Mitsubishi Electric MR-JET-G User manual

MR-JET-G
User's Manual
(Introduction)
-MR-JET-_G
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]
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
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
If using the servo for the first time, prepare and use the following related manuals to ensure that the servo is used safely.
No. Manual name Manual No.
(1) MR-JET-G User's Manual (Introduction) IB(NA)-0300448ENG
(2) MR-JET User's Manual (Hardware) IB(NA)-0300453ENG
(3) Rotary Servo Motor User's Manual (For MR-JET) 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/LM-AU) 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 User's Manual (Communication Function) IB(NA)-0300463ENG
(8) MR-JET User's Manual (Adjustment) IB(NA)-0300473ENG
(9) MR-JET User's Manual (Troubleshooting) IB(NA)-0300483ENG
(10) MR-JET-G User's Manual (Parameters) IB(NA)-0300478ENG
(11) MR-JET-G User's Manual (Object Dictionary) IB(NA)-0300468ENG
(3) Rotary Servo Motor
(4) 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.
(5) Partner Encoder
(6) Function
(8) Adjustment
(11) Object Dictionary
(9) Troubleshooting
(1) Introduction
(2) Hardware
(7) Communication Function
(10) 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
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 fourth 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.

5
CONTENTS
CONTENTS
SAFETY INSTRUCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
ABOUT THE MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
CHAPTER 1 SPECIFICATIONS 7
1.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2 Model designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.3 Servo amplifier/motor combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.4 Servo amplifier standard specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
MR-JET-_G . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Positioning mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.5 Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.6 Configuration including peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
CHAPTER 2 FUNCTION 13
2.1 Restrictions on the MR-JET-_G_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Restrictions on CC-Link IE TSN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Restrictions on CC-Link IE Field Network Basic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.2 Function list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.3 Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
CHAPTER 3 STRUCTURE 23
3.1 Parts identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.2 Switch setting and display of the servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
7-segment LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Status LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
CHAPTER 4 STARTUP 30
4.1 Turning on servo amplifier for the first time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Test operation of the servo motor alone in test operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Equipment configuration setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Controller-related setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Operation by controller command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.2 Instructions on startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.3 Troubleshooting at startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.4 Duplicate setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Duplication using MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.5 Test operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Execution method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Test operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Motor driving by test operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Motor-less operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Output signal (DO) forced output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.6 Servo amplifier setting initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Initialization procedure by MR Mode Change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

6
CHAPTER 5 MAINTENANCE, INSPECTION AND PARTS REPLACEMENT 47
5.1 Inspection items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Periodic inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
5.2 Parts with a service life. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
5.3 Replacing fan unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
CHAPTER 6 COMPLIANCE WITH GLOBAL STANDARDS 50
6.1 Compliance with global standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
6.2 Handling of AC servo amplifier batteries for the United Nations Recommendations
on the Transport of Dangerous Goods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Target model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Handling during transportation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Package at our shipment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Transportation precaution for customers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
6.3 Symbol for EU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
EU Battery Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
EU WEEE Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
6.4 Compliance with China Compulsory Certification (CCC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
6.5 Compliance with the China RoHS directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60

1 SPECIFICATIONS
1.1 Outline 7
1
1SPECIFICATIONS
1.1 Outline
MR-JET-_G operates in the Ethernet open network (communication speed of up to 1 Gbps).
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 number
Model
Date 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 0GJET
Series
Rated output
Symbol Rated output [kW]

81 SPECIFICATIONS
1.4 Servo amplifier standard specifications
1.4 Servo amplifier standard specifications
MR-JET-_G
*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.
*5 Available on servo amplifiers with firmware version C0 or later.
*6 Available on servo amplifiers with firmware version C4 or later and manufactured in July 2022 or later.
*7 CC-Link IE TSN Class A is available on servo amplifiers with firmware version D0 or later.
*8 CC-Link IE TSN protocol version 2.0 is available on servo amplifiers with firmware version D0 or later.
Model: MR-JET-_ 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
CC-Link IE TSN Class B Communication
cycle
125 μs, 250 μs, 500 μs, 1 ms, 2 ms, 4 ms, 8 ms
Protocol version *8 1.0/2.0
CC-Link IE TSN Class A
*7
Communication
cycle
500 μs to 500 ms
Protocol version 2.0
CC-Link IE Field Network Basic *5 Supported
Communication function USB Connection to a personal computer or other devices (MR Configurator2-compatible)
Fully closed loop control Supported *6
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
UKCA marking LVD: BS EN 61800-5-1, EMC: BS EN IEC 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 9
1
Positioning mode
Point table method (CP)
Item Description
Command interface Object dictionary
Operation specifications Positioning by specifying the point table number (255 points)
System Signed absolute value command method
Position command input Absolute value command method Setting in the point table
Setting range of feed length for one point:
-2147483648 to 2147483647 [μm],
-214748.3648 to 214748.3647 [inch],
-2147483648 to 2147483647 [pulse],
-360.000 to 360.000 [degree]
Speed command input Set the servo motor speed in the point table.
Set the acceleration/deceleration time constants and acceleration/deceleration
in the point table.
Set the S-pattern acceleration/deceleration time constant in [Pr. PT51].
The speed unit can be selected ([r/min], command unit/s).
The acceleration/deceleration unit can be selected ([ms], command unit/s2).
Torque limit Setting by the servo parameter or object dictionary
Point table mode (pt) One positioning operation Point table number input method
Perform one positioning operation based on the position command and speed
command.
Continuous positioning operation Speed change operation (2nd gear to 255th gear)/
Continuous positioning operation (2 points to 255 points)/
Continuous operation to the point table selected at startup/
Continuous operation to the point table No. 1
JOG operation mode (jg) JOG operation Perform inching operation in the network communication function based on the
speed command.
Homing mode (hm) For information on the homing method, refer to "Homing mode (hm)" in the
following manual.
MR-JET User's Manual (Function)
Function on positioning operation Absolute position detection/external limit switch/software position limit/
positioning function to the home position, etc.

10 1 SPECIFICATIONS
1.4 Servo amplifier standard specifications
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 Under intermittent 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)
Under continuous vibration (in each of the
X, Y, and Z directions): 10 Hz to 55 Hz,
acceleration amplitude 5.9 m/s2
2 Hz to 9 Hz, displacement amplitude (half
amplitude) 7.5 mm
9 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 MΩ or more (with a 500 V DC megger)

1 SPECIFICATIONS
1.5 Function block diagram 11
1
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 and MR-JET-20G.
*2 Servo amplifiers with the rated output symbol of 200 (MR-JET-200G) or greater have a cooling fan.
UU
U
C
L3
L2
L1
MCMCCB U
V
W
U
V
W
P+
+
B
RA B1
B2
M
CN2
CN5
USB
USB
CN1A CN1B CN3
E
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
Computer
Controller or
servo amplifier
Controller or
servo amplifier
I/F
Control
Digital I/O
control
24 V DC

12 1 SPECIFICATIONS
1.6 Configuration including peripheral equipment
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.
*1 The power factor improving AC reactor can also be used.
CN5
CN3
CN2
L1
L2
L3
*1
(MC)
RS T
(FR-BSF01)
(MCCB)
CN1B CN1A
MR Configurator2
WVUE
Junction terminal block
Controller or
servo amplifier
Controller or
servo amplifier
Servo motor
Line noise
filter
Magnetic
contactor
Molded-case
circuit breaker
Power
supply
Computer

2 FUNCTION
2.1 Restrictions on the MR-JET-_G_ 13
2
2FUNCTION
2.1 Restrictions on the MR-JET-_G_
Restrictions on CC-Link IE TSN
Restrictions on CC-Link IE TSN Class A
Restrictions on CC-Link IE Field Network Basic
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
Point table method
([Pr. PA01.0 Control mode selection] = "6")
250 μs
Item Availability
Control mode Cyclic synchronous position mode (csp) Unavailable
Cyclic synchronous velocity mode (csv) Unavailable
Cyclic synchronous torque mode (cst) Unavailable
Continuous operation to torque control mode (ct) Unavailable
Network CC-Link IE TSN network synchronous communication function Unavailable
Item Availability
Control mode Cyclic synchronous position mode (csp) Unavailable
Cyclic synchronous velocity mode (csv) Unavailable
Cyclic synchronous torque mode (cst) Unavailable
Continuous operation to torque control mode (ct) Unavailable
Network Parameter automatic setting Unavailable

14 2 FUNCTION
2.2 Function list
2.2 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
*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated
firmware version or later.
*2 The control modes are not available for CC-Link IE Field Network Basic.
*3 This control mode is not available for CC-Link IE TSN Class A.
Drive motor
*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated
firmware version or later.
Functions Detailed functions Description Ver. *1 Detailed explanation
CiA 402 control
mode
Cyclic synchronous position mode
(csp) *2*3
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) *2*3
This function operates the servo motor in the
cyclic synchronous velocity mode.
A4
Cyclic synchronous torque mode
(cst) *2*3
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
Thrust/torque
control
Continuous operation to torque
control mode (ct) *2*3
This function enables smooth switching to
torque control from the position control mode or
speed control mode without stopping the servo
motor. This eliminates rapid change of speed
and torque, contributing to reduction in load to
the machine and high-quality product molding.
B0
Point table method Point table mode (pt) This function operates the servo motor
according to the setting values by selecting the
point table with preset 255 points.
B8
JOG operation mode (jg) This control mode enables desired positioning
for machine adjustment and home positioning.
B8
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 39 Test operation
Functions Detailed functions Description Ver. *1 Detailed explanation
Servo motor 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 

2 FUNCTION
2.2 Function list 15
2
Network
*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated
firmware version or later.
*2 This function is not available for CC-Link IE Field Network Basic.
Position detection
*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated
firmware version or later.
*2 Available on servo amplifiers manufactured in July 2022 or later.
Functions Detailed functions Description Ver. *1 Detailed explanation
Open network (CC-
Link line)
CC-Link IE TSN This function connects the servo amplifier to
equipment such as a controller through CC-Link
IE TSN.
A4 MR-JET-G User's Manual
(Communication Function)
CC-Link IE Field Network Basic This function connects the servo amplifier to
equipment such as a controller through CC-Link
IE Field Network Basic.
C0
Common protocol SLMP This function supports SLMP (SeamLess
Message Protocol). Servo parameter settings
and monitoring are available.
A4
Remote
maintenance
Parameter automatic setting *2 This function transmits settings for servo
parameters, etc. from the controller.
A4
Firmware update This function updates the firmware of the servo
amplifier.
A4 Refer to "Firmware update" in
the following manual.
MR-JET User's Manual
(Function)
Functions Detailed functions Description Ver. *1 Detailed explanation
Control method Semi closed loop system This function uses the servo motor encoder to
configure semi closed loop systems.
A4 
Fully closed loop system *2 This function uses the load-side encoder to
configure fully closed loop systems.
C4 Refer to "USING A FULLY
CLOSED LOOP SYSTEM" in
the following manual.
MR-JET User's Manual
(Hardware)
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)

16 2 FUNCTION
2.2 Function list
Operation function
*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated
firmware version or later.
Functions Detailed functions Description Ver. *1 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.
This function limits the travel interval of the
servo motor using FLS (Upper stroke limit) and
RLS (Lower stroke limit) via a controller.
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)

2 FUNCTION
2.2 Function list 17
2
Positioning function
*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated
firmware version or later.
Control function
*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated
firmware version or later.
Functions Detailed functions Description Ver. *1 Detailed explanation
Override function Override function This function can change the servo motor speed
via communication. The value can be changed
to 0% to 360% of the set speed.
D4 Refer to "Override function"
in the following manual.
MR-JET User's Manual
(Function)
Absolute position Infinite feed function In an absolute position detection system, even if
the servo motor rotates 32768 rev or more in
the same direction, [AL. 0E3.1 Multi-revolution
counter travel distance exceeded warning] will
not occur and the home position will not be
erased. Therefore, the current position will be
restored after the power is cycled. When this
function is not used, if the servo motor rotates
32768 rev or more in the same direction, [AL.
0E3.1] will occur and the home position will be
erased.
B6 Refer to "Infinite feed
function" in the following
manual.
MR-JET User's Manual
(Function)
Functions Detailed functions Description Ver. *1 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)

18 2 FUNCTION
2.2 Function list
Adjustment function
*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated
firmware version or later.
Functions Detailed functions Description Ver. *1 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)