Mitsubishi Electric MELSERVO-JET MR-JET Series 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 guide, 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]
U.S. CUSTOMARY UNITS
U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.
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 (the terminal marked with the
symbol) of the servo amplifier to the protective earth (PE) of the cabinet.
●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.
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]

3
CONTENTS
CONTENTS
SAFETY INSTRUCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
CHAPTER 1 INTRODUCTION 5
1.1 Wiring procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 Servo amplifier/motor combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.3 Wiring check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Power supply system wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
I/O signal wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.4 Surrounding environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
CHAPTER 2 INSTALLATION 9
2.1 Mounting direction and clearances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 Keeping out foreign materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.3 Cable stress . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.4 Fan unit replacement procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
List of applicable fan units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Fan unit removal procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Fan unit installation procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.5 Restrictions when using this product at an altitude over 1000 m and up to 2000 m . . . . . . . . . . . . . . . . . 15
CHAPTER 3 SIGNALS AND WIRING 16
3.1 Example power circuit connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
200 V class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.2 Example I/O signal connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.3 Explanation of power supply system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Explanation of signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Power-on procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Wiring CNP1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.4 Connectors and pin assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Connectors and pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.5 Signal (device) explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Input device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Output device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Power supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.6 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Internal connection diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Detailed explanation of interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Source I/O interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.7 Servo motor with an electromagnetic brake. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Connection diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
3.8 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
CHAPTER 4 DIMENSIONS 39
4.1 200 V class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
MR-JET-10G_/MR-JET-20G_/MR-JET-40G_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
MR-JET-70G_/MR-JET-100G_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

4
MR-JET-200G_/MR-JET-300G_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.2 Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
CN3 connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
CHAPTER 5 CHARACTERISTICS 44
5.1 Overload protection characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
5.2 Power supply capacity and generated loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
5.3 Dynamic brake characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Dynamic brake operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
5.4 Cable bending life . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.5 Inrush current at power-on. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
CHAPTER 6 OPTIONS AND PERIPHERAL EQUIPMENT 53
6.1 Cable/connector sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Combinations of cable/connector sets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Ethernet cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
6.2 Regenerative option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Combination and regenerative power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Selection of the regenerative option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Servo parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Connection of regenerative option. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
6.3 Junction terminal block PS7DW-20V14B-F (recommended) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66
6.4 MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Engineering tool. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Precautions for using USB communication function and Ethernet communication function . . . . . . . . . . . . . . . . 68
6.5 Selection example of wires. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
6.6 Molded-case circuit breakers, fuses, magnetic contactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
6.7 Power factor improving AC reactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
6.8 Relay (recommended) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
6.9 Noise reduction techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
6.10 Earth-leakage current breaker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Selection method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Selection example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
6.11 EMC filter (recommended) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
CHAPTER 7 APPENDIX 87
7.1 1-phase 200 V AC class power supply input using a neutral point of 3-phase 400 V AC class power supply
87
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .90
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .92

1 INTRODUCTION
1.1 Wiring procedure 5
1
1INTRODUCTION
1.1 Wiring procedure
1.2 Servo amplifier/motor combinations
Procedure Description Reference
1. Installation Install a servo amplifier. Page 9 INSTALLATION
2. Connecting the power circuit Connect the power circuit. Page 17 Example power
circuit connections
3. Connecting I/O signals Connect I/O signals. Page 20 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 53 OPTIONS AND
PERIPHERAL EQUIPMENT
6. Others If using the absolute position detection system, perform wiring and settings as
necessary.
The absolute position detection system will be supported in the near future.

7. Wiring check Confirm 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 6 Wiring check
8. Checking the surrounding
environment
Check the environment surrounding the servo amplifier and servo motor. Page 8 Surrounding
environment
Servo amplifier Servo motor
MR-JET-10_ HG-KNS13_
MR-JET-20_ HG-KNS23_
MR-JET-40_ HG-KNS43_
MR-JET-70_ HG-KNS73_
HG-SNS52_
MR-JET-100_ HG-SNS102_
MR-JET-200_ HG-SNS152_
HG-SNS202_
MR-JET-300_ HG-SNS302_

61 INTRODUCTION
1.3 Wiring check
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 wires of the regenerative option are connected to the P+ terminal and C terminal.
• Check that twisted wires have been used for connecting the regenerative option to the servo amplifier.
Page 60 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
Servo amplifier Servo motor

1 INTRODUCTION
1.3 Wiring check 7
1
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 20 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

81 INTRODUCTION
1.4 Surrounding environment
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 bending life.
Page 51 Cable bending 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.

2 INSTALLATION
2.1 Mounting direction and clearances 9
2
2INSTALLATION
Precautions
• Remove the protective sticker from the front of the servo amplifier before use.
• Install the servo amplifier and regenerative resistor on incombustible material. Installing them directly or close to
combustibles will 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.
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.

10 2 INSTALLATION
2.1 Mounting direction and clearances
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

2 INSTALLATION
2.1 Mounting direction and clearances 11
2
■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
• For the availability of close mounting, refer to "Servo amplifier standard specifications" in the User's Manual (Introduction).
Others
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.
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

12 2 INSTALLATION
2.2 Keeping out foreign materials
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 openings in the cabinet
or through a cooling fan installed 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 bending 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 bending life.
Page 51 Cable bending life
Precautions
• The cables should not be damaged, stressed, loaded, or pinched.
2.4 Fan unit replacement procedure
A 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

2 INSTALLATION
2.4 Fan unit replacement procedure 13
2
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.

14 2 INSTALLATION
2.4 Fan unit replacement procedure
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.

2 INSTALLATION
2.5 Restrictions when using this product at an altitude over 1000 m and up to 2000 m 15
2
2.5 Restrictions when using this product at an altitude
over 1000 m and up to 2000 m
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)
When closely mounting servo amplifiers at an ambient temperature of 40 °C to 50 °C, operate them at 75 % or less of the
effective load ratio.
Input voltage
Generally, withstand voltage decreases as altitude increases; however, there is no restriction on the withstand voltage. Use in
the same manner as when the altitude is 1000 m or less.
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. Use in the same manner as when the altitude is 1000 m or less.
■Servo amplifier cooling fan
There is no restriction. Use in the same manner as when the altitude is 1000 m or less.
020001000
0[m]
40
50
55
[°C]
45
(1)
(2)
Altitude
Ambient temperature

16 3 SIGNALS AND WIRING
3SIGNALS AND WIRING
Precautions
• Insulate the conductive parts of the terminals.
• If using a regenerative resistor, configure a circuit that shuts off the main circuit power supply with an alarm signal because
abnormal overheating of the regenerative resistor may cause smoke and fire.
• To prevent failure and malfunction, only the power supply/signal specified in the manual should be connected to a
corresponding terminal.
• To prevent unexpected operation of the servo motor, wire the equipment correctly and securely.
• Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism. Failing to do so
may cause the cables and connectors to disconnect during operation.
• Unless stated otherwise, all connection diagrams in this manual are sink interface diagrams.
• Install a surge absorbing diode in the correct direction. Failing to do so may cause the amplifier to malfunction and not to
output signals, disabling protective circuits such as the emergency stop.
• When the wires are not properly secured to the terminal block, the wires or terminal block may generate heat because of
the poor contact. Be sure to tighten the wires with the specified torque.
• Connecting the servo motor for an incorrect axis to the power outputs (U/V/W) or CN2 of the servo amplifier may cause a
malfunction.
• Make sure that no operation signal is being input to the servo amplifier before resetting an alarm or releasing the
emergency stop. Failing to do so may cause an unexpected operation.
• If the power supply is shut off by a molded-case circuit breaker or a fuse, remove the cause and secure safety before
switching the power on.
• Install the servo amplifier according to the EMC guidelines because electromagnetic interference may affect the electronic
equipment used near the servo amplifier.
• To prevent an electric shock or a fire, do not disassemble, repair, or modify the product. Disassembled, repaired, and/or
modified products are not covered under warranty.
• Eliminate static electricity before performing actions such as wiring or operating a switch.
• When disconnecting the CNP1 connector from MR-JET-40_ to MR-JET-300_, do not forcibly pull the lead wires of the built-
in regenerative resistor or the CNP1 connector. Doing so may snap the lead wires of the built-in regenerative resistor.
• Before wiring, turn off the power and wait for 15 minutes or more until the charge light turns off. In addition, when confirming
whether the charge light is off or not, be sure to look at the light from the front of the servo amplifier.
DOCOM
RA
DOCOM
RA
Servo amplifierServo amplifier
24 V DC 24 V DC
Control output
signal
Control output
signal
For sink output interface For source output interface

3 SIGNALS AND WIRING
3.1 Example power circuit connections 17
3
3.1 Example power circuit connections
Precautions
• Connect a magnetic contactor between a power supply and the power supply (L1/L2/L3) of a servo amplifier to configure a
circuit that shuts off the power supply on the servo amplifier side because failure of the servo amplifier may cause smoke
and fire if a magnetic contactor is not connected.
• Use a configuration that shuts off the power supply with ALM (Malfunction).
• Check the servo amplifier model and use the correct power supply voltage.
• Exogenous noise or lightning surges may degrade the characteristics of the surge absorber (varistor) built into the servo
amplifier and damage it.
• In the torque mode, EM2 functions the same as EM1.
• To prevent malfunction, avoid bundling the servo amplifier's power lines (input/output) and signal cables together or running
them parallel to each other. Separate the power lines from the signal cables.
• Provide adequate protection to prevent an unexpected restart after an instantaneous power failure.
• If using a regenerative resistor, configure a circuit that shuts off the main circuit power supply with ALM (Malfunction)
because abnormal overheating of the regenerative resistor may cause smoke and fire.
• Configure wiring so that the main circuit power supply is shut off and the servo-on command is turned off after deceleration
to a stop due to an alarm occurrence, an enabled servo forced stop, or a quick stop command from the controller. Use a
molded-case circuit breaker (MCCB) with the input cables of the main circuit power supply.

18 3 SIGNALS AND WIRING
3.1 Example power circuit connections
200 V class
For 3-phase 200 V AC to 240 V AC power supply
*1 MR-JET-40_ to MR-JET-300_ have a regenerative resistor. (factory-wired). If using a regenerative option, refer to the following.
Page 57 Regenerative option
*2 Option cables are recommended for encoder cables. For selecting cables, refer to the following manual.
Rotary Servo Motor User's Manual (HG-KNS/HG-SNS)
*3 For connecting servo motor power wires, refer to the following manual.
Rotary Servo Motor User's Manual (HG-KNS/HG-SNS)
*4 Use the magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of
80 ms or less. The bus voltage may drop depending on the power supply voltage and operation pattern, causing a dynamic brake
deceleration during a forced stop deceleration. If dynamic brake deceleration is not required, delay the time to turn off the magnetic
contactor.
*5 Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
*6 If ALM (Malfunction) output is disabled with a servo parameter, configure a power circuit which switches off a magnetic contactor after
detection of an alarm occurrence on the controller side.
*7 For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open.
MC *4
L1
L2
L3
U
V
W
*1
CNP1
U
V
W
M
CN2 *5
*3 *5
MC
MC
SK
MCCB
C
P+
RA1
3-phase
200 V AC to 240 V AC
Servo amplifier Servo motor
Motor
Encoder
Malfunction *6
OFF ON
Emergency
stop switch
Built-in
regenerative
resistor
Encoder cable *2