Mitsubishi Electric MELSERVO-JET MR-JET-G-N1 Series User manual

MR-JET-G-N1
User's Manual
(Introduction)
-MR-JET-_G-N1
Mitsubishi Electric AC Servo System

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 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 manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
Note that the CAUTION level may lead to a serious consequence depending on conditions.
Please follow the instructions of both levels because they are important to personnel safety.
Forbidden actions and required actions are indicated by the following diagrammatic symbols.
In this manual, precautions for hazards that can lead to property damage, instructions for other functions, and other
information are shown separately in the "POINT" area.
After reading this manual, keep it accessible to the operator.
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.
Indicates a forbidden action. For example, "No Fire" is indicated by .
Indicates a required action. For example, grounding is indicated by .

2
[Installation/wiring]
[Setting/adjustment]
[Operation]
[Maintenance]
WARNING
●To prevent an electric shock, turn off the power and wait for 15 minutes or more before starting wiring
and/or inspection.
●To prevent an electric shock, ground the servo amplifier.
●To prevent an electric shock, any person who is involved in wiring should be fully competent to do the
work.
●To prevent an electric shock, mount the servo amplifier before wiring.
●To prevent an electric shock, connect the protective earth (PE) terminal of the servo amplifier to the
protective earth (PE) of the cabinet, then connect the grounding lead wire to the ground.
●To prevent an electric shock, do not touch the conductive parts.
WARNING
●To prevent an electric shock, do not operate the switches with wet hands.
WARNING
●To prevent an electric shock, do not operate the switches with wet hands.
WARNING
●To prevent an electric shock, any person who is involved in inspection should be fully competent to do
the work.
●To prevent an electric shock, do not operate the switches with wet hands.

3
DISPOSAL OF WASTE
Please dispose of this product, battery (primary battery), and other options according to your local laws and regulations.
ABOUT THE MANUAL
e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool.
e-Manuals enable the following:
• Searching for desired information in multiple manuals at the same time (manual cross searching)
• Jumping from a link in a manual to another manual for reference
• Browsing for hardware specifications by scrolling over the components shown in product illustrations
• Bookmarking frequently referenced information
• Copying sample programs to engineering tools

4
If using the servo for the first time, prepare and use the following related manuals to ensure that the servo is used safely.
*1 For details on the parameters, read chapter 7 and chapter 8 first.
Page 53 SERVO PARAMETERS
Page 85 NETWORK PARAMETERS
No. Manual name Manual No.
(1) MR-JET-G-N1 User's Manual (Introduction) IB(NA)-0300495ENG
(2) MR-JET User's Manual (Hardware) IB(NA)-0300453ENG
(3) Rotary Servo Motor User's Manual (HG-KNS/HG-SNS) IB(NA)-0300488ENG
(4) Linear Servo Motor User's Manual (LM-H3/LM-U2/LM-F/LM-K2 series) SH(NA)-030316ENG
Linear Servo Motor User's Manual (LM-AJ series) IB(NA)-0300518ENG
(5) MR-JET Partner's Encoder User's Manual IB(NA)-0300523ENG
(6) MR-JET User's Manual (Function) IB(NA)-0300458ENG
(7) MR-JET-G-N1 User's Manual (Communication Function) IB(NA)-0300500ENG
(8) MR-JET User's Manual (Adjustment) IB(NA)-0300473ENG
(9) MR-JET-G User's Manual (Parameters) IB(NA)-0300478ENG
(10) MR-JET-G-N1 User's Manual (Object Dictionary) IB(NA)-0300505ENG
(11) MR-JET User's Manual (Troubleshooting) IB(NA)-0300483ENG
(3) Rotary Servo Motor
(4) Linear Servo Motor
(5) Partner Encoder
(6) Function
(8) Adjustment
(10) Object Dictionary
(11) Troubleshooting
This manual is necessary primarily for installing, wiring,
and using options.
The manual is necessary for operation of servo amplifiers.
The manual is necessary for adjustment of operation status.
The manual is necessary when looking up details of each
function.
(1) Introduction
(2) Hardware
(7) Communication FunctionThe manual is necessary for using communication functions.
(9) Parameters
The manual is necessary for specifying the causes of alarms
and warnings.

5
Interpreting servo parameter numbers
For a servo parameter which uses one particular digit to select a function, the position of its digit indicates the detail number of
the servo parameter, and the value in hexadecimal which is set to the digit indicates the selected function.
For example, the detail number of the servo parameter in the last digit is expressed as [Pr. PA01.0]. In addition, a servo
parameter which uses a combination of several digits to select a function, is expressed using "-" as seen in [Pr. PA01.0-1].
The following is an example of the servo parameter number PA01 with the setting values of "FEDCBA98" in hexadecimal.
• When setting a servo parameter with one particular digit
• When setting a servo parameter using a combination of several digits
For example, if the servo parameter name is "Function selection A-1", the setting digit name is "Forced stop deceleration
function selection", and the setting digit is the forth last digit in PA04, the servo parameter is expressed as shown below.
[Pr. PA04.3 Forced stop deceleration function selection]
U.S. CUSTOMARY UNITS
U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.
Servo
parameter
Symbol Name Description
PA04.3 *AOP Forced stop deceleration function
selection
Set "Forced stop deceleration function" to enabled/disabled.
Initial value: 1h (enabled)
Quantity SI (metric) unit U.S. customary unit
Mass 1 [kg] 2.2046 [lb]
Length 1 [mm] 0.03937 [inch]
Torque 1 [N•m] 141.6 [oz•inch]
Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2]
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [°C] × 9/5 + 32 N [°F]
[Pr. PA01] =
PA01.0 = "8"
PA01.1 = "9"
PA01.2 = "A"
PA01.3 = "B"
PA01.4 = "C"
PA01.5 = "D"
CDBFAE89
PA01.6 = "E"
PA01.7 = "F"
Detail No.
[Pr. PA01] =
PA01.0-1 = "98"
PA01.2-4 = "CBA"
PA01.5 = "D"
CDBFAE89
PA01.6 = "E"
PA01.7 = "F"
Detail No.

6
CONTENTS
SAFETY INSTRUCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
DISPOSAL OF WASTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
ABOUT THE MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
CHAPTER 1 SPECIFICATIONS 9
1.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2 Model designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.3 Servo amplifier/motor combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.4 Servo amplifier standard specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
MR-JET-_G-N1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.5 Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.6 Configuration including peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
CHAPTER 2 FUNCTION 14
2.1 Function list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.2 Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
CHAPTER 3 STRUCTURE 20
3.1 Parts identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.2 Switch setting and display of the servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
7-segment LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Status LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
LED display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
CHAPTER 4 STARTUP 27
4.1 Turning on servo amplifier for the first time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Test operation of the servo motor alone in test operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Equipment configuration setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Controller-related setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Operation by controller command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.2 Instructions on startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.3 Troubleshooting at startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.4 Duplicate setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Duplication using MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.5 Test operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Execution method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Test operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Motor driving by test operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Motor-less operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Output signal (DO) forced output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.6 Servo amplifier setting initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Initialization procedure by MR Mode Change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
CHAPTER 5 MAINTENANCE, INSPECTION AND PARTS REPLACEMENT 43

7
CONTENTS
5.1 Inspection items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Periodic inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
5.2 Parts with a service life. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
5.3 Replacing fan unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
CHAPTER 6 COMPLIANCE WITH GLOBAL STANDARDS 46
6.1 Compliance with global standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
6.2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of
Dangerous Goods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
6.3 Symbol for the new EU Battery Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
6.4 Compliance with China Compulsory Certification (CCC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
6.5 Compliance with the China RoHS directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
CHAPTER 7 SERVO PARAMETERS 53
7.1 Extension setting servo parameters group ([Pr. PC_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
[Pr. PC42_Function selection C-10 (COP10)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
[Pr. PC43_Forward rotation torque limit 2 (TLP2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
[Pr. PC44_Reverse rotation torque limit 2 (TLN2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
[Pr. PC69_Following error output filtering time (FEWF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
[Pr. PC71_In-position 2 - Output filtering time (INP2F)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
[Pr. PC73_Speed reached 2 - Output filtering time (SA2F)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
[Pr. PC78_Function selection C-F (*COPF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
7.2 Extension setting 2 servo parameters group ([Pr. PE_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
[Pr. PE53_Maximum torque limit 1 (TLMX1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
7.3 Positioning control setting servo parameters group ([Pr. PT_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
[Pr. PT01_Command mode selection (**CTY)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
[Pr. PT53_Torque slope (TQS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
7.4 Network setting servo parameters group ([Pr. PN_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
[Pr. PN02_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
[Pr. PN05_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
[Pr. PN18_Counter level for communication error detection (CERN)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
[Pr. PN20_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
7.5 Lists of supported control modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Basic setting servo parameters group ([Pr. PA_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Gain/filter setting servo parameters group ([Pr. PB_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Extension setting servo parameters group ([Pr. PC_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
I/O setting servo parameters group ([Pr. PD_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Extension setting 2 servo parameters group ([Pr. PE_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Extension setting 3 servo parameters group ([Pr. PF_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Motor extension setting servo parameters group ([Pr. PL_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Positioning control setting servo parameters group ([Pr. PT_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Network setting servo parameters group ([Pr. PN_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Positioning extension setting servo parameters group ([Pr. PV_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
7.6 Lists of servo parameter initial values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Basic setting servo parameters group ([Pr. PA_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Gain/filter setting servo parameters group ([Pr. PB_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Extension setting servo parameters group ([Pr. PC_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
I/O setting servo parameters group ([Pr. PD_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Extension setting 2 servo parameters group ([Pr. PE_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Extension setting 3 servo parameters group ([Pr. PF_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

8
Motor extension setting servo parameters group ([Pr. PL_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Positioning control setting servo parameters group ([Pr. PT_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Network setting servo parameters group ([Pr. PN_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Positioning extension setting servo parameters group ([Pr. PV_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
CHAPTER 8 NETWORK PARAMETERS 85
8.1 Network basic parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
[Pr. NPA01_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
[Pr. NPA02_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
[Pr. NPA04_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
[Pr. NPA08_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
[Pr. NPA09_Node address setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
8.2 User authentication parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
[Pr. NPB01_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
[Pr. NPB04_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
[Pr. NPB05_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
[Pr. NPB06_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
[Pr. NPB07_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
[Pr. NPB08_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
[Pr. NPB09_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
[Pr. NPB10_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
[Pr. NPB11_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
[Pr. NPB12_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
[Pr. NPB13_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
[Pr. NPB14_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
[Pr. NPB15_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
[Pr. NPB16_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
[Pr. NPB17_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
[Pr. NPB18_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
[Pr. NPB19_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
[Pr. NPB20_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
[Pr. NPB21_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
[Pr. NPB22_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
[Pr. NPB23_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
[Pr. NPB24_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
[Pr. NPB25_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
[Pr. NPB26_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
[Pr. NPB27_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .88
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .89
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .90

1 SPECIFICATIONS
1.1 Outline 9
1
1SPECIFICATIONS
1.1 Outline
MR-JET-_G-N1 are EtherCAT servo amplifiers. EtherCAT is an abbreviation of Ethernet for Control Automation Technology. It
is open network communication between a master station and slave stations via real-time Ethernet developed by Beckhoff
Automation GmbH.
1.2 Model designation
Rating plate
The following shows an example of the rating plate for explanation of each item.
Model
The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
1.3 Servo amplifier/motor combinations
Refer to "Servo amplifier/motor combinations" in the following manual.
MR-JET User's Manual (Hardware)
Serial number
Capacity
Applicable power supply
Rated output
Standard, manual number
Ambient temperature
IP rating
KC certification number
Model
Year and month of manufacture
Country of origin
10 0.1
20 0.2
40 0.4
70 0.75
100 1
200 2
300 3
MR - - 1 0 G 1-NJET
Series
Rated output
Symbol Rated output [kW]

10 1 SPECIFICATIONS
1.4 Servo amplifier standard specifications
1.4 Servo amplifier standard specifications
MR-JET-_G-N1
*1 This value is applicable when all I/O signals are used. Reducing the number of I/O points decreases the current capacity.
*2 If closely mounting the servo amplifiers, operate them at an ambient temperature of 0 ˚C to 45 ˚C or at 75 % or less of the effective load
ratio.
*3 This current value is applicable when a 3-phase power supply is used.
*4 If using 1-phase 200 V AC to 240 V AC power supply, operate the servo amplifier at 75 % or less of the effective load ratio.
Model: MR-JET-_-N1 10G 20G 40G 70G 100G 200G 300G
Output Voltage 3-phase 0 V AC to 240 V AC
Rated current [A] 1.3 1.8 2.8 5.8 6.0 11.0 11.0
Power supply input Voltage/Frequency 3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz 3-phase or 1-phase 200 V
AC to 240 V AC, 50 Hz/60
Hz *4
3-phase 200
V AC to 240
V AC, 50 Hz/
60 Hz
Rated current [A] *3 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 or 1-phase 170 V
AC to 264 V AC *4
3-phase 170
V AC to 264
V AC
Permissible
frequency
fluctuation
Within ±5 %
Power supply
capacity [kVA]
Refer to "Power supply capacity and generated loss" in the following manual.
MR-JET User's Manual (Hardware)
Inrush current [A] Refer to "Inrush current at power-on" in the following manual.
MR-JET User's Manual (Hardware)
Interface power supply Voltage 24 V DC ±10 %
Current capacity [A] 0.3 *1
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in
EtherCAT Communication
cycle
125 μs, 250 μs, 500 μs, 1 ms, 2 ms, 4 ms, 8 ms
Communication function USB Connection to a personal computer or other devices (MR Configurator2-compatible)
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, excessive error protection, magnetic pole
detection protection, and linear servo control error protection
Satisfied standards CE marking LVD: EN 61800-5-1, EMC: EN 61800-3
UL standard UL 61800-5-1
Structure (IP rating) Natural cooling, open (IP20) Force cooling, open (IP20)
Close mounting *2 3-phase power
supply input
Possible
1-phase power
supply input
Possible Impossible 
Mass [kg] 0.8 1.6 2.1

1 SPECIFICATIONS
1.4 Servo amplifier standard specifications 11
1
Environment
*1 Refer to "Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m" in the following manual for using the
product at altitude exceeding 1000 m.
MR-JET User's Manual (Hardware)
Item Operation Transportation Storage
Ambient
temperature
0 ˚C to 55 ˚C (non-freezing)
Class 3K3 (IEC 60721-3-3)
-25 ˚C to 70 ˚C (non-freezing)
Class 2K12 (IEC 60721-3-2)
-25 ˚C to 70 ˚C (non-freezing)
Class 1K4 (IEC 60721-3-1)
Ambient humidity 5 %RH to 95 %RH (non-condensing) 5 %RH to 95 %RH (non-condensing) 5 %RH to 95 %RH (non-condensing)
Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
Altitude/
atmospheric
pressure
Altitude: 2000 m or less *1 Transportation conditions: Must be
transported by ground/sea, or air at an
atmospheric pressure of 700 hPa or more.
Atmospheric pressure: 700 hPa to 1060
hPa
(equivalent to the altitude of -400 m to 3000
m.)
Vibration resistance When there is continuous vibration:
10 Hz to 57 Hz, displacement amplitude
0.075 mm
57 Hz to 150 Hz, acceleration amplitude
9.8 m/s2
Class 3M1 (IEC 60721-3-3)
When there is continuous vibration:
10 Hz to 55 Hz, acceleration amplitude 5.9
m/s2
2 Hz to 8 Hz, displacement amplitude (half
amplitude) 7.5 mm
8 Hz to 200 Hz, acceleration amplitude 20
m/s2
Class 2M3 (IEC 60721-3-2)
2 Hz to 9 Hz, displacement amplitude (half
amplitude) 1.5 mm
9 Hz to 200 Hz, acceleration amplitude 5
m/s2
Class 1M2 (IEC 60721-3-1)
Dielectric strength Between main circuit (power supply/power terminal) and PE: 1500 V AC, 1 minute, 50 Hz/60 Hz
Insulation
resistance
Between main circuit (power supply/power terminal) and PE: 0.5 MΩor more (with a 500 V DC megger)

12 1 SPECIFICATIONS
1.5 Function block diagram
1.5 Function block diagram
The following shows the function block diagram of this servo amplifier.
*1 The regenerative resistor is not built into the MR-JET-10G-N1 and MR-JET-20G-N1.
*2 Servo amplifiers with the rated output symbol of 200 (MR-JET-200G-N1) or greater have a cooling fan.
UU
U
C
L3
L2
L1
MCMCCB U
V
W
U
V
W
E
P+
+
B
RA B1
B2
M
CN2
CN5
USB
USB
CN1A CN1B CN3
Power
supply
Servo amplifier
Diode
stack
Dynamic brake
circuit
Current
detector
Cooling fan
*2
*1
Charge
light
Regenerative
TR
Current
detection
Overcurrent
protection
Voltage
detection
Base
amplifier
Relay
Control
circuit
power
supply
Regenerative
option
Electromagnetic
brake
Servo motor
Control engine
Encoder
Personal
computer
Controller or
servo amplifier Servo amplifier
I/F
control
Digital I/O
control
24 V DC

1 SPECIFICATIONS
1.6 Configuration including peripheral equipment 13
1
1.6 Configuration including peripheral equipment
• To prevent a malfunction, do not connect these connectors to any network other than the specified network.
• Equipment other than the servo amplifier and servo motor is optional or a recommended product.
The following is an example using MR-JET-40G-N1.
*1 The power factor improving AC reactor can also be used.
CN5
CN3
CN2
WVUE
L1
L2
L3
*1
(MC)
RS T
(FR-BSF01)
(MCCB)
CN1B CN1A
MR Configurator2
Junction terminal block
Servo amplifier
Controller or
servo amplifier
Servo motor
Line noise
filter
Magnetic
contactor
Molded-case
circuit breaker
Power
supply Personal
computer

14 2 FUNCTION
2.1 Function list
2FUNCTION
Function restrictions
2.1 Function list
The function list of this servo amplifier is shown in the following table. For details of the functions, refer to each section
indicated in the detailed explanation field.
Control mode
Drive motor
Network
Category Detailed functions Network communication cycle
restrictions (minimum)
Control mode Profile position mode (pp) 250 μs
Profile velocity mode (pv) 250 μs
Profile torque mode (tq) 250 μs
Functions Detailed functions Description Firmware
version
Detailed explanation
CiA 402 control
mode
Cyclic synchronous position
mode (csp)
This function operates the servo motor in the cyclic
synchronous position mode.
A4 Refer to "CONTROL MODE"
in the following manual.
MR-JET User's Manual
(Function)
Cyclic synchronous velocity
mode (csv)
This function operates the servo motor in the cyclic
synchronous velocity mode.
A4
Cyclic synchronous torque
mode (cst)
This function operates the servo motor in the cyclic
synchronous torque mode.
A4
Profile position mode (pp) This function operates the servo motor in the profile
position mode.
B2
Profile velocity mode (pv) This function operates the servo motor in the profile
velocity mode.
B2
Profile torque mode (tq) This function operates the servo motor in the profile
torque mode.
B2
Homing mode (hm) This function either operates the servo motor in the
homing mode or performs homing.
A4
Test operation Test operation mode This function requires MR Configurator2 for JOG
operation, positioning operation, motor-less
operation, DO forced output and program operation.
A4 Page 36 Test operation
Functions Detailed functions Description Firmware
version
Detailed explanation
Universal drive Linear servo motor Using the linear servo motor and linear encoder
enables the linear servo system to be configured.
B2 Refer to "USING A LINEAR
SERVO MOTOR" in the
following manual.
MR-JET User's Manual
(Hardware)
Encoder High-resolution encoder A 4194304 pulses/rev high-resolution encoder is
used for the encoder of the rotary servo motor.
A4 
Functions Detailed functions Description Firmware
version
Detailed explanation
Open network EtherCAT communication This function connects the servo amplifier to
equipment such as a controller through EtherCAT
communication.
A4 MR-JET-G-N1 User's
Manual (Communication
Function)

2 FUNCTION
2.1 Function list 15
2
Position detection
Operation function
Functions Detailed functions Description Firmware
version
Detailed explanation
Control method Semi closed loop system This function uses the servo motor encoder to
configure semi closed loop systems.
A4 
Absolute
position
Absolute position detection
system
This function performs homing once, and thereafter
does not require homing at every power-on.
A4 Refer to "ABSOLUTE
POSITION DETECTION
SYSTEM" in the following
manual.
MR-JET User's Manual
(Hardware)
Functions Detailed functions Description Firmware
version
Detailed explanation
Stop function Quick Stop This function stops the servo motor with a specified
method and switches to the servo-off status.
A4 Refer to "Quick stop" in the
following manual.
MR-JET User's Manual
(Function)
Halt This function stops the servo motor while the servo-
on status is maintained.
A4 Refer to "Halt" in the following
manual.
MR-JET User's Manual
(Function)
Stroke limit function This function uses LSP (Forward rotation stroke end)
and LSN (Reverse rotation stroke end) to limit the
travel interval of the servo motor.
A4 Refer to "Stroke limit function"
in the following manual.
MR-JET User's Manual
(Function)
Software position limit This function uses servo parameters to limit the
travel intervals by address. A function equivalent to
the stroke limit function can be set with the servo
parameter.
A4 Refer to "Software position
limit" in the following manual.
MR-JET User's Manual
(Function)
Command
generation
Rotation/travel direction
selection
This function sets the rotation direction of the servo
motor without changing the command polarity.
A4 Refer to "Rotation/travel
direction selection" in the
following manual.
MR-JET User's Manual
(Function)
Electronic gear This function performs positioning control with the
value obtained by multiplying the position command
from the upper controller by a set electronic gear
ratio.
A4 Refer to "Electronic gear
function" in the following
manual.
MR-JET User's Manual
(Function)
Acceleration/deceleration
function
This function enables smooth acceleration/
deceleration.
A4 Refer to "Acceleration/
deceleration function" in the
following manual.
MR-JET User's Manual
(Function)
S-pattern acceleration/
deceleration time constant
This function performs smooth acceleration and
deceleration.
B2 Refer to "S-pattern
acceleration/deceleration time
constant" in the following
manual.
MR-JET User's Manual
(Function)
Torque limit This function limits the servo motor torque. A4 Refer to "Torque limit" in the
following manual.
MR-JET User's Manual
(Function)
Speed limit This function limits the servo motor speed in the
torque control mode.
A4 Refer to "Speed limit" in the
following manual.
MR-JET User's Manual
(Function)
Command offset This function compensates the position/speed/
torque commands by adding a desired amount of
offset to the commands.
A4 Refer to "Command offset" in
the following manual.
MR-JET User's Manual
(Function)

16 2 FUNCTION
2.1 Function list
Control function
Functions Detailed functions Description Firmware
version
Detailed explanation
Vibration
suppression
Advanced vibration
suppression control II
This function suppresses vibration and residual
vibration at an arm end.
A4 Refer to "Advanced vibration
suppression control II" in the
following manual.
MR-JET User's Manual
(Adjustment)
Machine resonance
suppression filter
This function decreases the gain of the specific
frequency to suppress the resonance of the
mechanical system.
A4 Refer to "Machine resonance
suppression filter" in the
following manual.
MR-JET User's Manual
(Adjustment)
Shaft resonance suppression
filter
When driving the servo motor with a load mounted to
the servo motor shaft, resonance due to shaft torsion
may generate high frequency mechanical vibration.
The shaft resonance suppression filter suppresses
this vibration.
A4 Refer to "Shaft resonance
suppression filter" in the
following manual.
MR-JET User's Manual
(Adjustment)
Robust filter This function improves a disturbance response when
a response performance cannot be increased
because of a large load to motor inertia ratio, such
as a roll feed axis.
A4 Refer to "Robust filter" in the
following manual.
MR-JET User's Manual
(Adjustment)
Slight vibration suppression
control
This function suppresses vibration of ±1 pulse
generated at each servo motor stop.
A4 Refer to "SLIGHT VIBRATION
SUPPRESSION CONTROL"
in the following manual.
MR-JET User's Manual
(Adjustment)
Tracking control Lost motion compensation
function
This function reduces the response delay generated
when the machine moving direction is reversed.
A4 Refer to "Lost motion
compensation function" in the
following manual.
MR-JET User's Manual
(Adjustment)
Super trace control This function reduces the droop pulses at the rated
speed and at the uniform acceleration/deceleration
to almost zero.
A4 Refer to "Super trace control"
in the following manual.
MR-JET User's Manual
(Adjustment)
Path tracking model adaptive
control
This function reduces tracking errors in
reciprocation.
A4 Refer to "Path tracking model
adaptive control" in the
following manual.
MR-JET User's Manual
(Adjustment)

2 FUNCTION
2.1 Function list 17
2
Adjustment function
I/O, monitor
Functions Detailed functions Description Firmware
version
Detailed explanation
Automatic
adjustment
Quick tuning This function automatically adjusts the gain at servo-
on in a short time without acceleration/deceleration
operation of the servo motor. Response without
overshoot is possible, saving gain adjustment time.
A4 Refer to "Quick tuning" in the
following manual.
MR-JET User's Manual
(Adjustment)
Auto tuning This function automatically adjusts the gain to an
optimum value even if the load applied to the servo
motor shaft varies.
A4 Refer to "ADJUSTMENT
FUNCTION TYPES" in the
following manual.
MR-JET User's Manual
(Adjustment)
One-touch tuning Gain adjustment is performed with this function just
by pressing buttons on the servo amplifier or by
clicking a button once on MR Configurator2. One-
touch tuning can also be performed via a network.
A4 Refer to "One-touch tuning" in
the following manual.
MR-JET User's Manual
(Adjustment)
Custom
adjustment
Model adaptive control This function enables control according to the ideal
model that is both stable and highly responsive. This
is a two-degrees-of-freedom model and can adjust
responses to commands and disturbances
separately. This function can also be disabled.
A4 Refer to "MODEL ADAPTIVE
CONTROL" in the following
manual.
MR-JET User's Manual
(Adjustment)
Gain switching function This function switches gains during rotation and
during stop, and uses an input device to switch gains
during operation.
It supports the gain switching by rotation direction
and the 3-step gain switching. Therefore, more
detailed gain switching is available.
A4 Refer to "GAIN SWITCHING
FUNCTION" in the following
manual.
MR-JET User's Manual
(Adjustment)
Adjustment
support
Machine analyzer This function analyzes the frequency characteristic
of the mechanical system by simply connecting the
servo amplifier with an MR Configurator2 installed
personal computer.
A4 Refer to "Adjustment functions
available in combination with
MR Configurator2" in the
following manual.
MR-JET User's Manual
(Adjustment)
Functions Detailed functions Description Firmware
version
Detailed explanation
DI/DO Input signal selection (device
selection)
This function assigns input devices such as LSP
(Forward rotation stroke end) to certain pins of the
connector.
A4 Refer to "Assigning I/O
devices" in the following
manual.
MR-JET User's Manual
(Function)
Output signal selection
(device setting)
This function assigns output devices such as MBR
(Electromagnetic brake interlock) to certain pins of
the connector.
A4
Output signal (DO) forced
output
This function forcibly switches the output signals on
and off regardless of the servo status. Use this
function for purposes such as checking output signal
wiring.
A4 Page 41 Output signal
(DO) forced output
LED Status display This function shows the servo status on the 7-
segment LED display.
A4 Page 22 Switch setting
and display of the servo
amplifier
Monitor Power monitoring function This function calculates the running power and the
regenerative power from the data in the servo
amplifier such as speed and current. The power
consumption and other values are displayed on MR
Configurator2.
A4 Refer to "MONITORING" in
the following manual.
MR-JET User's Manual
(Function)

18 2 FUNCTION
2.1 Function list
Option
Engineering tool
Protective functions
Instantaneous power failure measures
Functions Detailed functions Description Firmware
version
Detailed explanation
Regenerative
capacity
enhancement
Regenerative option Use this function if the built-in regenerative resistor
of the servo amplifier does not have sufficient
regenerative capacity for the generated regenerative
power.
A4 Refer to "Regenerative option"
in the following manual.
MR-JET User's Manual
(Hardware)
Functions Detailed functions Description Firmware
version
Detailed explanation
Setup software MR Configurator2 This function performs settings (such as servo
parameter settings), test operation, and monitoring
with a personal computer.
A4 4 STARTUP
Functions Detailed functions Description Firmware
version
Detailed explanation
Alarm Alarm function This function displays an alarm or warning when an
error occurs during operation. When an alarm
occurs, ALM (Malfunction) turns off and stops the
servo motor. When a warning occurs, WNG
(Warning) will turn on. The servo motor may stop or
continue operation depending on the warning.
A4 Refer to "Alarm function" in
the following manual.
MR-JET User's Manual
(Function)
Alarm history clear This function clears alarm histories. A4 Refer to "Alarm history" in the
following manual.
MR-JET User's Manual
(Function)
Power error
detection
Disconnection detection
function
This function detects a disconnection in the servo
motor power supply output.
A4 Refer to "Disconnection/
incorrect wiring detection
function" in the following
manual.
MR-JET User's Manual
(Function)
Coasting
distance
reduction
Forced stop deceleration
function
This function decelerates the servo motor to a stop
at EM2 (Forced stop 2) off or when there is an alarm.
A4 Refer to "Forced stop
deceleration function" in the
following manual.
MR-JET User's Manual
(Function)
Drop protection Electromagnetic brake
interlock function
This function operates the electromagnetic brake at
servo off and error occurrence, and prevents the
vertical axis from dropping.
A4 Refer to "Electromagnetic
brake interlock function" in the
following manual.
MR-JET User's Manual
(Function)
Vertical axis freefall
prevention function
This function moves the axis up by the mechanical
backlash amount of the electromagnetic brake to
prevent damage to machines.
A4 Refer to "Vertical axis freefall
prevention function" in the
following manual.
MR-JET User's Manual
(Function)
Braking
protection
Dynamic brake During the power shut-off and alarm occurrence, this
function shorts between U, V, and W phases and
operates the dynamic brake.
A4 
Functions Detailed functions Description Firmware
version
Detailed explanation
Tough drive Tough drive function This function makes the equipment continue
operating even under conditions where an alarm
would normally occur. There are two types of tough
drive function: the vibration tough drive and the
instantaneous power failure tough drive.
A4 Refer to "Tough drive function"
in the following manual.
MR-JET User's Manual
(Function)