Mitsubishi Electric MELSERVO-JE MR-JE-70A User manual

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/s2, 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