Mitsubishi Electric MELSERVO-JET User manual

MR-JET
User's Manual
(Hardware)
-MR-JET-_G
-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
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
If using the servo for the first time, prepare and use the following related manuals to ensure that the servo is used safely. For
the related manuals, refer to the User's Manual (Introduction).
U.S. CUSTOMARY UNITS
U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.
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]
Rotary Servo Motor
Linear Servo Motor
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 for using communication functions.
The manual is necessary for specifying the causes of alarms
and warnings.
Partner Encoder
Function
Adjustment
Object Dictionary
Troubleshooting
Introduction
Hardware
Communication Function
Parameters It describes the parameters of the servo amplifier.
It describes the objects for the servo amplifier.
For the usage of each function, refer to this manual.

4
CONTENTS
SAFETY INSTRUCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
ABOUT THE MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
CHAPTER 1 INTRODUCTION 7
1.1 Wiring procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2 Servo amplifier/motor combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Rotary servo motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Linear servo motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 Wiring check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Power supply system wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
I/O signal wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.4 Surrounding environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
CHAPTER 2 INSTALLATION 12
2.1 Mounting direction and clearances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.2 Keeping out foreign materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.3 Cable stress . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.4 Fan unit replacement procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
List of applicable fan units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Fan unit removal procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Fan unit installation procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.5 Restrictions when using this product at an altitude exceeding 1000 m and up to 2000 m . . . . . . . . . . . . 18
CHAPTER 3 SIGNALS AND WIRING 19
3.1 Example power circuit connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
200 V class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.2 Example I/O signal connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.3 Explanation of power supply system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Explanation of signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Power-on procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Wiring CNP1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.4 Connectors and pin assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Connectors and pin assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.5 Signal (device) explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Input device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Output device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Power supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.6 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Internal connection diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Detailed explanation of interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Source I/O interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3.7 Servo motor with an electromagnetic brake. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Connection diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
3.8 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
CHAPTER 4 DIMENSIONS 42

5
CONTENTS
4.1 Servo amplifier. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
MR-JET-10G_/MR-JET-20G_/MR-JET-40G_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
MR-JET-70G_/MR-JET-100G_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
MR-JET-200G_/MR-JET-300G_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.2 Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
CN3 connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
SCR connector system (3M) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
CHAPTER 5 CHARACTERISTICS 47
5.1 Overload protection characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
5.2 Power supply capacity and generated loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Power supply capacity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Generated loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
5.3 Dynamic brake characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Dynamic brake operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
5.4 Cable flex life . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
5.5 Inrush current at power-on. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
CHAPTER 6 OPTIONS AND PERIPHERAL EQUIPMENT 56
6.1 Cables/connector sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Combinations of cables/connector sets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Battery branch cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Ethernet cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
6.2 Regenerative option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Combination and regenerative power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Selection of the regenerative option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Servo parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Connection of regenerative option. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Mounting direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
6.3 PS7DW-20V14B-F junction terminal block (recommended) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72
6.4 MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Engineering tool. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Precautions for using USB communication function and Ethernet communication function . . . . . . . . . . . . . . . . 74
6.5 Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
MR-BAT6V1SET-B battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
MR-BAT6V1 battery. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
6.6 Selection example of wires. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
6.7 Molded-case circuit breakers, fuses, magnetic contactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Example settings that comply with IEC/EN/UL 61800-5-1 and CSA C22.2 No.274 . . . . . . . . . . . . . . . . . . . . . . 85
6.8 Power factor improving AC reactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
6.9 Relay (recommended) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
6.10 Noise reduction techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
6.11 Earth-leakage current breaker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Selection method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Selection example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
6.12 EMC filter (recommended) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
CHAPTER 7 ABSOLUTE POSITION DETECTION SYSTEM 101
7.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

6
Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
System architecture. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Servo parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Checking the detected absolute position data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
7.2 Configuration and specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Connecting the battery backup type absolute position encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
CHAPTER 8 USING A LINEAR SERVO MOTOR 104
8.1 Functions and configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Configuration including peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
8.2 Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Startup procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Magnetic pole detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
How to replace servo amplifier without magnetic pole detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
8.3 Basic functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Linear servo control error detection function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
About MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
8.4 Adjustment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Auto tuning function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Machine analyzer function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
8.5 Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Overload protection characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Power supply capacity and generated loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Dynamic brake characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Permissible load to motor mass ratio when the dynamic brake is used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
8.6 Absolute position detection system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
CHAPTER 9 APPENDIX 132
9.1 1-phase 200 V AC class power supply input using a neutral point of
3-phase 400 V AC class power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .134
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .135
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .136

1 INTRODUCTION
1.1 Wiring procedure 7
1
1INTRODUCTION
1.1 Wiring procedure
1.2 Servo amplifier/motor combinations
Rotary servo motor
HG-KNS series
: Standard torque
HG-SNS series
: Standard torque
Procedure Description Reference
1. Installation Install a servo amplifier. Page 12 INSTALLATION
2. Connecting the power circuit Connect the power circuit. Page 20 Example power
circuit connections
3. Connecting I/O signals Connect I/O signals. Page 23 Example I/O
signal connections
4. Connecting to the servo
motor
Connect the servo amplifier to a servo motor. Rotary Servo Motor
User's Manual (HG-KNS/HG-
SNS)
5. Connecting options Connect options. Page 56 OPTIONS AND
PERIPHERAL EQUIPMENT
6. Other precautions If using the absolute position detection system, perform wiring and settings as
necessary.
Page 101 ABSOLUTE
POSITION DETECTION
SYSTEM
7. Wiring check Check that the servo amplifier and the servo motor are wired correctly by
visually inspecting them or by using a method such as the DO forced output
function.
Page 9 Wiring check
8. Checking the surrounding
environment
Check the environment surrounding the servo amplifier and servo motor. Page 11 Surrounding
environment
Rotary servo motor Servo amplifier MR-JET-_
10_ 20_ 40_ 70_ 100_ 200_ 300_
HG-KNS 40 HG-KNS13 
60 HG-KNS23 
HG-KNS43 
80 HG-KNS73 
Rotary servo motor Servo amplifier MR-JET-_
10_ 20_ 40_ 70_ 100_ 200_ 300_
HG-SNS 130 HG-SNS52 
HG-SNS102 
HG-SNS152 
176 HG-SNS202 
HG-SNS302 

81 INTRODUCTION
1.2 Servo amplifier/motor combinations
Linear servo motor
Set [Pr. PA17] and [Pr. PA18.0-3] according to the linear servo motor to be used.
LM-H3 series
Use servo amplifiers with firmware version B2 or later. Otherwise, [AL. 01A Servo motor combination error] occurs.
LM-AJ series
Use servo amplifiers with firmware version B2 or later. Otherwise, [AL. 01A Servo motor combination error] occurs.
Linear servo motor Servo amplifier MR-JET-_
Primary side (coil) Secondary side
(magnet)
40_ 70_ 200_
LM-H3P2A-07P-BSS0 LM-H3S20-288-BSS0
LM-H3S20-384-BSS0
LM-H3S20-480-BSS0
LM-H3S20-768-BSS0

LM-H3P3A-12P-CSS0 LM-H3S30-288-CSS0
LM-H3S30-384-CSS0
LM-H3S30-480-CSS0
LM-H3S30-768-CSS0

LM-H3P3B-24P-CSS0 
LM-H3P3C-36P-CSS0 
LM-H3P3D-48P-CSS0 
LM-H3P7A-24P-ASS0 LM-H3S70-288-ASS0
LM-H3S70-384-ASS0
LM-H3S70-480-ASS0
LM-H3S70-768-ASS0

LM-H3P7B-48P-ASS0 
LM-H3P7C-72P-ASS0 
Linear servo motor Servo amplifier MR-JET-_
Primary side (coil) Secondary side
(magnet)
40_ 70_
LM-AJP1B-07K-JSS0 LM-AJS10-080-JSS0
LM-AJS10-200-JSS0
LM-AJS10-400-JSS0

LM-AJP1D-14K-JSS0 
LM-AJP2B-12S-JSS0 LM-AJS20-080-JSS0
LM-AJS20-200-JSS0
LM-AJS20-400-JSS0

LM-AJP2D-23T-JSS0 
LM-AJP3B-17N-JSS0 LM-AJS30-080-JSS0
LM-AJS30-200-JSS0
LM-AJS30-400-JSS0

LM-AJP3D-35R-JSS0 
LM-AJP4B-22M-JSS0 LM-AJS40-080-JSS0
LM-AJS40-200-JSS0
LM-AJS40-400-JSS0

LM-AJP4D-45N-JSS0 

1 INTRODUCTION
1.3 Wiring check 9
1
1.3 Wiring check
Before switching on the power supply, check the following items.
Power supply system wiring
Power supply system wiring
• Check that the power supplied to the power input terminals (L1/L2/L3) of the servo amplifier satisfies the defined
specifications.
For the power supply specifications, refer to "Servo amplifier standard specifications" in the User's Manual (Introduction).
Connecting the servo amplifier to the servo motor
• Check that the phases (U/V/W) of the servo amplifier power outputs and the phases (U/V/W) of the servo motor power
inputs match with each other.
• Check that the power to be supplied to the servo amplifier is not connected to the power outputs (U/V/W) as doing so will
cause the servo amplifier and the servo motor to malfunction.
• Check that the grounding terminal of the servo motor is connected to the PE terminal of the servo amplifier.
• Check that the CN2 connector of the servo amplifier is securely connected to the encoder of the servo motor using the
encoder cable.
Using options or peripheral equipment
■Regenerative option
• Check that the built-in regenerative resistor and wiring have been removed from the servo amplifier.
• Check that the lead wires of the built-in regenerative resistor connected to the P+ terminal and C terminal have been
removed.
• Check that the wire of the regenerative option is connected to terminal P+ and terminal C.
• Check that twisted wires have been used for connecting the regenerative option to the servo amplifier.
Page 65 Connection of regenerative option
U
MV
W
U
V
W
Servo amplifier Servo motor
M
U
V
W
U
V
W
L1
L2
L3
Servo amplifier Servo motor
M
E
Servo amplifier Servo motor

10 1 INTRODUCTION
1.3 Wiring check
I/O signal wiring
• Check that I/O signals are connected correctly.
If the DO forced output mode is used, the pins of the CN3 connector can be forcibly switched on/off. This mode is used to
check the wiring. Check the wiring in the servo-off state when using this mode.
Page 23 Example I/O signal connections
• Check that a voltage exceeding 24 V DC has not been applied to the pins of the CN3 connector.
• Check that the plate and DOCOM of the CN3 connector have not been shorted.
DOCOM
CN3
Servo amplifier
Plate

1 INTRODUCTION
1.4 Surrounding environment 11
1
1.4 Surrounding environment
Check the following items about the environment surrounding the servo amplifier and servo motor.
Handling cables
• Check that the wiring cables have not been stressed.
• Check that the encoder cable has been used within its flex life.
Page 54 Cable flex life
• Check that the connector of the servo motor has not been stressed.
Environment
Check that signal cables and power cables have not been shorted primarily by wire offcuts and metallic dust.

12 2 INSTALLATION
2INSTALLATION
Precautions
• Remove the protective sticker on the front of the servo amplifier before use.
• Install the servo amplifier and regenerative resistor on incombustible material. Installing them either directly on or near
combustibles may lead to smoke or a fire. In addition, the servo amplifier must be installed in a metal cabinet.
• Provide an adequate protection to prevent the following matter from entering the servo amplifier: conductive matter such as
screws and metal fragments, and combustible matter such as oil.
• Devices such as the servo amplifier regenerative resistor and servo motor may become hot. Take safety measures such as
providing covers.
• Do not stack in excess of the specified number of product packages.
• Do not carry the servo amplifier by the front cover, cables, connectors, or the lead wires of the built-in regenerative resistor.
Doing so may cause the servo amplifier to drop.
• To prevent a malfunction, do not drop the servo amplifier or servo motor or subject them to impacts.
• Install the servo amplifier and servo motor in a place that can support their weight as stated in the user's manual.
• Do not get on the equipment or put a heavy load on it.
• Do not install or operate a servo amplifier that is missing parts or is damaged.
• To prevent a malfunction, do not block the intake and exhaust areas of the servo amplifier.
• Do not subject connectors to impacts. Doing so may cause a connection failure, malfunction, or other failures.
• Use the product within the specified environment. For the environment, refer to "Servo amplifier standard specifications" in
the User's Manual (Introduction).
• To prevent a fire or injury from occurring in the event of an earthquake or other natural disaster, securely install, mount, and
wire the servo amplifier as stated in the manual.
• If the product has been stored for an extended period of time, contact your local sales office.
• When handling the servo amplifier, be careful with the edges of the servo amplifier.
• Fumigants that are used to disinfect and protect wooden packaging from insects contain halogens (such as fluorine,
chlorine, bromine, and iodine) cause damage if they enter our products. Please take necessary precautions to ensure that
any residual materials from fumigants do not enter our products, or perform disinfection and pest control using a method
other than fumigation, such as heat treatment. Perform disinfection and pest control on the wooden packaging materials
before packing the products.
• Provide an external emergency stop circuit to stop the operation and shut-off the power immediately.
• For equipment in which the moving part of the machine may collide against the load side, install a limit switch or stopper to
the end of the moving part.
• When installing the servo amplifier on the cabinet, do not damage the lead wires of the built-in regenerative resistor. The
lead wires may be damaged if they are trapped between the servo amplifier and the cabinet or other devices.
• Do not use the servo amplifier in environments where it is exposed to strong magnetic fields, electric fields, or radiation.
Doing so may cause operation failure or malfunction.

2 INSTALLATION
2.1 Mounting direction and clearances 13
2
2.1 Mounting direction and clearances
Precautions
• The servo amplifier must be installed in the specified direction.
• To prevent a malfunction, maintain the specified clearances between the servo amplifier and cabinet walls or other
equipment.
• MR-JET-40_ to MR-JET-300_ have a regenerative resistor on their back. The regenerative resistor generates heat of 100
°C higher than the ambient temperature. Install the servo amplifiers primarily taking into account heat dissipation and the
installation position.
Installation clearances for the servo amplifier
■Installation of one servo amplifier
Cabinet Cabinet
Servo amplifier
10 mm
or more
10 mm
or more
10 mm
or more
Top
Bottom
Wiring allowance
70 mm or more
Wiring allowance
70 mm or more
Wiring allowance
70 mm or more

14 2 INSTALLATION
2.1 Mounting direction and clearances
■Installation of two or more servo amplifiers
Maintain a large clearance above the servo amplifiers and install a cooling fan to prevent the temperature inside the cabinet
from exceeding the temperature specified in the environmental conditions.
When closely mounting the servo amplifiers, leave a clearance of 1 mm between the adjacent servo amplifiers in
consideration of mounting tolerances. When mounting servo amplifiers in this manner, keep the ambient temperature within 0
°C to 45 °C, or use the servo amplifiers with 75 % or less of the effective load ratio.
Precautions
• Refer to the following table for availability of close mounting.
Other precautions
When using heat generating equipment such as the regenerative option, install it with full consideration of heat generation so
that the servo amplifier is not affected.
Mount the servo amplifier on a perpendicular wall in the correct vertical direction.
Servo amplifier When 3-phase power supply is
input
When 1-phase power supply is
input
MR-JET-10_ to MR-JET-70_ Possible Possible
MR-JET-100_ to MR-JET-200_ Impossible
MR-JET-300_ 
1 mm 1 mm
Cabinet Cabinet
30 mm
or more
Leaving clearance Mounting closely
30 mm
or more
30 mm
or more
Wiring allowance
70 mm or more
Wiring allowance 70 mm or more
Wiring allowance
70 mm or more
Wiring allowance
70 mm or more
10 mm
or more
Top
Bottom

2 INSTALLATION
2.2 Keeping out foreign materials 15
2
2.2 Keeping out foreign materials
When drilling the cabinet for assembly, prevent drill chips and wire fragments from entering the servo amplifier.
Prevent foreign matter such as oil, water, and metallic dust from entering the servo amplifier through cooling fans installed in
openings in the cabinet or on the ceiling.
When installing the cabinet in a place where toxic gas, dirt, and dust exist, conduct an air purge (force clean air into the
cabinet from outside to make the internal pressure higher than the external pressure) to prevent such materials from entering
the cabinet.
When not using the CN1A, CN1B, or CN3 connector, cover them with the supplied cap.
2.3 Cable stress
• The method used to clamp the cable must be fully examined so that bending stress and cable's own weight stress are not
applied to the cable connection.
• When used for applications where the servo motor moves, fix the cable (encoder, power supply, brake) with gentle slack
from the connecting part of the connector to prevent stress from being applied to the connecting part of the servo motor
connector. Use the optional encoder cable within the flex life range.
• Prevent the cable insulator from being cut by sharp chips or from touching and rubbing against the machine corners.
• Prevent the cables from getting stepped on by workers or run over by vehicles.
• If installing the servo motor that moves on a machine, make the bend radius as large as possible. Refer to the following for
the flex life.
Page 54 Cable flex life
Precautions
• The cables should not be damaged, stressed, loaded, or pinched.
2.4 Fan unit replacement procedure
The fan unit is composed of a cooling fan and its cover. If replacing the cooling fan, replace the entire fan unit.
Shut off the power supply before replacing the fan unit.
List of applicable fan units
Servo amplifier Model of fan unit to be replaced
MR-JET-200_
MR-JET-300_
MR-JET-FAN1

16 2 INSTALLATION
2.4 Fan unit replacement procedure
Fan unit removal procedure
1. Remove the screws that fixed the fan unit. Keep the removed screws for installation of the new fan unit.
2. Pull up the cover of the fan unit.
3. Pull out the fan unit vertically.

2 INSTALLATION
2.4 Fan unit replacement procedure 17
2
Fan unit installation procedure
Insert the positioning part of the fan unit vertically, align it to the positioning part of the main unit case, and tighten with screws.
Use the same screws as those used for the fan unit before replacement.

18 2 INSTALLATION
2.5 Restrictions when using this product at an altitude exceeding 1000 m and up to 2000 m
2.5 Restrictions when using this product at an altitude
exceeding 1000 m and up to 2000 m
Altitude and ambient temperature
As heat dissipation effects decrease in proportion to the decrease in air density, use the product within the ambient
temperature range shown in the following figure.
(1): Not closely mounted/closely mounted (75 % or less of the effective load ratio)
(2): Closely mounted (without limiting the effective load ratio)
Input voltage
Generally, withstand voltage decreases as altitude increases; however, there is no restriction on the withstand voltage.
Parts with a service life
■Smoothing capacitor
The capacitor will reach the end of its service life in 10 years of continuous operation in an air-conditioned environment (with
an ambient temperature of 30 ˚C or less).
■Relays
There is no restriction.
■Servo amplifier cooling fan
There is no restriction.
020001000
0[m]
40
50
55
[°C]
45
(1)
(2)
Altitude
Ambient temperature