
     
Check if it is 
overshooting because 
the acceleration time 
constant is too short. 
It is not overshooting.  Check (5). 
   (5) An encoder is 
malfunctioning. 
Check if the alarm is 
occurring during less 
than permissible 
instantaneous speed. 
It is occurring during less 
than permissible 
instantaneous speed. 
Replace the servo motor.
 





8. TROUBLESHOOTING 
8 -  14 
 
Alarm No.: 32  Name: Overcurrent 
Alarm content  A current higher than the permissible current was applied to the servo amplifier. 
Display  Detail name  Cause  Check method  Check result  Action 
32.1  (1)  The servo amplifier is 
malfunctioning. 
It occurs.  Replace the servo 
amplifier. 
   
Disconnect the servo 
motor power cables (U, 
V, and W) and check if 
the alarm occurs. 
It does not occur.  Check (2). 
 
Overcurrent 
detected at 
hardware 
detection circuit 
(during 
operation) 
(2)  It is shorted.  Replace the servo motor 
power cable. 
    
A ground fault or short 
occurred at the servo 
motor power cable. 
Check if only the servo 
motor power cable is 
shorted. 
It is not shorted.  Check (3). 
   (3) The servo motor is 
malfunctioning. 
A ground fault is 
occurring. 
Replace the servo motor.
     
Disconnect the servo 
motor power cables on 
motor side, and check 
insulation of the motor 
(between U, V, W, and 
). 
A ground fault is not 
occurring. 
Check (4). 
   (4) The dynamic brake is 
malfunctioning. 
It occurs.  Replace the servo 
amplifier. 
     
Check if the error occurs 
when you turn on the 
servo-on command. 
It does not occur.  Check (5). 
   (5)  It is not correct.  Wire it correctly. 
    
The connection 
destination of the 
encoder cable is 
incorrect. 
Check if the encoder 
cable is connected 
correctly. 
It is correct.  Check (6). 
   (6) Something near the 
device caused it. 
Check the noise, 
ambient temperature, 
etc. 
It has a failure.  Take countermeasures 
against its cause. 
32.2  (1)  The servo gain is high.  Check if an oscillation is 
occurring. 
An oscillation is 
occurring. 
Reduce the speed loop 
gain ([Pr. PB09]). 
      An oscillation is not 
occurring. 
Check (2). 
 
Overcurrent 
detected at 
software 
detection 
function (during 
operation) 
(2)  The servo amplifier is 
malfunctioning. 
It occurs.  Replace the servo 
amplifier. 
     
Disconnect the servo 
motor power cables (U, 
V, and W) and check if 
the alarm occurs. 
It does not occur.  Check (3). 
   (3)  It is shorted.  Replace the servo motor 
power cable. 
    
A ground fault or short 
occurred at the servo 
motor power cable. 
Check if only the servo 
motor power cable is 
shorted. 
It is not shorted.  Check (4). 
   (4) The servo motor is 
malfunctioning. 
A ground fault is 
occurring. 
Replace the servo motor.
     
Disconnect the servo 
motor power cables on 
motor side, and check 
insulation of the motor 
(between U, V, W, and 
). 
A ground fault is not 
occurring. 
Check (5). 
   (5)  It is not correct.  Connect it correctly. 
    
The connection 
destination of the 
encoder cable is 
incorrect. 
Check if the encoder 
cable is connected 
correctly. 
It is correct.  Check (6). 
   (6) Something near the 
device caused it. 
Check the noise, 
ambient temperature, 
etc. 
It has a failure.  Take countermeasures 
against its cause. 
32.3  Overcurrent 
detected at 
hardware 
detection circuit 
(during a stop) 
Check it with the check method for [AL. 32.1]. 
32.4  Overcurrent 
detected at 
software 
detection 
function (during 
a stop) 
Check it with the check method for [AL. 32.2]. 
 





8. TROUBLESHOOTING 
8 -  15 
 
Alarm No.: 33  Name: Overvoltage 
Alarm content  The value of the bus voltage exceeded 400 V DC. 
Display  Detail name  Cause  Check method  Check result  Action 
33.1  Main circuit 
voltage error 
(1)  The setting value is 
incorrect. 
Set it correctly. 
    
The setting of the 
regenerative resistor 
(regenerative option) is 
incorrect. 
Check the regenerative 
resistor (regenerative 
option) and [Pr. PA02] 
setting. 
It is set correctly.  Check (2). 
   (2)  It is not connected 
correctly. 
Connect it correctly. 
    
The regenerative resistor 
(regenerative option) is 
not connected. 
Check if the regenerative 
resistor (regenerative 
option) is connected 
correctly. 
It is connected correctly.  Check (3). 
   (3) Wire breakage of built-in 
regenerative resistor or 
regenerative option 
Measure the resistance 
of the built-in 
regenerative resistor or 
regenerative option. 
The resistance is 
abnormal. 
When using a built-in 
regenerative resistor, 
replace the servo 
amplifier. When using a 
regenerative option, 
replace the regenerative 
option. 
        The resistance is normal. Check (4). 
   (4) The regeneration 
capacity is insufficient. 
Set a longer deceleration 
time constant, and then 
check the repeatability. 
It is not repeatable.  When using a built-in 
regenerative resistor, 
use a regenerative 
option. When using a 
regenerative option, use 
a larger capacity one. 
        It is repeatable.  Check (5). 
   (5) Power supply voltage 
high. 
Check the input voltage. It is over 264 V AC.  Reduce the input 
voltage. 
        It is 264 V AC or less. Check (6). 
   (6) Something near the 
device caused it. 
Check the noise, 
ambient temperature, 
etc. 
It has a failure.  Take countermeasures 
against its cause. 
 
Alarm No.: 35  Name: Command frequency error 
Alarm content  Input pulse frequency of command pulse is too high. 
Display  Detail name  Cause  Check method  Check result  Action 
35.1  Command 
frequency error 
(1)  The command pulse 
frequency is high. 
Check the command 
pulse frequency. 
The command pulse 
frequency is high. 
Check operation pattern.
        The command pulse 
frequency is low. 
Check (2). 
   (2) Something near the 
device caused it. 
Check the noise, 
ambient temperature, 
etc. 
It has a failure.  Take countermeasures 
against its cause. 
 
Alarm No.: 37  Name: Parameter error 
Alarm content  Parameter setting is incorrect. 
Display  Detail name  Cause  Check method  Check result  Action 
37.1  (1)  It is out of setting range.  Set it within the range. 
 
Parameter 
setting range 
error 
 
A parameter was set out 
of setting range. 
Check the parameter 
error No. and setting 
value. 
It is within the setting 
range. 
Check (2). 
    (2)  The parameter setting 
has changed due to a 
servo amplifier 
malfunction. 
Replace the servo 
amplifier, and then check 
the repeatability. 
It is not repeatable.  Replace the servo 
amplifier. 
37.2  Parameter 
combination 
error 
(1)  A parameter setting 
contradicts another. 
Check the parameter 
error No. and setting 
value. 
A setting value is 
incorrect. 
Correct the setting value.
 





8. TROUBLESHOOTING 
8 -  16 
 
Alarm No.: 45  Name: Main circuit device overheat 
Alarm content  Inside of the servo amplifier overheated. 
Display  Detail name  Cause  Check method  Check result  Action 
45.1  (1)  Ambient temperature has 
exceeded 55 ˚C. 
Check the ambient 
temperature. 
It is over 55 ˚C.  Lower the ambient 
temperature. 
 
Main circuit 
device 
overheat error 
     It is less than 55 ˚C.  Check (2). 
   (2) The close mounting is 
out of specifications. 
Check the specifications 
of close mounting. 
It is out of specifications.  Use within the range of 
specifications. 
        It is within specifications. Check (3). 
   (3)  It occurred.  Check operation pattern.
    
Turning on and off were 
repeated under the 
overload status. 
Check if the overload 
status occurred many 
times. 
It did not occur.  Check (4). 
   (4)  It is not repeatable.  Clean it periodically. 
    
A cooling fan, heat sink, 
or openings is clogged 
with foreign matter. 
Clean the cooling fan, 
heat sink, or openings, 
and then check the 
repeatability. 
It is repeatable.  Check (5). 
   (5) The servo amplifier is 
malfunctioning. 
Replace the servo 
amplifier, and then check 
the repeatability. 
It is not repeatable.  Replace the servo 
amplifier. 
 
Alarm No.: 46  Name: Servo motor overheat 
Alarm content  The servo motor overheated. 
Display  Detail name  Cause  Check method  Check result  Action 
46.1  (1)  It is over 40 ˚C.  Lower the ambient 
temperature. 
 
Abnormal 
temperature of 
servo motor 1 
 
Ambient temperature of 
the servo motor has 
exceeded 40 ˚C. 
Check the ambient 
temperature of the servo 
motor. 
It is less than 40 ˚C.  Check (2). 
   (2) Servo motor is 
overloaded. 
Check the effective load 
ratio. 
The effective load ratio is 
high. 
Reduce the load or 
review the operation 
pattern. 
        The effective load ratio is 
small. 
Check (3). 
   (3) The thermal sensor in 
the encoder is 
malfunctioning. 
Check the servo motor 
temperature when the 
alarm occurs. 
The servo motor 
temperature is low. 
Replace the servo motor.
46.5  Abnormal 
temperature of 
servo motor 3 
Check it with the check method for [AL. 46.1]. 
46.6  Abnormal 
temperature of 
servo motor 4 
(1)  A current was applied to 
the servo amplifier in 
excess of its continuous 
output current. 
Check the effective load 
ratio. 
The effective load ratio is 
high. 
Reduce the load or 
review the operation 
pattern. Or use a larger 
capacity motor. 
 





8. TROUBLESHOOTING 
8 -  17 
 
Alarm No.: 47  Name: Cooling fan error 
Alarm content 
The speed of the servo amplifier cooling fan decreased. 
Or the cooling fan speed decreased to the alarm occurrence level or less. 
Display  Detail name  Cause  Check method  Check result  Action 
47.2  (1)  Foreign matter was 
caught in the cooling fan.
Something has been 
caught. 
Remove the foreign 
matter. 
 
Cooling fan 
speed 
reduction error 
  
Check if a foreign matter 
is caught in the cooling 
fan. 
Nothing has been 
caught. 
Check (2). 
   (2) Cooling fan life expired. Check the cooling fan 
speed. 
The fan speed is less 
than the alarm 
occurrence level. 
Replace the servo 
amplifier. 
 
Alarm No.: 50  Name: Overload 1 
Alarm content  Load exceeded overload protection characteristic of servo amplifier. 
Display  Detail name  Cause  Check method  Check result  Action 
50.1  Thermal 
overload error 1 
during operation 
(1)  The servo motor power 
cable was disconnected.
Check the servo motor 
power cable. 
It is disconnected.  Repair or replace the 
servo motor power 
cable. 
        It is not disconnected. Check (2). 
   (2)  It is incorrect.  Connect it correctly. 
    
The connection of the 
servo motor is incorrect. 
Check the wiring of U, V, 
and W. 
It is correct.  Check (3). 
   (3)  It is not released.  Release the 
electromagnetic brake. 
    
The electromagnetic 
brake has not released. 
(The electromagnetic 
brake has been 
activated.) 
Check if the 
electromagnetic brake is 
released during 
operation. 
It is released.  Check (4). 
   (4)  Check the effective load 
ratio. 
The effective load ratio is 
high. 
Reduce the load. Or use 
a larger capacity motor. 
    
A current was applied to 
the servo amplifier in 
excess of its continuous 
output current. 
 The effective load ratio is 
small. 
Check (5). 
   (5)  It is not correct.  Connect it correctly. 
    
The connection 
destination of the 
encoder cable is 
incorrect. 
Check if the encoder 
cable is connected 
correctly. 
It is correct.  Check (6). 
   (6)  Check if it is resonating. It is resonating.  Adjust gains. 
    
The servo system is 
unstable and resonating.
 It is not resonating. Check (7). 
   (7) The servo amplifier is 
malfunctioning. 
It is not repeatable.  Replace the servo 
amplifier. 
     
Replace the servo 
amplifier, and then check 
the repeatability. 
It is repeatable.  Check (8). 
   (8) An encoder is 
malfunctioning. 
Replace the servo motor, 
and then check the 
repeatability. 
It is not repeatable.  Replace the servo motor.
50.2  Thermal 
overload error 2 
during operation 
Check it with the check method for [AL. 50.1]. 
50.3  Thermal 
overload error 4 
during operation 
        
 





8. TROUBLESHOOTING 
8 -  18 
 
Alarm No.: 50  Name: Overload 1 
Alarm content  Load exceeded overload protection characteristic of servo amplifier. 
Display  Detail name  Cause  Check method  Check result  Action 
50.4  (1)  Check if it collided.  It collided.  Check operation pattern.
  
A moving part collided 
against the machine. 
 It did not collide. Check (2). 
 
Thermal 
overload error 1 
during a stop 
(2)  The servo motor power 
cable was disconnected.
Check the servo motor 
power cable. 
It is disconnected.  Repair or replace the 
servo motor power 
cable. 
        It is not disconnected. Check (3). 
   (3)  The hunting is occurring. Adjust gains. 
    
Hunting occurs during 
servo-lock. 
Check if the hunting is 
occurring. 
The hunting is not 
occurring. 
Check (4). 
   (4)  It is not released.  Release the 
electromagnetic brake. 
    
The electromagnetic 
brake has not released. 
(The electromagnetic 
brake has been 
activated.) 
Check if the 
electromagnetic brake is 
released. 
It is released.  Check (5). 
   (5)  Check the effective load 
ratio. 
The effective load ratio is 
high. 
Reduce the load. Or use 
a larger capacity motor. 
    
A current was applied to 
the servo amplifier in 
excess of its continuous 
output current. 
 The effective load ratio is 
small. 
Check (6). 
   (6)  It is not correct.  Connect it correctly. 
    
The connection 
destination of the 
encoder cable is 
incorrect. 
Check if the encoder 
cable is connected 
correctly. 
It is correct.  Check (7). 
   (7)  Check if it is resonating. It is resonating.  Adjust gains. 
    
The servo system is 
unstable and resonating.
 It is not resonating. Check (8). 
   (8) The servo amplifier is 
malfunctioning. 
It is not repeatable.  Replace the servo 
amplifier. 
     
Replace the servo 
amplifier, and then check 
the repeatability. 
It is repeatable.  Check (9). 
   (9) An encoder is 
malfunctioning. 
Replace the servo motor, 
and then check the 
repeatability. 
It is not repeatable.  Replace the servo motor.
50.5  Thermal 
overload error 2 
during a stop 
Check it with the check method for [AL. 50.4]. 
50.6  Thermal 
overload error 4 
during a stop 
        
 





8. TROUBLESHOOTING 
8 -  19 
 
Alarm No.: 51  Name: Overload 2 
Alarm content  Maximum output current flowed continuously due to machine collision or the like. 
Display  Detail name  Cause  Check method  Check result  Action 
51.1  Thermal 
overload error 3 
during operation 
(1)  The servo motor power 
cable was disconnected.
Check the servo motor 
power cable. 
It is disconnected.  Repair or replace the 
servo motor power 
cable. 
        It is not disconnected. Check (2). 
   (2)  It is incorrect.  Connect it correctly. 
    
The connection of the 
servo motor is incorrect. 
Check the wiring of U, V, 
and W. 
It is correct.  Check (3). 
   (3)  It is incorrect.  Connect it correctly. 
    
The connection of the 
encoder cable is 
incorrect. 
Check if the encoder 
cable is connected 
correctly. 
It is correct.  Check (4). 
   (4) The torque is insufficient.Check the peak load 
ratio. 
The torque is saturated.  Reduce the load or 
review the operation 
pattern. Or use a larger 
capacity motor. 
        The torque is not 
saturated. 
Check (5). 
   (5) The servo amplifier is 
malfunctioning. 
It is not repeatable.  Replace the servo 
amplifier. 
     
Replace the servo 
amplifier, and then check 
the repeatability. 
It is repeatable.  Check (6). 
   (6) An encoder is 
malfunctioning. 
Replace the servo motor, 
and then check the 
repeatability. 
It is not repeatable.  Replace the servo motor.
51.2  (1)  Check if it collided.  It collided.  Check operation pattern.
  
A moving part collided 
against the machine. 
 It did not collide. Refer to (2). 
 
Thermal 
overload error 3 
during a stop 
(2)  The servo motor power 
cable was disconnected.
Check it with the check method for [AL. 51.1]. 
   (3) The connection of the 
servo motor is incorrect. 
   
   (4) The connection of the 
encoder cable is 
incorrect. 
   
   (5) The torque is saturated.      
   (6) The servo amplifier is 
malfunctioning. 
   
   (7) An encoder is 
malfunctioning. 
   
 





8. TROUBLESHOOTING 
8 -  20 
 
Alarm No.: 52  Name: Error excessive 
Alarm content  Droop pulses have exceeded the alarm occurrence level. 
Display  Detail name  Cause  Check method  Check result  Action 
52.1  Excess droop 
pulse 1 
(1)  The servo motor power 
cable was disconnected.
Check the servo motor 
power cable. 
It is disconnected.  Repair or replace the 
servo motor power 
cable. 
        It is not disconnected. Check (2). 
   (2)  It is incorrect.  Connect it correctly. 
    
The connection of the 
servo motor is incorrect. 
Check the wiring of U, V, 
and W. 
It is correct.  Check (3). 
   (3)  It is incorrect.  Connect it correctly. 
    
The connection of the 
encoder cable is 
incorrect. 
Check if the encoder 
cable is connected 
correctly. 
It is correct.  Check (4). 
   (4) The torque limit has 
been enabled. 
The limiting torque is in 
progress. 
Increase the torque limit 
value. 
     
Check if the limiting 
torque is in progress. 
The limiting torque is not 
in progress. 
Check (5). 
   (5)  Check if it collided.  It collided.  Check operation pattern.
    
A moving part collided 
against the machine. 
 It did not collide. Check (6). 
   (6) The torque is insufficient.Check the peak load 
ratio. 
The torque is saturated.  Reduce the load or 
review the operation 
pattern. Or use a larger 
capacity motor. 
        The torque is not 
saturated. 
Check (7). 
   (7) Power supply voltage 
dropped. 
Check the bus voltage 
value. 
The bus voltage is low.  Check the power supply 
voltage and power 
supply capacity. 
        The bus voltage is high. Check (8). 
   (8) Acceleration/deceleration 
time constant is too 
short. 
Set a longer deceleration 
time constant, and then 
check the repeatability. 
It is not repeatable.  Increase the 
acceleration/deceleration 
time constant. 
        It is repeatable.  Check (9). 
   (9) The position loop gain is 
small. 
It is not repeatable.  Increase the position 
loop gain ([Pr. PB08]). 
     
Increase the position 
loop gain, and then 
check the repeatability. 
It is repeatable.  Check (10). 
   (10)  It is rotated by external 
force. 
Review the machine. 
    
Servo motor shaft was 
rotated by external force.
Measure the actual 
position under the servo-
lock status. 
It is not rotated by 
external force. 
Check (11). 
   (11) An encoder is 
malfunctioning. 
Replace the servo motor, 
and then check the 
repeatability. 
It is not repeatable.  Replace the servo motor.
52.3  Excess droop 
pulse 2 
Check it with the check method for [AL. 52.1]. 
52.4  Error excessive 
during 0 torque 
limit 
(1)  The torque limit has 
been 0. 
Check the torque limit 
value. 
The torque limit has 
been 0. 
Do not input a command 
while the torque limit 
value is 0. 
52.5  Excess droop 
pulse 3 
Check it with the check method for [AL. 52.1]. 
 





8. TROUBLESHOOTING 
8 -  21 
 
Alarm No.: 54  Name: Oscillation detection 
Alarm content  An oscillation of the servo motor was detected. 
Display  Detail name  Cause  Check method  Check result  Action 
54.1  Oscillation 
detection error 
(1)  The servo system is 
unstable and oscillating. 
Check if the servo motor 
is oscillating.  
Check the torque ripple 
with MR Configurator2. 
The torque ripple is 
vibrating. 
Adjust the servo gain 
with the auto tuning. Set 
the machine resonance 
suppression filter. 
        The torque ripple is not 
vibrating. 
Check (2). 
    (2)  The resonance 
frequency has changed 
due to deterioration. 
The resonance 
frequency of the 
equipment is different 
from the filter setting 
value. 
Change the setting value 
of the machine 
resonance suppression 
filter. 
     
Measure the resonance 
frequency of the 
equipment and compare 
it with the setting value o

f

 
the machine resonance 
suppression filter. 
The resonance 
frequency of the 
equipment is the same 
as the filter setting value. 
Check (3). 
   (3) An encoder is 
malfunctioning. 
Replace the servo motor, 
and then check the 
repeatability. 
It is not repeatable.  Replace the servo motor.
 
Alarm No.: 56  Name: Forced stop error 
Alarm content  The servo motor does not decelerate normally during forced stop deceleration. 
Display  Detail name  Cause  Check method  Check result  Action 
56.2  (1)  It is not repeatable.  Adjust the deceleration 
time constant. 
 
Over speed 
during forced 
stop 
 
The forced stop 
deceleration time 
constant is short. 
Increase the parameter 
setting value of [Pr. 
PC51], and then check 
the repeatability. 
It is repeatable.  Check (2). 
   (2) The torque limit has 
been enabled. 
The limiting torque is in 
progress. 
Review the torque limit 
value. 
     
Check if the limiting 
torque is in progress. 
The limiting torque is not 
in progress. 
Check (3). 
   (3) The servo system is 
unstable and oscillating. 
Check if the servo motor 
is oscillating.  
Check the torque ripple 
with MR Configurator2. 
The torque ripple is 
vibrating. 
Adjust the servo gain. 
Set the machine 
resonance suppression 
filter. 
        The torque ripple is not 
vibrating. 
Check (4). 
   (4) An encoder is 
malfunctioning. 
Replace the servo motor, 
and then check the 
repeatability. 
It is not repeatable.  Replace the servo motor.
56.3  (1)  It is not repeatable.  Adjust the deceleration 
time constant. 
 
Estimated 
distance over 
during forced 
stop 
 
The forced stop 
deceleration time 
constant is short. 
Increase the parameter 
setting value of [Pr. 
PC51], and then check 
the repeatability. 
It is repeatable.  Check (2). 
   (2) The torque limit has 
been enabled. 
The limiting torque is in 
progress. 
Review the torque limit 
value. 
     
Check if the limiting 
torque is in progress. 
The limiting torque is not 
in progress. 
Check (3). 
   (3) An encoder is 
malfunctioning. 
Replace the servo motor, 
and then check the 
repeatability. 
It is not repeatable.  Replace the servo motor.
 





8. TROUBLESHOOTING 
8 -  22 
 
Alarm No.: 8A  Name: USB communication time-out error 
Alarm content 
Communication between the servo amplifier and a personal computer, etc. stopped for the specified time 
or longer. 
Display  Detail name  Cause  Check method  Check result  Action 
8A.1  (1)  It was not transmitted.  Transmit a command. 
  
Communication 
commands have not 
been transmitted. 
Check if a command 
was transmitted from 
the personal computer, 
etc. 
It was transmitted.  Check (2). 
 
USB 
communication 
time-out error 
(2)  It is not repeatable.  Replace the USB cable. 
    
A USB cable was 
disconnected. 
Replace the USB cable, 
and then check the 
repeatability. 
It is repeatable.  Check (3). 
   (3) The servo amplifier is 
malfunctioning. 
Replace the servo 
amplifier, and then 
check the repeatability. 
It is not repeatable.  Replace the servo 
amplifier. 
 
Alarm No.: 8E  Name: USB communication error 
Alarm content  A communication error occurred between servo amplifier and a personal computer, etc. 
Display  Detail name  Cause  Check method  Check result  Action 
8E.1  (1)  It is not repeatable.  Replace the USB cable. 
 
USB 
communication 
receive error 
 
A USB cable is 
malfunctioning. 
Check the USB cable, 
and then check the 
repeatability. 
It is repeatable.  Check (2). 
   (2)  It is incorrect.  Review the settings. 
    
The setting of the 
personal computer, etc. 
is incorrect. 
Check the setting of the 
personal computer, etc. 
It is correct.  Check (3). 
   (3) The servo amplifier is 
malfunctioning. 
Replace the servo 
amplifier, and then check 
the repeatability. 
It is not repeatable.  Replace the servo 
amplifier. 
8E.2  USB 
communication 
checksum error 
(1)  The setting of the 
personal computer, etc. 
is incorrect. 
Check the setting of the 
personal computer, etc. 
It is incorrect.  Review the settings. 
8E.3  (1)  The transmitted 
character is out of 
specifications. 
Check the character 
code at the time of 
transmission. 
The transmitted 
character is out of 
specifications. 
Correct the transmission 
data. 
 
USB 
communication 
character error 
     The transmitted 
character is within 
specifications. 
Check (2). 
   (2) The communication 
protocol is failure. 
It is not conforming.  Modify the transmission 
data according to the 
communication protocol.
     
Check if transmission 
data conforms the 
communication protocol.
It is conforming.  Check (3). 
   (3) The setting of the 
personal computer, etc. 
is incorrect. 
Check the setting of the 
personal computer, etc. 
It is incorrect.  Review the settings. 
8E.4  (1)  The transmitted 
command is out of 
specifications. 
Check the command at 
the time of transmission.
The transmitted 
command is out of 
specifications. 
Correct the transmission 
data. 
 
USB 
communication 
command error 
     The transmitted 
command is within 
specifications. 
Check (2). 
   (2) The communication 
protocol is failure. 
It is not conforming.  Modify the transmission 
data according to the 
communication protocol.
     
Check if transmission 
data conforms the 
communication protocol.
It is conforming.  Check (3). 
   (3) The setting of the 
personal computer, etc. 
is incorrect. 
Check the setting of the 
personal computer, etc. 
It is incorrect.  Review the settings. 
 





8. TROUBLESHOOTING 
8 -  23 
 
Alarm No.: 8E  Name: USB communication error 
Alarm content  A communication error occurred between servo amplifier and a personal computer, etc. 
Display  Detail name  Cause  Check method  Check result  Action 
8E.5  (1)  The transmitted data 
number is out of 
specifications. 
Check the data number 
at the time of 
transmission. 
The transmitted data 
number is out of 
specifications. 
Correct the transmission 
data. 
 
USB 
communication 
data number 
error 
     The transmitted data 
number is within 
specifications. 
Check (2). 
   (2) The communication 
protocol is failure. 
It is not conforming.  Modify the transmission 
data according to the 
communication protocol.
     
Check if transmission 
data conforms the 
communication protocol.
It is conforming.  Check (3). 
   (3) The setting of the 
personal computer, etc. 
is incorrect. 
Check the setting of the 
personal computer, etc. 
It is incorrect.  Review the settings. 
 
Alarm No.: 88888  Name: Watchdog 
Alarm content  A part such as CPU is malfunctioning. 
Display  Detail name  Cause  Check method  Check result  Action 
8888._  Watchdog  (1)  A part in the servo 
amplifier is failure. 
Replace the servo 
amplifier, and then check 
the repeatability. 
It is not repeatable.  Replace the servo 
amplifier. 
 





8. TROUBLESHOOTING 
8 -  24 
 
8.3 Remedies for warnings 
 
POINT 
 
When any of the following alarms has occurred, do not cycle the power of the 
servo amplifier repeatedly to restart. Doing so will cause a malfunction of the 
servo amplifier and servo motor. If the power of the servo amplifier is switched 
off/on during the alarms, allow more than 30 minutes for cooling before 
resuming operation. 
[AL. 91 Servo amplifier overheat warning]  [AL. E0 Excessive regeneration 
warning] 
[AL.E1 Overload warning 1]  [AL.EC Overload warning 2] 
 
 
If [AL. E6] or [AL. E9] occurs, the amplifier will be the servo-off status. If any other warning occurs, operation 
can be continued but an alarm may take place or proper operation may not be performed. 
Remove the cause of warning according to this section. Use MR Configurator2 to refer to the cause of 
warning occurrence. 
 
Alarm No.: 91  Name: Servo amplifier overheat warning 
Alarm content  The temperature inside of the servo amplifier reached a warning level. 
Display  Detail name  Cause  Check method  Check result  Action 
91.1  (1)  Check the ambient 
temperature. 
It is over 55 ˚C.  Lower the ambient 
temperature. 
  
Ambient temperature of 
the servo amplifier has 
exceeded 55 ˚C. 
 It is less than 55 ˚C.  Check (2). 
 
Main circuit 
device overheat 
warning 
(2)  The close mounting is 
out of specifications. 
Check the specifications 
of close mounting. 
It is out of specifications.  Use within the range of 
specifications. 
 
Alarm No.: 99  Name: Stroke limit warning 
Alarm content  The stroke limit signal is off. 
Display  Detail name  Cause  Check method  Check result  Action 
99.1  (1)  It is not connected.  Connect it correctly. 
 
Forward rotation 
stroke end off 
 
The forward rotation 
stroke limit switch has 
not connected. 
Check if the limit switch 
is connected correctly. 
It is connected.  Check (2). 
   (2) The forward rotation 
stroke limit was 
exceeded during driving.
Check if the forward 
rotation stroke limit 
switch turned off. 
It turned off.  Check operation pattern.
99.2  (1)  It is not connected.  Connect it correctly. 
 
Reverse rotation 
stroke end off 
 
The reverse rotation 
stroke limit switch has 
not connected. 
Check if the limit switch 
is connected correctly. 
It is connected.  Check (2). 
   (2) The reverse rotation 
stroke limit was 
exceeded during driving.
Check if the reverse 
rotation stroke limit 
switch turned off. 
It turned off.  Check operation pattern.
 
Alarm No.: E0  Name: Excessive regeneration warning 
Alarm content 
There is a possibility that regenerative power may exceed permissible regenerative power of built-in 
regenerative resistor or regenerative option. 
Display  Detail name  Cause  Check method  Check result  Action 
E0.1  Excessive 
regeneration 
warning 
(1)  The regenerative power 
exceeded 85% of the 
permissible regenerative 
power of the built-in 
regenerative resistor or 
regenerative option. 
Check the effective load 
ratio. 
It is 85% or more.  Reduce the frequency of 
positioning. 
Increase the 
deceleration time 
constant. 
Reduce the load. 
Use a regenerative 
option if it is not being 
used. 
 





8. TROUBLESHOOTING 
8 -  25 
 
Alarm No.: E1  Name: Overload warning 1 
Alarm content  [AL.50 Overload 1] or [AL.51 Overload 2] may occur. 
Display  Detail name  Cause  Check method  Check result  Action 
E1.1  Thermal 
overload 
warning 1 
during operation 
(1)  The load was over 85% 
to the alarm level of [AL. 
50.1 Thermal overload 
error 1 during operation].
Check it with the check method for [AL. 50.1]. 
E1.2  Thermal 
overload 
warning 2 
during operation 
(1)  The load was over 85% 
to the alarm level of [AL. 
50.2 Thermal overload 
error 2 during operation].
Check it with the check method for [AL. 50.2]. 
E1.3  Thermal 
overload 
warning 3 
during operation 
(1)  The load was over 85% 
to the alarm level of [AL. 
51.1 Thermal overload 
error 3 during operation].
Check it with the check method for [AL. 51.1]. 
E1.4  Thermal 
overload 
warning 4 
during operation 
(1)  The load was over 85% 
to the alarm level of [AL. 
50.3 Thermal overload 
error 4 during operation].
Check it with the check method for [AL. 50.3]. 
E1.5  Thermal 
overload error 1 
during a stop 
(1)  The load was over 85% 
to the alarm level of [AL. 
50.4 Thermal overload 
error 1 during a stop]. 
Check it with the check method for [AL. 50.4]. 
E1.6  Thermal 
overload error 2 
during a stop 
(1)  The load was over 85% 
to the alarm level of [AL. 
50.5 Thermal overload 
error 2 during a stop]. 
Check it with the check method for [AL. 50.5]. 
E1.7  Thermal 
overload error 3 
during a stop 
(1)  The load was over 85% 
to the alarm level of [AL. 
51.2 Thermal overload 
error 3 during operation].
Check it with the check method for [AL. 51.2]. 
E1.8  Thermal 
overload error 4 
during a stop 
(1)  The load was over 85% 
to the alarm level of [AL. 
50.6 Thermal overload 
error 4 during a stop]. 
Check it with the check method for [AL. 50.6]. 
 
Alarm No.: E6  Name: Servo forced stop warning 
Alarm content  EM2/EM1 (Forced stop) turned off. 
Display  Detail name  Cause  Check method  Check result  Action 
E6.1  Forced stop 
warning 
(1)  EM2/EM1 (Forced stop) 
turned off. 
Check the status of 
EM2/EM1. 
It is off.  Ensure safety and turn 
on EM2/EM1 (Forced 
stop). 
        It is on.  Check (2). 
   (2)  It is not inputted.  Input the 24 V DC power 
supply. 
    
An external 24 V DC 
power supply have not 
inputted. 
Check if the external 24 
V DC power supply is 
inputted. 
It is inputted.  Check (3). 
   (3) The servo amplifier is 
malfunctioning. 
Replace the servo 
amplifier, and then check 
the repeatability. 
It is not repeatable.  Replace the servo 
amplifier. 
 
Alarm No.: E8  Name: Cooling fan speed reduction warning 
Alarm content  The cooling fan speed decreased to the warning occurrence level or less. 
Display  Detail name  Cause  Check method  Check result  Action 
E8.1  (1)  Something has been 
caught. 
Remove the foreign 
matter. 
 
Decreased 
cooling fan 
speed warning 
 
Foreign matter was 
caught in the cooling fan.
Check if a foreign matter 
is caught in the cooling 
fan. 
Nothing has been 
caught. 
Check (2). 
   (2) Cooling fan life expired. Check the total of power 
on time of the servo 
amplifier. 
It exceed the cooling fan 
life. 
Replace the servo 
amplifier. 
 





8. TROUBLESHOOTING 
8 -  26 
 
Alarm No.: E9  Name: Main circuit off warning 
Alarm content 
The servo-on command was inputted with power supply off. 
The bus voltage dropped during the servo motor driving under 50 r/min. 
Display  Detail name  Cause  Check method  Check result  Action 
E9.1  Servo-on signal 
on during main 
circuit off 
(1)  The bus voltage is less 
than 215 V DC. 
Check the bus voltage.  It is less than 215 V DC.  Review the wiring. 
Check the power supply 
capacity. 
   (2) The servo amplifier is 
malfunctioning. 
Check the bus voltage 
value. 
The voltage of the 
power supply is 160 V 
AC or more, and the bus 
voltage is less than 200 
V DC. 
Replace the servo 
amplifier. 
E9.2  Bus voltage 
drop during low 
speed operation 
(1)  The bus voltage dropped 
during the servo motor 
driving under 50 r/min. 
Check the bus voltage.  It is less than 200 V DC.  Review the power supply 
capacity. Increase the 
acceleration time 
constant. 
 
Alarm No.: EC  Name: Overload warning 2 
Alarm content  Operations over rated output were repeated while the servo motor shaft was not rotated. 
Display  Detail name  Cause  Check method  Check result  Action 
EC.1  Overload 
warning 2 
(1)  The load is too large or 
the capacity is not 
enough. 
Check the effective load 
ratio. 
The effective load ratio is 
high. 
Reduce the load. 
Replace the servo motor 
with the one of larger 
capacity. 
 
Alarm No.: ED  Name: Output watt excess warning 
Alarm content 
The status, in which the output wattage (speed × torque) of the servo motor exceeded the rated output, 
continued steadily. 
Display  Detail name  Cause  Check method  Check result  Action 
ED.1  Output watt 
excess warning 
(1)  The status, in which the 
output wattage (speed × 
torque) of the servo 
motor exceeded 150% of 
the rated output, 
continued steadily. 
Check the servo motor 
speed and torque. 
The output wattage is 
150% of rating. 
Reduce the servo motor 
speed. Reduce the load.
 
Alarm No.: F0  Name: Tough drive warning 
Alarm content  Tough drive function was activated. 
Display  Detail name  Cause  Check method  Check result  Action 
F0.1  Instantaneous 
power failure 
tough drive 
warning 
(1)  The power supply 
voltage dropped. 
Check it with the check method for [AL. 10.1]. 
F0.3  Vibration tough 
drive warning 
(1)  The setting value of the 
machine resonance 
suppression filter was 
changed due to a 
machine resonance. 
Check if it was changed 
frequently. 
It was changed 
frequently. 
Set the machine 
resonance suppression 
filter. Check the machine 
status if screws are 
loose or the like. 
 





8. TROUBLESHOOTING 
8 -  27 
 
Alarm No.: F2  Name: Drive recorder - Miswriting warning 
Alarm content  A waveform measured by the drive recorder function was not recorded. 
Display  Detail name  Cause  Check method  Check result  Action 
F2.1  Drive recorder - 
Area writing 
time-out 
warning 
(1)  The Flash-ROM is 
malfunctioning. 
Disconnect the cables 
except the power supply, 
and then check the 
repeatability. 
It is repeatable.  Replace the servo 
amplifier. 
F2.2  Drive recorder - 
Data miswriting 
warning 
(1)  Data were not written to 
the drive recorder area. 
Check if the records 
have all written. 
They have all written.  Delete the records in the 
drive recorder window of 
MR Configurator2. 
If records cannot be 
written after deletion, 
replace the servo 
amplifier. 
 
Alarm No.: F3  Name: Oscillation detection warning 
Alarm content  [AL. 54 Oscillation detection] may occur. 
Display  Detail name  Cause  Check method  Check result  Action 
F3.1  Oscillation 
detection 
warning 
Check it with the check method for [AL. 54.1]. 
 





8. TROUBLESHOOTING 
8 -  28 
 
MEMO 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 





9. DIMENSIONS 
9 -  1 
 
9. DIMENSIONS 
9.1 Servo amplifier 
(1)  MR-JE-10A to MR-JE-40A 
 
[Unit: mm] 
Approx. 80 135
50
168
6
6
15666
2.9
6 mounting hole
The built-in regenerative
resistor (lead wire) is mounted
only in MR-JE-40A.
6
PE
CNP1
CN1
CN2
CN3
 
Mass: 0.8 [kg] 
L2
L3
P+
C
U
V
W
L1
PE
Terminal
CNP1
Screw size: M4
Tightening torque: 1.2 [N•m]
 
Mounting screw 
Screw size: M5 
Tightening torque: 3.24 [N•m]

A

pprox. 6
Approx. 50
156 ± 0.5
Approx.
 6
Approx.
 6
Approx. 168
2-M5 screw
Mounting hole process drawing
 
 





9. DIMENSIONS 
9 -  2 
 
(2)  MR-JE-70A/MR-JE-100A 
 
[Unit: mm] 
70
Approx. 80 185
3.3
168
4222
22
15666

6 mounting hole
6
PE
CNP1
CN1
CN2
CN3
 
Mass: 1.5 [kg] 
L2
L3
P+
C
U
V
W
L1
PE
Terminal
CNP1
Screw size: M4
Tightening torque: 1.2 [N•m]
 
Mounting screw 
Screw size: M5 
Tightening torque: 3.24 [N•m]
Approx.
6
Approx.
 6
Approx. 168
156 ± 0.5
Approx. 70
42 ± 0.3
Approx. 22
Approx. 6
3-M5 screw
Mounting hole process drawing
 
 





9. DIMENSIONS 
9 -  3 
 
(3)  MR-JE-200A/MR-JE-300A 
 
[Unit: mm] 
6
6
6 78
168
6
156
45
90
85
Approx. 80
195
161
6
CNP1

6 mounting hole
CNP2
PE
Cooling fan
air intake
Exhaust
CN1
CN2
CN3
 
Mass:  2.1 [kg] 
L2
L3
N-
C
D
P+
U
V
W
L1
CNP2
Terminal
CNP1
Screw size: M4
Tightening torque: 1.2 [N•m]
PE
 
Mounting screw 
Screw size: M5 
Tightening torque: 3.24 [N•m]
Approx. 90
78 ± 0.3

A

pprox. 6
Approx. 6
Approx. 168
156 ± 0.5
Approx.
 6
Approx.
 6
Mounting hole process drawing
3-M5 screw
 
 





9. DIMENSIONS 
9 -  4 
 
9.2 Connector 
(1)  Miniature delta ribbon (MDR) system (3M) 
(a)  One-touch lock type 
 
[Unit: mm] 
E
B
A
23.8
39.0
12.7
C
Logo etc, are indicated here.
D
 
 Variable dimensions  
Connector  Shell kit 
A  B  C  D  E 
10150-3000PE  10350-52F0-008 41.1  52.4  18.0  14.0  17.0 
 
(b)  Jack screw M2.6 type 
This is not available as option. 
 
[Unit: mm] 
E
B
A
23.8
39.0
12.7
C
Logo etc, are indicated here.
5.2
F
D
 
 Variable dimensions  
Connector  Shell kit 
A  B  C  D  E  F 
10150-3000PE  10350-52A0-008 41.1  52.4  18.0  14.0  17.0  46.5 
 





9. DIMENSIONS 
9 -  5 
 
(2)  SCR connector system (3M) 
Receptacle: 36210-0100PL 
Shell kit: 36310-3200-008 
 
[Unit:  mm] 
34.8
39.5
22.4 11.0
 
 





9. DIMENSIONS 
9 -  6 
 
MEMO 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 





10. CHARACTERISTICS 
10 -  1 
 
10. CHARACTERISTICS 
10.1 Overload protection characteristics 
An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo 
motor power wires from overloads. 
[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve 
shown in fig. 10.1. [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several 
seconds due to machine collision, etc. Use the equipment on the left-side area of the continuous or broken 
line in the graph. 
For the system where the unbalanced torque occurs, such as a vertical axis system, it is recommended that 
the unbalanced torque of the machine be kept at 70% or less of the motor's rated torque. 
This servo amplifier has servo motor overload protective function. (The servo motor overload current (full 
load current) is set on the basis of 120% rated current of the servo amplifier.) 
 





10. CHARACTERISTICS 
10 -  2 
 
Operation time [s]
1000
100
10
1
0.1
100 200 300
0
Servo-lock
Operating
50 150 250
(Note) Load ratio [%]
320
 
1000
100
10
1
0.1
100 200 3000 50 150 250 320
Operation time [s]
Servo-lock
Operating
(Note) Load ratio [%]
 
HF-KN13, HF-KN23, HF-KN43 
HF-KN73, HF-SN52, HF-SN102 
HF-SN152, HF-SN202, HF-SN302 
 
Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor 
stop status (servo-lock status) or in a 30 r/min or less low-speed operation status, the servo amplifier may malfunction regardless 
of the electronic thermal protection. 
 
Fig. 10.1 Electronic thermal protection characteristics 
 





10. CHARACTERISTICS 
10 -  3 
 
10.2 Power supply capacity and generated loss 
(1)  Amount of heat generated by the servo amplifier 
Table 10.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. 
For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst 
operating conditions. The actual amount of generated heat will be intermediate between values at rated 
torque and servo-off according to the duty used during operation. When the servo motor is run at less 
than the rated speed, the power supply capacity will be smaller than the value in the table, but the servo 
amplifier's generated heat will not change. 
 
Table 10.1 Power supply capacity and generated loss per servo motor at rated output 
(Note 2) Servo amplifier-
generated heat [W] 
Servo amplifier  Servo motor 
(Note 1) 
Power supply 
capacity [kVA] 
At rated output  With servo-off 
Area required 
for heat 
dissipation [m
2
] 
MR-JE-10A  HF-KN13  0.3  25  15  0.5 
MR-JE-20A  HF-KN23  0.5  25  15  0.5 
MR-JE-40A  HF-KN43  0.9  35  15  0.7 
HF-KN73  1.3  50  15  1.0 
MR-JE-70A 
HF-SN52  1.0  40  15  0.8 
MR-JE-100A  HF-SN102  1.7  50  15  1.0 
HF-SN152  2.5 
MR-JE-200A 
HF-SN202  3.5 
90  20  1.8 
MR-JE-300A  HF-SN302  4.8  120  20  2.4 
 
Note   1.  Note that the power supply capacity will vary according to the power supply impedance. This value is 
applicable when the power factor improving AC reactor is not used. 
  2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate 
heat generated by the regenerative option, refer to section 11.2. 
 





10. CHARACTERISTICS 
10 -  4 
 
(2)  Heat dissipation area for an enclosed type cabinet 
The enclosed type cabinet (hereafter called the cabinet) which will contain the servo amplifier should be 
designed to ensure that its temperature rise is within +10 ˚C at the ambient temperature of 40 ˚C. (With 
an approximately 5 ˚C safety margin, the system should operate within a maximum 55 ˚C limit.) The 
necessary cabinet heat dissipation area can be calculated by equation 10.1. 
 
A = 
K • T
P
·········································································································································· (10.1) 
 
A 
P 
T 
K 
: Heat dissipation area [m
2
] 
: Loss generated in the cabinet [W] 
: Difference between internal and ambient temperatures [˚C] 
: Heat dissipation coefficient [5 to 6] 
 
When calculating the heat dissipation area with equation 10.1, assume that P is the sum of all losses 
generated in the cabinet. Refer to table 10.1 for heat generated by the servo amplifier. "A" indicates the 
effective area for heat dissipation, but if the cabinet is directly installed on an insulated wall, that extra 
amount must be added to the cabinet's surface area. The required heat dissipation area will vary with 
the conditions in the cabinet. If convection in the cabinet is poor and heat builds up, effective heat 
dissipation will not be possible. Therefore, arrangement of the equipment in the cabinet and the use of a 
cooling fan should be considered. Table 10.1 lists the cabinet dissipation area for each servo amplifier 
(guideline) when the servo amplifier is operated at the ambient temperature of 40 ˚C under rated load. 
 
Fig. 10.2 Temperature distribution in an enclosed type cabinet 
 
When air flows along the outer wall of the cabinet, effective heat exchange will be possible, because the 
temperature slope inside and outside the cabinet will be steeper. 
 





10. CHARACTERISTICS 
10 -  5 
 
10.3 Dynamic brake characteristics 
 
POINT 
 
Do not use dynamic brake to stop in a normal operation as it is the function to 
stop in emergency. 
For a machine operating at the recommended load to motor inertia ratio or less, 
the estimated number of usage times of the dynamic brake is 1000 times while 
the machine decelerates from the rated speed to a stop once in 10 minutes. 
Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1 
(Forced stop 1) frequently in other than emergency. 
 
 
10.3.1 Dynamic brake operation 
(1)  Calculation of coasting distance 
Fig. 10.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is 
operated. Use equation 10.2 to calculate an approximate coasting distance to a stop. The dynamic 
brake time constant  varies with the servo motor and machine operation speeds. (Refer to (2) of this 
section.) 
A working part generally has a friction force. Therefore, actual coasting distance will be shorter than a 
maximum coasting distance calculated with the following equation. 
V
0
OFF
ON
Machine speed
t
e
Time
EM1 (Forced stop 1)
Dynamic brake
time constant 
 
Fig. 10.3 Dynamic brake operation diagram 
 
L
max
 = 
60
V
0
 • 
J
M
t
e
+1 +
J
L
··············································································································· (10.2) 
 
L
max
: Maximum coasting distance ·········································································································[mm]
V
0
: Machine's fast feed speed ······································································································· [mm/min]
J
M
: Moment of inertia of the servo motor  ··············································································· [× 10
-4
 kg•m
2
]
J
L
: Load moment of inertia converted into equivalent value on servo motor shaft·················[× 10
-4
 kg•m
2
]
: Dynamic brake time constant ················································································································ [s]
t
e
: Delay time of control section ················································································································ [s]
There is internal relay delay time of about 10 ms. 
 





10. CHARACTERISTICS 
10 -  6 
 
(2)  Dynamic brake time constant 
The following shows necessary dynamic brake time constant  for equation 10.2. 
0
5
10
15
20
25
0 500
1000
1500
2000
2500
3000
3500 4500
4000
73
43
23
13
Dynamic brake time
constant [ms]
Speed [r/min]
 
0
20
40
60
80
100
0 500 1000 1500 2000 2500 3000
102
52
202
302
152
Dynamic brake time
constant [ms]
Speed [r/min]
 
HF-KN series  HF-SN series 
 
10.3.2 Permissible load to motor inertia when the dynamic brake is used 
Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the ratio is 
higher than this value, the dynamic brake may burn. If there is a possibility that the ratio may exceed the 
value, contact your local sales office. 
The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation 
speed of the servo motor. 
 
Servo motor 
Permissible load to  
motor inertia ratio [multiplier] 
HF-KN13   
HF-KN23   
HF-KN43   
HF-KN73 
HF-SN52 
30 
HF-SN102   
HF-SN152   
HF-SN202   
HF-SN302  16 
 





10. CHARACTERISTICS 
10 -  7 
 
10.4 Cable bending life 
The bending life of the cables is shown below. This graph calculated values. Since they are not guaranteed 
values, provide a little allowance for these values. 
a:
b: Standard encoder cable
Standard motor power cable
Standard electromagnetic brake cable
Long bending life encoder cable
Long bending life motor power cable
Long bending life electromagnetic brake cable
Number of bending times
1 × 10
8
5 × 10
7
1 × 10
7
5 × 10
6
1 × 10
6
5 × 10
5
1 × 10
5
5 × 10
4
1 × 10
4
5 × 10
3
1 × 10
3
4 7 10 20 40 70 100 200
Bend radius [mm]
a
b
 
10.5 Inrush current at power-on 
The following table indicates the inrush currents (reference data) that will flow when 240 V AC is applied at 
the power supply capacity of 2500 kVA and the wiring length of 1 m. Even when you use a 1-phase 200 V 
AC power supply with MR-JE-10A to MR-JE-70A, the inrush currents will be the same. 
 
Servo amplifier  Inrush currents (A
0-P
) 
MR-JE-10A, MR-JE-20A, 
MR-JE-40A 
32 A  
(attenuated to approx. 3 A in 20 ms) 
MR-JE-70A, MR-JE-100A 
36 A  
(attenuated to approx. 7 A in 20 ms) 
MR-JE-200A, MR-JE-300A 
102 A  
(attenuated to approx. 12 A in 20 ms) 
 
Since large inrush currents flow in the power supplies, always use molded-case circuit breakers and 
magnetic contactors. (Refer to section 11.6.) 
When circuit protectors are used, it is recommended that the inertia delay type, which is not tripped by an 
inrush current, be used. 
 





10. CHARACTERISTICS 
10 -  8 
 
MEMO 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  1 
 
11. OPTIONS AND PERIPHERAL EQUIPMENT 
WARNING 
Before connecting options and peripheral equipment, turn off the power and wait 
for 15 minutes or more until the charge lamp turns off. Otherwise, an electric 
shock may occur. In addition, when confirming whether the charge lamp is off or 
not, always confirm it from the front of the servo amplifier. 
 
 
CAUTION 
Use the specified peripheral equipment and options to prevent a malfunction or a 
fire. 
 
 
POINT 
 
We recommend using HIV wires to wire the servo amplifiers, options, and 
peripheral equipment. Therefore, the recommended wire sizes may differ from 
those used for the previous servo amplifiers. 
 
 
11.1 Cable/connector sets 
 
POINT 
 
The IP rating indicated for cables and connectors is their protection against 
ingress of dust and raindrops when they are connected to a servo amplifier or 
servo motor. If the IP rating of the cable, connector, servo amplifier and servo 
motor vary, the overall IP rating depends on the lowest IP rating of all 
components. 
 
 
Please purchase the cable and connector options indicated in this section. 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  2 
 
11.1.1 Combinations of cable/connector sets 
Refer to "HF-KN/HF-SN Servo Motor Instruction Manual" for options for
servo motor power supply, electromagnetic brake, and encoder.
(Note)
Personal computer
5)
1) (Packed with the
servo amplifier)
To 24 V DC power supply
for electromagnetic brake
Servo motor
Encoder
connector
Servo amplifier
Operation
panel
Controller
2)
3)
4)
CN3
CN1
CN2
Power
connector
Brake
connector
CNP1
 
Note. Connectors for 1 kW or less. Refer to section 3.3.3 (1) (b) for 2 kW or more. 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  3 
 
No.  Product name  Model  Description  Application
1)  Servo amplifier 
CNP1 power 
connector 
MR-JECNP1-01 
 
     CNP1 Connector:  
09JFAT-SAXGDK-H5.0 
(JST) 
Supplied 
with servo 
amplifiers 
of 1 kW or 
less 
    
 
    
Applicable wire size: AWG 18 to 14 
Insulator OD: to 3.9 mm 
Open tool 
J-FAT-OT 
(JST) 
 
   MR-JECNP1-02 
 
 
Supplied 
with servo 
amplifiers 
of 2 kW 
and 3 kW 
     CNP1 Connector:  
07JFAT-SAXGFK-XL 
(JST) 
 
 
     Applicable wire size:  AWG 16 to 10 
Insulator OD: to 4.7 mm 
Open tool 
J-FAT-OT-EXL 
(JST) 
 
 MR-JECNP2-02 
 
 
 
 
Servo amplifier 
power connector 
 CNP2 Connector:  
03JFAT-SAXGFK-XL 
(JST) 
Applicable wire size:   AWG 16 to 10 
Insulator OD: to 4.7 mm 
  
2)  Junction terminal 
block cable 
Junction terminal block connector 
Connector: D7950-B500FL 
(3M) 
CN1 connector 
Connector: 10150-6000EL 
Shell kit: 10350-3210-000 
(3M or equivalent) 
For 
junction 
terminal 
block 
connection
  
MR-J2M-
CN1TBL_M 
Cable length:  
0.5 m, 1 m 
(Refer to section 
11.3.) 
 
 
3)  CN1 connector 
set 
MR-J3CN1  Connector: 10150-3000PE 
Shell kit: 10350-52F0-008 
(3M or equivalent) 
           
 
4)  Junction terminal 
block 
MR-TB50  Refer to section 11.3.   
5)  USB cable  MR-J3USBCBL3M 
Cable length: 3 m 
CN5 connector 
mini-B connector (5 pins) 
Personal computer connector 
A connector 
    
 
For 
connection 
with PC-AT 
compatible 
personal 
computer 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  4 
 
11.2 Regenerative option 
 
CAUTION 
Do not use servo amplifiers with regenerative options other than the combinations 
specified below. 
Otherwise, it may cause a fire. 
 
 
11.2.1 Combination and regenerative power 
The power values in the table are resistor-generated powers and not rated powers. 
 
  Regenerative power [W]   
Servo 
amplifier 
Built-in 
regenerative 
resistor 
MR-RB032
[40 ] 
MR-RB12 
[40 ] 
MR-RB30 
[13 ] 
MR-RB32 
[40 ] 
(Note) 
MR-RB50 
[13 ] 
MR-JE-10A    30         
MR-JE-20A    30  100       
MR-JE-40A  10  30  100       
MR-JE-70A  20  30  100    300   
MR-JE-100A  20  30  100    300   
MR-JE-200A  100      300    500 
MR-JE-300A  100      300    500 
 
Note. Always install a cooling fan. 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  5 
 
11.2.2 Selection of regenerative option 
Use the following method when regeneration occurs continuously in vertical motion applications or when it is 
desired to make an in-depth selection of the regenerative option. 
 
(1)  Regenerative energy calculation 
M
Friction
torque
Unbalance torque
TF
TU
 
Servo motor speedGenerated torque
Time
Up
V
tf (1 cycle)
Down
(+)
(-)
(Power running)
(Regenerative)
tpsd2
t2 t3 t4t1
tpsa2tpsd1
tpsa1
1)
2)
3)
4)
5)
6)
7)
8)
 
Formulas for calculating torque and energy in operation 
Regenerative 
power 
Torque applied to servo motor [N•m]  Energy E [J] 
1) 
T
1 
= 
9.55 • 10
4
(J
L
/ + J
M
) • V
 • 
t
psa1
1
 + T
U
 + T
F
 E
1
 = 
2
0.1047
 • V • T
1
 • t
psa1
 
2)  T
2 
= T
U
 + T
F
 E
2
 = 0.1047 • V • T
2
 • t
1
 
3) 
T
3
 = 
9.55 • 10
4
-(J
L
•  + J
M
) • V
 • 
t
psa2
1
 + T
U
 + T
F
 E
3
 = 
2
0.1047
 • V • T
3
 • t
psa2
 
4), 8)  T
4
, T
8
 = T
U
 E
4
, E
8 
 0 (No regeneration) 
5) 
T
5
 = 
9.55 • 10
4
(J
L
/ + J
M
) • V
 • 
t
psd2
1
 - T
U
 + T
F
 E
5
 = 
2
0.1047
 • V • T
5
 • t
psd2
 
6)  T
6
 = -T
U
 + T
F
 E
6
 = 0.1047 • V • T
6
 • t
3
 
7) 
T
7
 = 
9.55 • 10
4
-(J
L
•  + J
M
) • V
 • 
t
psd2
1
 - T
U
 + T
F
 E
7
 = 
2
0.1047
 • V • T
7
 • t
psd2
 
 
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative energies. 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  6 
 
(2)  Losses of servo motor and servo amplifier in regenerative mode 
The following table lists the efficiencies and other data of the servo motor and servo amplifier in the 
regenerative mode. 
 
Servo amplifier 
Inverse 
efficiency [%] 
Capacitor 
charging [J] 
 Servo amplifier 
Inverse 
efficiency [%] 
Capacitor 
charging [J] 
MR-JE-10A  55  11    MR-JE-100A  85  25 
MR-JE-20A  75  11    MR-JE-200A  85  42 
MR-JE-40A  85  14    MR-JE-300A  85  42 
MR-JE-70A  85  25         
 
Inverse efficiency (): Efficiency including some efficiencies of the servo motor and servo amplifier 
when rated (regenerative) torque is generated at rated speed. Since the 
efficiency varies with the speed and generated torque, allow for about 10%. 
Capacitor charging (Ec): Energy charged into the electrolytic capacitor in the servo amplifier 
 
Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies 
by the inverse efficiency to calculate the energy consumed by the regenerative option. 
 
ER [J] =  • Es - Ec 
 
Calculate the power consumption of the regenerative option on the basis of one-cycle operation 
period tf [s] to select the necessary regenerative option. 
 
PR [W] = ER/tf 
 
11.2.3 Parameter setting 
Set [Pr. PA02] according to the option to be used. 
Regenerative option selection
00: Regenerative option is not used.
For servo amplifier of 200 W, regenerative resistor is not used.
For servo amplifier of 0.4 kW to 3 kW, built-in regenerative resistor is used.
02: MR-RB032
03: MR-RB12
04: MR-RB32
05: MR-RB30
06: MR-RB50 (Cooling fan is required)
00
[Pr. PA02]
 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  7 
 
11.2.4 Selection of regenerative option 
 
POINT 
 
When you use a regenerative option with an MR-JE-40A to MR-JE-100A, 
remove the built-in regenerative resistor and wiring from the servo amplifier. 
When MR-RB50 is used, a cooling fan is required to cool it. The cooling fan 
should be prepared by the customer. 
For the wire sizes used for wiring, refer to section 11.5. 
A built-in regenerative resistor should not be mounted/removed frequently. 
When you remount a built-in regenerative resistor, check the lead wires of the 
built-in regenerative resistor for scratches or cracks. 
 
 
The regenerative option generates heat of 100 ˚C higher than the ambient temperature. Fully consider heat 
dissipation, installation position, wires used, etc. before installing the option. For wiring, use flame-resistant 
wires or make the wires flame-resistant and keep them away from the regenerative option. Always use 
twisted cables of max. 5 m length for connection with the servo amplifier. 
 
(1)  MR-JE-100A or less 
When you use a regenerative option for MR-JE-40A to MR-JE-100A, remove wirings of P+ and C, 
remove the built-in regenerative resistor, and then connect the regenerative option between P+ and C. 
G3 and G4 are terminals for thermal sensor. Between G3 and G4 is opened when the regenerative 
option overheats abnormally. 
Always remove the wiring (across P+ to C) of th

e

servo amplifier built-in regenerative resistor.
P+
C
G4
G3
C
P
Regenerative option
5 m or less
Servo amplifier
(Note 2)
(Note 1)
 
Note   1.  The built-in regenerative resistor is not provided for MR-JE-10A and MR-JE-20A.
  2. Make up a sequence which will switch off the magnetic contactor when abnormal 
heating occurs. 
G3-G4 contact specifications 
Maximum voltage: 120 V AC/DC 
Maximum current: 0.5 A/4.8 V DC 
Maximum capacity: 2.4 VA 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  8 
 
To remove the built-in regenerative resistor mounted on the back of MR-JE-40A to MR-JE-100A, follow 
the procedures 1) to 3) with referring the illustration. 
 
1)  Disconnect the wirings of the built-in regenerative resistor from the power connector (CNP1). 
(Refer to (3) (b) of 3.3.2.) 
 
2)  Remove the wirings of the built-in regenerative resistor from the closest position to the power 
connector (CNP1) in order. Please pay full attention not to break the wirings. 
 
3)  Remove the screw fixing the built-in regenerative resistor and dismount the built-in regenerative 
resistor. 
(Note)
3)
1)
2)
 
Note. Screw size: M3 
Tightening torque: 0.72 [N•m] 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  9 
 
(2)  MR-JE-200A or more 
Always remove the wiring from across P+ to D and fit the regenerative option across P+ to C. G3 and 
G4 are terminals for thermal sensor. Between G3 and G4 is opened when the regenerative option 
overheats abnormally. 
D
P+
C
G4
G3
C
P
Regenerative option
5 m or less
Servo amplifier
Always remove the lead from across P+ to D.
(Note 3)
Cooling fan
(Note 1, 2)
 
Note   1.  When using the MR-RB50, forcibly cool it with a cooling fan (1.0 m
3
/min or more, 
92 mm × 92 mm). 
  2. When the ambient temperature is more than 55 °C and the regenerative load ratio 
is more than 60% in MR-RB30 and MR-RB32, forcefully cool the air with a cooling 
fan (1.0 m
3
/min or more, 92 mm × 92 mm). A cooling fan is not required if the 
ambient temperature is 35 °C or less. (A cooling fan is required for the shaded 
area in the following graph.) 
100
60
0
0
Ambient temperature [°C]
35 55
A cooling fan is
not required.
A cooling fan is required.
Load ratio [%]
 
  3. Make up a sequence which will switch off the magnetic contactor when abnormal 
heating occurs. 
G3-G4 contact specifications 
Maximum voltage: 120 V AC/DC 
Maximum current: 0.5 A/4.8 V DC 
Maximum capacity: 2.4 VA 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  10 
 
11.2.5 Dimensions 
(1)  MR-RB12 
[Unit: mm] 
5
144
Approx. 20
169
168
1566
12
6
36
40
6 mounting hole

T

E1
15
Approx. 6
149
2
 
 
TE1 terminal block 
G3
G4
P
C
 
Applicable wire size: 0.2 mm
2
 to 2.5 mm
2 
(AWG 24 to 
12) 
Tightening torque: 0.5 to 0.6 [N•m] 
 
Mounting screw 
Screw size: M5 
Tightening torque: 3.24 [N•m] 
 
Mass: 1.1 [kg] 
(2)  MR-RB30/MR-RB32 
[Unit: mm] 
8.5125
150
Approx. 30
142
79
82.530
8.5
10
90
101.5 82.5
318
17
335
Air intake
7
100
Cooling fan mounting
screw (2-M4 screw)
 
 
Terminal block 
P
C
G3
G4
 
Terminal screw size: M4 
Tightening torque: 1.2 [N•m] 
 
Mounting screw 
Screw size: M6 
Tightening torque: 5.4 [N•m] 
 
Mass: 2.9 [kg] 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  11 
 
(3)  MR-RB50 
[Unit: mm] 
2.3
133 82.5
49 82.5
Cooling fan mounting
screw (2-M3 screw)
On opposite side
200 17
217 8120
108
12
12.5
162.5
350
162.5
12.5
7
Approx. 30
7 × 14
slotted hole
Air
intake
 
 
Terminal block 
P
C
G3
G4
 
Terminal screw size: M4 
Tightening torque: 1.2 [N•m] 
 
Mounting screw 
Screw size: M6 
Tightening torque: 5.4 [N•m] 
 
Mass: 5.6 [kg] 
(4)  MR-RB032 
[Unit: mm] 

T

E1
30
15
99
1.6
119
14412
156
168
6
6
5
Approx. 6
Approx. 12
Approx. 20
6 mounting hole
 
 
TE1 terminal block 
G3
G4
P
C
 
Applicable wire size: 0.2 mm
2
 to 2.5 mm
2
 (AWG 24 to 
12)  
Tightening torque: 0.5 to 0.6 [N•m] 
 
Mounting screw 
Screw size: M5 
Tightening torque: 3.24 [N•m] 
 
Mass: 0.5 [kg] 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  12 
 
11.3 Junction terminal block MR-TB50 
(1)  Usage 
Always use the junction terminal block (MR-TB50) with the option cable (MR-J2M-CN1TBL_M) as a set. 
Servo amplifier
CN1
Junction terminal block
MR-TB50
Junction terminal
block cable
(MR-J2M-CN1TBL_M)
Cable clamp
 
Install the junction terminal block cable on the junction terminal block side with the supplied cable clamp 
fitting (AERSBAN-ESET). For the use of the cable clamp fitting, refer to section 11.9, (2) (c). 
 
(2)  Terminal block label 
Use the following for the terminal label. For the input/output pin assignment in the control mode, refer to 
(4) (b) of this section. 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
 
(3)  Dimensions 
[Unit: mm]  
235
50
25
Approx.
25
9
2
1
50
49
MITSUBISHI
MR-TB50
4.5
244
2.5
46.5
1 3 5 7 9 1113 15 17 19 21 23 25 27 29 3133
2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32
35 37 39 41 43 45 47 49
34 36 3840 42 4446 48 50
2-
 
 
Terminal screw: M3.5 
Applicable wire: 2 mm
2
 
Crimp terminal width: 7.2 mm or shorter
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  13 
 
(4)  Junction terminal block cable MR-J2M-CN1TBL_M 
(a)  Model explanations 
Model:
05
1
Symbol
Cable length [m]
0.5
1
 
(b)  Connection diagram 
10150-6000EL
(Servo amplifier side)
D7650-B500FL
(Junction terminal side)
Position
LG
LA
LAR
LB
LBR
LZ
LZR
PP
PG
OPC
SON
RES
DICOM
DICOM
ZSP
INP
MO1
TLA
LG
MO2
LG
OP
LG
NP
NG
CR
EM2
LSP
LSN
DOCOM
DOCOM
ALM
RD
SD
Speed
VC
LG
LA
LAR
LB
LBR
LZ
LZR
SON
ST1
DICOM
DICOM
ZSP
SA
MO1
TLA
LG
MO2
LG
OP
LG
ST2
EM2
LSP
LSN
DOCOM
DOCOM
ALM
RD
SD
Torque
VLA
LG
LA
LAR
LB
LBR
LZ
LZR
SON
RS2
DICOM
DICOM
ZSP
MO1
TC
LG
MO2
LG
OP
LG
RS1
EM2
DOCOM
DOCOM
ALM
RD
SD
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
Plate
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
Signal symbol
Pin No. Pin No.
 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  14 
 
11.4 MR Configurator2 
POINT 
 
For the MR-JE servo amplifier, use MR Configurator2 with software version 
1.19V or later. 
 
 
MR Configurator2 (SW1DNC-MRC2-E) uses the communication function of the servo amplifier to perform 
parameter setting changes, graph display, test operation, etc. on a personal computer. 
 
(1)  Specifications 
 
Item  Description 
Project  Create/read/save/delete project, system setting, and print 
Parameter  Parameter setting, axis name setting 
Monitor  Display all, I/O monitor, and graph 
Diagnosis 
Alarm display, alarm onset data, drive recorder, no motor rotation, system configuration, life 
diagnosis, machine diagnosis 
Test operation 
Jog operation, positioning operation, motor-less operation, DO forced output, and program 
operation, test mode information 
Adjustment  One-touch tuning, tuning, and machine analyzer 
Others 
Servo assistant, parameter setting range update, machine unit conversion setting, and help 
display 
 
(2)  System requirements 
(a)  Components 
To use this software, the following components are required in addition to the servo amplifier and 
servo motor. 
 
Equipment    (Note 1) Description 
OS 
Microsoft
®
 Windows
®
 7 Enterprise [Service Pack none/1] 
Microsoft
®
 Windows
®
 7 Ultimate [Service Pack none/1] 
Microsoft
®
 Windows
®
 7 Professional [Service Pack none/1] 
Microsoft
®
 Windows
®
 7 Home Premium [Service Pack none/1] 
Microsoft
®
 Windows
®
 7 Starter [Service Pack none/1] 
Microsoft
®
 Windows Vista
®
 Enterprise [Service Pack none /1/2] 
Microsoft
®
 Windows Vista
®
 Ultimate [Service Pack none/1/2] 
Microsoft
®
 Windows Vista
®
 Business [Service Pack none/1/2] 
Microsoft
®
 Windows Vista
®
 Home Premium [Service Pack none/1/2] 
Microsoft
®
 Windows Vista
®
 Home Basic [Service Pack none/1/2] 
Microsoft
®
 Windows
®
 XP Professional [Service Pack 2/3] 
Microsoft
®
 Windows
®
 XP Home Edition [Service Pack 2/3] 
Microsoft
®
 Windows
®
 2000 Professional [Service Pack 4] 
CPU 
Desktop personal computer: Intel
®
 Celeron
®
 processor 2.8GHz or more is 
recommended. 
Laptop personal computer: Intel
®
 Pentium
®
 M processor 1.7GHz or more is 
recommended. 
Memory  512 MB or more (for 32-bit OS) and 1 GB or more (for 64-bit OS) 
Hard Disk  1GB or more of free space 
(Note 2, 3, 4, 5) 
Personal computer 
Communication 
interface 
USB port 
Browser  Windows
®
 Internet Explorer
®
 4.0 or more (Note 1) 
Display 
One whose resolution is 1024 × 768 or more and that can provide a high color (16 bit) display. 
Connectable with the above personal computer. 
Keyboard  Connectable with the above personal computer. 
Mouse  Connectable with the above personal computer. 
Printer  Connectable with the above personal computer. 
USB cable  MR-J3USBCBL3M 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  15 
 
Note   1.  Microsoft, Windows, Internet Explorer and Windows Vista are registered trademarks of Microsoft Corporation in the United 
States and other countries. 
Celeron and Pentium are the registered trademarks of Intel Corporation. 
  2. On some personal computers, MR Configurator2 may not run properly. 
  3. When Microsoft
®
 Windows
®
7, Microsoft
®
 Windows Vista
®
, or Microsoft
®
 Windows
®
 XP is used, the following functions cannot 
be used. 
Windows Program Compatibility mode 
Fast User Switching 
Remote Desktop 
Large Fonts Mode (Display property) 
DPI settings other than 96 DPI (Display property) 
For 64-bit operating system, this software is compatible with Windows
® 
7. 
  4. When Windows
®
 7 is used, the following functions cannot be used. 
Windows XP Mode 
Windows touch 
  5. When using this software with Windows Vista
®
 and Windows
®
 7, log in as a user having USER authority or higher. 
 
(b)  Connection with servo amplifier 
To USB
connector
USB cable
MR-J3USBCBL3M
(Option)
Personal compute

r

Servo amplifier
CN3
 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  16 
 
11.5 Selection example of wires 
 
POINT 
 
To comply with the UL/CSA standard, use the wires shown in appendix 2 for 
wiring. To comply with other standards, use a wire that is complied with each 
standard. 
Selection conditions of wire size is as follows. 
Construction condition: One wire is constructed in the air. 
Wiring length: 30 m or shorter 
 
 
The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent. 
3) Regenerative option lead
Regenerative option
C
P+
L1
L2
L3
1) Power lead
Power supply
Servo amplifier
U
V
W
2) Servo motor power supply lead
M
 
Table 11.1 shows examples for using the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV 
wire). 
 
Table 11.1 Wire size selection example (HIV wire) 
 Wire [mm
2
]   
Servo amplifier 
1) L1/L2/L3/  
3) P+•C 
2) U/V/W/
 
(Note 1) 
MR-JE-10A       
MR-JE-20A     
MR-JE-40A   
MR-JE-70A 
2 (AWG 14) 
2 (AWG 14) 
AWG 18 to 14 
(Note 2) 
MR-JE-100A       
MR-JE-200A     
MR-JE-300A  3.5 (AWG 12)   
AWG 16 to 10 
 
Note   1.  The wire size shows applicable size of the servo amplifier connector. For wires 
connecting to the servo motor, refer to "HF-KN/HF-SN Servo Motor Instruction 
Manual". 
  2. Be sure to use the size of 2 mm
2
 when corresponding to UL/CSA standard. 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  17 
 
11.6 Molded-case circuit breakers, fuses, magnetic contactors (recommended) 
Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier. When 
using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this 
section. 
 
Molded-case circuit breaker (Note 1)   Fuse   
Servo amplifier 
Frame, rated current 
Voltage 
AC [V] 
Class 
Current 
[A] 
Voltage 
AC [V] 
Magnetic 
contactor  
(Note 2) 
MR-JE-10A 
MR-JE-20A 
30 A frame 5 A  10 
MR-JE-40A  30 A frame 10 A  15 
MR-JE-70A 
MR-JE-100A 
30 A frame 15 A  20 
S-N10 
S-T10 
MR-JE-200A  30 A frame 20 A  40 
S-N20 (Note 3)
S-T21 
MR-JE-300A  30 A frame 30 A 
240  T 
70 
300 
S-N20 
S-T21 
 
Note   1. When having the servo amplifier comply with the UL/CSA standard, refer to appendix 2. 
  2.Use a magnetic contactor with an operation delay time (interval between current being applied to 
the coil until closure of contacts) of 80 ms or less. 
  3.S-N18 can be used when auxiliary contact is not required. 
 
11.7 Power factor improving AC reactor 
The following shows the advantages of using power factor improving AC reactor. 
It improves the power factor by increasing the form factor of the servo amplifier's input current. 
It decreases the power supply capacity. 
The input power factor is improved to about 80%. 
When using power factor improving reactors for two servo amplifiers or more, be sure to connect a power 
factor improving reactor to each servo amplifier. If using only one power factor improving reactor, enough 
improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated. 
 
(1)  Connection example 
Y
Z
S
T
Y
Z
S
T
MCMCCB
MCMCCB
FR-HAL
Servo amplifie

r

3-phase 200 V class
XR
L1
L2
L3
3-phase
200 V AC to
240 V AC
FR-HAL
Servo amplifier
1-phase 200 V class
XR
L1
L2
(Note)
1-phase
200 V AC to
240 V AC
L3
 
Note. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave 
L2 open. 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  18 
 
(2)  Dimensions 
4-d mounting hole
(Varnish is removed from front right mounting
hole (face and  back side).) (Note 1)
Terminal layout
RX ZSYT
Max. W (Note 2)
W1
D1
D2
H
D or less
 
Fig. 11.1 
 
Dimensions [mm] 
Servo amplifier 
Power factor 
improving AC 
reactor 
Dimens
ions 
W  W1  H 
D  
(Note 3)
D1  D2  d 
Terminal 
size 
Mass
[kg] 
MR-JE-10A, 
MR-JE-20A 
FR-HAL-0.4K    104  84  99  72  51  40  M5  M4  0.6 
MR-JE-40A  FR-HAL-0.75K    104  84  99  74  56  44  M5  M4  0.8 
MR-JE-70A  FR-HAL-1.5K  104  84  99  77  61  50  M5  M4  1.1 
MR-JE-100A  FR-HAL-2.2K 
Fig. 
11.1 
115  
(Note 3) 
40  115 77  71  57  M6  M4  1.5 
MR-JE-200A  FR-HAL-3.7K   
115  
(Note 3) 
40  115 83  81  67  M6  M4  2.2 
MR-JE-300A  FR-HAL-5.5K   
115  
(Note 3) 
40  115 83  81  67  M6  M4  2.3 
 
Note   1.  Use this for grounding. 
  2. W ± 2 is applicable for FR-HAL-0.4K to FR-HAL-1.5K. 
  3. Maximum dimensions. The dimension varies depending on the input/output lines. 
 
11.8 Relay (recommended) 
The following relays should be used with the interfaces. 
 
Interface  Selection example 
Digital input (interface DI-1) 
Relay used for digital input command signals 
To prevent defective contacts, use a relay for 
small signal (twin contacts). 
(Ex.) Omron: type G2A, type MY 
Digital output (interface DO-1) 
Relay used for digital output signals 
Small relay with 12 V DC or 24 V DC of rated 
current 40 mA or less 
(Ex.) Omron: type MY 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  19 
 
11.9 Noise reduction techniques 
Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those 
radiated by the servo amplifier to cause peripheral equipment to malfunction. Since the servo amplifier is an 
electronic device which handles small signals, the following general noise reduction techniques are required. 
Also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies. If 
peripheral equipment malfunction due to noises produced by the servo amplifier, noise suppression 
measures must be taken. The measures will vary slightly with the routes of noise transmission. 
 
(1)  Noise reduction techniques 
(a)  General reduction techniques 
Avoid bundling power lines (input/output) and signal cables together or running them in parallel to 
each other. Separate the power lines from the signal cables. 
Use a shielded twisted pair cable for connection with the encoder and for control signal 
transmission, and connect the external conductor of the cable to the SD terminal. 
Ground the servo amplifier, servo motor, etc. together at one point. (Refer to section 3.11.) 
 
(b)  Reduction techniques for external noises that cause the servo amplifier to malfunction 
If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many 
relays which make a large amount of noise) near the servo amplifier and the servo amplifier may 
malfunction, the following countermeasures are required. 
Provide surge absorbers on the noise sources to suppress noises. 
Attach data line filters to the signal cables. 
Ground the shields of the encoder connecting cable and the control signal cables with cable clamp 
fittings. 
Although a surge absorber is built into the servo amplifier, to protect the servo amplifier and other 
equipment against large exogenous noise and lightning surge, attaching a varistor to the power 
input section of the equipment is recommended. 
 
(c)  Techniques for noises radiated by the servo amplifier that cause peripheral equipment to malfunction 
Noises produced by the servo amplifier are classified into those radiated from the cables connected 
to the servo amplifier and its main circuits (input and output circuits), those induced 
electromagnetically or statically by the signal cables of the peripheral equipment located near the 
main circuit cables, and those transmitted through the power supply cables. 
Noises produced
by servo amplifier
Noises transmitted in the air Noise radiated directly from servo amplifier
Noise radiated from the power supply cable
Noise radiated from servo motor cable
Magnetic induction noise
Static induction noise
Noises transmitted through
electric channels
Noise transmitted through power supply cable
Noise sneaking from grounding cable due to leakage current
Routes 4) and 5)
Route 1)
Route 2)
Route 3)
Route 7)
Route 8)
Route 6)
 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  20 
 
Instrument Receiver
Servo
amplifier
Servo motor M
2)
2)
8)
1)
7)
7) 7)
5)
3)
4)
6)
3)
 Sensor
 power
 supply
Sensor
 
Noise transmission 
route 
Suppression techniques 
1) 2) 3) 
When measuring instruments, receivers, sensors, etc. which handle weak signals and may 
malfunction due to noise and/or their signal cables are contained in a cabinet together with the servo 
amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted 
through the air. The following techniques are required. 
1. Provide maximum clearance between easily affected devices and the servo amplifier. 
2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo 
amplifier. 
3. Avoid wiring the power lines (input/output lines of the servo amplifier) and signal lines side by side 
or bundling them together. 
4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line. 
5. Use shielded wires for the signal and power lines, or put the lines in separate metal conduits. 
4) 5) 6) 
When the power lines and the signal lines are laid side by side or bundled together, magnetic 
induction noise and static induction noise will be transmitted through the signal cables and 
malfunction may occur. The following techniques are required. 
1. Provide maximum clearance between easily affected devices and the servo amplifier. 
2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo 
amplifier. 
3. Avoid wiring the power lines (input/output lines of the servo amplifier) and signal lines side by side 
or bundling them together. 
4. Use shielded wires for the signal and power lines, or put the lines in separate metal conduits. 
7) 
When the power supply of peripheral equipment is connected to the power supply of the servo 
amplifier system, noises produced by the servo amplifier may be transmitted back through the power 
supply cable and the devices may malfunction. The following techniques are required. 
1. Install the radio noise filter (FR-BIF) on the power lines (Input lines) of the servo amplifier. 
2. Install the line noise filter (FR-BSF01) on the power lines of the servo amplifier. 
8) 
When the cables of peripheral equipment are connected to the servo amplifier to make a closed loop 
circuit, leakage current may flow to malfunction the peripheral equipment. If so, malfunction may be 
prevented by disconnecting the grounding cable of the peripheral device. 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  21 
 
(2)  Noise reduction techniques 
(a)  Data line filter (recommended) 
Noise can be prevented by installing a data line filter onto the encoder cable, etc. 
For example, ZCAT3035-1330 by TDK, ESD-SR-250 by NEC TOKIN, and GRFC-13 by Kitagawa 
Industries are available as data line filters. 
As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated 
below. This impedances are reference values and not guaranteed values. 
 
Impedance [] 
10 MHz to 100 MHz  100 MHz to 500 MHz 
80  150 
  
[Unit: mm]
Outline drawing (ZCAT3035-1330)
Loop for fixing the
cable band
Lot number
Product name
TDK
39 ± 1
34 ± 1
13 ± 1
30 ± 1
(b)  Surge killer (recommended) 
Use of a surge killer is recommended for AC relay, magnetic contactor or the like near the servo 
amplifier. Use the following surge killer or equivalent. 
MC
SK
Surge killer
Relay
Surge killer
MC
ON
OFF
This distance should be short
(within 20 cm).
 
(Ex.) CR-50500 Okaya Electric Industries) 
Dimensions [Unit: mm] 
Rated 
voltage 
AC [V] 
C 
[µF ± 20%] 
R 
[ ± 30%] 
Test voltage 
250  0.5 
50 
(1/2 W) 
Between terminals:  
625 V AC, 50/60 Hz 60 s
Between terminal and case:  
2000 V AC, 50/60 Hz 60 s
      
6 ± 1
300 min. 300 min.
Soldered
Band (clear) AWG 18 Twisted wire
15 ± 1
48 ± 1.5
CR-50500
6 ± 1
16 ± 1
(18.5 + 5) max.

3.6
(18.5 + 2) ± 1
 
Note that a diode should be installed to a DC relay or the like. 
Maximum voltage: not less than four times the drive voltage of the relay or 
the like 
Maximum current: not less than two times the drive current of the relay or 
the like 
 
-+
Diode
RA
 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  22 
 
(c)  Cable clamp fitting AERSBAN-_SET 
Generally, the grounding of the shielded wire may only be connected to the connector's SD terminal. 
However, the effect can be increased by directly connecting the cable to an grounding plate as 
shown below. 
Install the grounding plate near the servo amplifier for the encoder cable. Peel part of the cable 
sheath to expose the external conductor, and press that part against the grounding plate with the 
cable clamp. If the cable is thin, clamp several cables in a bunch. 
The cable clamp comes as a set with the grounding plate. 
[Unit: mm] 
Cable clamp
(A, B)
Cable
Earth plate
External conductor
Clamp section diagram
40
 
Strip the cable sheath o

f

the clamped area.
cutter
cable
Dimensions 
 
[Unit: mm]
Earth plate
(Note) M4 screw
11
3
6
C
A
6 22
17.5
35
35
7
24
 0
-0.2
B ± 0.3
2-

5 hole
installation hole
[Unit: mm]
Clamp section diagram
L or less 10
30
24
+ 0.3
   0
 
 
Note. Screw hole for grounding. Connect it to the grounding plate of the cabinet. 
 
Model  A  B  C  Accessory fittings    Clamp fitting  L 
AERSBAN-DSET  100  86  30  Clamp A: 2pcs.    A  70 
AERSBAN-ESET  70  56    Clamp B: 1pc.    B  45 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  23 
 
(d)  Line noise filter (FR-BSF01) 
This filter is effective in suppressing noises radiated from the power supply side and output side of 
the servo amplifier and also in suppressing high-frequency leakage current (0-phase current). It 
especially affects the noises between 0.5 MHz and 5 MHz band. 
 
Connection diagram  Dimensions [Unit:  mm] 
FR-BSF01 (for wire size 3.5 mm
2
 (AWG 12) or less) 
33
4.5
Approx. 110
95 ± 0.5
Approx. 22.5
Approx. 65
Approx. 65
2-

5
11.25 ± 0.5
 
Use the line noise filters for lines of the power supply (L1, L2, and 
L3) and of the servo motor power (U, V, and W). Pass each of the 
wires through the line noise filter an equal number of times in the 
same direction. For the power supply, the effect of the filter rises 
as the number of passes increases, but generally four passes 
would be appropriate. For the servo motor power lines, passes 
must be four times or less. Do not pass the grounding wire 
through the filter. or the effect of the filter will drop. 
Wind the wires by passing through the filter to satisfy the required 
number of passes as shown in Example 1. If the wires are too 
thick to wind, use two or more filters to have the required number 
of passes as shown in Example 2. 
Place the line noise filters as close to the servo amplifier as 
possible for their best performance. 
MCMCCB
Example 1
Power
supply
Power
supply
Servo amplifier
Line noise
filter
L1
L2
L3
(Number of passes: 4)
MCMCCB
Line noise
filter
Example 2
Servo amplifier
L1
L2
L3
Two filters are used
(Total number of passes: 4)
 
 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  24 
 
(e)  Radio noise filter (FR-BIF) 
This filter is effective in suppressing noises radiated from the power supply side of the servo 
amplifier especially in 10 MHz and lower radio frequency bands. The FR-BIF is designed for the 
input only. 
200 V class: FR-BIF 
 
Connection diagram  Dimensions [Unit: mm] 
Make the connection cables as short as possible. Grounding is 
always required. 
When using the FR-BIF with a single-phase power supply, always 
insulate the lead wires that are not used for wiring. 
Radio noise
filter
Servo amplifier
Power
supply
MC
MCCB
L3
L2
L1
Terminal
block
 
hole
Leakage current: 4 m

A

29
58
42
4
Red BlueWhite Green
44
29
7

5
Approx. 300
 
 
(f)  Varistor for input power supply (recommended) 
Varistors are effective to prevent exogenous noise and lightning surge from entering the servo 
amplifier. When using a varistor, connect it between each phase of the input power supply of the 
equipment. For varistors, the TND20V-431K and TND20V-471K, manufactured by NIPPON CHEMI-
CON, are recommended. For detailed specification and usage of the varistors, refer to the 
manufacturer catalog. 
 
Maximum rating 
Maximum 
limit voltage
Permissible circuit 
voltage 
Surge 
current 
immunity 
Energy 
immunity 
Rated pulse 
power 
Static 
capacity 
(reference 
value) 
Varistor voltage rating
(range) 
V1 mA 
Power 
supply 
voltage 
Varistor 
AC [Vrms]  DC [V]  8/20 µs [A]  2 ms [J]  [W] 
[A]  [V] 
[pF]  [V] 
TND20V-431K  275  350 
10000/1 
times 
195  710 1300  430 (387 to 473) 
200 V 
class 
TND20V-471K  300  385 
7000/2 
times 
215 
1.0  100
775 1200  470 (423 to 517) 
 
[Unit: mm] 
Model 
D 
Max. 
H 
Max. 
T 
Max. 
E 
±1.0 
(Note) 
L 
min. 
d 
±0.05 
W 
±1.0 
TND20V-431K  6.4  3.3 
TND20V-471K 
21.5  24.5 
6.6  3.5 
20  0.8  10.0 
        
Note. For special purpose items for lead length (L), contact the manufacturer. 
WE
H
D
L
T
d
 
        
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  25 
 
11.10 Earth-leakage current breaker 
(1)  Selection method 
High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. 
Leakage currents containing harmonic contents are larger than those of the motor which is run with a 
commercial power supply. 
Select an earth-leakage current breaker according to the following formula, and ground the servo 
amplifier, servo motor, etc. securely. 
To minimize leakage currents, make the input and output cables as short as possible, and make the 
grounding cable longer than 30 cm. 
 
Rated sensitivity current  10 • {Ig1 + Ign + Iga + K • (Ig2 + Igm)} [mA]············································· (11.1) 
 
Earth-leakage current breaker 
Type 
Mitsubishi 
products 
K 
Models provided with 
harmonic and surge 
reduction techniques 
NV-SP 
NV-SW 
NV-CP 
NV-CW 
NV-HW 
1 
Ign
Noise filter
Cable
Ig1 Iga Ig2 Igm
M
Servo
amplifier
NV
Cable
 
General models 
BV-C1 
NFB 
NV-L 
3 
 
Ig1: Leakage current on the electric channel from the earth-leakage current breaker to the input 
terminals of the servo amplifier (Found from Fig. 11.2.) 
Ig2: Leakage current on the electric channel from the output terminals of the servo amplifier to the servo 
motor (found from Fig. 11.2.) 
Ign: Leakage current when a filter is connected to the input side (4.4 mA per one FR-BIF) 
Iga: Leakage current of the servo amplifier (Found from table 11.3.) 
Igm: Leakage current of the servo motor (Found from table 11.2.) 
 
Leakage current [mA]
Cable size [mm
2
]
120
100
80
60
40
20
0
2 5.5 14
3.5 8
38100
22
30
60150
80
 
Fig. 11.2 Example of leakage current per km (lg1, lg2) for CV cable run in metal conduit 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  26 
 
Table 11.2 Servo motor leakage current example (lgm) 
Servo motor power [kW]  Leakage current [mA] 
0.1 to 1  0.1 
2  0.2 
3  0.3 
 
Table 11.3 Servo amplifier leakage current example (Iga) 
Servo amplifier capacity [kW]  Leakage current [mA] 
0.1 to 0.6  0.1 
0.75 to 3  0.15 
 
Table 11.4 Earth-leakage current breaker selection example 
Servo amplifier capacity [kW] 
Rated sensitivity current of earth-
leakage current breaker [mA] 
MR-JE-10A to MR-JE-300A  15 
 
(2)  Selection example 
Indicated below is an example of selecting an earth-leakage current breaker under the following 
conditions. 
Servo motor
HF-KN43
2 mm
2
 × 5 m 2 mm
2
 × 5 m
M
NV
Ig1 Iga Ig2 Igm
Servo amplifier
MR-JE-40A
 
Use an earth-leakage current breaker designed for suppressing harmonics/surges. 
Find the terms of equation (11.1) from the diagram. 
 
Ig1 = 20 • 
5
1000
 = 0.1 [mA] 
 
Ig2 = 20 • 
5
1000
 = 0.1 [mA] 
 
Ign = 0 (not used) 
 
Iga = 0.1 [mA] 
 
Igm = 0.1 [mA] 
 
Insert these values in equation (11.1). 
 
Ig  10 • {0.1 + 0 + 0.1 + 1 • (0.1 + 0.1)} 
 4 [mA] 
 
According to the result of calculation, use an earth-leakage current breaker having the rated sensitivity 
current (Ig) of 4.0 mA or more. 
An earth-leakage current breaker having Ig of 15 mA is used with the NV-SP/SW/CP/CW/HW series. 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  27 
 
11.11 EMC filter (recommended) 
It is recommended that one of the following filters be used to comply with EN EMC directive. Some EMC 
filters have large in leakage current. 
 
(1)  Combination with the servo amplifier 
 
Recommended filter (Soshin Electric) 
Servo amplifier 
Model 
Rated current 
 [A] 
Rated voltage 
[V AC] 
Leakage current 
[mA] 
Mass [kg] 
MR-JE-10A to 
MR-JE-100A 
(Note)  
HF3010A-UN 
10  3.5 
MR-JE-200A, 
MR-JE-300A 
(Note)  
HF3030A-UN 
30 
250  5 
5.5 
 
Note. A surge protector is separately required to use any of these EMC filters. 
 
(2)  Connection example 
MCCB
Servo amplifier
1
2
3
(Note 2)
Surge protector
(RSPD-250-U4)
(OKAYA Electric Industries Co., Ltd.)
(Note 1)
Power supply
123
MC
EMC filter
L1
L2
L3
4
5
6
E
 
Note   1.  For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. 
Leave L2 open. 
  2. The example is when a surge protector is connected. 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  28 
 
(3)  Dimensions 
(a)  EMC filter 
 
HF3010A-UN 
[Unit: mm] 
32 ± 2
85 ± 2
110 ± 4
258 ± 4
273 ± 2
288 ± 4
300 ± 5
M4
IN
3-M4
65 ± 4
Approx. 41
4-5.5 × 73-M4
 
HF3030A-UN 
[Unit: mm] 
125 ± 2
44 ± 1
260 ± 5
140 ± 2
70 ± 2
140 ± 1
155 ± 2
3-M5
6-R3.25 length:8
3-M5
M4
85 ± 1
210 ± 2
85 ± 1
 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  29 
 
(b)  Surge protector 
 
RSPD-250-U4 
41 ± 1
28.5 ± 1 28 ± 1

4.2 ± 0.5
5.5 ± 1
11 ± 1
+30
  0
200
4.5 ± 0.5
132
Lead
Case
Resin
[Unit: mm]
123
 
 





11. OPTIONS AND PERIPHERAL EQUIPMENT 
 
11 -  30 
 
MEMO 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 





APPENDIX 
App. -  1 
 
App. 1 Peripheral equipment manufacturer (for reference) 
Names given in the table are as of July 2013. 
 
Manufacturer  Contact information 
JST  J.S.T. Mfg. Co., Ltd. 
3M  3M 
Soshin Electric  Soshin Electric Co., Ltd. 
 
App. 2 Compliance with global standards 
App. 2.1 About safety 
This section explains safety of users and machine operators. Please read the section carefully before 
mounting the equipment. 
 
App. 2.1.1 Professional engineer 
Only professional engineers should mount MR-JE servo amplifiers. 
Here, professional engineers are persons who have taken proper engineering training qualified persons who 
are engaged in electrical equipment. 
Please note if you can take a proper engineering training at your local Mitsubishi Electric office. Contact your 
local sales office for schedules and locations. 
 
App. 2.1.2 Applications of the devices 
MR-JE servo amplifiers comply with the following safety standards. 
IEC/EN 61800-5-1, IEC/EN 61800-3 
 
App. 2.1.3 Correct use 
Always use the MR-JE servo amplifiers within specifications (voltage, temperature, etc. Refer to section 1.3 
for details.). Mitsubishi Electric Co. accepts no claims for liability if the equipment is used in any other way or 
if modifications are made to the device, even in the context of mounting and installation. 
 
WARNING 
It takes 15 minutes for capacitor discharging. Do not touch the unit and terminals 
immediately after power off. 
 
 





APPENDIX 
App. -  2 
 
(1)  Peripheral device and power wiring 
(a)  Local wiring 
Use only copper wires rated at 75 ˚C for wiring. The following table shows wires [AWG] rated at 75 
˚C. 
 
 Wire [AWG]  
Servo amplifier 
(Note 2) 
L1/L2/L3/
 
P+/C 
(Note 1, 2) 
U/V/W/
 
MR-JE-10A/MR-JE-20A/MR-JE-40A/MR-JE-70A/MR-JE-100A/ 
MR-JE-200A/MR-JE-300A 
14  14  14 
 
Note   1.  Select wire sizes depending on the rated output of the servo motors. The values in the table are sizes based on rated output of 
the servo amplifiers. 
  2. The following shows the PE terminal specifications of the servo amplifier. 
    Screw size: M4 
    Tightening torque: 1.2 [N•m] 
    Recommended crimp terminals: R2-4 (JST) 
    Crimping tool: YPT-60-21 (JST) 
 
(b)  Selection example of MCCB and fuse 
When a servo amplifier is protected by T class fuses or circuit breaker having an interrupting rating 
not less than 300 A effective value and 240 V maximum, use T class fuses or molded-case circuit 
breaker (UL489 Listed MCCB) as the following table. The T class fuses and molded-case circuit 
breakers in the table are selected examples based on rated I/O of the servo amplifiers. When you 
select a smaller capacity servo motor to connect it to the servo amplifier, you can also use smaller 
capacity T class fuses or molded-case circuit breaker than ones in the table. For selecting ones 
other than Class T fuses and molded-case circuit breakers below, refer to section 11.6. 
 
Servo amplifier  Molded-case circuit breaker (240 V AC)  Fuse (300 V) 
MR-JE-10A/MR-JE-20A/MR-JE-40A/MR-JE-70A  NF50-SWU-5A (50 A frame 5 A)  10 A 
MR-JE-70A (Note)/MR-JE-100A  NF50-SWU-10A (50 A frame 10 A)  15 A 
MR-JE-200A/MR-JE-300A  NF50-SWU-15A (50 A frame 15 A)  30 A 
 
Note. For 1-phase 200 V AC power input 
 
(c)  Power supply 
This servo amplifier can be supplied from star-connected supply with grounded neutral point of 
overvoltage category III set forth in IEC/EN 60664-1. However, when you use the neutral point for 
single phase supply, a reinforced insulating transformer is required in the power input section. For 
the interface power supply, use an external 24 V DC power supply with reinforced insulation on I/O 
terminals. 
 
(d)  Grounding 
To prevent an electric shock, always connect the protective earth (PE) terminal (marked 
) of the 
servo amplifier to the protective earth (PE) of the cabinet. Do not connect two grounding cables to 
the same protective earth (PE) terminal. Always connect cables to the terminals one-to-one. 
If using an earth-leakage current breaker, always ground the protective earth (PE) terminal of the 
servo amplifier to prevent an electric shock. Only an RCD (earth-leakage current breaker) of type B 
can be used for the power supply side of the product. 
PE terminals
      
PE terminals
 
 





APPENDIX 
App. -  3 
 
(2)  EU compliance 
The MR-JE servo amplifiers are designed to comply with the following directions to meet requirements 
for mounting, using, and periodic technical inspections: EMC directive (2004/108/EC) and Low-voltage 
directive (2006/95/EC). 
 
(a)  EMC requirement 
MR-JE servo amplifiers comply with category C3 in accordance with IEC/EN 61800-3. Use a EMC 
filter and surge protector on the primary side. As for I/O signal wires (max. length 10 m) and encoder 
cables (max. length 50 m), connect them to a shielded grounding. However, when the encoder cable 
length is longer than 30 m for MR-JE-70A and MR-JE-100A, set a radio noise filter (FR-BIF) to the 
input power supply side of the servo amplifier. The following shows recommended products. 
EMC filter: Soshin Electric HF3000A-UN series 
Surge protector: Okaya Electric Industries RSPD-250-U4 series 
Radio noise filter: Mitsubishi Electric FR-BIF 
- MR-JE Series are not intended to be used on a low-voltage public network which supplies domestic 
premises; 
- radio frequency interference is expected if used on such a network. 
The installer shall provide a guide for Installation and use, including recommended mitigation 
devices. 
 
(b)  For Declaration of Conformity (DoC) 
Hereby, MITSUBISHI ELECTRIC EUROPE B.V., declares that the servo amplifiers are in 
compliance with the necessary requirements and standards (2004/108/EC and 2006/95/EC). For the 
copy of Declaration of Conformity, contact your local sales office. 
 
(3)  USA/Canada compliance 
This servo amplifier is designed in compliance with UL 508C and CSA C22.2 No.14. 
 
(a)  Installation 
The minimum cabinet size is 150% of MR-JE servo amplifier's volume. Also, design the cabinet so 
that the ambient temperature in the cabinet is 55 °C or less. The servo amplifier must be installed in 
the metal cabinet. For environment, the units should be used in open type (UL 50) and overvoltage 
category III or lower. The servo amplifier needs to be installed at or below of pollution degree 2. For 
connection, use copper wires. 
 
(b)  Short-circuit current rating (SCCR) 
Suitable For Use On A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical 
Amperes, 500 Volts Maximum. 
 
(c)  Overload protection characteristics 
The MR-JE servo amplifiers have servo motor overload protective function. (It is set on the basis (full 
load current) of 120% rated current of the servo amplifier.) 
 
(d)  Over-temperature protection for motor 
Motor Over temperature sensing is not provided by the drive. 
 
(e)  Capacitor discharge 
It takes 15 minutes for capacitor discharging. Do not touch the unit and terminals immediately after 
power off. 
 





APPENDIX 
App. -  4 
 
(f)  Branch circuit protection 
For installation in United States, branch circuit protection must be provided, in accordance with the 
National Electrical Code and any applicable local codes. 
For installation in Canada, branch circuit protection must be provided, in accordance with the 
Canada Electrical Code and any applicable provincial codes. 
 
(4) South Korea compliance 
This product complies with the Radio Wave Law (KC mark). Please note the following to use the 
product. 
󹠪
 
󷻦󷻦󸍊
 
󹙻󸯪󹝟
 (A
󷺿
) 
󹢺󹡆󺏂󹢷󺘟󷻦󷻦󸤒󹇒
 
󺏆
 
󸪚󹡆
 
󸛆󸍊
 
󹅢󹝟󹡆󸍊
 
󹠪
 
󹣆󹟺
 
󹦲󹠎󺘎󹎒󷻦
 
󸳊󸠲󸬦󰃩
󷲶󹣋󹜮󹠎󹩶󹚣󹚆󹇒
 
󹅢󹝟󺘎󸍊
 
󷴹󹟺
 
󸭟󹢷󹟲
 
󸤒
 
󺘟󸍾󸎚
. 
(The product is for business use (Class A) and meets the electromagnetic compatibility requirements. 
The seller and the user must note the above point, and use the product in a place except for home.) 
 
App. 2.1.4 General cautions for safety protection and protective measures 
Observe the following items to ensure proper use of the MELSERVO MR-JE servo amplifiers. 
 
(1)  Only qualified personnel and professional engineers should perform system installation. 
 
(2)  When mounting, installing, and using the MELSERVO MR-JE servo amplifier, always observe standards 
and directives applicable in the country. 
 
App. 2.1.5 Disposal 
Disposal of unusable or irreparable devices should always occur in accordance with the applicable country-
specific waste disposal regulations. (Example:  European Waste 16 02 14) 
 
App. 2.2 Mounting/dismounting 
Installation direction and clearances 
 
CAUTION 
The devices must be installed in the specified direction. Not doing so may cause 
a malfunction. 
Mount the servo amplifier on a cabinet which meets IP54 in the correct vertical 
direction to maintain pollution degree 2. 
 
 
10 mm
or more
80 mm or longer
for wiring
10 mm
or more
Top
Bottom
40 mm
or more
40 mm
or more
Cabinet
Servo amplifier
Servo amplifier
Cabinet
 
 





APPENDIX 
App. -  5 
 
App. 2.3 Electrical Installation and configuration diagram 
 
WARNING 
Turn off the molded-case circuit breaker (MCCB) to avoid electrical shocks or 
damages to the product before starting the installation or wiring. 
 
 
CAUTION 
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo 
amplifier may cause a malfunction. 
 
 
The following shows representative configuration examples to conform to the IEC/EN/UL/CSA standards. 
 
(1)  3-phase input 
MCCB
or fuse
Controller
Encoder cable
(3-phase
230 V AC)
Powe

r

suppl

y

(3-phase

4

00 V AC)
Transformer
(star-connected)
PE
MC
Servo amplifier
Cabinet side
Machine side
Encoder
Servo motor
L1
U/V/W/PE
CN2
CN1
L2 L3
 
(2)  1-phase input 
MCCB
or fuse
Controller
Encoder cable
(3-phase
230 V AC)
Power
supply
(3-phase
400 V AC)
Transformer
(star-connected)
PE
MC
Servo amplifier
Cabinet side
Machine side
Encoder
Servo motor
L1
U/V/W/PE
CN2
CN1
L2 L3
 
The control circuit connectors described by rectangles are safely separated from the main circuits described 
by circles. 
The connected motors will be limited as follows. 
 
HF-KN/HF-SN series servo motors (Mfg.: Mitsubishi Electric) 
 





APPENDIX 
App. -  6 
 
App. 2.4 Signal 
App. 2.4.1 Signal 
The following shows CN1 connector signals as a typical example. Refer to section 3.4 for other connectors. 
1
3
5
7
9
11
13
15
17
19
21
23
25
2
4
6
8
10
12
14
16
18
20
22
24
TLA
MO1
MO2
27
29
31
33
35
37
39
41
43
45
47
49
26
28
30
32
34
36
38
40
42
44
46
48
50
LG
LA
LG
LAR
LB
LG
LBR
LZ OP
LZR LG
EM2
DICOM
DICOM
DOCOM
DOCOM
ALM
CN1
PP
OPC
PG
SON
CR
LSP
RES
ZSP
RDINP
LSN
NP
NG
This is in position control mode.
 
App. 2.4.2 Input/output device 
The following shows typical I/O devices. Refer to section 3.5 for other devices. 
 
Input device 
Symbol  Device  Connector  Pin No. 
SON  Servo-on    15 
RES  Reset    19 
CR  Clear  41 
EM2  Forced stop 2 
CN1 
42 
LSP  Forward rotation stroke end    43 
LSN  Reverse rotation stroke end    44 
  





APPENDIX 
App. -  7 
 
Output device 
Symbol  Device  Connector  Pin No. 
ZSP  Zero speed detection    23 
INP  In-position  24 
ALM  Malfunction 
CN1 
48 
RD  Ready    49 
  
Power supply 
Symbol  Device  Connector  Pin No. 
DICOM  Digital I/F power supply input    20, 21 
DOCOM  Digital I/F common  CN1  46, 47 
SD  Shield    Plate 
 
App. 2.5 Maintenance and service 
 
WARNING 
To avoid an electric shock, only qualified personnel should attempt inspections. 
For repair and parts replacement, contact your local sales office. 
 
 
CAUTION 
Do not perform insulation resistance test on the servo amplifier. Otherwise, it may 
cause a malfunction. 
Do not disassemble and/or repair the equipment on customer side. 
 
 
App. 2.5.1 Inspection items 
It is recommended that the following points periodically be checked. 
 
(1)  Check for loose protective earth (PE) terminal screws of the servo amplifier. Retighten any loose screws. 
(Tightening torque: 1.2 N•m) 
 
(2)  Check servo motor bearings, brake section, etc. for unusual noise. 
 
(3)  Check the cables and the like for scratches or cracks. Perform periodic inspection according to 
operating conditions. 
 
(4)  Check that the connectors are securely connected to the servo motor. 
 
(5)  Check that the wires are not coming out from the connector. 
 
(6)  Check for dust accumulation on the servo amplifier. 
 
(7)  Check for unusual noise generated from the servo amplifier. 
 
(8)  Check the servo motor shaft and coupling for connection. 
 





APPENDIX 
App. -  8 
 
App. 2.5.2 Parts having service lives 
Service lives of the following parts are listed below. However, the service life vary depending or operating 
methods and environment. If any fault is found in the parts, they must be replaced immediately regardless of 
their service lives. For parts replacement, please contact your local sales office. 
 
Part name  Life guideline 
Smoothing capacitor  (Note) 10 years 
Relay 
Number of power-on times and forced stop times: 
100,000 in total 
Cooling fan  50,000 hours to 70,000 hours (7 years to 8 years) 
 
Note. The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. The life of the capacitor greatly depends on 
ambient temperature and operating conditions. 
The capacitor will reach the end of its life in 10 years of continuous operation in normal air-conditioned environment (40 ˚C 
surrounding air temperature or less). 
 
App. 2.6 Transportation and storage 
 
CAUTION 
Transport the products correctly according to their mass. 
Stacking in excess of the limited number of product packages is not allowed. 
Install the servo amplifier and servo motor in a load-bearing place in accordance 
with "MR-JE-_A Servo Amplifier Instruction Manual". 
Do not get on or put heavy load on the equipment. 
Do not hold the lead wire of the regenerative resistor when transporting the servo 
amplifier. 
 
 
When you keep or use it, please fulfill the following environment. 
 
Item  Environment 
Operation  [°C]  0 to 55 Class 3K3 (IEC/EN 60721-3-3) 
Transportation (Note)  [°C]  -20 to 65 Class 2K4 (IEC/EN 60721-3-2) 
Ambient 
temperature 
Storage (Note)  [°C]  -20 to 65 Class 1K4 (IEC/EN 60721-3-1) 
Ambient 
humidity 
Operation, transportation, 
storage 
5% to 90 %RH 
Test values   
10 Hz to 57 Hz with constant deviation of 0.075 mm 
57 Hz to 150 Hz with constant acceleration of 9.8 m/s
2
 (1 g) to IEC/EN 61800-5-1  
(Test Fc of IEC 60068-2-6) 
Operation    5.9 m/s
2
 (0.6 g) 
Transportation (Note)    Class 2M3 (IEC/EN 60721-3-2) 
Vibration 
load 
Storage    Class 1M2 (IEC/EN 60721-3-2) 
Pollution degree    2 
   IP20 (IEC/EN 60529) 
IP rating 
   Open type (UL 50) 
Operation, storage    1000 m or less above sea level 
Altitude 
Transportation    10000 m or less above sea level 
 
Note. In regular transport packaging 
 





APPENDIX 
App. -  9 
 
App. 2.7 Technical data 
App. 2.7.1 MR-JE servo amplifier 
Item 
MR-JE-10A/MR-JE-20A/MR-JE-40A/ 
MR-JE-70A 
MR-JE-100A/MR-JE-200A/MR-JE-300A 
Line voltage 
3-phase or 1-phase 200 V AC to 240 V AC, 50 
Hz/60 Hz 
3-phase 200 V AC to 240 V AC, 50 Hz/60 Hz 
Power 
supply 
Interface (SELV)  24 V DC, (required current capacity: 300 mA) 
Control method  Sine-wave PWM control, current control method 
Pollution degree  2 (IEC/EN 60664-1) 
Overvoltage category  III (IEC/EN 60664-1) 
Protection class  I (IEC/EN 61800-5-1) 
Short-circuit current rating (SCCR) 100 kA 
 
App. 2.7.2 Servo amplifier dimensions 
Variable dimension table [mm] 
Servo amplifier 
W  H  D 
Mass [kg] 
MR-JE-10A/MR-JE-20A/MR-JE-40A  50  168  135  0.8 
MR-JE-70A/MR-JE-100A  70  168  185  1.5 
MR-JE-200A/MR-JE-300A  90  168  195  2.1 
WD
H Front Side
 
     
App. 2.7.3 Mounting hole 
 Variable dimensions [mm]  
Servo amplifier 
a  a1  b  c  d 
Screw size
e 
MR-JE-10A/MR-JE-20A/MR-JE-40A  6  6  156 ± 0.5 6    M5 
MR-JE-70A/MR-JE-100A  22  22  156 ± 0.5 6  42 ± 0.3  M5 
MR-JE-200A/MR-JE-300A  6  45  156 ± 0.5 6  78 ± 0.3  M5 
da
c
b
c
a1
e
 
       
 





APPENDIX 
App. -  10 
 
App. 3 Analog monitor 
POINT 
 
A voltage of analog monitor output may be irregular at power-on. 
 
 
The servo status can be outputted to two channels in terms of voltage. 
 
(1)  Setting 
Change the following digits of [Pr. PC14] and [Pr. PC15]. 
Analog monitor 1 output selection
(the signal provided to the output across MO1 and LG)
00
[Pr. PC14]
 
Analog monitor 2 output selection
(the signal provided to the output across MO2 and LG)
00
[Pr. PC15]
 
[Pr. PC39] and [Pr. PC40] can be used to set the offset voltages to the analog output voltages. Setting 
value is -9999 mV to 9999 mV. 
 
Parameter  Description  Setting range [mV] 
PC39 
This is used to set the offset voltage of MO1  
(Analog monitor 1). 
PC40 
This is used to set the offset voltage of MO2  
(Analog monitor 2). 
-9999 to 9999 
 





APPENDIX 
App. -  11 
 
(2)  Setting 
The servo amplifier is factory-set to output the servo motor speed to MO1 (Analog monitor 1) and the 
torque to MO2 (Analog monitor 2). The setting can be changed as listed below by setting the [Pr. PC14] 
and [Pr. PC15] value. 
Refer to (3) for the detection point. 
 
Setting 
value 
Output item  Description 
Setting 
value 
Output item  Description 
00  Servo motor speed 
Maximum speed
CW direction
CCW direction
Maximum speed
0
8 [V]
-8 [V]
 
01  Torque 
Maximum torque
Power running in
CW direction
Power running in
CCW direction
Maximum torque
0
8 [V]
-8 [V]
 
02  Servo motor speed 
Maximum speed
CW direction CCW direction
Maximum speed 0
8 [V]
 
03  Torque 
Maximum torque
Power running in
CW direction
Power running in
CCW direction
Maximum torque 0
8 [V]
 
04  Current command 
Maximum current
command
(Maximum torque
command)
CW direction
CCW direction
Maximum current
command
(Maximum torqu

e

command)
0
8 [V]
-8 [V]
05  The command pulse 
frequency (±10 V/±4 
Mpulses/s) 
4 [Mpulse/s]
CW direction
CCW direction

4

 [Mpulse/s]
0
10 [V]
-10 [V]
 
06  Servo motor-side droop 
pulses 
(Note 1, 2, 3) 
(±10 V/100 pulses) 
100 [pulse]
CW direction
CCW direction
100 [pulse]
0
10 [V]
-10 [V]
 
07  Servo motor-side droop 
pulses 
(Note 1, 2, 3) 
(±10 V/1000 pulses) 
1000 [pulse]
CW direction
CCW direction
1000 [pulse]
0
10 [V]
-10 [V]
 
08  Servo motor-side droop 
pulses 
(Note 1, 2, 3) 
(±10 V/10000 pulses) 
10000 [pulse]
CW direction
CCW direction
10000 [pulse]
0
10 [V]
-10 [V]
 
09  Servo motor-side droop 
pulses 
(Note 1, 2, 3) 
(±10 V/100000 pulses) 
100000 [pulse]
CW direction
CCW direction
100000 [pulse]
0
10 [V]
-10 [V]
 
0D  Bus voltage 
400 [V]
0
8 [V]
 
0E  Speed command 2 
(Note 2) 
Maximum speed
CW direction
CCW direction
Maximum speed
0
8 [V]
-8 [V]
 
17  Encoder inside 
temperature (±10 
V/±128 ˚C) 
128 [°C]
-128 [°C]
0
10 [V]
-10 [V]
 
  
 
 





APPENDIX 
App. -  12 
 
Note   1.  Encoder pulse unit 
  2. This cannot be used in the torque control mode. 
  3. This cannot be used in the speed control mode. 
 
(3)  Analog monitor block diagram 
Droop pulses
Speed
command
Position
control
Speed
control
PWM
Current
control
Current
command
Bus voltage
Speed
command
Current
encoder
+
Servo motor
Encoder
Current feedback
Position feedback
M
Command
pulse
Differen-
tiation
Encoder inside
temperature
Servo motor
speed
Torque
+
+
-
-
+
-
Speed
command 2
 
 





APPENDIX 
App. -  13 
 
App. 4 Low-voltage directive 
MR-JE series servo amplifiers are certificated in compliance with Low-voltage directive. The following shows 
a certificate by the Certification Body. 
 
Supplementation: Refer to section 1.6 (2) for the models shown in "(see Appendix 1)". 
 





 
REVISIONS 
*The manual number is given on the bottom left of the back cover. 
Print Data  *Manual Number  Revision 
May. 2013  SH(NA)030128-A  First edition   
Jul. 2013  SH(NA)030128-B  4. Additional instructions   
(3) Transportation and 
installation 
Section 1.3 
Section 1.6 
Chapter 2 
Chapter 3 
Section 3.2.1 
Section 3.4 
Section 3.5 
Section 3.6.1 
Section 3.9.1 
Section 3.9.2 
Section 3.9.3 
Section 5.2.1 
Section 11.3 
Section 11.6 
App. 2 
Partially changed. 
 
 
Partially changed. 
Partially changed. 
CAUTION is partially changed. 
CAUTION is partially changed. 
Partially changed. 
Partially changed. 
Partially changed. 
Partially changed. 
Partially changed. 
Partially changed. 
Partially deleted. 
Partially added and partially changed in Pr. PA13. 
Partially changed. 
Partially changed. 
Partially changed. 
     
   
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. 
Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which 
may occur as a result of using the contents noted in this manual. 

 2013 MITSUBISHI ELECTRIC CORPORATION 





 
Country/Region  Sales office  Tel/Fax 
 
USA 
 
 
Germany 
 
 
Italy 
 
 
 
China 
 
 
 
Taiwan 
 
 
Korea 
 
 
 
Singapore 
 
Mitsubishi Electric Automation Inc. 
500 Corporate Woods Parkway, Vernon Hills, IL 60061, USA 
 
Mitsubishi Electric Europe B.V. German Branch 
Gothaer Strasse 8, D-40880 Ratingen, Germany 
 
Mitsubishi Electric Europe B.V. Italian Branch 
Viale Colleoni 7 
1-20041 Agrate Brianza (Milano), Italy 
 
Mitsubishi Electric Automation (China) Ltd. 
4F Zhi Fu Plazz, No. 80 Xin Chang Road 
Shanghai 200003, China 
 
Setsuyo Enterprise Co., Ltd. 
6F, No.105 Wu-Kung 3rd Rd, Wu-Ku Hsiang, Taipei Hsine, Taiwan 
 
Mitsubishi Electric Automation Korea Co., Ltd. 
3F, 1480-6, Gayang-dong, Gangseo-gu, Seoul 
157-200, Korea 
 
Mitsubishi Electric Asia Pte, Ltd. 
307 Alexandra Road #05-01/02, 
Mitsubishi Electric Building Singapore 159943 
 
Tel 
Fax 
 
Tel 
Fax 
 
Tel 
Fax 
 
 
Tel 
Fax 
 
 
Tel 
Fax 
 
Tel 
Fax 
 
 
Tel 
Fax 
 
: +1-847-478-2100 
: +1-847-478-0327 
 
: +49-2102-486-0 
: +49-2102-486-1120 
 
: +39-39-60531 
: +39-39-6053312 
 
 
: +86-21-6120-0808 
: +86-21-6121-2444 
 
 
: +886-2-2299-2499 
: +886-2-2299-2509 
 
: +82-2-3660-9552 
: +82-2-3664-8372 
 
 
: +65-6470-2460 
: +65-6476-7439 
 
 





 
 
Warranty
 
1. Warranty period and coverage 
We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" 
arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you 
purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site 
repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial 
run that may be required after a defective unit are repaired or replaced. 
 
[Term] 
The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or 
eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product 
cannot exceed beyond the original warranty period before any repair work. 
 
[Limitations] 
(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule. 
It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not 
be charged if we are responsible for the cause of the failure. 
 
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and 
conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label 
affixed to the Product. 
 
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases; 
 
(i)  a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your 
hardware or software problem 
 
(ii)  a failure caused by any alteration, etc. to the Product made on your side without our approval 
 
(iii)  a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a 
safety device required by applicable laws and has any function or structure considered to be indispensable according to a 
common sense in the industry 
 
(iv)  a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly 
maintained and replaced 
 
(v)  any replacement of consumable parts (battery, fan, smoothing capacitor, etc.) 
 
(vi)  a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of 
voltage, and acts of God, including without limitation earthquake, lightning and natural disasters 
 
(vii)  a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment
of the Product from our company 
 
(viii)  any other failures which we are not responsible for or which you acknowledge we are not responsible for 
 
2. Term of warranty after the stop of production 
(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The 
announcement of the stop of production for each model can be seen in our Sales and Service, etc. 
 
(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production. 
 
3. Service in overseas countries 
Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the 
repair work may differ depending on each FA Center. Please ask your local FA center for details. 
 
4. Exclusion of responsibility for compensation against loss of opportunity, secondary loss, etc. 
Whether under or after the term of warranty, we assume no responsibility for any damages arisen from causes for which we are not 
responsible, any losses of opportunity and/or profit incurred by you due to a failure of the Product, any damages, secondary 
damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company, 
any damages to products other than the Product, and also compensation for any replacement work, readjustment, start-up test run 
of local machines and the Product and any other operations conducted by you. 
 
5. Change of Product specifications 
Specifications listed in our catalogs, manuals or technical documents may be changed without notice. 
 
6. Application and use of the Product 
(1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any 
failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external 
system to General-Purpose AC Servo when any failure or malfunction occurs. 
 
(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries. 
Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of 
electric power companies, and also which require a special quality assurance system, including applications for railway companies 
and government or public offices are not recommended, and we assume no responsibility for any failure caused by these 
applications when used 
In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, 
railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety 
machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used. 
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific 
application. Please contact us for consultation. 
 
 
SH(NA)030128-B 





SH (NA) 030128-B (1307) MEE  Printed in Japan  Specifications are subject to change without notice.
    This Instruction Manual uses recycled paper.
MODEL
MODEL
CODE
General-Purpose AC Servo
MR-JE-_A SERVO AMPLIFIER INSTRUCTION MANUAL
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
MODEL
MR-JE-_A
SERVO AMPLIFIER 
INSTRUCTION MANUAL
General-Purpose Interface AC Servo
1CW706
MR-JE-A SERVOAMPLIFIER 
INSTRUCTIONMANUAL
B
B

---