Existing manufacturing assets are completely utilizable.

MELSERVO-J3/J3W to MELSERVO-J4

J3
 SAFETY INSTRUCTIONS
Please read the instructions carefully before using the equipment.

To ensure correct usage of the equipment, make sure to read through this Replacement Manual, the
instruction manual, the Installation Guide, and the Appended Documents carefully before attempting to install,
operate, maintain, or inspect the equipment. Do not use the equipment until you have a full knowledge of the
equipment, safety information and instructions.
In this Replacement Manual, the safety instruction levels are classified under "WARNING" and "CAUTION".

Indicates that incorrect handling may cause hazardous conditions,

WARNING resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions,

CAUTION resulting in medium or slight injury to personnel or may cause physical
damage.

Note that the CAUTION level may lead to a serious consequence according to conditions.
Please follow the instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.

Indicates prohibition (what must not be done). For example, "No Fire" is indicated by .

Indicates obligation (what must be done). For example, grounding is indicated by .

In this Replacement Manual, instructions of a lower level than the above, such as those that do not cause
physical damage or instructions for other functions, are classified under "POINT".
After reading this instruction manual, keep it accessible to the operator.

A- 1
1. To prevent electric shock, note the following
WARNING
Before wiring or inspection, turn off the power and wait for 15 minutes or more (when 30 kW or more is
used, 20 minutes or more) until the charge lamp turns off. Then, confirm that the voltage between P+ and
N- is (when 30 kW or more is used, L+ and L-) safe with a voltage tester and others. Otherwise, an electric
shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it
from the front of the servo amplifier.
Ground the servo amplifier and servo motor securely.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Doing so may
cause an electric shock.
Do not operate switches with wet hands. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric
shock.
During power-on or operation, do not open the front cover of the servo amplifier. Otherwise, it may cause
an electric shock.
Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area
are exposed and you may get an electric shock.
Except for wiring and periodic inspection, do not remove the front cover of the servo amplifier even if the
power is off. The servo amplifier is charged and you may get an electric shock.
To prevent electric shock, always connect the protective earth (PE) terminal ( marked) of the servo
amplifier to the protective earth (PE) of the cabinet.
To avoid an electric shock, insulate the connections of the power supply terminals.

2. To prevent fire, note the following

CAUTION
Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing
them directly or close to combustibles will lead to a fire.
Be sure to connect a magnetic contactor between the power supply and the main circuit power supply
(L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts off the power supply by the
magnetic contactor. If the magnetic contactor is not connected, a continuous flow of a large current may
cause smoke or a fire when the servo amplifier malfunctions.
When using the regenerative resistor, switch power off with the alarm signal. Not doing so may cause
smoke and fire when a regenerative transistor malfunctions or the like may overheat the regenerative
resistor.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier and servo motor.
Be sure to connect a magnetic contactor for each servo amplifier between the power supply and the main
circuit power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts off the
power supply by the magnetic contactor. If a molded-case circuit breaker or fuse is not connected, a
continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions.

A- 2
3. Injury prevention
CAUTION
Only the voltage specified in the instruction manual should be applied to each terminal. Otherwise, a
burst, damage, etc. may occur.
The cables must be connected to the correct terminals. Otherwise, a burst, damage, etc. may occur.
Ensure that the polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot while power is on or for
some time after power-off. Take safety measures, e.g. provide covers, to avoid accidentally touching the
parts (cables, etc.) by hand.
During operation, never touch the rotor of the servo motor. Otherwise, it may cause injury.

4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury,
electric shock, fire, etc.

(1) Transportation/installation
CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the specified number of product packages is not allowed.
Do not hold the front cover, cable and connector when transporting the servo amplifier. Otherwise, it may
drop.
Install the servo amplifier and the servo motor in a load-bearing place in accordance with the instruction
manual.
Do not get on or put heavy load on the equipment.
The equipment must be installed in the specified direction.
Secure the prescribed distance between the servo amplifier and the inner surface of the cabinet or other
devices.
Do not install or operate the servo amplifier and servo motor which have been damaged or have anyparts
missing.
Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction.
Do not drop or strike the servo amplifier and servo motor. Isolate them from all impact loads.
Do not drop or apply heavy impact on the servo amplifiers and the servo motors. Otherwise, injury,
malfunction, etc. may occur.
Do not strike the connector. Otherwise, a connection failure, malfunction, etc. may occur.
When you keep or use the equipment, please fulfill the following environment.
Item Environment
Ambient Operation 0 °C to 55 °C (non-freezing)
temperature Storage -20 °C to 65 °C (non-freezing)
Ambient Operation
5 %RH to 90 %RH (non-condensing)
humidity Storage
Ambience Indoors (no direct sunlight) and free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude The altitude varies depending on the model. (Refer to each servo amplifier instruction manual.)
Vibration resistance 5.9 m/s2or less at 10 to 55 Hz (directions of X, Y, Z axes)

Contact your local sales if the product has been stored for an extended period of time.
When handling the servo amplifier, be careful about the edged parts such as corners of the servo
amplifier.
The servo amplifier must be installed in a metal cabinet.

A- 3
 CAUTION
When fumigants that contain halogen materials, such as fluorine, chlorine, bromine, and iodine, are used
for disinfecting and protecting wooden packaging from insects, they cause a malfunction when entering
our products. Please take necessary precautions to ensure that remaining materials from fumigant do not
enter our products, or treat packaging with methods other than fumigation, such as heat treatment.
Additionally, disinfect and protect wood from insects before packing the products.
To prevent a fire or injury from occurring in case of an earthquake or other natural disasters, securely
install, mount, and wire the servo motor in accordance with servo amplifier instruction manual

(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism.
Otherwise, the cables and connectors may be disconnected during operation.
Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF(-H)) on the output side
of the servo amplifier.
Because installation of these items may cause the servo motor to malfunction, connect the wires to the
correct phase terminals (U/V/W) of the servo amplifier and servo motor power supply.
Directly connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W). Do not
let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
Servo amplifier Servo motor Servo amplifier Servo motor
U U
U U
V V
V M V M
W W
W W

The connection diagrams in this instruction manual are shown for sink interfaces, unless stated
otherwise.
The surge absorbing diode installed to the DC relay for control output should be fitted in the specified
direction. Otherwise, the emergency stop and other protective circuits may not operate.
Servo amplifier Servo amplifier
24VDC 24VDC
DOCOM DOCOM

Control output RA
Control output RA
signal signal
For sink output For source output
interface interface

When the cable is not tightened enough to the terminal block, the cable or terminal block may generate
heat because of the poor contact. Be sure to tighten the cable with specified torque.
To avoid a malfunction, do not connect the U, V, W, and CN2 phase terminals of the servo amplifier to the
servo motor of an incorrect axis.
Configure a circuit to turn off EM2 or EM1 when the main circuit power is turned off to prevent an
unexpected restart of the servo amplifier.
To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running
them in parallel to each other. Separate the power lines from the signal cables.

A- 4
(3) Trial run/adjustment
CAUTION
When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may
cause a malfunction, damage to the machine, or personal injury.
Before operation, check the parameter settings. Improper settings may cause some machines to operate
unexpectedly.
Never perform extreme adjustment or changes to the parameters; otherwise, the operation may become
unstable.
Keep away from moving parts in a servo-on state.

(4) Usage
CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
off 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. The machine may be damaged due to a collision.
Do not disassemble, repair, or modify the product.
Disassembled, repaired, and/or modified products are not covered under warranty.
Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a
sudden restart. Otherwise, it may cause an accident.
The effect of electromagnetic interference must be reduced by using a noise filter or by other means.
Electromagnetic interference may be given to the electronic equipment used near the servo amplifier.
Burning or disassembling a servo amplifier may generate toxic gases. Do not burn or break it.
Use the servo amplifier with the specified servo motor.
Correctly wire options and peripheral equipment, etc. in the correct combination. Otherwise, it may cause
an electric shock, fire, or injury.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used
for ordinary braking.
For such reasons as incorrect wiring, service life, and mechanical structure (e.g. where a ball screw and
the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To
ensure safety, install a stopper on the machine side.
If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an
external force. Otherwise, it may cause a fire.

(5) Corrective actions

CAUTION
If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous
situation, use a servo motor with an electromagnetic brake or provide an external brake system for
holding purpose to prevent such hazard.

A- 5
 CAUTION
Configure an electromagnetic brake circuit so that it is activated also by an external emergency stop switch.
Contacts must be opened with the ALM (malfunction) Contacts must be opened with
off or the MBR (electromagnetic brake interlock) off. the EMG stop switch.

Servo motor
RA
Electromagnetic
B U 24VDC
brake

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety
before switching the power on. If necessary, replace the servo amplifier and recheck the wiring.
Otherwise, it may cause smoke, fire, or an electric shock.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.
To prevent an electric shock, injury, or fire from occurring after an earthquake or other natural disasters,
ensure safety by checking conditions, such as the installation, mounting, wiring, and equipment before
switching the power on.

(6) Maintenance, inspection and parts replacement

CAUTION
Make sure that the emergency stop circuit operates properly such that an operation can be stopped
immediately and a power is shut off by the emergency stop switch.
It is recommended that the servo amplifier be replaced every 10 years when it is used in general
environment.
When using a servo amplifier whose power has not been turned on for a long time, contact your local
sales office.

(7) General precautions

To illustrate details, the equipment in the diagrams of this Replacement Manual may have been drawn
without covers and safety guards. When the equipment is operated, the covers and safety guards must be
installed as specified. Operation must be performed in accordance with instruction manual.

A- 6
 Disposal of Waste
When disposing of this product, the following two laws are applicable, and it is necessary to consider each
law. In addition, because the following laws are effective only in Japan, local laws have priority outside Japan
(overseas). We ask that the local laws be displayed on the final products or that a notice be issued as
necessary.

1. Requirements of the Act on the Promotion of Effective Utilization of Resources

(Commonly known as: the Law for Promotion of Effective Utilization of Resources
Promotion Law)
(1) Please recycle this product whenever possible when it becomes unnecessary.

(2) It is recommended that this product be divided as necessary and sold to appropriate purchasers, as
recycled resources are usually divided into iron, electrical parts, and so on, which are then sold to
scrap processors.

2. Requirements of the Act on Waste Disposal & Cleaning (Commonly known as: The
Waste Disposal Treatment Cleaning Act)
(1) It is recommended to decrease waste through the sale of recyclables or through any other means as
shown in the preceding Paragraph 1.

(2) In case the unnecessary products cannot be sold and require disposal, such item falls under
Industrial waste in the above act.

(3) It is required that industrial waste be properly dealt with, including manifest management, by commissioning the
disposal to an industrial waste disposal contractor licensed under the act.

(4) Please dispose of batteries (primary batteries) used in servo amplifiers according to local regulations.

Measures against servo amplifier harmonics

This servo amplifier applies to "Harmonics control guidelines for customers receiving high voltage or special
high voltage power" (published by current Ministry of Economy, Trade and Industry). Consumers subject to
this guideline must check if a harmonic suppression measure is necessary, and measures must be enforced
when the limit level is exceeded.

EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the
total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the
EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Write to the EEP-ROM due to device changes

STO function of the servo amplifier

See the applicable "Servo Amplifier Instruction Manual" when using the STO function of the servo amplifier.

A- 7
Dealing with overseas standards
See the following relevant manuals concerning dealing with overseas standards.

«About the manual»

This Replacement Manual and the following Instruction Manuals are necessary when using this servo for
the first time. Ensure to prepare them to use the servo safely.

Relevant manuals

Manual name Manual number

MR-J4 Series Instructions and Cautions for Safe Use of AC Servos IB(NA)0300175
(Packed with the servo amplifier)
MR-J4 Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030109
HG-MR/HG-KR/HG-SR/HG-JR/HG-RR/HG-UR/HG-AK Servo Motor Instruction Manual (Vol. SH(NA)030113
3) (Note 1)
LM-H3/LM-U2/LM-F/LM-K2 Linear Servo Motor Instruction Manual (Note 2) SH(NA)030110
TM-RFM/TM-RG2M/TM-RU2M Direct Drive Motor Instruction Manual (Note 3) SH(NA)030112
Linear Encoder Instruction Manual (Note 2, 4) SH(NA)030111
EMC Installation Guidelines IB(NA)67310
MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ) Servo Amplifier Instruction Manual SH(NA)030107
MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual SH(NA)030106
MR-J4W2-_B/MR-J4W3-_B/MR-J4W2-0303B6 Servo Amplifier Instruction Manual SH(NA)030105
MR-CV_/MR-CR55K_/MR-J4-DU_B_(-RJ)/MR-J4-DU_A_(-RJ) Instruction Manual SH(NA)030153
MR-J4-_A_-RJ/MR-J4-03A6-RJ Servo Amplifier Instruction Manual (Positioning Mode) SH(NA)030143
MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode) SH(NA)030218
MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (I/O Mode) SH(NA)030221

Note 1. It is necessary for using a rotary servo motor.

2. It is necessary for using a linear servo motor.
3. It is necessary for using a direct drive motor.
4. It is necessary for using a fully closed loop system.

«Cables used for wiring»

The wiring cables mentioned in this Replacement Manual are selected based on an ambient temperature
of 40°C.

«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]

A- 8
 CONTENTS

Part 1: Summary of MR-J3/MR-J3W Replacement 1- 1 to 1-20

1. SUMMARY OF MR-J3/MR-J3W REPLACEMENT.............................................................................. 1- 2

2. MAJOR REPLACEMENT TARGET MODEL ....................................................................................... 1- 2
2.1 Servo Amplifier Replacement Target Model ................................................................................. 1- 2
2.2 Servo Motor Replacement Target Model...................................................................................... 1- 2
3. FLOW OF REPLACEMENT ................................................................................................................ 1- 3
3.1 Summary....................................................................................................................................... 1- 3
3.1.1 Flow of Review on Replacement ......................................................................................... 1- 3
3.1.2 Configuration diagram ......................................................................................................... 1- 4
3.1.3 Changes from MR-J3 series to MR-J4 series ...................................................................... 1- 5
3.1.4 Changes from MR-J3W series to MR-J4 series .................................................................. 1- 7
3.2 Review on replacement ................................................................................................................ 1- 9
3.2.1 Checking the system prior to replacement .......................................................................... 1- 9
3.2.2 Determination of base replacement model ......................................................................... 1-10
3.2.3 Attachment compatibility check .......................................................................................... 1-18
3.2.4 Detailed review on replacement model .............................................................................. 1-18
3.2.5 Peripheral equipment check ............................................................................................... 1-18
3.2.6 Startup procedure check ..................................................................................................... 1-18
4. RELATED MATERIALS ...................................................................................................................... 1-18
4.1 Catalog......................................................................................................................................... 1-18
4.2 Instruction Manual ....................................................................................................................... 1-19
4.3 Migration Guide ........................................................................................................................... 1-19
4.4 Replacement Tool for Replacing MR-J3 with MR-J4 .................................................................. 1-19
4.5 MITSUBISHI ELECTRIC FA Global Website .............................................................................. 1-20

Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_ 2- 1 to 2-66

1. SUMMARY........................................................................................................................................... 2- 2
2. CASE STUDY ON REPLACEMENT OF MR-J3-_A_ .......................................................................... 2- 2
2.1 Review on Replacement Method .................................................................................................. 2- 2
2.2 Replacement Method.................................................................................................................... 2- 2
3. DIFFERENCES BETWEEN MR-J3-_A_ AND MR-J4-_A_ ................................................................. 2- 4
3.1 Function Comparison Table.......................................................................................................... 2- 4
3.2 Comparison of Standard Connection Diagrams ........................................................................... 2- 7
3.3 List of Corresponding Connectors and Terminal Blocks .............................................................. 2- 9
3.4 Comparison of Peripheral Equipment .......................................................................................... 2-14
3.5 Comparison of Parameters .......................................................................................................... 2-15
3.5.1 Setting requisite parameters upon replacement ................................................................. 2-15
3.5.2 Parameter comparison list .................................................................................................. 2-17
3.5.3 Comparison of parameter details........................................................................................ 2-21
3.6 Important Points for Replacement ............................................................................................... 2-64

Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_ 3- 1 to 3-48

1. SUMMARY........................................................................................................................................... 3- 2
2. CASE STUDY ON REPLACEMENT OF MR-J3-_B_ .......................................................................... 3- 2
2.1 Review on Replacement Method .................................................................................................. 3- 2
2.2 Replacement Method.................................................................................................................... 3- 3
3. DIFFERENCES BETWEEN MR-J3-_B_ AND MR-J4-_B_ ................................................................. 3- 6

1
 3.1Function Comparison Table.......................................................................................................... 3- 6
3.2Comparison of Networks .............................................................................................................. 3- 9
3.3Comparison of Standard Connection Diagrams ........................................................................... 3- 9
3.4List of Corresponding Connectors and Terminal Blocks ............................................................. 3-10
3.5Comparison of Peripheral Equipment .......................................................................................... 3-13
3.6Comparison of Parameters .......................................................................................................... 3-13
3.6.1 Setting requisite parameters upon replacement ................................................................. 3-14
3.6.2 Parameter comparison list .................................................................................................. 3-15
3.6.3 Comparison of parameter details........................................................................................ 3-18
4. APPLICATION OF FUNCTIONS ........................................................................................................ 3-47

Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B 4- 1 to 4-52

1. SUMMARY........................................................................................................................................... 4- 2
2. CASE STUDY ON REPLACEMENT OF MR-J3W-_B......................................................................... 4- 2
2.1 Review on Replacement Method .................................................................................................. 4- 2
2.2 Servo Amplifier Replacement Model ............................................................................................ 4- 2
2.3 Replacement Method.................................................................................................................... 4- 3
3. DIFFERENCES BETWEEN MR-J3W-_B AND MR-J4W2-_B ............................................................ 4- 6
3.1 Function Comparison Table.......................................................................................................... 4- 6
3.2 Configuration including auxiliary equipment ................................................................................. 4- 8
3.3 Comparison of Networks ............................................................................................................. 4-12
3.4 Comparison of Standard Connection Diagrams .......................................................................... 4-12
3.5 List of Corresponding Connectors and Terminal Blocks ............................................................. 4-14
3.5.1 200 V class ......................................................................................................................... 4-14
3.5.2 48 V DC/24 V DC class ...................................................................................................... 4-17
3.6 Comparison of Peripheral Equipment .......................................................................................... 4-19
3.7 Comparison of Parameters .......................................................................................................... 4-20
3.7.1 Setting requisite parameters upon replacement ................................................................. 4-21
3.7.2 Parameter comparison list .................................................................................................. 4-22
3.7.3 Comparison of parameter details........................................................................................ 4-26
4. APPLICATION OF FUNCTIONS ........................................................................................................ 4-51

Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_ 5- 1 to 5-78

1. SUMMARY........................................................................................................................................... 5- 2
2. FUNCTIONS AND CONFIGURATION ................................................................................................ 5- 2
2.1 Differences between MR-J3-DU_ and MR-J4-DU_ ...................................................................... 5- 2
2.2 Combination of converter unit, drive unit, and servo motor .......................................................... 5- 3
2.3 Configuration including peripheral equipment .............................................................................. 5- 5
3. INSTALLATION ................................................................................................................................... 5- 7
3.1 Installation direction and clearances ............................................................................................ 5- 7
3.2 Magnetic contactor control connector (CNP1).............................................................................. 5- 9
4. SIGNALS AND WIRING ..................................................................................................................... 5-11
4.1 Comparison of standard connection diagrams ............................................................................ 5-11
4.1.1 When magnetic contactor drive output is enabled (factory setting).................................... 5-11
4.1.2 When magnetic contactor control connector (CNP1) is made invalid ................................ 5-16
4.2 Power-on sequence ..................................................................................................................... 5-21
4.3 List of corresponding connectors and terminal blocks ................................................................ 5-29
5. PARAMETER...................................................................................................................................... 5-37
5.1 Converter unit .............................................................................................................................. 5-37
5.1.1 Converter unit parameter comparison list ........................................................................... 5-37
2
 5.1.2 Converter unit comparison of parameter details................................................................. 5-38
5.2 Drive unit ...................................................................................................................................... 5-41
5.2.1 Drive unit comparison of parameter details ........................................................................ 5-41
6. CHARACTERISTICS .......................................................................................................................... 5-43
6.1 Overload protection characteristics ............................................................................................. 5-43
6.2 Power supply capacity and generated loss ................................................................................. 5-46
6.3 Inrush currents at power-on of main circuit/control circuit ........................................................... 5-48
7. OPTIONS AND PERIPHERAL EQUIPMENT..................................................................................... 5-49
7.1 Comparison table of cable option combinations .......................................................................... 5-49
7.1.1 MR-J3CDL05M (0.5 m) Protection coordination cable ....................................................... 5-50
7.2 Selection example of wires .......................................................................................................... 5-51
7.2.1 MR-J3 series, power supply wire size ................................................................................ 5-51
7.2.2 MR-J4 series, power supply wire size ................................................................................ 5-53
7.3 Selection of Molded-case circuit breakers, fuses, magnetic contactors (example)..................... 5-55
7.3.1 MR-J3-DU_ Molded-case circuit breakers, fuses, magnetic contactors (recommended) .. 5-55
7.3.2 MR-J4-DU_ Molded-case circuit breakers, fuses, magnetic contactors (recommended) .. 5-55
7.4 FR-BU2-(H) brake unit ................................................................................................................. 5-57
7.4.1 Selection ............................................................................................................................. 5-57
7.4.2 Brake unit parameter setting............................................................................................... 5-58
7.4.3 Connection example ........................................................................................................... 5-58
7.4.4 Dimensions ......................................................................................................................... 5-74
7.5 Regenerative option..................................................................................................................... 5-76
7.5.1 Combination and regenerative power ................................................................................. 5-76
7.6 External dynamic brake ............................................................................................................... 5-77
7.6.1 MR-J3 series ....................................................................................................................... 5-77
7.6.2 MR-J4 series ....................................................................................................................... 5-78

Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-
J4-_A_-RJ 6- 1 ～ 6-98

1. SUMMARY........................................................................................................................................... 6- 3
2. CASE STUDY ON REPLACEMENT OF MR-J3-_T (DIO command/Serial communication operation)
............................................................................................................................................................. 6- 3
2.1 Review on Replacement Method .................................................................................................. 6- 3
2.2 Replacement Method.................................................................................................................... 6- 5
3. DIFFERENCES BETWEEN MR-J3-_T_(DIO command/Serial communication operation)
AND MR-J4-_A_-RJ ............................................................................................................................. 6- 8
3.1 Function Comparison Table.......................................................................................................... 6- 8
3.1.1 DIO command/Serial communication operation specifications .......................................... 6-15
3.1.2 Function list ......................................................................................................................... 6-17
3.2 Configuration including auxiliary equipment ................................................................................ 6-20
3.3 Comparison of Standard Connection Diagrams .......................................................................... 6-24
3.4 List of Corresponding Connectors and Terminal Blocks ............................................................. 6-30
3.5 Comparison of Peripheral Equipment .......................................................................................... 6-37
3.5.1 MR-J3-_T_/ MR-J4-_A_-RJ ................................................................................................ 6-37
3.5.2 Extension I/O unit................................................................................................................ 6-37
3.6 Comparison of Parameters .......................................................................................................... 6-38
3.6.1 Setting requisite parameters upon replacement ................................................................. 6-38
3.6.2 Parameter comparison list .................................................................................................. 6-41
3.6.3 Comparison of parameter details........................................................................................ 6-44
3.7 Important Points for Replacement ............................................................................................... 6-86
4. COMMUNICATION FUNCTION ......................................................................................................... 6-89
3
 4.1 Command and data No. list ......................................................................................................... 6-89
4.1.1 Reading command comparison between MR-J3-_T_ and MR-J4-_A_-RJ
([Pr. PT01]: "1_ _ _") ........................................................................................................... 6-88
4.1.2 Writing command comparison between MR-J3-_T_ and MR-J4-_A_-RJ
([Pr. PT01]: "1_ _ _") ........................................................................................................... 6-95

Part 7: Review on Replacement of MR-J3-_T_ (CC-Link communication operation) with MR-J4-_GF_

7- 1 ～ 7-82

1. SUMMARY........................................................................................................................................... 7- 3
2. MR-J3-_T_ (CC-Link COMMUNICATION OPERATION) REPLACEMENT CASE STUDY ............... 7- 3
2.1 Examination of replacement method ............................................................................................ 7- 3
2.2 Replacement method.................................................................................................................... 7- 4
3. DIFFERENCES BETWEEN THE MR-J3-_T_ (CC-Link COMMUNICATION OPERATION) AND
MR-J4-_GF_ ........................................................................................................................................ 7- 7
3.1 Function comparison table............................................................................................................ 7- 7
3.1.1 CC-Link ⇒ CC-Link IE Field Network communication operation specifications list ......... 7-13
3.1.2 Function list ......................................................................................................................... 7-15
3.1.3 Detailed comparison of functions........................................................................................ 7-17
3.2 Configuration including peripheral equipment ............................................................................. 7-21
3.3 List of Corresponding Connectors and Terminal Blocks ............................................................. 7-23
3.4 List of supported connectors and terminal blocks ....................................................................... 7-24
3.5 Peripheral equipment compatibility comparison .......................................................................... 7-28
3.5.1 MR-J3-_T_/MR-J4-_GF_ .................................................................................................... 7-28
3.6 Parameter comparison ................................................................................................................ 7-29
3.6.1 Parameters required to be set when replacing ................................................................... 7-30
3.6.2 Parameter comparison list .................................................................................................. 7-32
3.6.3 Parameter detail comparison .............................................................................................. 7-36
3.7 Replacement points and precautions .......................................................................................... 7-77

Part 8: Common Reference Material 8- 1 to 8-172

1. SPECIFICATION DIFFERENCES ....................................................................................................... 8- 2

1.1 Detailed Specification/Function Differences ................................................................................. 8- 2
1.2 Servo amplifier .............................................................................................................................. 8- 4
1.2.1 Main circuit terminal block ................................................................................................... 8- 4
1.2.2 Comparison of encoder signals (CN2)................................................................................. 8- 9
1.2.3 Dynamic brake: coasting distance ...................................................................................... 8-10
1.2.4 Forced stop deceleration function selection ....................................................................... 8-20
1.2.5 Servo setup software: Setup software (SETUP221E) => MR Configurator2 ..................... 8-22
1.2.6 Servo amplifier initializing time ........................................................................................... 8-23
1.2.7 The pulse width of the encoder Z-Phase pulse .................................................................. 8-26
1.3 Overload protection characteristics ............................................................................................. 8-27
1.4 Comparison of Networks ............................................................................................................. 8-35
1.4.1 Comparison of servo system network specifications .......................................................... 8-35
2. SERVO AMPLIFIER DIMENSIONS/ATTACHMENT DIFFERENCES ............................................... 8-37
2.1 MR-J3 series => MR-J4 series Comparison Table of Servo Amplifier Dimensions/
Installation Differences ................................................................................................................ 8-37
2.1.1 1-axis servo amplifier 200 V/100 V class (22 kW or less) .................................................. 8-37
2.1.2 1-axis servo amplifier 400 V class (22 kW or less) ............................................................. 8-44
2.1.3 MR-J3-D01/MR-D01 ........................................................................................................... 8-48
2.1.4 Drive unit and converter unit 200 V class (30 kW or more) ................................................ 8-49
4
 2.1.5 Drive unit and converter unit 400 V class (30 kW or more) ................................................ 8-51
2.1.6 Multi-axis servo amplifier .................................................................................................... 8-53
2.2 Parameter conversion.................................................................................................................. 8-54
2.2.1 Operation procedure of parameter conversion ................................................................... 8-54
2.2.2 MR-J3-_A_/MR-J3-_T_ parameter diversion procedure .................................................... 8-55
2.2.3 Parameter reading from the servo amplifier MR- J3-_A_/MR-J3-_T_ ................................ 8-56
2.2.4 Converting the parameters of MR-J3-_A_/MR-J3-_T_ and writing them to the MR-J4-_A_
(-RJ) servo amplifier .......................................................................................................... 8-58
2.2.5 Conversion rules (MR-J3-_A_ => MR-J4-_A_)................................................................... 8-61
2.2.6 Parameters that need to be checked after parameter conversion ..................................... 8-66
2.2.7 Conversion rules (MR-J3-_T_(DIO Command/ Serial communication operation) =>
MR-J4-_A_-RJ) ................................................................................................................... 8-67
2.2.8 Parameters that need to be checked after parameter conversion ..................................... 8-75
2.2.9 Conversion rules (MR-J3-_T_ (CC-Link communication operation) ⇒ MR-J4-_GF_) ..... 8-76
2.2.10 Parameters requiring check after parameter conversion ................................................. 8-83
2.3 MR-J3-_B_ and MR-J3W-_B Parameter Diversion Procedure ................................................... 8-85
2.3.1 Changing QD75MH to QD77MS/LD77MS ......................................................................... 8-86
2.3.2 Changing Q17nHCPU/Q17nDCPU/Q170MCPU to Q17nDSCPU/Q170MSCPU(-S1) ...... 8-88
2.3.3 Conversion rules (MR-J3-_B_ and MR-J3W-_B => MR-J4-_B_ and MR-J4W2-_B) ......... 8-90
2.3.4 Parameters that need to be checked after parameter conversion ..................................... 8-95
3. COMMON POINTS TO NOTE............................................................................................................ 8-97
3.1 Method for checking the software version ................................................................................... 8-97
3.1.1 Checking with MR Configurator2 (SW1DNC-MRC2-E) ...................................................... 8-97
4. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) .. 8-98
4.1 Structure ...................................................................................................................................... 8-99
4.1.1 Configuration diagram ........................................................................................................ 8-99
4.1.2 Precautions for using RS-422/RS-232C/USB communication function ........................... 8-101
4.2 Communication specifications ................................................................................................... 8-102
4.2.1 Outline of communication ................................................................................................. 8-102
4.2.2 Parameter setting.............................................................................................................. 8-102
4.3 Protocol ...................................................................................................................................... 8-103
4.3.1 Transmission data configuration ....................................................................................... 8-103
4.3.2 Character codes................................................................................................................ 8-104
4.3.3 Error codes ....................................................................................................................... 8-105
4.3.4 Checksum ......................................................................................................................... 8-105
4.3.5 Time-out processing ......................................................................................................... 8-105
4.3.6 Retry processing ............................................................................................................... 8-106
4.3.7 Initialization ....................................................................................................................... 8-106
4.3.8 Communication procedure example ................................................................................. 8-107
4.4 Command and data No. list ....................................................................................................... 8-108
4.4.1 Reading command ............................................................................................................ 8-108
4.4.2 Writing commands ............................................................................................................ 8-113
4.5 Detailed explanations of commands.......................................................................................... 8-115
4.5.1 Data processing ................................................................................................................ 8-115
4.5.2 Status display mode.......................................................................................................... 8-117
4.5.3 Parameter ......................................................................................................................... 8-118
4.5.4 External I/O signal status (DIO diagnosis) ........................................................................ 8-122
4.5.5 Input device on/off............................................................................................................. 8-125
4.5.6 Disabling/enabling I/O devices (DIO)................................................................................ 8-126
4.5.7 Input devices on/off (test operation) ................................................................................. 8-127
4.5.8 Test operation mode ......................................................................................................... 8-128

5
 4.5.9 Output signal pin on/off (output signal (DO) forced output) .............................................. 8-132
4.5.10 Alarm history ................................................................................................................... 8-133
4.5.11 Current alarm .................................................................................................................. 8-134
4.5.12 Other commands ............................................................................................................ 8-135
5. HF-_P/HA-_P/HC-_P MOTOR DRIVE ............................................................................................. 8-137
5.1 MR-J3 series servo motors which are available with MR-J4-_A_ and MR-J4-_B_ ................... 8-137
5.2 MR-J3 series servo motors which are available with MR-J4W_-_B .......................................... 8-147
6. APPLICATION OF FUNCTIONS ...................................................................................................... 8-149
6.1 J3 compatibility mode ................................................................................................................ 8-149
6.1.1 J3 Outline of J3 compatibility mode .................................................................................. 8-149
6.1.2 Operation modes supported by J3 compatibility mode..................................................... 8-149
6.1.3 J3 compatibility mode supported function list ................................................................... 8-150
6.1.4 Distinguishing J3 compatibility mode ................................................................................ 8-153
6.1.5 How to switch J4 mode/J3 compatibility mode ................................................................. 8-154
6.1.6 How to use the J3 compatibility mode .............................................................................. 8-155
6.1.7 Cautions for switching J4 mode/J3 compatibility mode .................................................... 8-156
6.1.8 Cautions for the J3 compatibility mode ............................................................................. 8-156
6.1.9 Change of specifications of "J3 compatibility mode" switching process........................... 8-158
6.1.10 J3 extension function ...................................................................................................... 8-160
6.2 Master-slave operation function ................................................................................................ 8-162
6.3 Scale measurement function ..................................................................................................... 8-166
6.3.1 Functions and configuration.............................................................................................. 8-166
6.3.2 Scale measurement encoder ............................................................................................ 8-168
6.3.3 How to use scale measurement function .......................................................................... 8-171

Part 9: Review on Replacement of Motor 9- 1 to 9-68

1. SERVO MOTOR REPLACEMENT ...................................................................................................... 9- 2

1.1 Servo Motor Replacement Model and Compatibility .................................................................... 9- 2
2. COMPARISON OF SERVO MOTOR SPECIFICATIONS .................................................................. 9-13
2.1 Comparison of Servo Motor Mounting Dimensions ..................................................................... 9-13
2.2 Detailed Comparison of Servo Motor Mounting Dimensions....................................................... 9-19
2.3 Comparison of Mounting Dimensions for Geared Servo Motors ................................................. 9-22
2.4 Comparison of Actual Reduction Ratios for Geared Servo Motors ............................................. 9-25
2.5 Comparison of Moment of Inertia ................................................................................................ 9-26
2.6 Comparison of Servo Motor Connector Specifications................................................................ 9-37
2.7 Comparison of Servo Motor Torque Characteristics ................................................................... 9-58

Part 10: Review on Replacement of Optional Peripheral Equipment 10- 1 to 10-78

1. COMPARISON TABLE OF REGENERATIVE OPTION COMBINATIONS....................................... 10- 2

1.1 Regenerative Options 200 V class /100 V class ........................................................................ 10- 3
1.1.1 Combination and regenerative power for the MR-J3/MR-J3W series ............................... 10- 3
1.1.2 Combination and regenerative power for MR-J4 series (replacement model) .................. 10- 4
1.1.3 External Form Comparison ................................................................................................ 10- 5
1.2 Regenerative Options 400 V class ............................................................................................. 10- 6
1.2.1 Combination and regenerative power for the MR-J3 series .............................................. 10- 6
1.2.2 Combination and regenerative power for MR-J4 series (replacement model) .................. 10- 7
1.2.3 External Form Comparison ................................................................................................ 10- 8
2. COMPARISON TABLE OF DYNAMIC BRAKE OPTION COMBINATIONS .................................... 10-10
2.1 External Form Comparison ........................................................................................................ 10-11
3. COMPARISON TABLE OF CABLE OPTION COMBINATIONS ...................................................... 10-12
6
 3.1 Changes from MR-J3 series to MR-J4 series ........................................................................... 10-12
3.2 Changes from MR-J3W series to MR-J4W2-_B Servo amplifier .............................................. 10-14
4. POWER SUPPLY WIRE SIZE.......................................................................................................... 10-15
4.1 Selection of Power Supply Wire Size (Example) ....................................................................... 10-15
4.1.1 MR-J3 series power supply wire size ............................................................................... 10-15
4.1.2 MR-J4 series power supply wire size ............................................................................... 10-19
4.1.3 MR-J3W series power supply wire size ............................................................................ 10-21
4.1.4 MR-J4W2-_B servo amplifier, power supply wire size ..................................................... 10-23
4.2 Selection Example of Crimp Terminals ..................................................................................... 10-25
4.2.1 MR-J3 series crimp terminal ............................................................................................. 10-25
4.2.2 MR-J4 series crimp terminal ............................................................................................. 10-26
4.3 Selection of Molded-Case Circuit Breaker, Fuse, and Magnetic Contactor (Example) ............ 10-27
4.3.1 MR-J3 series, molded-case circuit breakers, fuses, and magnetic contactors ................ 10-27
4.3.2 MR-J4 series, molded-case circuit breakers, fuses, and magnetic contactors
(recommended)................................................................................................................. 10-28
4.3.3 MR-J3W series, no-fuse breakers, fuses, magnetic contactors ....................................... 10-30
4.3.4 MR-J4W2-_B servo amplifier, no-fuse breakers, fuses, magnetic contactors.................. 10-31
5. BATTERY ......................................................................................................................................... 10-33
5.1 Combinations of batteries and the servo amplifier .................................................................... 10-33
5.2 MR-J3 series Battery ................................................................................................................. 10-34
5.3 MR-J4 series Battery ................................................................................................................. 10-35
5.3.1 Battery replacement procedure ........................................................................................ 10-35
5.3.2 When using the MR-BAT6V1SET battery......................................................................... 10-36
5.3.3 When using MR-BAT6V1BJ battery for junction battery cable ......................................... 10-37
5.3.4 When using MR-BT6VCASE battery case........................................................................ 10-38
5.4 MR-J3W series Battery .............................................................................................................. 10-39
5.4.1 MR-BTCASE battery case and MR-BAT battery .............................................................. 10-39
5.5 MR-J4W2-_B servo amplifier, battery........................................................................................ 10-40
5.5.1 MR-BT6VCASE battery case ............................................................................................ 10-40
5.5.2 MR-BAT6V1 battery .......................................................................................................... 10-46
5.5.3 MR-BAT6V1SET-A battery (MR-J4W2-0303B6 only) ...................................................... 10-47
6. EMC FILTER (RECOMMENDED) .................................................................................................... 10-50
6.1 MR-J3/MR-J3W/MR-J4 series EMC Filter (recommended) (100 V/200 V/400 V class) ........... 10-50
6.1.1 Connection example ......................................................................................................... 10-51
6.1.2 Dimensions ....................................................................................................................... 10-52
7. POWER FACTOR IMPROVING AC REACTOR/POWER FACTOR IMPROVING DC REACTOR . 10-56
7.1 MR-J3 series Power Factor Improving DC Reactor .................................................................. 10-56
7.2 MR-J3/MR-J3W series Power Factor Improving AC Reactor ................................................... 10-59
7.3 MR-J4 series Power factor improving DC reactors 200 V class................................................ 10-61
7.4 MR-J4 series Power factor improving DC reactors 400 V class................................................ 10-63
7.5 MR-J4 series Power factor improving AC reactors 200 V/100 V class ..................................... 10-65
7.6 MR-J4 series Power factor improving AC reactors 400 V class ................................................ 10-67
8. SETUP SOFTWARE (SETUP221E) ................................................................................................ 10-69
8.1 MR-J3/MR-J3W series Setup Software (SETUP221E) ............................................................. 10-69
8.1.1 Specifications .................................................................................................................... 10-69
8.2 MR-J4 series MR Configurator2 ................................................................................................ 10-70
8.2.1 Specifications .................................................................................................................... 10-70
8.3 System configuration ................................................................................................................. 10-71
8.3.1 Components...................................................................................................................... 10-71
8.3.2 Connection with servo amplifier ........................................................................................ 10-72
8.3.3 Precautions for using USB communication function......................................................... 10-72

7
 9. PANEL THROUGH ATTACHMENT ................................................................................................. 10-73
9.1 MR-J3 series (MR-J3ACN) ........................................................................................................ 10-73
9.2 MR-J4 series (MR-J4ACN15K/MR-J3ACN) .............................................................................. 10-75

Part 11: Startup Procedure Manual 11- 1 to 11- 4

1. STARTUP .......................................................................................................................................... 11- 2

1.1 Switching power on for the first time........................................................................................... 11- 3
1.1.1 Startup procedure .............................................................................................................. 11- 3

Appendix 1: Introduction to Renewal Tool Appendix 1- 1 to Appendix 1-21

1. SUMMARY........................................................................................................................... Appendix 1- 2
1.1 Servo amplifier replacement model .............................................................................. Appendix 1- 2
1.2 Features ........................................................................................................................ Appendix 1- 2
2. IMPORTANT POINTS TO NOTE WHEN REPLACING ...................................................... Appendix 1- 3
3. REPLACMENT COMBINATION LIST ................................................................................. Appendix 1- 4
3.1 Servo amplifier replacement combination list ............................................................... Appendix 1- 4
3.2 Servo Motor Substitute Model and Compatibility ......................................................... Appendix 1- 6
4. RENEWAL TOOL PRODUCT LIST ..................................................................................... Appendix 1- 9
5. SPECIFICATIONS .............................................................................................................. Appendix 1-12
5.1 Standard Specifications ............................................................................................... Appendix 1-12
6. DIMENSIONS ..................................................................................................................... Appendix 1-13
6.1 Mounting attachment ................................................................................................... Appendix 1-13
6.2 Conversion cable ......................................................................................................... Appendix 1-16
6.2.1 Servo motor side power supply conversion cable .............................................. Appendix 1-16
6.2.2 Servo motor side encoder conversion cable ...................................................... Appendix 1-18
6.2.3 Cable pulling direction ........................................................................................ Appendix 1-19
6.2.4 Servo motor side conversion cable for the cooling fan ....................................... Appendix 1-19
6.2.5 The control signal conversion cable for the servo amplifier side ........................ Appendix 1-20

8
Part 1: Summary of MR-J3/MR-J3W Replacement

Part 1
Summary of
MR-J3/MR-J3W Replacement

1- 1
Part 1: Summary of MR-J3/MR-J3W Replacement

This document describes the review items for replacing MR-J3/MR-J3W with MR-J4. Some equipment may require
review on items not described in this document. Please review those items after viewing the instruction manual and
the catalogs.

Part 1: Summary of MR-J3/MR-J3W Replacement

1. SUMMARY OF MR-J3/MR-J3W REPLACEMENT

In this document, the flow when replacing a system using the MELSERVO "MR-J3" with the "MR-J4 series"
is explained.
After deciding the replacement strategy (batch update or partial update of the servo amplifier, servo motor,
and controller), please proceed with replacement by referring to the corresponding parts of this manual and
the manual for each model.

2. MAJOR REPLACEMENT TARGET MODEL

2.1 Servo Amplifier Replacement Target Model

Series Servo amplifier model Series Servo amplifier Model

MR-J3-_A_ MR-J4-_A_
→
MR-J3-_B_ MR-J4-_B_

MR-J3-_T_ + MR-J3-D01 (Note)

MR-J3 series MR-J4-_A_-RJ + MR-D01 (Note)
(DIO command)
MR-J4 series
MR-J3-_T_
MR-J4-_A_-RJ
(Serial communication operation)
MR-J3-_T_
MR-J4-_GF_
(CC-Link communication operation)

MR-J3W series MR-J3W-_B MR-J4W2-_B

Note. MR-J3-D01 and MR-D01 have the same functions and performance. MR-J3-D01 can be used with MR-J4-_A_-
RJ.

2.2 Servo Motor Replacement Target Model

Servo motor model Servo motor model

Low inertia HF-KP_ HG-KR_
Small capacity HF-MP_ HG-MR_
Ultra-low inertia
HF-MP_ (with reducer) HG-KR_ (with reducer)
medium inertia HF-SP_ HG-SR_
HC-LP_
Low inertia HG-JR_
HF-JP_ →
Medium capacity
HC-RP_ HG-RR_
Ultra-low inertia
HC-RP_ (with reducer) HG-SR_ (with reducer)
Flat HC-UP_ HG-UR_
HG-SR_
Large capacity Low inertia HA-LP_
HG-JR_
Note. For details, refer to "Part 9: Review on Replacement of Motor".

1- 2
Part 1: Summary of MR-J3/MR-J3W Replacement

3. FLOW OF REPLACEMENT

3.1 Summary

This section describes the flow of replacement when replacing a system using the MR-J3 series/MR-J3W
series with a system using the MR-J4 series.

3.1.1 Flow of Review on Replacement

Checking the system prior to replacement    Check the components of the system prior to replacement.
: Refer to "3.2.1 Checking the system prior to replacement" in this document.

Determination of base replacement model    Determine the base replacement model for the servo amplifier/servo motor model
used for the system prior to replacement.
: Refer to "3.2.2 Determination of base replacement model" in this document.

Detailed specifications/
   Determine the base replacement model and check the impact according to the
functions difference check "specification/function" of the replacement model.
: Refer to "Part 8: Common Reference Material" in this document.

Attachment compatibility check    Check the compatibility and the attachment differences in the "Attachment
compatibility" items in the list of base replacement models.
: Refer to "Part 8: Common Reference Material, 2. SERVO AMPLIFIER
DIMENSIONS /INSTALLATION DIFFERENCES", and "Part 9: Replacement of
Motor" in this document.
(When replacing the MR-J3W series with the MR-J4 series, also refer to "Part 4:
Review on Replacement of MR-J3W-_B with MR-J4W2-_B".)

Detailed review on replacement model    Determine the replacement strategy and perform detailed designing.
: Refer to "Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_",
"Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_"
"Part 4: Review on Replacement of MR-J3W-_B with MR-J4W2-_B"
"Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_"
"Part 6: Review on Replacement of MR-J3-_T_ (DIO/Serial communication
operation) with MR-J4-_A_-RJ"
"Part 7: Review on Replacement of MR-J3-_T_ (CC-Link communication
operation) with MR-J4-_GF_"
"Part 9: Review on Replacement of Motor" in this document.

Peripheral equipment check    Check the peripheral equipment that comes with the replacement.
: Refer to "Part 10: Review on Replacement of Optional Peripheral Equipment" in this
document.

Startup procedure check    Check the startup procedure.

: Refer to "Part 11: Startup Procedure Manual" in this document.

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Part 1: Summary of MR-J3/MR-J3W Replacement

3.1.2 Configuration diagram

The following displays the review items when replacing MR-J3 series with MR-J4 series using MR-J3-100A
or less as an example case.

Options and
Peripheral equipment
RST

Power supply

No-fuse breaker
(NFB) or fuse
Options and
Peripheral equipment

CN6
Analog monitor
Magnetic Servo amplifier
contactor
(MC)
Personal
Setup software
computer
(SETUP221E)
CN5 (Note)

Line noise filter

(FR-BSF01) CN3

L1 CN1
L2
L3 Junction terminal block

CN2

Power factor P1 CN4

improving DC
reactor P2
(FR-BEL) Battery
MR-

Servo motor
UVW
P C
Regenerative
option
L11

L21

Note. "MR Configurator2" can also be used for MR-J3 series/MR-J3W series.

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Part 1: Summary of MR-J3/MR-J3W Replacement

3.1.3 Changes from MR-J3 series to MR-J4 series

POINT
The following table summarizes the changes from MR-J3 series to MR-J4 series.
For details, refer to the reference document/items.
For large capacity models of 30 kW or more, Refer to "Part 5: Review on
Replacement of MR-J3-DU_ with MR-J4-DU_"

Reference
Changes Check items Impact
document/items
Servo Connector Connector shape, pin arrangement, signal abbreviation, and Part 2, Section 3.3
amplifier location are different. Part 3, Section 3.4
Part 8, Section 1.2.2
Terminal block Terminal block shape, location, and method of drawing out
Part 8, Section 1.2.1
wires are different.
P3, P4 terminals MR-J4 servo amplifier has P3 and P4 in the upstream of the
inrush current suppression circuit. Note that the locations of
Part 8, Section 1.2.1
the P1 and P terminals of MR-J3-11K_ to MR-J3-22K_ are
different.
Z-phase There is no difference caused by the replacement from the MR-
Part 8, Section 1.2.7
J3 servo amplifier to the MR-J4 servo amplifier.
Parameter General-purpose interface is upward compatible, but the
parameter needs to be changed. The parameter converter Part 2, Section 3.5
function of MR Configurator2 can transfer the parameter setting Part 3, Section 3.6
for MR-J3 to the setting for MR-J4. For SSCNET III interface, the Part 8, Section 2.2
MR-J3 compatibility mode is available with the MR-J4 series and Part 8, Section 2.3
the parameter does not need to be changed.
Dimensions MR-J3 and MR-J4 have compatibility in mounting.
Note that the positions (clearances) of mounting screws for the Part 8, Section 2.1.1
5 kW (200 V), 3.5 kW (400 V), 11 kW, and 15 kW have been Part 8, Section 2.1.2
changed to reduce the size of external dimensions.
Dynamic brake coasting The servo motor has a different dynamic brake coasting
Part 8, Section 1.2.3
distance distance.
Forced stop deceleration For MR-J4, in the shipping status, the servo motor decelerates Part 8, Section 1.2.4
to stop during a forced stop or when an alarm has occurred. MR-J4-_A_(-RJ)/MR-
The stop method for MR-J4 is different from the method of J4-03A6(-RJ) Servo
when an emergency stop or a forced stop of MR-J3 is enabled. Amplifier Instruction
Manual
MR-J4-_B_(-RJ)
Servo Amplifier
Instruction Manual
MR-J4-_GF_ Servo
Amplifier Instruction
Manual (Motion
mode)
Initialization time The time it takes to reach servo-on from power-on is different. Part 8, Section 1.2.6
Options and Molded-case circuit breaker Those for MR-J3 may not be usable. Select those for MR-J4.
Part 10, Section 4.3
peripheral Fuse
equipment Magnetic contactor Those for MR-J3 may not be usable. Select those for MR-J4. Part 10, Section 4.3
Power factor improving AC Those for MR-J3 may not be usable. FR-HAL is Part 10, Section 7.2
reactor recommended. Part 10, Section 7.5
Part 10, Section 7.6
Power factor improving DC Those for MR-J3 may not be usable. FR-HEL is Part 10, Section 7.1
reactor recommended. Part 10, Section 7.3
Part 10, Section 7.4
Regenerative option Some regenerative options cannot be used for MR-J4. Part 10, Chapter 1
Setup software Setup software (SETUP221E) cannot be used for MR-J4. Use
(SETUP221E) MR Configurator2.
Part 10, Chapter 8
"MR Configurator2" can also be used for MR-J4 series and
MR-J3 series.
Battery Use MR-BAT6V1SET(-A) or MR-BT6VCASE for MR-J4. Part 10, Chapter 5
Encoder cable When more than 15 kW of HG-JR 1000 r/min series or more
than 22 kW of HG-JR 1500 r/min series is used, setting Part 8, Section 1.2.2
changes are required for the following encoder cables. Part 10, Chapter 3
MR-ENECBL _ M-H-MTH

1- 5
Part 1: Summary of MR-J3/MR-J3W Replacement

Reference
Changes Check items Impact
document/items
Options and Wire An HIV wire is recommended for MR-J4. Part 10, Chapter 4
peripheral Dynamic brakes Some dynamic brakes cannot be used for MR-J4. Part 10, Chapter 2
equipment EMC filter There is no change in recommended products. Part 10, Chapter 6
Panel through attachment MR-J3ACN cannot be used for MR-J4-11K_(4) or MR-J4-
Part 10, Chapter 9
15K_(4).
Servo motor Mounting compatibility Some models have no mounting compatibility. Part 9, Section 1.1
Dimensions The total length may differ depending on models. Part 9, Section 2.1
Part 9, Section 2.2
Part 9, Section 2.3
Reducer The actual reduction ratio of HF-KP and HF-MP series
Part 9, Section 2.3
G1 types may differ from that of HG-KR series G1 types
Part 9, Section 2.4
depending on models.
Moment of inertia The moment of inertia of the HF-_P/HC-_P/HA-_P motor
may differ from that of the HG motor depending on Part 9, Section 2.5
models. (Note 2)
Load to motor inertia ratio The range of the load to motor inertia ratio for the servo
motor may differ between the HF-_P/HC-_P/HA-_P motor Part 9, Section 2.5
and the HG motor depending on models.
Connector The power connector, encoder connector, and
electromagnetic brake connector may differ from one Part 9, Section 2.6
another in shape.
Torque characteristics The torque characteristics of the HF-_P/HC-_P/HA-_P
Part 9, Section 2.7
motor may differ from those of the HG motor.
Rated speed/maximum speed The Rated speed/maximum speed of the HF-_P/HC- Servo Motor
_P/HA-_P motor may differ from those of the HG motor. Instruction Manual
(Vol. 3)
Thermal sensor (Note 1) For HG-JR 1000 r/min series of 15 kW or more and HG- HG-MR/HGKR/
JR 1500 r/min series of 22 kW or more, the thermal HG-SR/HGJR/
sensor is replaced with a thermistor. For HG-JR 1000 HG-RR/HGUR/
r/min series of 12 kW or less and HG-JR 1500 r/min HG-AK Servo Motor
series of 15 kW or less, the thermal sensor is removed. Instruction Manual (Vol.
3)
Encoder resolution The encoder resolution differs as follows. HG-MR/HGKR/
HF-_P/HC-_P/HA-_P motor: 18bit ABS HG-SR/HGJR/
HG-RR/HGUR/
HG motor: 22 bit ABS
HG-AK Servo Motor
Instruction Manual (Vol.
3)
Controller MR-J4-_B_ servo amplifiers have two operation modes.
(SSCNET III "J4 mode" is for using all functions with full performance
interface only) and "J3 compatibility mode" is compatible with MR-J3-_B_
series for using the amplifiers as the conventional series.
When you connect an amplifier with SSCNET III/H
communication for the first controller communication with
the factory setting, the operation mode will be fixed to "J4
mode". For SSCNET III communication, the operation
mode will be fixed to "J3 compatibility mode".

Note 1. For HG-JR 1000 r/min series of 15 kW or more and HG-JR 1500 r/min series of 22 kW or more, the thermal sensor is
replaced with a thermistor. For HG-JR 1000 r/min series of 12 kW or less and HG-JR 1500 r/min series of 15 kW or less, the
thermal sensor is removed. A new encoder cable laying is required because the motor thermal wiring differs.
2. This may change the motor inertia, making it necessary to adjust the servo gain.

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Part 1: Summary of MR-J3/MR-J3W Replacement

3.1.4 Changes from MR-J3W series to MR-J4 series

POINT
The following table summarizes the changes from MR-J3W series to MR-J4
series. For details, refer to the reference document/items.

Reference
Changes Check items Impact
document/items
Servo Connector Connector shape, pin arrangement, signal abbreviation, Part 4, Section 3.6
amplifier and location are different. Part 8, Section 1.2.2
Parameter For SSCNETIII interface, the MR-J3 compatibility mode
is available with the MR-J4 series and parameters do not Part 4, Section 3.7
need to be changed.
Dimensions MR-J3W-22B/-44B ⇒ MR-J4W2-22B/-44B
: The dimensions are the same. The number of mounting
screws is different.
MR-J3W-77B/-1010B ⇒ MR-J4W2-77B/-1010B
: Note that the positions (clearances) and the number of
Part 8, Section 2.1.5
mounting screws have been changed to reduce the size
of external dimensions.
MR-J3W-0303BN6 ⇒ MR-J4W2-0303B6
: The dimensions, the clearances and number of
mounting screw are the same.
Dynamic brake coasting distance The servo motor has a different dynamic brake coasting
Part 8, Section 1.2.3
distance.
Forced stop deceleration For MR-J4, in the shipping status, the servo motor Part 8, Section 1.2.4
decelerates to stop during a forced stop or when an alarm MR-J4W2-_B
has occurred. The stop method for MR-J4 is different from /MR-J4W3-_B
the method of when an emergency stop or a forced stop of /MRJ4W2-0303B6
MR-J3W is enabled. Servo Amplifier
Instruction Manual
Initialization time The time it takes to reach servo-on from power-on is
Part 8, Section 1.2.6
different.
Options and Molded-case circuit breaker Those for MR-J3W may not be usable. Select those for
Part 10, Section 4.3
peripheral Fuse MR-J4.
equipment Magnetic contactor Those for MR-J3W may not be usable. Select those for
Part 10, Section 4.3
MR-J4.
Power factor improving AC Those for MR-J3W may not be usable. FR-HAL is Part 10, Section 7.2
reactor recommended. Part 10, Section 7.5
Regenerative option Some regenerative options cannot be used for MR-J4. Part 10, Chapter 1
Setup software (SETUP221E) Setup software (SETUP221E) cannot be used for MR-J4.
Use MR Configurator2.
Part 10, Chapter 8
"MR Configurator2" can also be used for MR-J4 series
and MR-J3W series.
Battery Use MR-BAT6V1SET(-A) or MR-BT6VCASE for MR-J4. Part 10, Chapter 5
Encoder cable MR-J3W cables can be used as they are. Part 8, Section 1.2.2
Part 10, Chapter 3
Wire An HIV wire is recommended for MR-J4. Part 10, Chapter 4
EMC filter Some EMC filters cannot be used for MR-J4. Part 10, Chapter 6

1- 7
Part 1: Summary of MR-J3/MR-J3W Replacement

Reference
Changes Check items Impact
document/items
Servo motor Mounting compatibility Some models have no mounting compatibility. Part 9, Section 1.1
Dimensions The total length may differ depending on models. Part 9, Section 2.1
Part 9, Section 2.2
Part 9, Section 2.3
Reducer The actual reduction ratio of HF-KP and HF-MP series
Part 9, Section 2.3
G1 types may differ from that of HG-KR series G1 types
Part 9, Section 2.4
depending on models.
Moment of inertia The moment of inertia of the HF-_P/HC-_P/HA-_P motor
may differ from that of the HG motor depending on Part 9, Section 2.5
models. (Note)
Load to motor inertia ratio The range of the load to motor inertia ratio for the servo
motor may differ between the HF-_P/HC-_P motor and Part 9, Section 2.5
the HG motor depending on models.
Connector The power connector, encoder connector, and
electromagnetic brake connector may differ from one Part 9, Section 2.6
another in shape.
Torque characteristics The torque characteristics of the HF-_P/HC-_P motor
Part 9, Section 2.7
may differ from those of the HG motor.
Rated speed/maximum speed The Rated speed/maximum speed of the HF-_P/HC-_P HG-MR/HGKR/
motor may differ from those of the HG motor. HG-SR/HGJR/
HG-RR/HGUR/
HG-AK Servo Motor
Instruction Manual
(Vol. 3)
Encoder resolution The encoder resolution differs as follows. HG-MR/HGKR/
HF-_P/HC-_P motor: 18bit ABS HG-SR/HGJR/
HG-RR/HGUR/
HG motor: 22 bit ABS
HG-AK Servo Motor
Instruction Manual
(Vol. 3)
Controller MR-J4W2-_B servo amplifiers have two operation modes.
(SSCNET "J4 mode" is for using all functions with full performance
interface only) and "J3 compatibility mode" is compatible with MR-J3W-
_B series for using the amplifiers as the conventional
series.
When you connect an amplifier with SSCNET III/H
communication for the first controller communication with
the factory setting, the operation mode will be fixed to "J4
mode". For SSCNET III communication, the operation
mode will be fixed to "J3 compatibility mode".

Note. This may change the motor inertia, making it necessary to adjust the servo gain.

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Part 1: Summary of MR-J3/MR-J3W Replacement

3.2 Review on replacement

3.2.1 Checking the system prior to replacement

Check the components of the system prior to replacement.

Servo amplifier
Category Controller model "Reference items" in this document Control mode
model

QD75P(D)
1) MR-J3 series
Positioning module MR-J3-_A_  "Part 2: Review on Replacement of
A1SD75P(D) MR-J3-_A_ with MR-J4-_A_" Position control
2) MR-J3 series
Controller from Controller from
another company another company
MR-J3-_A_  "Part 5: Review on Replacement of
MR-J3-DU_ with MR-J4-DU_"
3) MR-J3 series Speed control
MR-J3-_A_  Torque control
"Part 6: Review on Replacement of
No controller MR-J3-_T_ + MR-J3- MR-J3-_T_ (DIO command/Serial
No controller
connected D01 communication operation) with MR- Positioning mode
(DIO/Serial J4-_A_-RJ" (Point table method)
communication)
SSCNET III MR-J3-_B_ 1) MR-J3 series
Positioning module
QD75MH
MR-J3W-_B
 "Part 3: Review on Replacement of
MR-J3-_B_ with MR-J4-_B_"
Q17_HCPU 2) MR-J3W series
"Part 4: Review on Replacement of Position control
SSCNET III MR-J3-_B_
Motion controller
Q170MCPU
MR-J3W-_B
 MR-J3W-_B with MR-J4W2-_B"
3) MR-J3 series
Q17_DCPU "Part 5: Review on Replacement of
MR-J3-DU_ with MR-J4-DU_"
CC-Link QJ61BT11N MR-J3-_T_ MR-J3 series Positioning mode
master/local (CC-Link "Part 7: Review on Replacement of
A1SJ61QBT11
 (Point table method,
module communication) MR-J3-_T_ (CC-Link
communication operation) with MR- Indexer method)
J4-_GF_" Speed control (Point
A1SJ61BT11
table method)

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Part 1: Summary of MR-J3/MR-J3W Replacement

3.2.2 Determination of base replacement model

(1) Models for replacement between MR-J3 series and MR-J4 series
Shown below are the base replacement models with the assumption that both the servo amplifier and
servo motor will be replaced as a set.

(a) General-purpose interface 200 V class

Attachment
Replacement model
Model compatibility Check items
(example)
( : Compatible)
MR-J3-10A MR-J4-10A
MR-J3-20A MR-J4-20A
MR-J3-40A MR-J4-40A
MR-J3-60A MR-J4-60A
MR-J3-70A MR-J4-70A
MR-J3-100A MR-J4-100A
MR-J3-200A(N)(-RT) MR-J4-200A
MR-J3-350A MR-J4-350A Refer to "Part 8: Common Reference Material".
MR-J3-500A MR-J4-500A (Note)
MR-J3-700A MR-J4-700A 
MR-J3-11KA
MR-J4-11KA (Note)
MR-J3-11KA-LR
MR-J3-15KA
MR-J4-15KA (Note)
MR-J3-15KA-LR
MR-J3-22KA MR-J4-22KA

Note.Refer to Comparison of servo amplifier dimensions (Part 8 Common Reference Material) for dimensions of mounting holes.

(b) SSCNET interface 200 V class

Attachment
Replacement model
Model compatibility Check items
(example)
( : Compatible)
MR-J3-10B MR-J4-10B
MR-J3-20B MR-J4-20B
MR-J3-40B MR-J4-40B
MR-J3-60B MR-J4-60B
MR-J3-70B MR-J4-70B
MR-J3-100B MR-J4-100B
MR-J3-200B(N)(-RT) MR-J4-200B
MR-J3-350B MR-J4-350B Refer to "Part 8: Common Reference Material".
MR-J3-500B MR-J4-500B (Note)
MR-J3-700B MR-J4-700B
MR-J3-11KB
MR-J4-11KB (Note)
MR-J3-11KB-LR
MR-J3-15KB
MR-J4-15KB (Note)
MR-J3-15KB-LR
MR-J3-22KB MR-J4-22KB
Note.Refer to Comparison of servo amplifier dimensions (Part 8 Common Reference Material) for dimensions of mounting holes.

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Part 1: Summary of MR-J3/MR-J3W Replacement

(c) DIO/Serial communication 200 V class

Attachment
Replacement model
Model compatibility Check items
(example)
( : Compatible)
MR-J3-10T MR-J4-10A-RJ
MR-J3-20T MR-J4-20A-RJ
MR-J3-40T MR-J4-40A-RJ
MR-J3-60T MR-J4-60A-RJ
MR-J3-70T MR-J4-70A-RJ
MR-J3-100T MR-J4-100A-RJ
MR-J3-200TN MR-J4-200A-RJ Refer to "Part 8: Common Reference Material".
MR-J3-350T MR-J4-350A-RJ
MR-J3-500T MR-J4-500A-RJ (Note)
MR-J3-700T MR-J4-700A-RJ
MR-J3-11KT MR-J4-11KA-RJ (Note)
MR-J3-15KT MR-J4-15KA-RJ (Note)
MR-J3-22KT MR-J4-22KA-RJ
Note.Refer to Comparison of servo amplifier dimensions (Part 8 Common Reference Material) for dimensions of mounting holes.

(d) CC-Link ⇒ CC-Link IE Field Network interface 200 V class

Attachment
Replacement model
Model compatibility Check items
(example)
( : Compatible)
MR-J3-10T MR-J4-10GF (Note)
MR-J3-20T MR-J4-20GF (Note)
MR-J3-40T MR-J4-40GF (Note)
MR-J3-60T MR-J4-60GF (Note)
MR-J3-70T MR-J4-70GF
MR-J3-100T MR-J4-100GF
MR-J3-200TN MR-J4-200GF Refer to "Part 8: Common Reference Material".
MR-J3-350T MR-J4-350GF
MR-J3-500T MR-J4-500GF (Note)
MR-J3-700T MR-J4-700GF
MR-J3-11KT MR-J4-11KGF (Note)
MR-J3-15KT MR-J4-15KGF (Note)
MR-J3-22KT MR-J4-22KGF
Note.Refer to Comparison of servo amplifier dimensions (Part 8 Common Reference Material) for dimensions of mounting holes.

(e) General-purpose interface 200 V class (30 kW or more)

Attachment
Replacement model
Model compatibility Check items
(example)
( : Compatible)
MR-J3-DU30KA MR-J4-DU30KA
+ MR-J3-CR55K + MR-CR55K Refer to "Part 5: Review on Replacement of MR-
MR-J3-DU37KA MR-J4-DU37KA J3-DU_ with MR-J4-DU_"
+ MR-J3-CR55K + MR-CR55K

(f) SSCNET interface 200 V class (30 kW or more)

Attachment
Replacement model compatibility
Model Check items
(example)
( : Compatible)
MR-J3-DU30KB MR-J4-DU30KB
+ MR-J3-CR55K + MR-CR55K Refer to "Part 5: Review on Replacement of MR-
MR-J3-DU37KB MR-J4-DU37KB J3-DU_ with MR-J4-DU_"
+ MR-J3-CR55K + MR-CR55K

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Part 1: Summary of MR-J3/MR-J3W Replacement

(g) General-purpose interface 400 V class

Attachment
Replacement model
Model compatibility Check items
(example)
( : Compatible)
MR-J3-60A4 MR-J4-60A4
MR-J3-100A4 MR-J4-100A4
MR-J3-200A4 MR-J4-200A4
MR-J3-350A4 MR-J4-350A4 (Note)
MR-J3-500A4 MR-J4-500A4
MR-J3-700A4 MR-J4-700A4 Refer to "Part 8: Common Reference Material".
MR-J3-11KA4
MR-J4-11KA4 (Note)
MR-J3-11KA4-LR
MR-J3-15KA4
MR-J4-15KA4 (Note)
MR-J3-15KA4-LR
MR-J3-22KA4 MR-J4-22KA4

Note.Refer to Comparison of servo amplifier dimensions (Part 8 Common Reference Material) for dimensions of mounting holes.

(h) SSCNET interface 400 V class

Attachment
Replacement model
Model compatibility Check items
(example)
( : Compatible)
MR-J3-60B4 MR-J4-60B4
MR-J3-100B4 MR-J4-100B4
MR-J3-200B4 MR-J4-200B4
MR-J3-350B4 MR-J4-350B4 (Note)
MR-J3-500B4 MR-J4-500B4
MR-J3-700B4 MR-J4-700B4 Refer to "Part 8: Common Reference Material".
MR-J3-11KB4
MR-J4-11KB4 (Note)
MR-J3-11KB4-LR
MR-J3-15KB4
MR-J4-15KB4 (Note)
MR-J3-15KB4-LR
MR-J3-22KB4 MR-J4-22KB4

Note.Refer to Comparison of servo amplifier dimensions (Part 8 Common Reference Material) for dimensions of mounting holes.

(i) DIO/Serial communication 400 V class

Attachment
Replacement model
Model compatibility Check items
(example)
( : Compatible)
MR-J3-60T4 MR-J4-60A4-RJ
MR-J3-100T4 MR-J4-100A4-RJ
MR-J3-200T4 MR-J4-200A4-RJ
MR-J3-350T4 MR-J4-350A4-RJ (Note)
MR-J3-500T4 MR-J4-500A4-RJ Refer to "Part 8: Common Reference Material".
MR-J3-700T4 MR-J4-700A4-RJ
MR-J3-11KT4 MR-J4-11KA4-RJ (Note)
MR-J3-15KT4 MR-J4-15KA4-RJ (Note)
MR-J3-22KT4 MR-J4-22KA4-RJ

Note.Refer to Comparison of servo amplifier dimensions (Part 8 Common Reference Material) for dimensions of mounting holes.

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Part 1: Summary of MR-J3/MR-J3W Replacement

(j) CC-Link ⇒ CC-Link IE Field Network interface 400 V class

Attachment
Replacement model
Model compatibility Check items
(example)
( : Compatible)
MR-J3-60T4 MR-J4-60GF4
MR-J3-100T4 MR-J4-100GF4
MR-J3-200T4 MR-J4-200GF4
MR-J3-350T4 MR-J4-350GF4 (Note)
MR-J3-500T4 MR-J4-500GF4 Refer to "Part 8: Common Reference Material".
MR-J3-700T4 MR-J4-700GF4
MR-J3-11KT4 MR-J4-11KGF4 (Note)
MR-J3-15KT4 MR-J4-15KGF4 (Note)
MR-J3-22KT4 MR-J4-22KGF4
Note.Refer to Comparison of servo amplifier dimensions (Part 8 Common Reference Material) for dimensions of mounting holes.

(k) General-purpose interface 400 V class (30 kW or more)

Attachment
Replacement model
Model compatibility Check items
(example)
( : Compatible)
MR-J3-DU30KA4 MR-J4-DU30KA4
+ MR-J3-CR55K4 + MR-CR55K4
MR-J3-DU37KA4 MR-J4-DU37KA4
+ MR-J3-CR55K4 + MR-CR55K4 Refer to "Part 5: Review on Replacement of MR-
MR-J3-DU45KA4 MR-J4-DU45KA4 J3-DU_ with MR-J4-DU_"
+ MR-J3-CR55K4 + MR-CR55K4
MR-J3-DU55KA4 MR-J4-DU55KA4
+ MR-J3-CR55K4 + MR-CR55K4

(l) SSCNET interface 400 V class (30 kW or more)

Attachment
Replacement model
Model compatibility Check items
(example)
( : Compatible)
MR-J3-DU30KB4 MR-J4-DU30KB4
+ MR-J3-CR55K4 + MR-CR55K4
MR-J3-DU37KB4 MR-J4-DU37KB4
+ MR-J3-CR55K4 + MR-CR55K4 Refer to "Part 5: Review on Replacement of MR-
MR-J3-DU45KB4 MR-J4-DU45KB4 J3-DU_ with MR-J4-DU_"
+ MR-J3-CR55K4 + MR-CR55K4
MR-J3-DU55KB4 MR-J4-DU55KB4
+ MR-J3-CR55K4 + MR-CR55K4

(m) General-purpose interface 100 V class

Attachment
Replacement model
Model compatibility Check items
(example)
( : Compatible)
MR-J3-10A1 MR-J4-10A1
MR-J3-20A1 MR-J4-20A1 Refer to "Part 8: Common Reference Material".
MR-J3-40A1 MR-J4-40A1

(n) SSCNET interface 100 V class

Attachment
Replacement model
Model compatibility Check items
(example)
( : Compatible)
MR-J3-10B1 MR-J4-10B1
MR-J3-20B1 MR-J4-20B1 Refer to "Part 8: Common Reference Material".
MR-J3-40B1 MR-J4-40B1

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Part 1: Summary of MR-J3/MR-J3W Replacement

(o) DIO/Serial communication 100 V class

Attachment
Replacement model
Model compatibility Check items
(example)
( : Compatible)
MR-J3-10T1 MR-J4-10A1-RJ
MR-J3-20T1 MR-J4-20A1-RJ Refer to "Part 8: Common Reference Material".
MR-J3-40T1 MR-J4-40A1-RJ

(p) CC-Link ⇒ CC-Link IE Field Network interface 100 V class

Attachment
Replacement model
Model compatibility Check items
(example)
( : Compatible)
MR-J3-10T1 MR-J4-10A1-RJ
MR-J3-20T1 MR-J4-20A1-RJ Refer to "Part 8: Common Reference Material".
MR-J3-40T1 MR-J4-40A1-RJ

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Part 1: Summary of MR-J3/MR-J3W Replacement

(2) Models for replacement between MR-J3W series and MR-J4 series
Shown below are the base replacement models with the assumption that both the servo amplifier and
servo motor will be replaced as a set.

(a) SSCNET interface 200 V class

Attachment
Replacement model
Model compatibility Check items
(example)
( : Compatible)
MR-J3W-22B MR-J4W2-22B (Note 1)
MR-J3W-44B MR-J4W2-44B (Note 1) Refer to "Part 4: Review on Replacement
MR-J3W-77B MR-J4W2-77B (Note 2) of MR-J3W-_B with MR-J4W2-_B"
MR-J3W-1010B MR-J4W2-1010B (Note 2)

Note 1. The dimensions are the same. The number of mounting screws is different.
2. Note that the positions (clearances) and the number of mounting screws have been changed to reduce the size of
external dimensions.

(b) SSCNET interface 48 V DC/24 V DC class

Attachment
Replacement model
Model compatibility Check items
(example)
( : Compatible)
Refer to "Part 4: Review on Replacement of
MR-J3W-0303BN6 MR-J4W2-0303B6
MR-J3W-_B with MR-J4W2-_B"

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Part 1: Summary of MR-J3/MR-J3W Replacement

(3) Servo amplifier and servo motor combination for the MR-J4 series
For a review on the replacement of an existing servo motor with a new one, Refer to "Part 9: Review on
Replacement of Motor".

(a) 200 V/100 V class

Rotary servo motor
Servo amplifier
HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR
053 053
MR-J4-10_(1)(-RJ)
13 13
MR-J4-20_(1)(-RJ) 23 23
MR-J4-40_(1)(-RJ) 43 43
51
MR-J4-60_(-RJ) 53
52
MR-J4-70_(-RJ) 73 73 72 73
81 53 (Note)
MR-J4-100_(-RJ)
102 103
121 73 (Note)
201 103 103 (Note)
MR-J4-200_(-RJ) 152 153
152 153
202 203
153 (Note)
301
MR-J4-350_(-RJ) 202 203 203 (Note)
352
353
421 352 353 353 (Note)
MR-J4-500_(-RJ)
502 502 503 503
503 (Note)
601
MR-J4-700_(-RJ) 702 701M
703
801
12K1
MR-J4-11K_(-RJ) 11K1M
903
15K1
MR-J4-15K_(-RJ)
15K1M
20K1
MR-J4-22K_(-RJ) 25K1
22K1M
30K1
MR-J4-DU30K_
30K1M
37K1
MR-J4-DU37K_
37K1M
053 053
MR-J4W2-22B 13 13
23 23
053 053
13 13
MR-J4W2-44B
23 23
43 43
43 43 51 53
MR-J4W2-77B 72
73 73 52 73
51
53 (Note)
43 43 81
MR-J4W2-1010B 72 73
73 73 52
103
102

Note. With this combination, the rated torque and maximum torque can be increased.

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Part 1: Summary of MR-J3/MR-J3W Replacement

(b) 400 V class

Rotary servo motor
Servo amplifier
HG-SR HG-JR
MR-J4-60_4(-RJ) 524 534
534 (Note)
MR-J4-100_4(-RJ) 1024 734
1034
734 (Note)
1524 1034 (Note)
MR-J4-200_4(-RJ)
2024 1534
2034
1534 (Note)
MR-J4-350_4(-RJ) 3524 2034 (Note)
3534
3534 (Note)
MR-J4-500_4(-RJ) 5024
5034
5034 (Note)
6014
MR-J4-700_4(-RJ) 7024
701M4
7034
8014
12K14
MR-J4-11K_4(-RJ)
11K1M4
9034
15K14
MR-J4-15K_4(-RJ)
15K1M4
20K14
MR-J4-22K_4(-RJ) 25K14
22K1M4
30K14
MR-J4-DU30K_4
30K1M4
37K14
MR-J4-DU37K_4
37K1M4
MR-J4-DU45K_4 45K1M4
MR-J4-DU55K_4 55K1M4

Note. With this combination, the rated torque and maximum torque can be increased.

(c) 48 V DC/24 V DC class

Rotary servo motor
Servo amplifier
HG-AK
0136
MR-J4W2-0303B6 0236
0336

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Part 1: Summary of MR-J3/MR-J3W Replacement

3.2.3 Attachment compatibility check

Refer to "Part 8: Common Reference Material" and "Part 9: Review on Replacement of Motor".

3.2.4 Detailed review on replacement model

Refer to "Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_", "Part 3: Review on Replacement
of MR-J3-_B_ with MR-J4-_B_", "Part 4: Review on Replacement of MR-J3W-_B with MR-J4W2-_B", "Part
5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_" , "Part 6: Review on Replacement of MR-J3-
_T_(DIO/Serial communication operation) with MR-J4-_A_-RJ" and "Part 7: Review on Replacement of MR-
J3-_T_(CC-Link communication operation) with MR-J4-_GF_".

3.2.5 Peripheral equipment check

Refer to "Part 10: Review on Replacement of Optional Peripheral Equipment" in this document.

3.2.6 Startup procedure check

Refer to "Part 11: Startup Procedure Manual" in this document.

4. RELATED MATERIALS

4.1 Catalog
(1) Mitsubishi Electric General-Purpose AC Servo MELSERVO-J4

(2) Motion Controller Q17nDSCPU/Q170MSCPU

4.2 Instruction Manual

(1) MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ) Servo Amplifier Instruction Manual (SH(NA)030113)

(2) MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual (SH(NA)030106)

(3) MR-J4W2-_B/MR-J4W3-_B/MR-J4W2-0303B6 Servo Amplifier Instruction Manual (SH(NA)030105)

(4) MR-CV_/MR-CR55K_/MR-J4-DU_B_(-RJ)/MR-J4-DU_A_(-RJ) Instruction Manual (SH(NA)030153)

(5) MR-J4-_A_-RJ/MR-J4-03A6-RJ Servo Amplifier Instruction Manual (Positioning Mode) (SH(NA)030143)

(6) HG-MR/HG-KR/HG-SR/HG-JR/HG-RR/HG-UR/HG-AK Servo Motor Instruction Manual (Vol. 3)

(SH(NA)030113)

(7) MR-J4 Servo Amplifier Instruction Manual (Troubleshooting) (SH(NA)030109)

(8) MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode) (SH(NA)030218)

(9) MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (I/O Mode) (SH(NA)030221)

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Part 1: Summary of MR-J3/MR-J3W Replacement

4.3 Migration Guide

(1) Migration Guide of Motion Controller [Q17nCPUN(-T) ⇒ RnMTCPU] (L(NA)03156)

(2) Migration Guide of Motion Controller [Q17nHCPU(-T) ⇒ RnMTCPU] (L(NA)03157)

(3) Migration Guide from Positioning Module to Simple Motion Module [QD75M(H) ⇒ RD77MS]
(L(NA)03158)

(4) Migration Guide from Positioning Module to Simple Motion Module [QD74MH ⇒ RD77MS]
(L(NA)03170ENG)

(5) Migration Guide of Motion Controller [Q17nDCPU(-S1) ⇒ Q17nDSCPU] (L(NA)03189ENG)

(6) Migration Guide of Motion Controller [Q17nHCPU(-T) ⇒ Q17nDSCPU] (L(NA)03184ENG)

(7) Migration Guide of Motion Controller [Q17nCPUN(-T) ⇒ Q17nDSCPU] (L(NA)03121ENG)

(8) Migration Guide from Positioning Module to Simple Motion Module [QD75M(H) ⇒ QD77MS]
(L(NA)03122ENG)

(9) Migration Guide from Positioning Module to Simple Motion Module [QD74MH ⇒ QD77MS]
(L(NA)03165ENG)

(10) Motion controller Replacement Virtual mode with Advanced synchronous control (L(NA)03123ENG)

(11) Transition from A17nSHCPUN/A173UHCPU Series to Q Series Handbook (L(NA)03104)

4.4 Replacement Tool for Replacing MR-J3 with MR-J4

This tool is a reference for replacing the in-use MR-J3 series with the MR-J4 series.
The replacement tool is available on the Mitsubishi Electric FA site.
When an in-use rotary servo motor or servo amplifier is selected, a corresponding MR-J4 series product can
be selected.
Note 1. Use the results as just a reference. Refer to catalogs or instruction manuals. For details, contact your local sales office.
2. MR-J3W series is not compatible.

Servo motor series model, servo amplifier model, Selection result configuration, servo motor
regenerative option, encoder motor power supply, and dimensions/specification comparison, servo amplifier
electromagnetic brake selection dimensions/specification comparison

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Part 1: Summary of MR-J3/MR-J3W Replacement

4.5 MITSUBISHI ELECTRIC FA Global Website

http://www.mitsubishielectric.com/fa/

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

Part 2
Review on Replacement of
MR-J3-_A_ with MR-J4-_A_

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

1. SUMMARY

This section describes the changes to be made when a system using MR-J3-_A_ is replaced with a system
using MR-J4-_A_.

2. CASE STUDY ON REPLACEMENT OF MR-J3-_A_

2.1 Review on Replacement Method

POINT
An HG motor cannot be driven by MR-J3-_A_. When a servo motor is replaced
with an HG motor, servo amplifier also needs to be replaced with MR-J4-_A_
simultaneously.

Pulse train
command
Controller

MR-J3-_A_

HF-_P/HC-_P/HA-_P
motor
Servo amplifier and NO
YES servo motor
Simultaneous
replacement?

(1) Simultaneous replacement with MR-J4-_A_ and an HG motor (2) Separate repair of a servo amplifier is available. (Note)
Although heavier burdens including a longer construction period For the available servo motors, refer to the following.
need to be borne, once replaced the system can be operated for a (Refer to "Part 8: Common Reference Material".)
long period of time. (Refer to Section 2.2 (1).)

Note. Separate repair means replacement.

2.2 Replacement Method

(1) Simultaneous replacement with MR-J4-_A_ and an HG motor

The currently used connectors or cables need to be replaced. The parameters of the existing system can
be transferred with the parameter converter function of MR Configurator2. (Refer to "Part 8: Common
Reference Material".)
[Existing system] [System after simultaneous replacement]

Pulse train command Pulse train command

Controller Controller

MR-J3-_A_
MR-J4-_A_

HF-_P/HC-_P /HA-_P HG motor

motor

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

(2) Separate repair of servo amplifiers and servo motors

POINT
An HG motor cannot be driven by MR-J3-_A_. When a servo motor is replaced
with an HG motor, servo amplifier also needs to be replaced with MR-J4-_A_
simultaneously.
If the existing system is any of the combinations in the following table, it is
recommended to replace both the servo amplifier and servo motor with an MR-
J4-_A_ and HG motor at the same time. When an HG motor is adopted, the
capacity of the servo amplifier needs to be changed. (Consider replacement,
referring to "torque characteristics" described in "Part 9: Replacement of Motor".)
The low inertia "HG-JR motor" is recommended for the replacement of "HC-LP
motor".
To use a servo motor other than the motors listed in following table, check the
compatibility with the equipment because the motor inertia, etc. is different.
Replacement models for simultaneous
Existing device models
replacement (example)
Servo motor Servo amplifier Servo motor Servo amplifier
HC-RP103(B)G5 1/_ MR-J3-200A(N)(-RT) HG-SR102(B)G5 1/_ MR-J4-100A
HC-RP203(B)G5 1/_ MR-J3-350A HG-SR202(B)G5 1/_ MR-J4-200A
HC-RP353(B)G5 1/_ MR-J3-500A HG-SR352(B)G5 1/_ MR-J4-350A
HC-RP103(B)G7 1/_ MR-J3-200A(N)(-RT) HG-SR102(B)G7 1/_ MR-J4-100A
HC-RP203(B)G7 1/_ MR-J3-350A HG-SR202(B)G7 1/_ MR-J4-200A
HC-RP353(B)G7 1/_ MR-J3-500A HG-SR352(B)G7 1/_ MR-J4-350A
HC-LP52(B) MR-J3-60A HG-JR73(B) MR-J4-70A
HC-LP102(B) MR-J3-100A HG-JR153(B) MR-J4-200A
HC-LP152(B) MR-J3-200A(N)(-RT) HG-JR353(B) MR-J4-350A

Replacement of servo amplifier Replacement of servo motor

Pulse train Pulse train

command command
Controller Controller

MR-J4-_A_ MR-J4-_A_

MR-J3-_A_ MR-J3-_A_ MR-J3-_A_ MR-J3-_A_

HF-_P/HC-_P / HF-_P/HC-_P /
HA-_P motor HA-_P motor
HF-_P/HC-_P /HA-_P motor
HG motor

Replacing the system allows the J3 series servo motors to drive The HG motor cannot be driven by MR-J3-_A_. When a servo
in MR-J4-_A_. Refer to "Part 8: Common Reference Material" for motor is replaced with an HG motor, servo amplifier also needs to
target motors. be replaced with MR-J4-_A_ simultaneously.

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3. DIFFERENCES BETWEEN MR-J3-_A_ AND MR-J4-_A_

3.1 Function Comparison Table

POINT
Functions with difference are shown with shading.

(1) 200 V class

Item MR-J3 series MR-J4 series
1 Capacity range 0.1 kW to 22 kW/200 V 0.1 kW to 22 kW/200 V
Built-in (0.2 kW to 7 kW) Built-in (0.2 kW to 7 kW)
2 Internal regenerative resistor
External (11kW to 22 kW) External (11kW to 22 kW)
Built-in (0.1 kW to 7 kW)
Built-in (0.1kW to 7kW)
3 Dynamic brake External (11kW to 22 kW)
External (11kW to 22 kW)
Coasting distance may differ. (Note 1)
4 Control circuit power 1-phase 200 V AC to 230 V AC 1-phase 200 V AC to 240 V AC
1-phase 1-phase
200 V AC to 230 V AC (0.1 kW to 0.75 kW) 200 V AC to 240 V AC (0.1 kW to 2 kW) (Note 2)
5 Main circuit power
3-phase 3-phase
200 V AC to 230 V AC (0.1 kW to 22 kW) 200 V AC to 240 V AC (0.1 kW to 22 kW)
6 24 V DC power External supply required External supply required
Real-time auto tuning: 32 steps Real-time auto tuning: 40 steps
7 Auto Tuning
Advanced gain search One-touch tuning
・Position control mode (pulse command) ・Position control mode (pulse command)
8 Control mode ・Speed control mode (analog command) ・Speed control mode (analog command)
・Torque control mode (analog command) ・Torque control mode (analog command)
Differential pulse: 1 Mpulse/s Differential pulse: 4 Mpulses/s
9 Maximum input pulses Open-collector pulse: 200 kpulses/s Open-collector pulse: 200 kpulses/s
Command pulse: Sink Command pulse: Sink
The number of DIO points
10 DI: 9 points, DO: 6 points DI: 9 points, DO: 6 points
(excluding EM1)
A/B/Z-phase pulse (differential line driver) A/B/Z-phase pulse (differential line driver)
11 Encoder pulse output
Z-phase pulse (open collector) Z-phase pulse (open collector)
12 DIO interface input/output: sink/source input/output: sink/source
(Input) 2ch (Input) 2ch
13 Analog input/output 10-bit torque, 14-bit speed or equivalent 10-bit torque, 14-bit speed or equivalent
(Output) 10-bit or equivalent × 2ch (Output) 10-bit or equivalent × 2ch
Number of internal speed
14 7 points 7 points
commands
Setup software (SETUP221E)
15 Parameter setting method MR Configurator2 MR Configurator2
Push button Push button
Setup software
16 USB USB
communication function
Servo motor HF-_P series (18-bit ABS) HG series (22-bit ABS)
17
(Encoder resolution) HA-_P series (18-bit ABS)
HF-KP 350% HG-KR 350%
HF-MP 300% HG-MR 300%
18 Motor maximum torque HF-SP 300% HG-SR 300%
HF-JP 300% HG-JR 300%
HA-LP 250% HG-JR 300%
19 LED display 7-segment 5-digit 7-segment 5-digit
Advanced vibration Provided (Advanced vibration suppression
20 Provided
suppression control control II)
21 Adaptive filter II Provided Provided
22 Notch filter Provided (2 pcs) Provided (5 pcs)
23 Tough drive Unprovided Provided
24 Drive recorder Unprovided Provided
25 Forced stop EM1 (DB stop) EM1 (DB stop)/EM2 (deceleration to a stop)

Note 1. For the coasting distance, refer to "1.2.3 Dynamic brake: coasting distance" in "Part 8 Common Reference Material".
2. If using a 1-phase 200 V AC to 240 V AC power supply with a 1 kW/2 kW servo amplifier, operate the servo amplifier at 75% or
less of the effective load ratio.

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

(2) 400 V class

Item MR-J3 series MR-J4 series
1 Capacity range 0.6 kW to 22 kW/400 V 0.6 to 22 kW/400 V
Built-in (0.6 kW to 7 kW) Built-in (0.6 kW to 7 kW)
2 Internal regenerative resistor
External (11 kW to 22 kW) External (11 kW to 22 kW)
Built-in (0.6 kW to 7 kW)
Built-in (0.6 kW to 7 kW)
3 Dynamic brake External (11 kW to 22 kW)
External (11 kW to 22 kW)
Coasting distance may differ. (Note)
4 Control circuit power 1-phase 380 V AC to 480 V AC 1-phase 380 V AC to 480 V AC
5 Main circuit power 3-phase 380 V AC to 480 V AC 3-phase 380 V AC to 480 V AC
6 24 V DC power External supply required External supply required
Real-time auto tuning: 32 steps Real-time auto tuning: 40 steps
7 Auto Tuning
Advanced gain search One-touch tuning
・Position control mode (pulse command) ・Position control mode (pulse command)
8 Control mode ・Speed control mode (analog command) ・Speed control mode (analog command)
・Torque control mode (analog command) ・Torque control mode (analog command)
Differential pulse: 1 Mpulse/s Differential pulse: 4 Mpulses/s
9 Maximum input pulses Open-collector pulse: 200 kpulses/s Open-collector pulse: 200 kpulses/s
Command pulse: Sink Command pulse: Sink
The number of DIO points
10 DI: 9 points, DO: 6 points DI: 9 points, DO: 6 points
(excluding EM1)
11 Encoder pulse output A/B/Z-phase pulse (differential line driver) A/B/Z-phase pulse (differential line driver)
12 DIO interface input/output: sink/source input/output: sink/source
(Input) 2ch (Input) 2ch
13 Analog input/output 10-bit torque, 14-bit speed or equivalent 10-bit torque, 14-bit speed or equivalent
(Output) 10-bit or equivalent × 2ch (Output) 10-bit or equivalent × 2ch
Number of internal speed
14 7 points 7 points
commands
Setup software (SETUP221E)
15 Parameter setting method MR Configurator2 MR Configurator2
Push button Push button
Setup software
16 USB USB
communication function
Servo motor HF-_P series (18-bit ABS) HG series (22-bit ABS)
17
(Encoder resolution) HA-_P series (18-bit ABS)
HF-SP 300% HG-SR 300%
18 Motor maximum torque HF-JP 300% HG-JR 300%
HA-LP 250% HG-JR 300%
19 LED display 7-segment 5-digit 7-segment 5-digit
Advanced vibration Provided (Advanced vibration suppression
20 Provided
suppression control control II)
21 Adaptive filter II Provided Provided
22 Notch filter Provided (2 pcs) Provided (5 pcs)
23 Tough drive Unprovided Provided
24 Drive recorder Unprovided Provided
25 Forced stop EM1 (DB stop) EM1 (DB stop)/ EM2 (deceleration to a stop)

Note. For the coasting distance, refer to "1.2.3 Dynamic brake: coasting distance" in "Part 8 Common Reference Material".

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

(3) 100 V class

Item MR-J3 series MR-J4 series
1 Capacity range 0.1 to 0.4 kW/100 V 0.1 to 0.4 kW/100 V
Internal regenerative None (0.1 kW) None (0.1 kW)
2
resistor Built-in (0.2, 0.4 kW) Built-in (0.2, 0.4 kW)
Built-in (0.1 to 0.4 kW)
3 Dynamic brake Built-in (0.1 to 0.4 kW)
Coasting distance may differ. (Note)
4 Control circuit power 1-phase AC 100 to 120 V 1-phase AC 100 to 120 V
5 Main circuit power 1-phase AC 100 to 120 V (0.1 to 0.4 kW) 1-phase AC 100 to 120 V (0.1 to 0.4 kW)
6 24 V DC power External supply required External supply required
Real-time auto tuning: 32 steps Real-time auto tuning: 40 steps
7 Auto Tuning
Advanced gain search One-touch tuning
・Position control mode (pulse command) ・Position control mode (pulse command)
8 Control mode ・Speed control mode (analog command) ・Speed control mode (analog command)
・Torque control mode (analog command) ・Torque control mode (analog command)
Differential pulse: 1 Mpulse/s Differential pulse: 4 Mpulses/s
9 Maximum input pulses Open-collector pulse: 200 kpulses/s Open-collector pulse: 200 kpulses/s
Command pulse: Sink Command pulse: Sink
The number of DIO points
10 DI: 9 points, DO: 6 points DI: 9 points, DO: 6 points
(excluding EM1)
A/B/Z-phase pulse (differential line driver) A/B/Z-phase pulse (differential line driver)
11 Encoder pulse output
Z-phase pulse (open collector) Z-phase pulse (open collector)
12 DIO interface input/output: sink/source input/output: sink/source
(Input) 2ch (Input) 2ch
13 Analog input/output 10-bit torque, 14-bit speed or equivalent 10-bit torque, 14-bit speed or equivalent
(Output) 10-bit or equivalent × 2ch (Output) 10-bit or equivalent × 2ch
Number of internal speed
14 7 points 7 points
commands
Setup software (SETUP221E)
15 Parameter setting method MR Configurator2 MR Configurator2
Push button Push button
Setup software
16 USB USB
communication function
Servo motor HF-_P series (18-bit ABS) HG series (22-bit ABS)
17
(Encoder resolution) HA-_P series (18-bit ABS)
HF-KP 350% HG-KR 350%
18 Motor maximum torque
HF-MP 300% HG-MR 300%
19 LED display 7-segment 5-digit 7-segment 5-digit
Advanced vibration Provided (Advanced vibration suppression
20 Provided
suppression control control II)
21 Adaptive filter II Provided Provided
22 Notch filter Provided (2 pcs) Provided (5 pcs)
23 Tough drive Unprovided Provided
24 Drive recorder Unprovided Provided
25 Forced stop EM1 (DB stop) EM1 (DB stop)/EM2 (deceleration to a stop)

Note. For the coasting distance, refer to "1.2.3 Dynamic brake: coasting distance" in "Part 8 Common Reference Material".

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3.2 Comparison of Standard Connection Diagrams

(1) Position control mode

MR-J3-_A_ MR-J4-_A_
Example of connection to QD75D Example of connection to QD75D

Servo amplifier Servo amplifier

24 V DC 24 V DC
Positioning module CN1 Positioning module CN1 24 V DC
QD75D RD75D/LD75D/QD75D
21 DICOM CN1 47 DOCOM
CN1
Trouble DICOM 20
DICOM 20 48 ALM RA 1 48 ALM RA1 Malfunction
CLEARCOM 14 DOCOM 46 Zero speed detection CLEARCOM 14 DOCOM 46
23 ZSP RA 2 CLEAR 13 CR 41 23 ZSP RA2 Zero speed
CLEAR 13 CR 41 detection
Limiting torque RDYCOM 12
RDYCOM 12 25 TLC RA3 Limiting torque
25 TLC RA 3
READY 11 RD 49
READY 11 RD 49 In-position 24 INP RA4 In-position
24 INP RA 4 PULSE F+ 15 PP 10
PULSE F+ 15 PP 10
PULSE F- 16 PG 11
PULSE F- 16 PG 11 10 m or less
10 m max. PULSE R+ 17 NP 35
PULSE R+ 17 NP 35 PULSE R- 18 NG 36 4 LA Encoder A-phase pulse
PULSE R- 18 NG 36 4 LA Encoder A-phase pulse (differential line driver)
PG0 9 LZ 8 5 LAR
PG0 9 LZ 8 5 LAR (differential line driver)
PG0 COM 10 LZR 9 6 LB Encoder B-phase pulse
PG0 COM 10 LZR 9 6 LB Encoder B-phase pulse (differential line driver)
LG 3 7 LBR
LG 3 7 LBR (differential line driver) SD Plate Control common
SD Plate Control common 34 LG Control common
10 m or less
34 LG Control common 33 OP Encoder Z-phase pulse
10 m max. (open collector)
33 OP Encoder Z-phase pulse Plate SD
1 P15R (open collector) 10 m or less 2 m or less
Plate SD Main circuit power supply CN1
10 m max.
2 m max. Forced stop 2 EM2 42
CN1
Emergency stop EMG 42 Servo-on SON 15
Reset RES 19 CN6
Servo-on SON 15
Proportion control PC 17 3 MO1 Analog monitor 1
Reset RES 19 CN6 DC ± 10 V
External torque limit TL 18 1 LG
Proportion control PC 17 3 MO1 Analog monitor 1 selection DC ± 10 V
Forward rotation LSP 43 2 MO2 Analog monitor 2
External torque limit selection TL 18 1 LG stroke end
Reverse rotation 24 V DC
LSN 44
Forward rotation stroke end LSP 43 2 MO2 Analog monitor 2 stroke end 2 m or less
DICOM 21
Reverse rotation stroke end LSN 44 Upper limit setting
P15R 1
DOCOM 47 Plate SD Analog torque limit
Upper limit setting +10 V/maximum torque TLA 27
P15R 1 LG 28
Analog torque limit 2 m max.
TLA 27 SD Plate
+ 10 V/max. torque 2 m or less
LG 28 Personal
computer
SD Plate MR Configurator2
Personal 2 m max. USB cable CN5
computer (option)
Setup software
(SETUP221E) USB cable +
CN5
(option) CN8

Short-circuit connector
(Packed with the servo amplifier)

(2) Speed control mode

MR-J3-_A_ MR-J4-_A_

Servo amplifier Servo amplifier

CN1 CN1 24 V DC
24 V DC 21 DICOM 46 DOCOM
CN1
Trouble
DICOM 20 48 ALM RA 1 47 DOCOM
10 m or less
DOCOM 46 Zero speed detection
23 ZSP RA 2 48 ALM RA1 Malfunction
Emergency stop EMG 42
Limiting torque Main circuit power supply CN1
Servo-on SON 15 25 TLC RA 3
Forced stop 2 EM2 42 23 ZSP RA2 Zero speed
Reset RES 19 Speed reached detection
Servo-on SON 15 25 TLC Limiting torque
Speed selection 1 SP1 41 24 SA RA 4
RA3

Ready Reset RES 19

Speed selection 2 SP2 16 49 RD RA 5
Speed selection 1 SP1 41 24 SA RA4 Speed reached
Forward rotation start ST1 17 Speed selection 2 SP2 16 49 RD RA5 Ready
Reverse rotation start ST2 18 10 m max. Forward rotation start ST1 17
Forward rotation stroke end LSP 43 Reverse rotation start ST2 18 10 m or less
8 LZ Encoder Z-phase pulse
Reverse rotation stroke end LSN 44 (differential line driver) Forward rotation LSP 43
9 LZR stroke end 8 LZ Encoder Z-phase pulse
DOCOM 47 Reverse rotation LSN 44
10 m max. 4 LA Encoder A-phase pulse stroke end 9 LZR (differential
( line driver)
(differential line driver) DICOM 20
5 LAR 4 LA Encoder A-phase pulse
24 V DC DICOM 21
Upper limit setting 6 LB Encoder B-phase pulse 5 LAR (differential
( line driver)
P15R 1 (differential line driver)
Analog speed command 7 LBR Upper limit setting 6 LB Encoder B-phase pulse
VC 2 P15R 1
±10 V/rated speed Control common 7 LBR (differential line driver)
LG 28 Analog speed command VC 2
Upper limit setting 34 LG ±10 V/rated speed Control common
LG 28
Analog torque limit TLA 27 33 OP Encoder Z-phase pulse Upper limit setting 34 LG
±10 V/max. torque 1 P15R (open collector) TLA 27 33 OP Encoder Z-phase pulse
Analog torque limit
SD Plate Plate SD +10 V/maximum torque Plate SD (open collector)
Personal 2 m max. SD Plate
2 m max.
computer Personal 2 m or less
Setup software 2 m or less
computer
(SETUP221E) USB cable CN5 CN6 MR Configurator2
(option) 3 MO1 Analog monitor 1 USB cable CN5 CN6
Analog monitor 1
+ 1 LG (option) 3 MO1
DC ± 10 V
2 MO2 Analog monitor 2 + 1 LG
DC ± 10 V
2 MO2 Analog monitor 2
Plate SD CN8 2 m or less
2 m max. Short-circuit connector
(Packed with the servo amplifier)

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(3) Torque control mode

MR-J3-_A_ MR-J4-_A_

Servo amplifier Servo amplifier

CN1 CN1 24 V DC
24 V DC CN1 21 D IC OM 46 DOCOM
Trouble
DICOM 20 48 ALM RA1 47 DOCOM
DOC OM 46 Zero speed detection 10 m or less
Emergency stop EMG 42 23 ZSP RA2 48 ALM RA1 Malfunction
Limiting speed Main circuit power supply CN1
Servo-on SON 15 25 VLC RA3 23 ZSP RA2 Zero speed
Forced stop 2 EM2 42 detection
Reset RES 19 Ready
49 RD RA4 Servo-on SON 15 25 VLC RA3 Limiting speed
Speed selection 1 SP1 41
Reset RES 19
Speed selection 2 SP2 16 49 RD RA4 Ready
10 m max. Speed selection 1 SP1 41
Forward rotation selection RS1 18
Speed selection 2 SP2 16
Reverse rotation selection RS2 17 8 LZ Encoder Z-phase pulse 10 m or less
(differential line driver) Forward rotation selection RS1 18
DOC OM 47 9 LZR
10 m max. Reverse rotation selection RS2 17 8 LZ Encoder Z-phase pulse
4 LA Encoder A-phase pulse (differential line driver)
(differential line driver) DICOM 20 9 LZR
5 LAR
Upper limit setting DICOM 21 4 LA Encoder A-phase pulse
P15R 1 6 LB Encoder B-phase pulse 24 V DC
Analog torque command 5 LAR (differential line driver)
TC 27 7 LBR (differential line driver) Upper limit setting
± 8 V/ma x. torque P15R 1 6 LB Encoder B-phase pulse
LG 28 Control common Analog torque command
Upper limit setting TC 27 7 LBR (differential line driver)
34 LG ±8 V/maximum torque
Analog speed limit VLA 2 LG 28 Control common
33 OP Enco der Z-phase pulse Upper limit setting
0 to ± 10 V/rated speed (open collector) 34 LG
SD Plate 1 P15R Analog speed limit VLA 2
33 OP Encoder Z-phase pulse
2 m max. Plate SD 0 to ±10 V/rated speed (open collector)
Personal Plate SD
2 m max. SD Plate
Setup software compu ter
Personal 2 m or less 2 m or less
(SETUP221E) USB cable CN5 CN6 computer
(option) MR Configurator2
3 MO1 Analog monitor 1
USB cable CN5 CN6
1 LG (option) Analog monitor 1
3 MO1
2 MO2 Analog monitor 2 + DC ± 10 V
1 LG
DC ± 10 V
2 MO2 Analog monitor 2
Plate SD
CN8
2 m or less
2 m max. Short-circuit connector
(Packed with the servo amplifier)

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3.3 List of Corresponding Connectors and Terminal Blocks

(1) Connector comparison table

The following shows examples of connections with the peripheral equipment. For details of signals, refer
to each servo amplifier instruction manual.
MR-J3-_A_ MR-J4-_A_

RST RS T
Power
Power supply supply Personal
Molded-case computer
circuit breaker MR Configurator2
No-fuse breaker (MCCB)
(NFB) or fuse

Analog monitor Magnetic

Magnetic Servo amplifier contactor Analog monitor
contactor (MC)
(MC) To RS-422 communication
Personal
Setup software computer (Note 2)
(Note 2) CN8
(SETUP221E) To STO input/output
Line noise
Line noise filter filter
(FR-BSF01)
(FR-BSF01)

U
L1 L1
V
L2 L2
L3 L3 W

Power factor P3
improving DC
Power factor P1 reactor
(FR-HEL) P4
improving DC Encoder cable
reactor P2 P+
(FR-BEL) Regenerative
option
Battery
C
L11
Servo motor
U V W L21 Servo motor
P C
Regenerative
option
L11

Power supply lead

L21

Note 1. The above configuration example is applied to MR-J3- Note 1. The above configuration example is applied to MR-J4-
200A or a system with less capacity. 200A or a system with less capacity.
2. The power factor improving AC reactor can also be used. 2. The power factor improving AC reactor can also be used.
In this case, the power factor improving DC reactor In this case, the power factor improving DC reactor
cannot be used. cannot be used.

(2) List of connector and terminal block correspondence

MR-J3-_A_ MR-J4-_A_
Precautions
No. Connector name Connector No. No. Connector name Connector No.
① I/O signal connector CN1 ① I/O signal connector CN1
The cable needs to be
changed when using 15 kW
or more HG-JR 1000 r/min
② Encoder connector CN2 ② Encoder connector CN2
series or 22 kW or more
HG-JR 1500 r/min series is
used.
RS-422 communication RS-422 communication
③ CN3 ③ CN3
connector connector
USB communication → USB communication
④ CN5 ④ CN5
connector connector
Main circuit power
⑤ Analog monitor connector CN6 ⑤ CN6
connector
Main circuit power supply Main circuit power supply
⑥ CNP1 ⑥ CNP1
connector connector
Switch to the power
Control circuit power supply Control circuit power supply
⑦ CNP2 ⑦ CNP2 connector (enclosed with
connector connector
the servo amplifier).
Servo motor power Servo motor power
⑧ CNP3 ⑧ CNP3
connector connector
⑨ Battery connector CN4 ⑨ Battery connector CN4 Prepare a new battery.

Note. When not using the STO function in MR-J4-_A_, attach the short-circuit connector supplied with the servo amplifier to CN8 (STO
input signal connector).
The configuration of the main circuit terminal block differs depending on the capacity. Refer to "Part 8: Common Reference
Material".
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(3) Comparison of signals

Signal abbreviations in parentheses are for MR-J4-_A_.
(a) CN1
1) Position control mode
MR-J3-_A_ Signal MR-J4-_A_
Connector pin assignment Connector pin No. abbreviation Connector pin No. Connector pin assignment
CN1-1 P15R CN1-1
CN1-2 CN1-2
CN1-3 LG CN1-3
CN1-4 LA CN1-4
CN1-5 LAR CN1-5
CN1-6 LB CN1-6
CN1-7 LBR CN1-7
CN1-8 LZ CN1-8
CN1-9 LZR CN1-9
CN1 CN1-10 PP CN1-10 CN1
CN1-11 PG CN1-11
CN1-12 OPC CN1-12
CN1-13 CN1-13
1 26 1 26
CN1-14 CN1-14
2 P15R 27 2 P15R 27
CN1-15 SON CN1-15
3 TLA 28 3 TLA 28
CN1-16 CN1-16
4 LG 29 LG 4 LG 29 LG
CN1-17 PC CN1-17
LA 5 30 LA 5 30
CN1-18 TL CN1-18
6 LAR 31 LG 6 LAR 31 LG
CN1-19 RES CN1-19
LB 7 32 LB 7 32
CN1-20 DICOM CN1-20
8 LBR 33 8 LBR 33
CN1-21 DICOM CN1-21
LZ 9 OP 34 LZ 9 OP 34
CN1-22 INP CN1-22
10 LZR 35 LG 10 LZR 35 LG
CN1-23 ZSP CN1-23
PP 11 NP 36 PP 11 NP 36
CN1-24 INP CN1-24
12 PG 37 NG 12 PG 37 NG
CN1-25 TLC CN1-25
OPC 13 38 OPC 13 38
CN1-26 CN1-26
14 39 14 39
CN1-27 TLA CN1-27
15 40 15 40
CN1-28 LG CN1-28
16 SON 41 16 SON 41
CN1-29 CN1-29
17 CR 42 17 CR 42
CN1-30 LG CN1-30
18 PC 43 EMG 18 PC 43 EM2
CN1-31 CN1-31
TL 19 LSP 44 TL 19 LSP 44
CN1-32 CN1-32
20 RES 45 LSN 20 RES 45 LSN
CN1-33 OP CN1-33
DICOM
21 LOP 46 DICOM
21 LOP 46
CN1-34 LG CN1-34
22 DICOM 47 DOCOM 22 DICOM 47 DOCOM
CN1-35 NP CN1-35
INP 23 DOCOM 48 INP 23 DOCOM 48
CN1-36 NG CN1-36
24 ZSP 49 ALM 24 ZSP 49 ALM
CN1-37 CN1-37
INP 25 RD 50 INP 25 RD 50
CN1-38 CN1-38
TLC CN1-39 CN1-39 TLC
CN1-40 CN1-40
CN1-41 CR CN1-41
EMG
CN1-42 CN1-42
(EM2)
CN1-43 LSP CN1-43
CN1-44 LSN CN1-44
CN1-45 LOP CN1-45
CN1-46 DOCOM CN1-46
CN1-47 DOCOM CN1-47
CN1-48 ALM CN1-48
CN1-49 RD CN1-49
CN1-50 CN1-50

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2) Speed control mode

MR-J3-_A_ Signal MR-J4-_A_
Connector pin assignment Connector pin No. abbreviation Connector pin No. Connector pin assignment
CN1-1 P15R CN1-1
CN1-2 VC CN1-2
CN1-3 LG CN1-3
CN1-4 LA CN1-4
CN1-5 LAR CN1-5
CN1-6 LB CN1-6
CN1-7 LBR CN1-7
CN1-8 LZ CN1-8
CN1-9 LZR CN1-9
CN1 CN1-10 CN1-10 CN1
CN1-11 CN1-11
CN1-12 CN1-12
CN1-13 CN1-13
1 26 1 26
CN1-14 CN1-14
2 P15R 27 2 P15R 27
CN1-15 SON CN1-15
VC 3 TLA 28 VC 3 TLA 28
CN1-16 SP2 CN1-16
4 LG 29 LG 4 LG 29 LG
CN1-17 ST1 CN1-17
LA 5 30 LA 5 30
CN1-18 ST2 CN1-18
6 LAR 31 LG 6 LAR 31 LG
CN1-19 RES CN1-19
LB 7 32 LB 7 32
CN1-20 DICOM CN1-20
8 LBR 33 8 LBR 33
CN1-21 DICOM CN1-21
LZ 9 OP 34 LZ 9 OP 34
CN1-22 SA CN1-22
10 LZR 35 LG 10 LZR 35 LG
CN1-23 ZSP CN1-23
11 36 11 36
CN1-24 SA CN1-24
12 37 12 37
CN1-25 TLC CN1-25
13 38 13 38
CN1-26 CN1-26
14 39 14 39
CN1-27 TLA CN1-27
15 40 15 40
CN1-28 LG CN1-28
16 SON 41 16 SON 41
CN1-29 CN1-29
SP2 17 SP1 42 SP2 17 SP1 42
CN1-30 LG CN1-30
18 ST1 43 EMG 18 ST1 43 EM2
CN1-31 CN1-31
ST2 19 LSP 44 ST2 19 LSP 44
CN1-32 CN1-32
20 RES 45 LSN 20 RES 45 LSN
CN1-33 OP CN1-33
DICOM
21 LOP 46 DICOM
21 LOP 46
CN1-34 LG CN1-34
22 DICOM 47 DOCOM 22 DICOM 47 DOCOM
CN1-35 CN1-35
SA 23 DOCOM 48 SA 23 DOCOM 48
CN1-36 CN1-36
24 ZSP 49 ALM 24 ZSP 49 ALM
CN1-37 CN1-37
SA 25 RD 50 SA 25 RD 50
CN1-38 CN1-38
TLC CN1-39 CN1-39 TLC
CN1-40 CN1-40
CN1-41 SP1 CN1-41
EMG
CN1-42 CN1-42
(EM2)
CN1-43 LSP CN1-43
CN1-44 LSN CN1-44
CN1-45 LOP CN1-45
CN1-46 DOCOM CN1-46
CN1-47 DOCOM CN1-47
CN1-48 ALM CN1-48
CN1-49 RD CN1-49
CN1-50 CN1-50

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3) Torque control mode

MR-J3-_A_ Signal MR-J4-_A_
Connector pin assignment Connector pin No. abbreviation Connector pin No. Connector pin assignment
CN1-1 P15R CN1-1
CN1-2 VLA CN1-2
CN1-3 LG CN1-3
CN1-4 LA CN1-4
CN1-5 LAR CN1-5
CN1-6 LB CN1-6
CN1-7 LBR CN1-7
CN1-8 LZ CN1-8
CN1-9 LZR CN1-9
CN1 CN1-10 CN1-10 CN1
CN1-11 CN1-11
CN1-12 CN1-12
CN1-13 CN1-13
1 26 1 26
CN1-14 CN1-14
2 P15R 27 2 P15R 27
CN1-15 SON CN1-15
VLA 3 TC 28 VLA 3 TC 28
CN1-16 SP2 CN1-16
4 LG 29 LG 4 LG 29 LG
CN1-17 RS2 CN1-17
LA 5 30 LA 5 30
CN1-18 RS1 CN1-18
6 LAR 31 LG 6 LAR 31 LG
CN1-19 RES CN1-19
LB 7 32 LB 7 32
CN1-20 DICOM CN1-20
8 LBR 33 8 LBR 33
CN1-21 DICOM CN1-21
LZ 9 OP 34 LZ 9 OP 34
CN1-22 CN1-22
10 LZR 35 LG 10 LZR 35 LG
CN1-23 ZSP CN1-23
11 36 11 36
CN1-24 CN1-24
12 37 12 37
CN1-25 VLC CN1-25
13 38 13 38
CN1-26 CN1-26
14 39 14 39
CN1-27 TC CN1-27
15 40 15 40
CN1-28 LG CN1-28
16 SON 41 16 SON 41
CN1-29 CN1-29
SP2 17 SP1 42 SP2 17 SP1 42
CN1-30 LG CN1-30
18 RS2 43 EMG 18 RS2 43 EM2
CN1-31 CN1-31
RS1 19 44 RS1 19 44
CN1-32 CN1-32
20 RES 45 20 RES 45
CN1-33 OP CN1-33
DICOM
21 LOP 46 DICOM
21 LOP 46
CN1-34 LG CN1-34
22 DICOM 47 DOCOM 22 DICOM 47 DOCOM
CN1-35 CN1-35
23 DOCOM 48 23 DOCOM 48
CN1-36 CN1-36
24 ZSP 49 ALM 24 ZSP 49 ALM
CN1-37 CN1-37
RD 25 RD 50
25 50 CN1-38 CN1-38
VLC VLC
CN1-39 CN1-39
CN1-40 CN1-40
CN1-41 SP1 CN1-41
EMG
CN1-42 CN1-42
(EM2)
CN1-43 CN1-43
CN1-44 CN1-44
CN1-45 LOP CN1-45
CN1-46 DOCOM CN1-46
CN1-47 DOCOM CN1-47
CN1-48 ALM CN1-48
CN1-49 RD CN1-49
CN1-50 CN1-50

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

(b) CN6
MR-J3-_A_ Signal MR-J4-_A_
Connector pin assignment Connector pin No. abbreviation Connector pin No. Connector pin assignment
CN6 CN6
CN6-1 LG CN6-1
3 3
MO1 MO1

2 CN6-2 MO1 CN6-2 2

MO2 MO2

1 1
LG CN6-3 MO2 CN6-3 LG

(c) CN3
MR-J3-_A_ Signal MR-J4-_A_
Connector pin assignment Connector pin No. abbreviation Connector pin No. Connector pin assignment

CN3 CN3-1 LG CN3-1 CN3

8 8
NC CN3-2 P5D CN3-2
7 7
LG CN3-3 RDP CN3-3 LG
6 6
RDN RDN
5 CN3-4 SDN CN3-4 5
SDP SDP
4 CN3-5 SDP CN3-5 4
SDN SDN
3 3
RDP CN3-6 RDN CN3-6 RDP
2 2
P5D CN3-7 LG CN3-7 P5D
1 1
LG LG
CN3-8 NC (-) CN3-8

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3.4 Comparison of Peripheral Equipment

POINT
Refer to "Part 10: Replacement of Optional Peripheral Equipment".

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3.5 Comparison of Parameters

Never perform extreme adjustments and changes to the parameters, otherwise

the operation may become unstable.
CAUTION If fixed values are written in the digits of a parameter, do not change these values.
Do not change parameters for manufacturer setting.
Do not enter any setting value other than those specified for each parameter.

POINT
For the parameter converter function, refer to "Part 8: Common Reference
Material".
To enable a parameter whose abbreviation is preceded by *, turn the power OFF
and then ON after setting the parameter.
For details about parameter settings for replacement, refer to the "MR-J4-_A_ (-
RJ)/MR-J4-03A6(-RJ) Servo Amplifier Instruction Manual".
With MR-J4-_A_(-RJ), the deceleration to a stop function is enabled by factory
settings. To disable the deceleration to a stop function, set [Pr. PA04] to "0 _ _
_".

3.5.1 Setting requisite parameters upon replacement

The parameters shown in this section are a minimum number of parameters that need to be set for
simultaneous replacement. Depending on the settings of the currently used servo amplifier, parameters other
than these may need to be set.

(1) Parameters common to position control mode, speed control mode, and torque control mode
MR-J3-_A_ MR-J4-_A_ Precautions
No. Name No. Name
PA02 Regenerative option PA02 Regenerative option The setting value must be changed to use
the regenerative option added for MR-J4-
_A_.
PA04 CN1-23 pin function selection No corresponding parameter (Can
substitute with PD23 to PD26, PD28.)
PA05 Number of command input pulses PA05 Number of command input pulses The setting value must be changed
per revolution per revolution according to the encoder resolution.
PA06 Electronic gear numerator PA06 Electronic gear numerator The setting value must be changed
PA07 Electronic gear denominator PA07 Electronic gear denominator according to PA21 (Electronic gear
selection).
When MR-J3-_A_: PA05 = 0
→MR-J4-_A_: PA21 = 2_ _ _
(Set the values of PA06 and PA07 for J3.)
When MR-J3-_A_: PA05 = other than 0
→MR-J4-_A_: PA21 = 1_ _ _
PA09 Auto tuning response PA09 Auto tuning response The setting value must be changed based
on machine resonance frequency.
PB06 Load to motor inertia ratio PB06 Load to motor inertia ratio The unit system is different. (0.1 times →
0.01 times)
Check the setting value.
PB07 Model loop gain PB07 Model loop gain The unit system is different. (rad/s → 0.1
rad/s)
PB08 Position loop gain PB08 Position loop gain The unit system is different. (rad/s → 0.1
rad/s)
PB29 Load to motor inertia ratio after gain PB29 Load to motor inertia ratio after The unit system is different. (0.1 times →
switching gain switching 0.01 times)
Check the setting value.
PB30 Position loop gain after gain PB30 Position loop gain after gain The unit system is different. (rad/s → 0.1
switching switching rad/s)

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MR-J3-_A_ MR-J4-_A_
Precautions
No. Name No. Name
PC14 Analog monitor 1 output PC14 Analog monitor 1 output When the command pulse frequency is
selected
(±10 V/1 Mpulses/s → ±10 V/4 Mpulses/s)
PC15 Analog monitor 2 output PC15 Analog monitor 2 output When the command pulse frequency is
selected
(±10 V/1 Mpulses/s → ±10 V/4 Mpulses/s)
PC22 Restart after instantaneous power PC22 Encoder cable communication "Restart after instantaneous power failure
failure selection method selection selection" is not supported.
Encoder cable communication
method selection
PC37 Analog speed command offset/ PC37 Analog speed command offset/ Depends on hardware. The setting values
Analog speed limit offset Analog speed limit offset must be changed.
PC38 Analog torque command offset/ PC38 Analog torque command offset/ Depends on hardware. The setting values
Analog torque limit offset Analog torque limit offset must be changed.
PC39 Analog monitor 1 offset PC39 Analog monitor 1 offset Depends on hardware. The setting values
must be changed.
PC40 Analog monitor 2 offset PC40 Analog monitor 2 offset Depends on hardware. The setting values
must be changed.
PD03 Input signal device selection 1 PD03 Input device selection 1L
(CN1-15) PD04 Input device selection 1H
PD04 Input signal device selection 2 PD05 Input device selection 2L
(CN1-16) PD06 Input device selection 2H
PD05 Input signal device selection 3 PD07 Input device selection 3L
(CN1-17) PD08 Input device selection 3H
PD06 Input signal device selection 4 PD09 Input device selection 4L
(CN1-18) PD10 Input device selection 4H
PD07 Input signal device selection 5 PD11 Input device selection 5L
(CN1-19) PD12 Input device selection 5H
PD08 Input signal device selection 6 PD13 Input device selection 6L
(CN1-41) PD14 Input device selection 6H
PD10 Input signal device selection 8 PD17 Input device selection 8L
(CN1-43) PD18 Input device selection 8H
PD11 Input signal device selection 9 PD19 Input device selection 9L
(CN1-44) PD20 Input device selection 9H
PD12 Input signal device selection 10 PD21 Input device selection 10L
(CN1-45) PD22 Input device selection 10H
PD13 Output signal device selection 1 PD23 Output device selection 1 The setting value 06 (DB) is added.
(CN1-22)
PD14 Output signal device selection 2 PD24 Output device selection 2 The setting value 06 (DB) is added.
(CN1-23)
PD15 Output signal device selection 3 PD25 Output device selection 3 The setting value 06 (DB) is added.
(CN1-24)
PD16 Output signal device selection 4 PD26 Output device selection 4 The setting value 06 (DB) is added.
(CN1-25)
PD18 Output signal device selection 6 PD28 Output device selection 6 The setting value 06 (DB) is added.
(CN1-49)
PD19 Input filter setting PD29 Input filter setting The filter setting value differs.
PD20 Function selection D-1 PD30 Function selection D-1
PD22 Function selection D-3 PD32 Function selection D-3
PD24 Function selection D-5 PD34 Function selection D-5

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3.5.2 Parameter comparison list

MR-J3-_A_ parameters MR-J4-_A_ parameters
Customer Initial Customer
Initial setting setting
No. Abbreviation Parameter name No. Abbreviation Parameter name
value value value value
PA01 *STY Control mode 0000h PA01 *STY Operation mode 1000h
PA02 *REG Regenerative option 0000h PA02 *REG Regenerative option 0000h
PA03 *ABS Absolute position detection 0000h PA03 *ABS Absolute position detection 0000h
system system
PA04 *AOP1 Function selection A-1 0000h PD23 *DO1 Output device selection 1 0004h
PD24 *DO2 Output device selection 2 000Ch
PD25 *DO3 Output device selection 3 0004h
PD26 *DO4 Output device selection 4 0007h
PD28 *DO6 Output device selection 6 0002h
PA05 *FBP Number of command input pulses 0 PA05 *FBP Number of command input pulses 10000
per revolution per revolution
PA06 CMX Electronic gear numerator 1 PA06 CMX Electronic gear numerator 1
(Command pulse multiplying (command pulse multiplication
factor numerator) numerator)
PA07 CDV Electronic gear denominator 1 PA07 CDV Electronic gear denominator 1
(Command pulse multiplying (command pulse multiplication
factor denominator) denominator)
PA08 ATU Auto tuning mode 0001h PA08 ATU Auto tuning mode 0001h
PA09 RSP Auto tuning response 12 PA09 RSP Auto tuning response 16
PA10 INP In-position range 100 PA10 INP In-position range 100
PA11 TLP Forward rotation torque limit 100.0 PA11 TLP Forward rotation torque limit 100.0
PA12 TLN Reverse rotation torque limit 100.0 PA12 TLN Reverse rotation torque limit 100.0
PA13 *PLSS Command pulse input form 0000h PA13 *PLSS Command pulse input form 0100h
PA14 *POL Rotation direction selection 0 PA14 *POL Rotation direction selection 0
PA15 *ENR Encoder output pulses 4000 PA15 *ENR Encoder output pulses 4000
PA16 For manufacturer setting 0000h PA16 *ENR2 Encoder output pulses 2 1
PA17 0000h PA17 *MSR Servo motor series setting 0000h
PA18 0000h PA18 *MTY Servo motor type setting 0000h
PA19 *BLK Parameter write inhibit 000Bh PA19 *BLK Parameter writing inhibit 00AAh
PB01 FILT Adaptive tuning mode 0000h PB01 FILT Adaptive tuning mode 0000h
(Adaptive filter II) (adaptive filter II)
PB02 VRFT Vibration suppression control 0000h PB02 VRFT Vibration suppression control 0000h
tuning mode (Advanced vibration tuning mode (advanced vibration
suppression control) suppression control II)
PB03 PST Position command 0 PB03 PST Position command 0
acceleration/deceleration time acceleration/deceleration time
constant (Position smoothing) constant (position smoothing)
PB04 FFC Feed forward gain 0 PB04 FFC Feed forward gain 0
PB05 For manufacturer setting 500 PB05 For manufacturer setting 500
PB06 GD2 Ratio of load inertia moment to 7.0 PB06 GD2 7.00
Load to motor inertia ratio
servo motor inertia moment
PB07 PG1 Model loop gain 24 PB07 PG1 Model loop gain (Note) 15.0
PB08 PG2 Position loop gain 37 PB08 PG2 Position loop gain (Note) 37.0
PB09 VG2 Speed loop gain 823 PB09 VG2 Speed loop gain (Note) 823
PB10 VIC 33.7 PB10 VIC Speed integral compensation 33.7
Speed integral compensation
(Note)
PB11 VDC 980 PB11 VDC Speed differential compensation 980
Speed differential compensation
(Note)
PB12 For manufacturer setting 0 PB12 OVA Overshoot amount compensation 0
PB13 NH1 Machine resonance suppression 4500 PB13 NH1 Machine resonance suppression 4500
filter 1 filter 1
PB14 NHQ1 Notch shape selection 1 0000h PB14 NHQ1 Notch shape selection 1 0000h
PB15 NH2 Machine resonance suppression 4500 Machine resonance suppression 4500
PB15 NH2
filter 2 filter 2
PB16 NHQ2 Notch shape selection 2 0000h PB16 NHQ2 Notch shape selection 2 0000h

Note. Parameters related to gain adjustment are different from those for the MR-J3_A_ servo amplifier. For gain adjustment, refer to
"MR-J4_A_(-RJ)/MR-J4-03A6(-RJ) Servo Amplifier Instruction Manual".

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MR-J3-_A_ parameters MR-J4-_A_ parameters

Customer Customer
Initial setting Initial setting
No. Abbreviation Parameter name No. Abbreviation Parameter name
value value value value
PB17 Automatic setting parameter PB17 NHF Shaft resonance suppression filter 0000h
PB18 LPF Low-pass filter setting 3141 PB18 LPF Low-pass filter setting 3141
PB19 VRF1 Vibration suppression control 100.0 PB19 VRF11 Vibration suppression control 1 - 100.0
vibration frequency setting Vibration frequency
PB20 VRF2 Vibration suppression control 100.0 PB20 VRF12 Vibration suppression control 1 - 100.0
resonance frequency setting Resonance frequency
PB21 For manufacturer setting 0.00 PB21 VRF13 Vibration suppression control 1 - 0.00
Vibration frequency damping
PB22 0.00 PB22 VRF14 Vibration suppression control 1 - 0.00
Resonance frequency damping
PB23 VFBF Low-pass filter selection 0000h PB23 VFBF Low-pass filter selection 0000h
PB24 *MVS Slight vibration suppression 0000h PB24 *MVS Slight vibration suppression 0000h
control selection control
PB25 *BOP1 Function selection B-1 0000h PB25 *BOP1 Function selection B-1 0000h
PB26 *CDP Gain changing selection 0000h PB26 *CDP Gain switching function 0000h
PB27 CDL Gain changing condition 10 PB27 CDL Gain switching condition 10
PB28 CDT Gain changing time constant 1 PB28 CDT Gain switching time constant 1
PB29 GD2B Gain changing ratio of load inertia 7.0 PB29 GD2B Load to motor inertia ratio after 7.00
moment to servo motor inertia gain switching
moment
PB30 PG2B Gain changing position loop gain 37 PB30 PG2B Position loop gain after gain 0.0
switching
PB31 VG2B Gain changing speed loop gain 823 PB31 VG2B Speed loop gain after gain 0
switching
PB32 VICB Gain changing speed integral 33.7 PB32 VICB Speed integral compensation after 0.0
compensation gain switching
PB33 VRF1B Gain changing vibration 100.0 PB33 VRF1B Vibration suppression control 1 - 0.0
suppression control vibration Vibration frequency after gain
frequency setting switching
PB34 VRF2B Gain changing vibration 100.0 PB34 VRF2B Vibration suppression control 1 - 0.0
suppression control resonance Resonance frequency after gain
frequency setting switching
PB35 For manufacturer setting 0.00 PB35 VRF3B Vibration suppression control 1 - 0.00
Vibration frequency damping after
gain switching
PB36 0.00 PB36 VRF4B Vibration suppression control 1 - 0.00
Resonance frequency damping
after gain switching
PB37 100 PB37 For manufacturer setting 1600
PB38 0.0 PB38 0.00
PB39 0.0 PB39 0.00
PB40 0.0 PB40 0.00
PB41 1125 PB41 0000h
PB42 1125 PB42 0000h
PB43 0004h PB43 0000h
PB44 0000h PB44 0.00
PB45 0000h PB45 CNHF Command notch filter 0000h
PC01 STA Acceleration time constant 0 PC01 STA Acceleration time constant 0
PC02 STB Deceleration time constant 0 PC02 STB Deceleration time constant 0
PC03 STC S-pattern acceleration/ 0 PC03 STC S-pattern acceleration/ 0
deceleration time constant deceleration time constant
PC04 TQC Torque command time constant 0 PC04 TQC Torque command time constant 0
PC05 SC1 Internal speed command 1 100 PC05 SC1 Internal speed command 1 100
Internal speed limit 1 Internal speed limit 1
PC06 SC2 Internal speed command 2 500 PC06 SC2 Internal speed command 2 500
Internal speed limit 2 Internal speed limit 2
PC07 SC3 Internal speed command 3 1000 PC07 SC3 Internal speed command 3 1000
Internal speed limit 3 Internal speed limit 3
PC08 SC4 Internal speed command 4 200 PC08 SC4 Internal speed command 4 200
Internal speed limit 4 Internal speed limit 4
PC09 SC5 Internal speed command 5 300 PC09 SC5 Internal speed command 5 300
Internal speed limit 5 Internal speed limit 5

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MR-J3-_A_ parameters MR-J4-_A_ parameters

Customer Customer
Initial setting Initial setting
No. Abbreviation Parameter name No. Abbreviation Parameter name
value value value value
PC10 SC6 Internal speed command 6 500 PC10 SC6 Internal speed command 6 500
Internal speed limit 6 Internal speed limit 6
PC11 SC7 Internal speed command 7 800 PC11 SC7 Internal speed command 7 800
Internal speed limit 7 Internal speed limit 7
PC12 VCM Analog speed command 0 PC12 VCM Analog speed command - 0
maximum speed Maximum speed
Analog speed limit maximum Analog speed limit - Maximum
speed speed
PC13 TLC Analog torque command 100.0 PC13 TLC Analog torque command 100.0
maximum output maximum output
PC14 MOD1 Analog monitor 1 output 0000h PC14 MOD1 Analog monitor 1 output 0000h
PC15 MOD2 Analog monitor 2 output 0001h PC15 MOD2 Analog monitor 2 output 0001h
PC16 MBR Electromagnetic brake sequence 100 PC16 MBR Electromagnetic brake sequence 0
output output
PC17 ZSP Zero speed 50 PC17 ZSP Zero speed 50
PC18 *BPS Alarm history clear 0000h PC18 *BPS Alarm history clear 0000h
PC19 *ENRS Encoder output pulses selection 0000h PC19 *ENRS Encoder output pulse selection 0000h
PC20 *SNO Station number setting 0 PC20 *SNO Station No. setting 0
PC21 *SOP Absolute position detection 0000h PC21 *SOP RS-422 communication function 0000h
system selection
(RS-232C communication is not
available.)
PC22 *COP1 Function selection C-1 0000h PC22 *COP1 Function selection C-1 0000h
PC23 *COP2 Function selection C-2 0000h PC23 *COP2 Function selection C-2 0000h
PC24 *COP3 Function selection C-3 0000h PC24 *COP3 Function selection C-3 0000h
PC25 For manufacturer setting 0000h PC25 For manufacturer setting 0000h
PC26 *COP5 Function selection C-5 0000h PC26 *COP5 Function selection C-5 0000h
PC27 *COP6 Function selection C-6 0000h PC27 *COP6 Function selection C-6 0000h
PC28 For manufacturer setting 0000h PC28 *COP7 Function selection C-7 0000h
PC29 0000h PC29 For manufacturer setting 0000h
PC30 STA2 Acceleration time constant 2 0 PC30 STA2 Acceleration time constant 2 0
PC31 STB2 Deceleration time constant 2 0 PC31 STB2 Deceleration time constant 2 0
PC32 CMX2 Command pulse multiplying factor 1 PC32 CMX2 Command input pulse 1
numerator 2 multiplication numerator 2
PC33 CMX3 Command pulse multiplying factor 1 PC33 CMX3 Command input pulse 1
numerator 3 multiplication numerator 3
PC34 CMX4 Command pulse multiplying factor 1 PC34 CMX4 Command input pulse 1
numerator 4 multiplication numerator 4
PC35 TL2 Internal torque limit 2 100.0 PC35 TL2 Internal torque limit 2 100.0
PC36 *DMD Status display selection 0000h PC36 *DMD Status display selection 0000h
PC37 VCO Absolute position detection 0 PC37 VCO Analog speed command offset The value
differs
system depending
on the
Analog speed limit offset Analog speed limit offset servo
amplifiers

PC38 TPO Analog torque command offset 0 PC38 TPO Analog torque command offset 0
Analog torque limit offset Analog torque limit offset
PC39 MO1 Analog monitor 1 offset 0 PC39 MO1 Analog monitor 1 offset 0
PC40 MO2 Analog monitor 2 offset 0 PC40 MO2 Analog monitor 2 offset 0
PC41 For manufacturer setting 0 PC41 For manufacturer setting 0
PC42 0 PC42 0
PC43 0000h PC43 ERZ Error excessive alarm detection 0
level
PC44 0000h PC44 *COP9 Function selection C-9 0000h
PC45 0000h PC45 *COPA Function selection C-A 0000h
PC46 0000h PC46 For manufacturer setting 0
PC47 0000h PC47 0
PC48 0000h PC48 0
PC49 0000h PC49 0
PC50 0000h PC50 0000h

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ parameters MR-J4-_A_ parameters

Customer Customer
Initial setting Initial setting
No. Abbreviation Parameter name No. Abbreviation Parameter name
value value value value
PD01 *DIA1 Input signal automatic ON 0000h PD01 *DIA1 Input signal automatic on 0000h
selection 1 selection 1
PD02 For manufacturer setting 0000h PD02 For manufacturer setting 0000h
PD03 *DI1 Input signal device selection 1 00020202h PD03 *DI1L Input device selection 1L 0202h
(CN1-15) PD04 *DI1H Input device selection 1H 0202h
PD04 *DI2 Input signal device selection 2 00212100h PD05 *DI2L Input device selection 2L 2100h
(CN1-16) PD06 *DI2H Input device selection 2H 2021h
PD05 *DI3 Input signal device selection 3 00070704h PD07 *DI3L Input device selection 3L 0704h
(CN1-17) PD08 *DI3H Input device selection 3H 0707h
PD06 *DI4 Input signal device selection 4 00080805h PD09 *DI4L Input device selection 4L 0805h
(CN1-18) PD10 *DI4H Input device selection 4H 0808h
PD07 *DI5 Input signal device selection 5 00030303h PD11 *DI5L Input device selection 5L 0303h
(CN1-19) PD12 *DI5H Input device selection 5H 3803h
PD08 *DI6 Input signal device selection 6 00202006h PD13 *DI6L Input device selection 6L 2006h
(CN1-41) PD14 *DI6H Input device selection 6H 3920h
PD09 For manufacturer setting 00000000h PD15 For manufacturer setting 0000h
PD16 0000h
PD10 *DI8 Input signal device selection 8 00000A0Ah PD17 *DI8L Input device selection 8L 0A0Ah
(CN1-43) PD18 *DI8H Input device selection 8H 0A00h
PD11 *DI9 Input signal device selection 9 00000B0Bh PD19 *DI9L Input device selection 9L 0B0Bh
(CN1-44) PD20 *DI9H Input device selection 9H 0B00h
PD12 *DI10 Input signal device selection 10 00232323h PD21 *DI10L Input device selection 10L 2323h
(CN1-45) PD22 *DI10H Input device selection 10H 2B23h
PD13 *DO1 Output signal device selection 1 0004h PD23 *DO1 Output device selection 1 0004h
(CN1-22)
PD14 *DO2 Output signal device selection 2 000Ch PD24 *DO2 Output device selection 2 000Ch
(CN1-23)
PD15 *DO3 Output signal device selection 3 0004h PD25 *DO3 Output device selection 3 0004h
(CN1-24)
PD16 *DO4 Output signal device selection 4 0007h PD26 *DO4 Output device selection 4 0007h
(CN1-25)
PD17 For manufacturer setting 0003h PD27 For manufacturer setting 0003h
PD18 *DO6 Output signal device selection 6 0002h PD28 *DO6 Output device selection 6 0002h
(CN1-49)
PD19 *DIF Input filter setting 0002h PD29 *DIF Input filter setting 0004h
PD20 *DOP1 Function selection D-1 0000h PD30 *DOP1 Function selection D-1 0000h
PD21 For manufacturer setting 0000h PD31 *DOP2 Function selection D-2 0000h
PD22 *DOP3 Function selection D-3 0000h PD32 *DOP3 Function selection D-3 0000h
PD23 For manufacturer setting 0000h PD33 *DOP4 Function selection D-4 0000h
PD24 *DOP5 Function selection D-5 0000h PD34 *DOP5 Function selection D-5 0000h
PD25 For manufacturer setting 0000h PD35 For manufacturer setting 0000h
PD26 0000h PD36 0000h
PD27 0000h PD37 0000h
PD28 0000h PD38 0
PD29 0000h PD39 0
PD30 0000h PD40 0

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

3.5.3 Comparison of parameter details

POINT
The symbols in the control mode column mean the following control modes.
P: Position control mode
S: Speed control mode
T: Torque control mode
Differences between the MR-J3 servo amplifier and the MR-J4 servo amplifier
are described in "Name and function".
"Same setting as MR-J3": The same setting as that for MR-J3 can be used.
(Some functions and models are added for MR-J4.)
"Same as MR-J3": The same setting as that for MR-J3 can be used.

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PA01 Control mode 0000h PA01 Operation mode 0h P
Turn off the power and then on again after setting _ _ _ x: S
the parameter to validate the parameter value. Control mode selection T
Set the control mode and control loop composition of Select a control mode.
the servo amplifier. 0: Position control mode
1: Position control mode and speed control mode
0 0 0 x: 2: Speed control mode
Selection of control mode 3: Speed control mode and torque control mode
0: Position control mode 4: Torque control mode
1: Position control mode and speed control mode 5: Torque control mode and position control mode
2: Speed control mode _ _ x _: 0h P
3: Speed control mode and torque control mode Operation mode selection S
4: Torque control mode 0: Standard control mode T
5: Torque control mode and position control mode Setting other than above will trigger [AL. 37
Parameter error].
_ x _ _: 0h
For manufacturer setting
x _ _ _: 1h
For manufacturer setting

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PA02 Regenerative option 0000h PA02 Same setting as MR-J3 00h P
Turn off the power and then on again after setting S
the parameter to validate the parameter value. Regenerative option
T
Incorrect setting may cause the regenerative option _ _ x x:
to burn. Select the regenerative option.
If the regenerative option selected is not for use with
the servo amplifier, [AL. 37 Parameter error] occurs. Incorrect setting may cause the regenerative option
Set this parameter when using the regenerative to burn.
option, brake unit, power regenerative converter, or If a selected regenerative option is not for use with
power regenerative common converter.
the servo amplifier, [AL. 37 Parameter error] occurs.

0 0 x x:
00: Regenerative option is not used.
Selection of regenerative option
For the servo amplifier of 100 W, a
00: Regenerative option is not used
regenerative resistor is not used.
For servo amplifier of 100 W, regenerative
For the servo amplifier of 0.2 kW to 7 kW, the
resistor is not used.
built-in regenerative resistor is used.
For servo amplifier of 0.2 kW to 7 kW, built-in
The supplied regenerative resistor or a
regenerative resistor is used.
regenerative option is used with the servo
Supplied regenerative resistors or regenerative
amplifier of 11 kW to 22 kW.
option is used with the servo amplifier of 11 kW
to 22 kW. 01: FR-RC-(H)/FR-CV-(H)/FR-BU2-(H)
01: FR-BU2-(H)/FR-RC-(H)/FR-CV-(H) When you use FR-RC-(H) or FR-CV-(H), select
02: MR-RB032 "Mode 2 (_ _ _ 1)" of "Undervoltage alarm
03: MR-RB12 detection mode selection" in [Pr. PC27].
04: MR-RB32 02: MR-RB032
05: MR-RB30 03: MR-RB12
06: MR-RB50 (Cooling fanis required) 04: MR-RB32
08: MR-RB31 05: MR-RB30
09: MR-RB51 (Cooling fanis required) 06: MR-RB50 (Cooling fan is required.)
80: MR-RB1H-4 08: MR-RB31
81: MR-RB3M-4 (Cooling fanis required) 09: MR-RB51 (Cooling fan is required.)
82: MR-RB3G-4 (Cooling fanis required) 0B: MR-RB3N
83: MR-RB5G-4 (Cooling fanis required) 0C: MR-RB5N (Cooling fan is required.)
84: MR-RB34-4 (Cooling fanis required) 80: MR-RB1H-4
85: MR-RB54-4 (Cooling fanis required) 81: MR-RB3M-4 (Cooling fan is required.)
FA: When the supplied regenerative resistor is 82: MR-RB3G-4 (Cooling fan is required.)
cooled by the cooling fan to increase the ability 83: MR-RB5G-4 (Cooling fan is required.)
with the servo amplifier of 11 kW to 22 kW.
84: MR-RB34-4 (Cooling fan is required.)
85: MR-RB54-4 (Cooling fan is required.)
91: MR-RB3U-4 (Cooling fan is required.)
92: MR-RB5U-4 (Cooling fan is required.)
FA: When the supplied regenerative resistor or a
regenerative option used with the servo
amplifier of 11 kW to 22 kW is cooled by a
cooling fan to increase regenerative ability.
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PA03 Absolute position detection system 0000h PA03 Same setting as MR-J3 0h P
Turn off the power and then on again after setting
the parameter to validate the parameter value. Absolute position detection system
Set this parameter when using the absolute position _ _ _ x:
detection system in the position control mode. Absolute position detection system selection
Set this digit when using the absolute position
0 0 0 x: detection system in the position control mode.
Selection of absolute position detection system 0: Disabled (incremental system)
0: Used in incremental system 1: Enabled (absolute position detection system by
1: Used in absolute position detection system ABS DIO)
transfer by DI0
2: Used in absolute position detection system ABS 2: Enabled (absolute position detection system by
transfer by communication communication) (available for the software
version A3 or later)
_ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PA04 Function selection A-1 0000h PD24 Output device selection 2 0Ch P
Turn off the power and then on again after setting _ _ x x: S
the parameter to validate the parameter value. T
Device selection
Set this parameter when assigning the
electromagnetic brake to the CN1-23 pin. Any output device can be assigned to the CN1-23
pin.
0 0 0 x: When "Enabled (absolute position detection system
CN1-23 pin function selection by DIO) (_ _ _ 1)" is selected in [Pr. PA03], the CN1-
0: Output device assigned with [Pr. PD14] 23 pin will become ABSB1 (ABS send data bit 1)
1: Electromagnetic brake interlock (MBR) only during ABS transfer mode.
Refer to table 2.1 in [Pr. PD23] for settings.
Table 2.1 Selectable output devices
Setting Output device (Note)
value P S T
_ _ 00 Always off Always off Always off
_ _ 02 RD RD RD
_ _ 03 ALM ALM ALM
_ _ 04 INP SA Always off
_ _ 05 MBR MBR MBR
_ _ 06 DB DB DB
_ _ 07 TLC TLC VLC
_ _ 08 WNG WNG WNG
_ _ 09 BWNG BWNG BWNG
_ _ 0A Always off SA Always off
_ _ 0B Always off Always off VLC
_ _ 0C ZSP ZSP ZSP
_ _ 0F CDPS Always off Always off
_ _ 11 ABSV Always off Always off

Note. P: Position control mode

S: Speed control mode
T: Torque control mode
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PA05 Number of command input pulses per revolution 0 PA05 Number of command input pulses per revolution 10000 P
Turn off the power and then on again after setting The servo motor rotates based on set command
the parameter to validate the parameter value. input pulses.
When "0" (initial value) is set in [Pr. PA05], the To enable the parameter value, set "Electronic gear
electronic gear ([Pr. PA06, PA07]) is made valid. selection" to "Number of command input pulses per
When the setting is other than "0", that value is used revolution (1 _ _ _)" of in [Pr. PA21].
as the command input pulses necessary to rotate
the servo motor one turn. At this time, the electronic Setting range: 1000 to 1000000
gear is made invalid.

Number of command input pulses

per revolution
[Pr. PA05] Electronic gear
[Pr. PA06]/[Pr. PA07]
"0" (Initial value
) CMX Servo motor
Command CDV + Deviation
pulse train counter M
Pt -
Other than "0" FBP

Pt (Encoder resolution of servo motor)

: 262144 pulses/rev
Encoder

[Pr. PA05]
Description
setting
Electronic gear ([Pr. PA06]/[Pr.
0
PA07]) is made valid.
Number of command input
1000 to 50000 pulses necessary to rotate the
servo motor one turn [pulse]

PA06 Electronic gear numerator 1 PA06 Electronic gear numerator (command pulse 1 P
PA07 (command pulse multiplying factor numerator) 1 multiplication numerator)
Electronic gear denominator Set the numerator of the electronic gear.
(command pulse multiplying factor denominator) To enable the parameter, select "Electronic gear (0
Incorrect setting can lead to unexpected fast _ _ _)" or "J3 electronic gear setting value
rotation, causing injury. compatibility mode (2 _ _ _)" of "Electronic gear
selection" in [Pr. PA21].
The electronic gear setting range is The following shows a standard of the setting range
1 CMX of the electronic gear.
< < 2000
10 CDV
1 CMX
< < 4000
10 CDV
If the set value is outside this range, noise may be
generated during acceleration/ deceleration or
If the set value is outside this range, noise may be
operation may not be performed at the preset speed
generated during acceleration/deceleration or
and/or acceleration/deceleration time constants.
operation may not be performed at the preset speed
Always set the electronic gear with servo off state to and/or acceleration/deceleration time constants.
prevent unexpected operation due to improper Number of command input pulses per
revolution ([Pr. PA05] "1000" to "1000000")

setting. Electronic gear selection Electronic gear

(x _ _ _) ([Pr. PA21]) ([Pr. PA06]/[Pr. PA07])

"0" (initial value) CMX

CDV
Concept of electronic gear "1" Pt
Servo motor
FBP
The machine can be moved at any multiplication Command
pulse train
+
-
Deviation
counter M
"2" CMX
X16
factor to input pulses. CDV

"3" (Note) CMX

X32 Encoder
CDV
Number of command input pulses
per revolution Pt (servo motor resolution): 4194304 pulses/rev
[Pr. PA05] Electronic gear
[Pr. PA06]/[Pr. PA07]
"0" (Initial value
) CMX Servo motor
Note. This parameter is available with servo
Command CDV + Deviation
pulse train
Pt - counter M amplifiers with software version B3 or later.
Other than "0" FBP
Always set the electronic gear with servo-off state to
Encoder
prevent unexpected operation due to improper
setting.
CMX [Pr. PA06]
=
CDV [Pr. PA07]
Setting range: 1 to 16777215
PA07 Electronic gear denominator (command pulse 1 P
multiplication denominator)
Set the denominator of the electronic gear.
To enable the parameter, select "Electronic gear (0
_ _ _)" or "J3 electronic gear setting value
compatibility mode (2 _ _ _)" of "Electronic gear
selection" in [Pr. PA21].

Setting range: 1 to 16777215

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PA08 Auto tuning mode 0001h PA08 Same setting as MR-J3 1h P
PA09 Auto tuning response 12 S
Auto tuning mode
Make gain adjustment using auto tuning.
_ _ _ x:
Gain adjustment mode selection
Auto tuning mode [Pr. PA08]
Select the gain adjustment mode.
Select the gain adjustment mode.
0: 2 gain adjustment mode 1 (interpolation mode)
0 0 0 x:
1: Auto tuning mode 1
Gain adjustment mode setting
2: Auto tuning mode 2
0: Interpolation mode (Automatically set parameter
No. [Pr. PB06/PB08/PB09/PB10]) 3: Manual mode
1: Auto tuning mode 1 (Automatically set parameter 4: 2 gain adjustment mode 2
No. [Pr. PB06/ PB07/PB08/PB09/PB10]) Refer to table 2.2 for details.
2: Auto tuning mode 2 (Automatically set parameter
No. [Pr. PB07/PB08/PB09/PB10]) Table2.2 Gain adjustment mode selection
Setting Gain adjustment
3: Manual mode value mode
Automatically adjusted parameter

_ _ _ 0 2 gain adjustment [Pr. PB06 Load to motor inertia ratio]

Note. The parameters have the following names. mode 1 [Pr. PB08 Position loop gain]
(interpolation mode) [Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
No. Name _ _ _ 1 Auto tuning mode 1 [Pr. PB06 Load to motor inertia ratio]
Ratio of load inertia moment to servo [Pr. PB07 Model loop gain]
PB06 [Pr. PB08 Position loop gain]
motor inertia moment
[Pr. PB09 Speed loop gain]
PB07 Model loop gain [Pr. PB10 Speed integral compensation]
_ _ _ 2 Auto tuning mode 2 [Pr. PB07 Model loop gain]
PB08 Position loop gain [Pr. PB08 Position loop gain]
PB09 Speed loop gain [Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
PB10 Speed integral compensation _ _ _ 3 Manual mode
_ _ _ 4 2 gain adjustment [Pr. PB08 Position loop gain]
mode 2 [Pr. PB09 Speed loop gain]
Auto tuning response [Pr. PA09] [Pr. PB10 Speed integral compensation]

If the machine hunts or generates large gear sound,

decrease the set value. To improve performance, _ _ x _: 0h
e.g. shorten the settling time, increase the set value. For manufacturer setting
_ x _ _: 0h
Guideline for Guideline for
Setting Response
machine
Setting Response
machine For manufacturer setting
resonance resonance
frequency [Hz] frequency [Hz]
x _ _ _: 0h
Low Middle
1 10.0 17 67.1
response response
For manufacturer setting
2 11.3 18 75.6
3 12.7 19 85.2
PA09 Auto tuning response 16 P
4 14.3 20 95.9 Set a response of the auto tuning. S
5 16.1 21 108.0
6 18.1 22 121.7 Machine characteristic Machine characteristic
Setting Guideline for Setting Guideline for
7 20.4 23 137.1 value Response machine value Response machine
resonance resonance
frequency [Hz] frequency [Hz]
8 23.0 24 154.4
Low Middle
1 response 2.7 21 response 67.1
9 25.9 25 173.9
2 3.6 22 75.6
10 29.2 26 195.9
3 4.9 23 85.2
11 32.9 27 220.6 6.6 95.9
4 24
12 37.0 28 248.5 5 10.0 25 108.0
13 41.7 29 279.9 6 11.3 26 121.7
14 47.0 30 315.3 7 12.7 27 137.1

15 52.9 31 355.1 8 14.3 28 154.4

Middle High 9 16.1 29 173.9
16 response 59.6 32 response 400.0
10 18.1 30 195.9
11 20.4 31 220.6
12 23.0 32 248.5
13 25.9 33 279.9
14 29.2 34 315.3
15 32.9 35 355.1
16 37.0 36 400.0
17 41.7 37 446.6
18 47.0 38 501.2
19 52.9 39 571.5
Middle High
20 response 59.6 40 response 642.7

Setting range: 1 to 40

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PA10 In-position range 100 PA10 In-position range 100 P
Set the range, where In-position (INP) is output, in Set an in-position range per command pulse.
the command pulse unit before calculation of the To change it to the servo motor encoder pulse unit,
electronic gear. With the setting of [Pr. PC24], the set [Pr. PC24].
range can be changed to the encoder output pulse
unit. Setting range: 0 to 65535
Servo motor droop pulse
Command pulse Command pulse
In-position range [pulse]
Droop pulse

ON
In-position (INP)
OFF

PA11 Forward rotation torque limit 100.0 PA11 Same as MR-J3 100.0 P
PA12 Reverse rotation torque limit 100.0 S
Forward rotation torque limit
The torque generated by the servo motor can be T
limited. You can limit the torque generated by the servo
motor.
When torque is output with the analog monitor
output, the smaller torque of the values in the [Pr. When the torque is outputted with the analog
PA11] (forward rotation torque limit) and [Pr. PA12] monitor output, the setting of [Pr. PA11 Forward
(reverse rotation torque limit) is the maximum output rotation torque limit] or [Pr. PA12 Reverse rotation
voltage (8V). torque limit], whichever is larger, will be the
maximum output voltage (8 V).
Set the parameter on the assumption that the
(1) Forward rotation torque limit [Pr. PA11]
maximum torque is 100.0 [%]. The parameter is for
Set this parameter on the assumption that the
limiting the torque of the servo motor in the CCW
maximum torque is 100 [%]. Set this parameter
power running or CW regeneration. No torque is
when limiting the torque of the servo motor in the
generated when this parameter is set to "0.0".
CCW driving mode or CW regeneration mode.
Set this parameter to "0.0" to generate no torque.
Setting range: 0.0 to 100.0

(2) Reverse rotation torque limit [Pr. PA12] PA12 Reverse rotation torque limit 100.0 P
Set this parameter on the assumption that the You can limit the torque generated by the servo S
maximum torque is 100 [%]. Set this parameter motor. T
when limiting the torque of the servo motor in the When the torque is outputted with the analog
CW driving mode or CCW regeneration mode. monitor output, the setting of [Pr. PA11 Forward
Set this parameter to "0.0" to generate no torque. rotation torque limit] or [Pr. PA12 Reverse rotation
torque limit], whichever is larger, will be the
maximum output voltage (8 V).
Set the parameter on the assumption that the
maximum torque is 100.0 [%]. The parameter is for
limiting the torque of the servo motor in the CW
power running or CCW regeneration. No torque is
generated when this parameter is set to "0.0".

Setting range: 0.0 to 100.0

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PA13 Command pulse input form 0000h PA13 Command pulse input form 0h P
Turn off the power and then on again after setting _ _ _ x:
the parameter to validate the parameter value. Command input pulse train form selection
Select the input form of the pulse train input signal. 0: Forward/reverse rotation pulse train
Command pulses may be input in any of three 1: Signed pulse train
different forms, for which positive or negative logic 2: A-phase/B-phase pulse train (The servo amplifier
can be chosen. imports input pulses after multiplying by four.)
Arrow or in the table indicates the timing Refer to table 2.3 for settings.
of importing a pulse train.
_ _ x _: 0h P
A- and B-phase pulse trains are imported after they
Pulse train logic selection
have been multiplied by 4.
0: Positive logic
1: Negative logic
Selection of command pulse input form
Forward rotation Reverse rotation
Choose the right parameter to match the logic of the
Setting Pulse train form
command command command pulse train received from a connected
Forward rotation controller. For the logic of MELSEC iQ-R
PP
pulse train series/MELSEC iQ-F series/MELSEC-Q
0010h Reverse rotation
pulse train NP series/MELSEC-L series/MELSEC-F series, refer to
"MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ) Servo Amplifier
Negative logic

PP Instruction Manual".
Signed pulse train
0011h Refer to table 2.3 for settings.
L H
NP
_ x _ _: 1h P
Command input pulse train filter selection
A-phase pulse train PP
0012h B-phase pulse train Selecting proper filter enables to enhance noise
NP tolerance.
Forward rotation 0: Command input pulse train is 4 Mpulses/s or less.
pulse train PP
0000h Reverse rotation
1: Command input pulse train is 1 Mpulse/s or less.
pulse train NP 2: Command input pulse train is 500 kpulses/s or
less.
Positive logic

Signed pulse train

PP 3: Command input pulse train is 200 kpulses/s or
0001h
NP
H L
less (available for the software version A5 or
later)
A-phase pulse train
PP 1 Mpulse/s or lower commands are supported by
0002h B-phase pulse train "1". When inputting commands over 1 Mpulse/s and
NP
4 Mpulses/s or lower, set "0".
Incorrect setting may cause the following
malfunctions.
Setting a value higher than actual command will
lower noise tolerance.
Setting a value lower than actual command will
cause a position mismatch.
x _ _ _: 0h
For manufacturer setting
Table 2.3 Command input pulse train form selection
Forward rotation Reverse rotation
Setting Pulse train form (positive direction) (negative direction)
value
command command
Forward rotation
pulse train
(positive direction
PP
pulse train)
__10
Reverse rotation
pulse train NP
(negative direction
pulse train)
Negative logic

PP

__11 Signed pulse train

L H
NP

A-phase pulse PP
train
__12
B-phase pulse
train NP

Forward rotation
pulse train
(positive direction PP
pulse train)
__00
Reverse rotation
pulse train NP
(negative direction
pulse train)
Positive logic

PP
__01 Signed pulse train

NP

A-phase pulse
PP
train
__02
B-phase pulse
train NP

Arrows in the table indicate the timing of importing

pulse trains. A-phase and B-phase pulse trains are
imported after they have been multiplied by 4.

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MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PA14 Rotation direction selection 0 PA14 Same as MR-J3 0 P
Turn off the power and then on again after setting
the parameter to validate the parameter value. Rotation direction selection
Select a servo motor rotation direction relative to the
input pulse train.
Select servo motor rotation direction relative to the
input pulse train.
Servo motor rotation direction Servo motor rotation direction
Setting
[Pr. PA14] value When forward rotation When reverse rotation
When forward
setting When reverse rotation pulse is input pulse is input
rotation pulse
pulse is input
is input
0 CCW CW
0 CCW CW
1 CW CCW
1 CW CCW

The following shows the servo motor rotation

directions.

Forward rotation (CCW)

Forward rotation (CCW)

Reverse rotation (CW)

Reverse rotation (CW)
Setting range: 0, 1

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PA15 Encoder output pulse 4000 PA15 Set the encoder output pulses from the servo 4000 P
Turn off the power and then on again after setting amplifier by using the number of output pulses per S
the parameter to validate the parameter value. revolution, dividing ratio, or electronic gear ratio. T
Used to set the encoder pulses (A-phase, B-phase) (after multiplication by 4)
output by the servo amplifier. To set a numerator of the electronic gear, select "A-
You can use parameter [Pr. PC19] to choose the phase/B-phase pulse electronic gear setting (_ _ 3
output pulse setting or output division ratio setting. _)" of "Encoder output pulse setting selection" in [Pr.
The number of A/B-phase pulses actually output is PC19].
1/4 times greater than the preset number of pulses. The maximum output frequency is 4.6 Mpulses/s
The maximum output frequency is 4.6 Mpulses/s (after multiplication by 4). Use this parameter within
(after multiplication by 4). Use this parameter within this range.
this range.
Setting range: 1 to 4194304
(1) For output pulse designation
PA16 Set a denominator of the electronic gear for the A/B- 1 P
Set "_ _ 0 _" (initial value) in [Pr. PC19].
phase pulse output. S
Set the number of pulses per servo motor
To set a denominator of the electronic gear, select T
revolution.
"A-phase/B-phase pulse electronic gear setting (_ _
Output pulse = set value [pulses/rev]
3 _)" of "Encoder output pulse setting selection" in
For instance, set "5600" to [Pr. PA15], the
[Pr. PC19].
actually output A/B-phase pulses are as indicated
below.
Setting range: 1 to 4194304
5600
A/B-phase output pulses = = 1400 pulses
4

(2) For output division ratio setting

Set "0 0 1 0" in parameter [Pr. PC19]
The number of pulses per servo motor revolution
is divided by the set value.

Output pulse Resolution per servo motor revolution

[pulses/rev]
Set value

For instance, set "8" to [Pr. PA15], the actually

A/B-phase pulses output are as indicated below.
262144 1
A/B-phase output pulses= ・ = 8192 pulses
8 4
(3) When outputting pulse train similar to command
pulses
Set [Pr. PC19] to "_ _ 2 _". The feedback pulses
from the servo motor encoder are processed and
output as shown below. The feedback pulses can
be output in the same pulse unit as the command
pulses.
Servo motor
M

Feedback pulse

Encoder
[Pr. PA05]
[Pr. PA06]/[Pr. PA07]
"0" (Initial value) CDV
CMX
A/B-phase
FBP output pulses
Other than "0" Pt

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PA19 Parameter write inhibit 000Bh PA19 Parameter writing inhibit 00AAh P

[Pr. PA19] Setting

Basic setting Gain/Filter
Extension
I/O setting Select a reference range and writing range of the S
setting
parameters parameters parameters
setting operation
[Pr. PA_ _] [Pr. PB_ _]
parameters
[Pr. PD_ _]
parameter. T
[Pr. PC_ _]

Reference
Refer to table 2.4 for settings.
0000h
Writing

000Bh Reference Table 2.4 [Pr. PA19] setting value and

(initial
Writing
reading/writing range
value) Setting
PA19 PA PB PC PD PE PF PL
operation
Reference
000Ch Other Reading
Writing than
below Writing
Reference
Reading Only 19
100Bh [Pr. PA19] 000A
Writing Writing Only 19
only
Reading
Reference 000B
100Ch Writing
[Pr. PA19]
Writing Reading
only 000C
Writing
: Enabled 00AAh Reading
(initial
value) Writing
Reading
00AB
Writing
Reading
100B
Writing Only 19

Reading
100C
Writing Only 19

Reading
10AA
Writing Only 19

Reading
10AB
Writing Only 19

PB01 Adaptive tuning mode (adaptive filter II) 0000h PB01 Same as MR-J3 0000h P
Select the setting method for filter tuning. Setting S
this parameter to "_ _ _ 1" (filter tuning mode) Adaptive tuning mode (adaptive filter II)
T
automatically changes the machine resonance _ _ _ x:
suppression filter 1 [Pr. PB13], and notch shape Filter tuning mode selection
selection 1 [Pr. PB14]. Set the adaptive tuning.
Select the adjustment mode of the machine
mechanical system

resonance suppression filter 1.

0: Disabled
Machine resonance point
Response of

1: Automatic setting (Do not use this in the torque

control mode.)
2: Manual setting
Frequency
_ _ x _: 0h
For manufacturer setting
Notch depth

_ x _ _: 0h
For manufacturer setting

Frequency x _ _ _: 0h P
Notch frequency Tuning accuracy selection S
0: Standard T
0 0 0 x: 1: High accuracy
Adaptive tuning mode selection The frequency is estimated more accurately in the
Automatically set high accuracy mode compared to the standard
Setting Adaptive tuning mode
parameter mode. However, the tuning sound may be larger in
0 Filter OFF (Note) the high accuracy mode.
[Pr. PB13] This digit is available with servo amplifier with
1 Filter tuning mode
[Pr. PB14]
2 Manual mode
software version C5 or later.

Note. [Pr. PB13] and [Pr. PB14] are fixed to the

initial values.

When this parameter is set to "_ _ _ 1" , the tuning is

completed after positioning operation is done the
predetermined number or times for the
predetermined period of time, and the setting
changes to "_ _ _ 2" . When the adaptive tuning is
not necessary, the setting changes to "_ _ _ 0".
When this parameter is set to "_ _ _ 0", the initial
values are set to the machine resonance
suppression filter 1 and notch shape selection 1.
However, this does not occur when the servo off.

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MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PB02 Vibration suppression control tuning mode 0000h PB02 Vibration suppression control tuning mode 0000h P
(advanced vibration suppression control) (advanced vibration suppression control II)
The vibration suppression is valid when the [Pr. _ _ _ x:
PA08] (auto tuning mode) setting is "_ _ _ 2" or "_ _ Vibration suppression control 1 tuning mode
_ 3". selection
When [Pr. PA08] is "_ _ _ 1", vibration suppression Select the tuning mode of the vibration suppression
is always invalid. control 1.
Select the setting method for vibration suppression 0: Disabled
control tuning. Setting this parameter to "_ _ _ 1" 1: Automatic setting
(vibration suppression control tuning mode) 2: Manual setting
automatically changes the vibration suppression
_ _ x _:
control - vibration frequency([Pr. PB19]) and
Vibration suppression control 2 tuning mode
vibration suppression control - resonance
selection
frequency([Pr. PB20]) after positioning is done the
predetermined number of times. Select the tuning mode of the vibration suppression
control 2. To enable the setting of this digit, set
"Vibration suppression mode selection" to "3 inertia
Droop pulse Droop pulse mode (_ _ _ 1)" in [Pr. PA24].
Automatic
Command adjustment Command
0: Disabled
Machine side Machine side
position position 1: Automatic setting
2: Manual setting

0 0 0 x:
Vibration suppression control tuning mode
Vibration suppression Automatically set
Setting
control tuning mode parameter
Vibration suppression
0 control OFF (Note) _ x _ _: 0h
Vibration suppression For manufacturer setting
control tuning mode [Pr. PB19]
1
(Advanced vibration [Pr. PB20]
x _ _ _: 0h
suppression control)
2 Manual mode For manufacturer setting

Note. [Pr. PB19] and [Pr. PB20] are fixed to the

initial values.

When this parameter is set to "_ _ _1", the tuning is

completed after positioning operation is done the
predetermined number or times for the
predetermined period of time, and the setting
changes to "_ _ _2". When the vibration suppression
control tuning is not necessary, the setting changes
to "_ _ _0". When this parameter is set to "_ _ _0",
the initial values are set to the vibration suppression
control - vibration frequency and vibration
suppression control - resonance frequency.
However, this does not occur when the servo off.

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PB03 Position command acceleration/deceleration time 0 PB03 Same as MR-J3 0 P
constant (position smoothing)
Used to set the time constant of a low-pass filter in Position command acceleration/
response to the position command. deceleration time constant (position smoothing)
You can use [Pr. PB25] to choose the primary delay Set the constant of a primary delay to the position
or linear acceleration/deceleration control system. command.
When you choose linear acceleration/deceleration, You can select a control method from "Primary
the setting range is 0 to 10 ms. Setting of longer delay" or "Linear acceleration/deceleration" in [Pr.
than 10 ms is recognized as 10 ms. PB25 Function selection B-1]. When the linear
acceleration/deceleration is selected, the setting
POINT range is 0 ms to 10 ms. Setting of longer than 10 ms
When you have chosen linear will be recognized as 10 ms.
acceleration/deceleration, do not select When the linear acceleration/deceleration is
control selection ([Pr. PA01]) and restart after selected, do not set the "Control mode selection"
instantaneous power failure ([Pr. PC22]).
([Pr. PA01]) to the setting other than "_ _ _ 0".
Doing so will cause the servo motor to make a
sudden stop at the time of position control Doing so will cause the servo motor to make a
switching or restart. sudden stop at the time of position control mode
switching.
(Example) When a command is given from a (Example) When a command is given from a
synchronizing detector, synchronous synchronizing encoder, synchronous
operation can be started smoothly if operation will start smoothly even if it
started during line operation. starts during line operation.

Synchronizing
detector Synchronizing
encoder

Start
Servo motor
Start
Servo amplifier Servo motor
Servo amplifier

Without time
Without time constant setting
constant setting
With time Servo motor With time
speed constant setting
Servo motor constant setting
speed ON t
ON t OFF
OFF Start
Start

Setting range: 0 to 65535

PB04 Feed forward gain 0 PB04 Same setting as MR-J3 0 P
Set the feed forward gain. When the setting is 100%,
the droop pulses during operation at constant speed Feed forward gain
are nearly zero. However, sudden Set the feed forward gain.
acceleration/deceleration will increase the When the setting is 100%, the droop pulses during
overshoot. As a guideline, when the feed forward operation at constant speed are nearly zero. When
gain setting is 100%, set 1 s or longer as the the super trace control is enabled, constant speed
acceleration time constant up to the rated speed. and uniform acceleration/deceleration droop pulses
will be almost 0. However, sudden
acceleration/deceleration will increase the
overshoot. As a guideline, when the feed forward
gain setting is 100%, set 1 s or more as the
acceleration time constant up to the rated speed.

Setting range: 0 to 100

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MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PB06 Ratio of load inertia moment to servo motor inertia 7.0 PB06 Load to motor inertia ratio 7.00 P
moment Set the load to motor inertia ratio. S
Used to set the ratio of the load inertia moment to The setting of the parameter will be the automatic
the servo motor shaft inertia moment. When auto setting or manual setting depending on the [Pr.
tuning mode 1 and interpolation mode is selected, PA08] setting. Refer to the following table for details.
the result of auto tuning is automatically used. When the parameter is automatic setting, the value
In this case, it varies between 0 and 100.0. will vary between 0.00 and 100.00.
Pr. PA08 This parameter
_ _ _ 0 (2 gain adjustment Automatic setting
mode 1 (interpolation mode))
_ _ _ 1 (Auto tuning mode 1)
_ _ _ 2 (Auto tuning mode 2) Manual setting
_ _ _ 3 (Manual mode)
_ _ _ 4 (2 gain adjustment
mode 2)

Setting range: 0.00 to 300.00

PB07 Model loop gain 24 PB07 15.0 P
Same setting as MR-J3
Set the response gain up to the target position.
Increase the gain to improve track ability in response Model loop gain
to the command. Set the response gain up to the target position.
When auto turning mode 1 2 is selected, the result Increasing the setting value will also increase the
of auto turning is automatically used. response level to the position command but will be
liable to generate vibration and noise.
The setting of the parameter will be the automatic
setting or manual setting depending on the [Pr.
PA08] setting.
Pr. PA08 This parameter
_ _ _ 0 (2 gain adjustment Manual setting
mode 1 (interpolation mode))
_ _ _ 1 (Auto tuning mode 1) Automatic setting
_ _ _ 2 (Auto tuning mode 2)
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4 (2 gain adjustment
mode 2)

Setting range: 1.0 to 2000.0

PB08 Position loop gain 37 PB08 37.0 P
Same setting as MR-J3
Used to set the gain of the position loop.
Set this parameter to increase the position response Position loop gain
to level load disturbance. Higher setting increases Set the gain of the position loop.
the response level but is liable to generate vibration Set this parameter to increase the position response
and/or noise. to level load disturbance.
When auto tuning mode 1 2 and interpolation Increasing the setting value will also increase the
mode is selected, the result of auto tuning is response level to the load disturbance but will be
automatically used. liable to generate vibration and noise.
The setting of the parameter will be the automatic
setting or manual setting depending on the [Pr.
PA08] setting. Refer to the following table for details.
Pr. PA08 This parameter
_ _ _ 0 (2 gain adjustment Automatic setting
mode 1 (interpolation mode))
_ _ _ 1 (Auto tuning mode 1)
_ _ _ 2 (Auto tuning mode 2)
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4 (2 gain adjustment Automatic setting
mode 2)

Setting range: 1.0 to 2000.0

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MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PB09 Speed loop gain 823 PB09 Same setting as MR-J3 823 P
Used to set the gain of the speed loop. S
Set this parameter when vibration occurs on Speed loop gain
machines of low rigidity or large backlash. Set the gain of the speed loop.
Higher setting increases the response level but is Set this parameter when vibration occurs on
liable to generate vibration and/or noise. machines of low rigidity or large backlash.
When auto tuning mode 1 2, manual mode and Increasing the setting value will also increase the
interpolation mode is selected, the result of auto response level but will be liable to generate vibration
tuning is automatically used. and noise.
Note. The setting range of 50000 applies to the The setting of the parameter will be the automatic
servo amplifier whose software version is A3 setting or manual setting depending on the [Pr.
or later. The setting range of the servo PA08] setting. Refer to the table of [Pr. PB08] for
amplifier whose software version is older than details.
A3 is 20 to 20000. When the software version
of Setup software (SETUP221E) is A3 or Setting range: 20 to 65535
earlier, 20001 or more cannot be set. Use the
display/operation section of the servo amplifier
to set 20001 or more.
PB10 Speed integral compensation 33.7 PB10 Same setting as MR-J3 33.7 P
Used to set the integral time constant of the speed S
loop. Speed integral compensation
Lower setting increases the response level but is Set the integral time constant of the speed loop.
liable to generate vibration and/or noise. Decreasing the setting value will increase the
When auto tuning mode 1 2 and interpolation response level but will be liable to generate vibration
mode is selected, the result of auto tuning is and noise.
automatically used. The setting of the parameter will be the automatic
setting or manual setting depending on the [Pr.
PA08] setting. Refer to the table of [Pr. PB08] for
details.

Setting range: 0.1 to 1000.0

PB11 Speed differential compensation 980 PB11 Speed differential compensation 980 P
Used to set the differential compensation. Set the differential compensation. S
Made valid when the proportion control (PC) is To enable the setting value, turn on PC (proportional
switched on. control).

Setting range: 0 to 1000

PB12 For manufacturer setting 0 PB12 Overshoot amount compensation 0 P

Set a dynamic friction torque friction torque in
percentage to the servo motor rated speed.
When the response level is low or when the torque
is limited, the efficiency of the parameter may be
lower.

Setting range: 0 to 100

PB13 Machine resonance suppression filter 1 4500 PB13 Machine resonance suppression filter 1 4500 P
Set the notch frequency of the machine resonance Set the notch frequency of the machine resonance S
suppression filter 1. suppression filter 1. T
Setting [Pr. PB01] (Adaptive tuning mode (Adaptive When "Filter tuning mode selection" is set to
filter II)) to "_ _ _1" automatically changes this "Automatic setting (_ _ _ 1)" in [Pr. PB01], this
parameter. parameter will be adjusted automatically by adaptive
When the [Pr. PB01] setting is "_ _ _0", the setting tuning.
of this parameter is ignored. When "Filter tuning mode selection" is set to
"Manual setting (_ _ _ 2)" in [Pr. PB01], the setting
value will be enabled.

Setting range: 10 to 4500

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MR-J3-_A_ MR-J4-_A_ Control

Initial Initial mode
No. Name and function value No. Name and function value
PB14 Notch shape selection 1 0000h PB14 Notch shape selection 1
Used to selection the machine resonance Set the shape of the machine resonance
suppression filter 1. suppression filter 1.
When "Filter tuning mode selection" is set to
Setting [Pr. PB01] (Adaptive tuning mode (Adaptive "Automatic setting (_ _ _ 1)" in [Pr. PB01], this
filter II)) to "_ _ _1" automatically changes this parameter will be adjusted automatically by adaptive
parameter. tuning.
When the [Pr. PB01] setting is "_ _ _0", the setting Set manually for the manual setting.
of this parameter is ignored. _ _ _ x: 0h
For manufacturer setting
0 0 x 0: _ _ x _: 0h P
Notch depth selection Notch depth selection S
0: -40 dB 0: -40 dB T
1: -14 dB 1: -14 dB
2: -8 dB 2: -8 dB
3: -4 dB 3: -4 dB
0 x 0 0: _ x _ _: 0h P
Notch width selection Notch width selection S
0: α = 2 0: α = 2 T
1: α = 3 1: α = 3
2: α = 4 2: α = 4
3: α = 5 3: α = 5
x _ _ _: 0h
For manufacturer setting
PB15 Machine resonance suppression filter 2 4500 PB15 Same as MR-J3 4500 P
Set the notch frequency of the machine resonance S
Machine resonance suppression filter 2
suppression filter 2. T
Set the notch frequency of the machine resonance
Set [Pr. PB16] (notch shape selection 2) to "_ _ _ 1" suppression filter 2.
to make this parameter valid.
To enable the setting value, set "Machine resonance
suppression filter 2 selection" to "Enabled (_ _ _ 1)"
in [Pr. PB16].

Setting range: 10 to 4500

PB16 Notch shape selection 2 0000h PB16 Same as MR-J3
Select the shape of the machine resonance
suppression filter 2. Notch shape selection 2
Set the shape of the machine resonance
suppression filter 2.
0 0 0 x: _ _ _ x: 0h P
Machine resonance suppression filter 2 selection Machine resonance suppression filter 2 selection S
0: Invalid 0: Disabled T
1: Valid 1: Enabled
0 0 x 0: _ _ x _: 0h P
Notch depth selection Notch depth selection S
0: -40 dB 0: -40 dB T
1: -14 dB 1: -14 dB
2: -8 dB 2: -8 dB
3: -4 dB 3: -4 dB
0 x 0 0: _ x _ _: 0h P
Notch width selection Notch width selection S
0: α = 2 0: α = 2 T
1: α = 3 1: α = 3
2: α = 4 2: α = 4
3: α = 5 3: α = 5
x _ _ _: 0h
For manufacturer setting

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MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PB17 Automatic setting parameter PB17 Shaft resonance suppression filter P
The value of this parameter is set according to a set Set the shaft resonance suppression filter. S
value of [Pr. PB06] (Ratio of load inertia moment to This is used to suppress a low-frequency machine T
servo motor inertia moment). vibration.
When "Shaft resonance suppression filter selection"
is "Automatic setting (_ _ _ 0)" in [Pr. PB23], the
value will be calculated automatically from the servo
motor you use and load to motor inertia ratio. Set
manually for "Manual setting (_ _ _ 1)".
When "Shaft resonance suppression filter selection"
is "Disabled (_ _ _ 2)" in [Pr. PB23], the setting value
of this parameter is disabled.
When "Machine resonance suppression filter 4
selection" is "Enabled (_ _ _ 1)" in [Pr. PB49], the
shaft resonance suppression filter is not available.
_ _ x x: 00h P
Shaft resonance suppression filter setting frequency S
selection T
Refer to table 2.5 for settings.
Set the value closest to the frequency you need.
_ x _ _: 0h P
Notch depth selection S
0: -40 dB T
1: -14 dB
2: -8 dB
3: -4 dB
x _ _ _: 0h
For manufacturer setting
Table 2.5 Shaft resonance suppression filter setting
frequency selection
Setting Frequency Setting Frequency
value [Hz] value [Hz]
__00 Disabled __10 562
__01 Disabled __11 529
__02 4500 __12 500
__03 3000 __13 473
__04 2250 __14 450
__05 1800 __15 428
__06 1500 __16 409
__07 1285 __17 391
__08 1125 __18 375
__09 1000 __19 360
__0A 900 __1A 346
__0B 818 __1B 333
__0C 750 __1C 321
__0D 692 __1D 310
__0E 642 __1E 300
__0F 600 __1F 290

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MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PB18 Low-pass filter setting 3141 PB18 Same as MR-J3 3141 P
Set the low-pass filter. S
Low-pass filter setting
Setting [Pr. PB23] (low-pass filter selection) to "_ _
0 _" automatically changes this parameter. Set the low-pass filter.
When [Pr. PB23] is set to "_ _ 1 _ ", this parameter The following shows a relation of a required
can be set manually. parameter to this parameter.

[Pr. PB23] [Pr. PB18]

_ _ 0_ (Initial value) Automatic setting
Setting value
__1_
enabled
Setting value
__2_
disabled

Setting is not necessary because this parameter is

automatically set.
PB19 Vibration suppression control vibration frequency 100.0 PB19 Same as MR-J3 100.0 P
setting
Set the vibration frequency for vibration suppression Vibration suppression control 1 - Vibration frequency
control to suppress low-frequency machine Set the vibration frequency for vibration suppression
vibration, such as enclosure vibration. control 1 to suppress low-frequency machine
Setting [Pr. PB02] (vibration suppression control vibration.
tuning mode) to "_ _ _ 1" automatically changes this When "Vibration suppression control 1 tuning mode
parameter. When [Pr. PB02] is set to "_ _ _ 2", this selection" is set to "Automatic setting (_ _ _ 1)" in
parameter can be set manually. [Pr. PB02], this parameter will be set automatically.
Set manually for "Manual setting (_ _ _ 2)".
The setting range of this parameter varies,
depending on the value in [Pr. PB07]. If a value out
of the range is set, the vibration suppression control
will be disabled. Refer to "MR-J4-_A_(-RJ)/MR-J4-
03A6(-RJ) Servo Amplifier Instruction Manual".
Setting range: 0.1 to 300.0
PB20 Vibration suppression control resonance frequency PB20 PB20 Same as MR-J3 100.0 P
setting
Set the resonance frequency for vibration Vibration suppression control 1 - Resonance
suppression control to suppress low-frequency frequency
machine vibration, such as enclosure vibration. Set the resonance frequency for vibration
Setting [Pr. PB02] (vibration suppression control suppression control 1 to suppress low-frequency
tuning mode) to "_ _ _ 1" automatically changes this machine vibration.
parameter. When [Pr. PB02] is set to "_ _ _ 2", this When "Vibration suppression control 1 tuning mode
parameter can be set manually. selection" is set to "Automatic setting (_ _ _ 1)" in
[Pr. PB02], this parameter will be set automatically.
Set manually for "Manual setting (_ _ _ 2)".
The setting range of this parameter varies,
depending on the value in [Pr. PB07]. If a value out
of the range is set, the vibration suppression control
will be disabled. Refer to "MR-J4-_A_(-RJ)/MR-J4-
03A6(-RJ) Servo Amplifier Instruction Manual".
Setting range: 0.1 to 300.0
PB21 For manufacturer setting 0.00 PB21 Vibration suppression control 1 - Vibration frequency 0.00 P
Do not change this value by any means. damping
Set a damping of the vibration frequency for
vibration suppression control 1 to suppress low-
frequency machine vibration.
When "Vibration suppression control 1 tuning mode
selection" is set to "Automatic setting (_ _ _ 1)" in
[Pr. PB02], this parameter will be set automatically.
Set manually for "Manual setting (_ _ _ 2)".
Refer to " MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ) Servo
Amplifier Instruction Manual".
Setting range: 0.00 to 0.30

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MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PB22 For manufacturer setting 0.00 PB22 Vibration suppression control 1 - Resonance 0.00 P
Do not change this value by any means. frequency damping
Set a damping of the resonance frequency for
vibration suppression control 1 to suppress low-
frequency machine vibration.
When "Vibration suppression control 1 tuning mode
selection" is set to "Automatic setting (_ _ _ 1)" in
[Pr. PB02], this parameter will be set automatically.
Set manually for "Manual setting (_ _ _ 2)".
Refer to "MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ) Servo
Amplifier Instruction Manual".
Setting range: 0.00 to 0.30
PB23 Low-pass filter selection 0000h PB23 Same setting as MR-J3 0h P
Select the low-pass filter. S
Low-pass filter selection
T
Shaft resonance suppression filter selection
0 0 x 0:
_ _ _ x:
Low-pass filter selection
Select the shaft resonance suppression filter.
0: Automatic setting
0: Automatic setting
1: Manual setting ([Pr. PB18] setting)
1: Manual setting
2: Disabled
When automatic setting has been selected, select When "Machine resonance suppression filter 4
the filter that has the band width close to the one selection" is set to "Enabled (_ _ _ 1)" in [Pr. PB49],
calculated with the shaft resonance suppression filter is not
VG2・10 available.
[rad/s]
1 + GD2
_ _ x _: 0h P
Low-pass filter selection S
Select the low-pass filter. T
0: Automatic setting
1: Manual setting
2: Disabled
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PB24 Slight vibration suppression control selection 0000h PB24 0h P
Same as MR-J3
Select the slight vibration suppression control.
When [Pr. PA08] (auto tuning mode) is set to "_ _ _ Slight vibration suppression control
3", the slight vibration suppression control is made Slight vibration suppression control selection
valid. _ _ _ x:
Select the slight vibration suppression control.
0 0 0 x: 0: Disabled
1: Enabled
Slight vibration suppression control selection
To enable the slight vibration suppression control,
0: Invalid
set "Gain adjustment mode selection" to "Manual
1: Valid
mode (_ _ _ 3)" in [Pr. PA08]. Slight vibration
suppression control cannot be used in the speed
control mode.
_ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PB25 Function selection B-1 0000h PB25 Function selection B-1 0h P
Select the control systems for position command _ _ _ x:
acceleration/deceleration time constant ([Pr. PB03]). Model adaptive control selection
0: Enabled (model adaptive control)
0 0 x 0: 2: Disabled (PID control)
Control of position command acceleration/ This digit is supported with software version B4 or
deceleration time constant later.
0: Primary delay _ _ x _: 0h P
1: Linear acceleration/deceleration Position acceleration/deceleration filter type
When linear acceleration/deceleration is selected, selection
do not execute control switching after Select the position acceleration/deceleration filter
instantaneous power failure. The servo motor will type.
make a sudden stop during the control switching 0: Primary delay
or automatic restart. 1: Linear acceleration/deceleration
When you select "Linear acceleration/deceleration",
do not switch the control mode. Doing so will cause
the servo motor to make a sudden stop at the time of
control mode switching.
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PB26 Gain changing selection PB26 Gain switching function
Select the gain changing condition. Select the gain switching condition.
0 0 0 x: 0h Set conditions to enable the gain switching values
Gain changing selection set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr.
Under any of the following conditions, the gains PB60].

change on the basis of the [Pr. PB29] to [Pr. PB34] _ _ _ x: 0h P

settings Gain switching selection S
0: Invalid 0: Disabled
1: Input device (Gain changing (CDP)) 1: Input device (gain switching (CDP))
2: Command frequency ([Pr. PB27] setting) 2: Command frequency
3: Droop pulse ([Pr. PB27] setting) 3: Droop pulses
4: Servo motor speed ([Pr. PB27] setting) 4: Servo motor speed

_ _ x _: 0h _ _ x _: 0h P
Gain changing condition Gain switching condition selection S
0: Valid when the input device (gain changing 0: Gain after switching is enabled with gain switching
(CDP)) is ON, or valid when the value is equal to condition or more
or larger than the value set in [Pr. PB27] 1: Gain after switching is enabled with gain switching
1: Valid when the input device (gain changing condition or less
(CDP)) is OFF, or valid when the value is equal _ x _ _: 0h P
to or smaller than the value set in [Pr. PB27] Gain switching time constant disabling condition S
_ x _ _: 0h selection
For manufacturer setting 0: Switching time constant enabled
Do not change this value by any means. 1: Switching time constant disabled
x _ _ _: 0h 2: Return time constant disabled
For manufacturer setting This digit is used by servo amplifier with software
Do not change this value by any means. version B4 or later.
x _ _ _: 0h
For manufacturer setting
PB27 Gain changing condition 10 PB27 Same as MR-J3 10 P
Used to set the value of gain changing condition S
(command frequency, droop pulses, servo motor Gain switching condition
speed) selected in [Pr. PB26].The set value unit This is used to set the value of gain switching
changes with the changing condition item. (command frequency, droop pulses, and servo
motor speed) selected in [Pr. PB26].
The set value unit differs depending on the switching
condition item.

Setting range: 0 to 9999

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PB28 Gain changing time constant 1 PB28 Same as MR-J3 1 P
Used to set the time constant at which the gains will S
change in response to the conditions set in [Pr. Gain switching time constant
PB26] and [Pr. PB27]. This is used to set the time constant at which the
gains will change in response to the conditions set in
[Pr. PB26] and [Pr. PB27].

Setting range: 0 to 100

PB29 Gain changing ratio of load inertia moment to servo 7.0 PB29 Same as MR-J3 7.00 P
motor inertia moment S
Used to set the ratio of load inertia moment to servo load to motor mass ratio after gain switching
motor inertia moment when gain changing is valid. This is used to set the load to motor inertia ratio/load
This parameter is made valid when the auto tuning to motor mass ratio when gain switching is enabled.
is invalid ([Pr. PA08]: _ _ _ 3). This parameter is enabled only when "Gain
adjustment mode selection" is "Manual mode (_ _ _
3)" in [Pr. PA08].

Setting range: 0.00 to 300.00 Unit: 1.0 time

PB30 Gain changing position loop gain 37 PB30 Position loop gain after gain switching 0.0 P
Set the position loop gain when the gain changing is Set the position loop gain when the gain switching is
valid. enabled.
This parameter is made valid when the auto tuning When you set a value less than 1.0 rad/s, the value
is invalid ([Pr. PA08]: _ _ _ 3). will be the same as [Pr. PB08].
This parameter is enabled only when "Gain
adjustment mode selection" is "Manual mode (_ _ _
3)" in [Pr. PA08].

Setting range: 0.0 to 2000.0

PB31 Gain changing speed loop gain 823 PB31 Speed loop gain after gain switching 0 P
Set the speed loop gain when the gain changing is Set the speed loop gain when the gain switching is S
valid. enabled.
This parameter is made valid when the auto tuning When you set a value less than 20 rad/s, the value
is invalid ([Pr. PA08]: _ _ _ 3). will be the same as [Pr. PB09].
Note The setting range of 50000 applies to the This parameter is enabled only when "Gain
servo amplifier whose software version is A3 or adjustment mode selection" is "Manual mode (_ _ _
later. The setting range of the servo amplifier whose 3)" in [Pr. PA08].
software version is older than A3 is 20 to 20000.
When the software version of Setup software Setting range: 0 to 65535
(SETUP221E) is A3 or earlier, 20001 or more
cannot be set. Use the display/operation section of
the servo amplifier to set 20001 or more.
PB32 Gain changing speed integral compensation 33.7 PB32 Speed integral compensation after gain switching 0.0 P
Set the speed integral compensation when the gain Set the speed integral compensation when the gain S
changing is valid. changing is enabled.
This parameter is made valid when the auto tuning When you set a value less than 0.1 ms, the value
is invalid ([Pr. PA08]: _ _ _ 3). will be the same as [Pr. PB10].
This parameter is enabled only when "Gain
adjustment mode selection" is "Manual mode (_ _ _
3)" in [Pr. PA08].

Setting range: 0.0 to 5000.0

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PB33 Gain changing vibration suppression control - 100.0 PB33 Vibration suppression control 1 - Vibration frequency 0.0 P
vibration frequency setting after gain switching
Set the vibration frequency for vibration suppression Set the vibration frequency for vibration suppression
control when the gain changing is valid. This control 1 when the gain switching is enabled.
parameter is made valid when the [Pr. PB02] setting When you set a value less than 0.1 Hz, the value
is "_ _ _ 2" and the [Pr. PB26] setting is "_ _ _ 1". will be the same as [Pr. PB19].
When using the vibration suppression control gain This parameter will be enabled only when the
changing, always execute the changing after the following conditions are fulfilled.
servo motor has stopped. "Gain adjustment mode selection" in [Pr. PA08] is
"Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode
selection" in [Pr. PB02] is "Manual setting (_ _ _
2)".
"Gain switching selection" in [Pr. PB26] is "Input
device (gain switching (CDP)) (_ _ _ 1)".
Switching during driving may cause a shock. Be
sure to switch them after the servo motor stops.

Setting range: 0.0 to 300.0

PB34 Gain changing vibration suppression control - 100.0 PB34 Vibration suppression control 1 - Resonance 0.0 P
resonance frequency setting frequency after gain switching
Set the resonance frequency for vibration Set the resonance frequency for vibration
suppression control when the gain changing is valid.
suppression control 1 when the gain switching is
This parameter is made valid when the [Pr. PB02]
enabled.
setting is "_ _ _ 2" and the [Pr. PB26] setting is "_ _
_ 1". When you set a value less than 0.1 Hz, the value
When using the vibration suppression control gain will be the same as [Pr. PB20].
changing, always execute the changing after the This parameter will be enabled only when the
servo motor has stopped. following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is
"Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode
selection" in [Pr. PB02] is "Manual setting (_ _ _
2)".
"Gain switching selection" in [Pr. PB26] is "Input
device (gain switching (CDP)) (_ _ _ 1)".
Switching during driving may cause a shock. Be
sure to switch them after the servo motor stops.

Setting range: 0.0 to 300.0

PB35 For manufacturer setting 0.00 PB35 Vibration suppression control 1 - Vibration frequency 0.00 P
Do not change this value by any means. damping after gain switching
Set a damping of the vibration frequency for
vibration suppression control 1 when the gain
switching is enabled.
This parameter will be enabled only when the
following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is
"Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode
selection" in [Pr. PB02] is "Manual setting (_ _ _
2)".
"Gain switching selection" in [Pr. PB26] is "Input
device (gain switching (CDP)) (_ _ _ 1)".
Switching during driving may cause a shock. Be
sure to switch them after the servo motor stops.

Setting range: 0.00 to 0.30

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PB36 For manufacturer setting 0.00 PB36 Vibration suppression control 1 - Resonance 0.00 P
Do not change this value by any means. frequency damping after gain switching
Set a damping of the resonance frequency for
vibration suppression control 1 when the gain
switching is enabled.
This parameter will be enabled only when the
following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is
"Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode
selection" in [Pr. PB02] is "Manual setting (_ _ _
2)".
"Gain switching selection" in [Pr. PB26] is "Input
device (gain switching (CDP)) (_ _ _ 1)".
Switching during driving may cause a shock. Be
sure to switch them after the servo motor stops.

Setting range: 0.00 to 0.30

PC01 Acceleration time constant 0 PC01 Same as MR-J3 0 S
Used to set the acceleration time required to reach T
the rated speed from 0 r/min in response to the Acceleration time constant
analog speed command and internal speed Set the acceleration time required to reach the rated
commands 1 to 7. speed from 0 r/min for VC (Analog speed command)
and [Pr. PC05 Internal speed command 1] to [Pr.
If the preset speed command is PC11 Internal speed command 7].
lower than the rated speed,
Speed
acceleration/deceleration time If the preset speed command is
Rated lower than the rated lotation speed,
will be shorter. Speed acceleration/deceleration time will
speed Rated be shorter.
speed

Zero Time 0 r/min Time

speed Parameter Parameter [Pr. PC01] setting [Pr. PC02] setting
No.PC01 setting No.PC02 setting
For example for the servo motor of 3000 r/min rated
speed, set 3000 (3 s) to increase the speed from 0
For example for the servo motor of 3000 r/min rated r/min to 1000 r/min in 1 second.
speed, set 3000 (3 s) to increase speed from 0 r/min
to 1000 r/min in 1 second. Setting range: 0 to 50000
PC02 Deceleration time constant 0 PC02 Same as MR-J3 0 S
Used to set the deceleration time required to reach 0 T
r/min from the rated speed in response to the analog Deceleration time constant
speed command and internal speed commands 1 to Set the deceleration time required to reach 0 r/min
7. from the rated speed for VC (Analog speed
command) and [Pr. PC05 Internal speed command
1] to [Pr. PC11 Internal speed command 7].

Setting range: 0 to 50000

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PC03 S-pattern acceleration/deceleration time constant 0 PC03 Same as MR-J3 0 S
Used to smooth start/stop of the servo motor. T
S-pattern acceleration/deceleration time constant
Set the time of the arc part for S-pattern
acceleration/deceleration. Start/stop the servo motor smoothly.
Set the time of the arc part for S-pattern
acceleration/deceleration.
Speed command
Speed
command
Servo motor
Speed

Servo motor
speed
0 r/min
Time
STC STA STC STC STB STC
0 r/min
STA: Acceleration time constant [Pr. PC01] Time
STC STA STC STC STB STC
STB: Deceleration time constant [Pr. PC02]
STA: Acceleration time constant ([Pr. PC01])
STC: S-pattern acceleration/deceleration time
constant [Pr. PC03] STB: Deceleration time constant ([Pr. PC02])
STC: S-pattern acceleration/deceleration time
constant ([Pr. PC03])
Long setting of STA (acceleration time constant) or
STB (deceleration time constant) may produce an
error in the time of the arc part for the setting of the Long setting of STA (acceleration time constant) or
S-pattern acceleration/deceleration time constant. STB (deceleration time constant) may produce an
error in the time of the arc part for the setting of the
The upper limit value of the actual arc part time is limited by S-pattern acceleration/deceleration time constant.
2000000 2000000
STA
for acceleration or by
STB
for deceleration. The upper limit value of the actual arc part time is
(Example) At the setting of STA 20000, STB 5000 and STC 200, limited by
the actual arc part times are as follows.
Limited to 100[ms] since 2000000 2000000
During acceleration: 100[ms] 2000000 STA
for acceleration or by STB
for
100[ms] 200[ms].
20000
deceleration.
200[ms] as set since
During deceleration: 200[ms] 2000000
400[ms] 200[ms]. (Example) At the setting of STA 20000, STB 5000
5000
and STC 200, the actual arc part times
are as follows.

Acceleration: 100 ms
2000000
20000
= 100 [ms] < 200 [ms]

Therefore, it will be limited to 100 ms.

Deceleration: 200 ms
2000000
5000
= 400 [ms] > 200 [ms]

Therefore, it will be 200 ms as you set.

Setting range: 0 to 5000

PC04 Torque command time constant 0 PC04 Same as MR-J3 0 T
Used to set the constant of a low-pass filter in
Torque command time constant
response to the torque command.
Set the constant of a primary delay filter to the
torque command.
Torque Torque command

Torque command
After
filtered
Torque
After filtering

TQC TQC Time

TQC: Torque command time constant

TQC TQC Time

TQC: Torque

Setting range: 0 to 50000

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PC05 Internal speed command 1 100 PC05 Same as MR-J3 100 S
Used to set speed 1 of internal speed commands.
Internal speed command 1
Set the speed 1 of internal speed commands.

Setting range: 0 to permissible instantaneous speed

Internal speed limit 1 Internal speed limit 1 T
Used to set speed 1 of internal speed limits. Set the speed 1 of internal speed limits.

Setting range: 0 to permissible instantaneous speed

PC06 Internal speed command 2 500 PC06 Same as MR-J3 500 S
Used to set speed 2 of internal speed commands.
Internal speed command 2
Set the speed 2 of internal speed commands.

Setting range: 0 to permissible instantaneous speed

Internal speed limit 2 Internal speed limit 2 T
Used to set speed 2 of internal speed limits. Set the speed 2 of internal speed limits.

Setting range: 0 to permissible instantaneous speed

PC07 Internal speed command 3 1000 PC07 Same as MR-J3 1000 S
Used to set speed 3 of internal speed commands.
Internal speed command 3
Set the speed 3 of internal speed commands.

Setting range: 0 to permissible instantaneous speed

Internal speed limit 3 Internal speed limit 3 T
Used to set speed 3 of internal speed limits. Set speed 3 of internal speed limits.

Setting range: 0 to permissible instantaneous speed

PC08 Internal speed command 4 200 PC08 Same as MR-J3 200 S
Used to set speed 4 of internal speed commands.
Internal speed command 4
Set the speed 4 of internal speed commands.

Setting range: 0 to permissible instantaneous speed

Internal speed limit 4 Internal speed limit 4 T
Used to set speed 4 of internal speed limits. Set the speed 4 of internal speed limits.

Setting range: 0 to permissible instantaneous speed

PC09 Internal speed command 5 300 PC09 Same as MR-J3 300 S
Used to set speed 5 of internal speed commands.
Internal speed command 5
Set the speed 5 of internal speed commands.

Setting range: 0 to permissible instantaneous speed

Internal speed limit 5 Internal speed limit 5 T
Used to set speed 5 of internal speed limits. Set the speed 5 of internal speed limits.

Setting range: 0 to permissible instantaneous speed

PC10 Internal speed command 6 500 PC10 Same as MR-J3 500 S
Used to set speed 6 of internal speed commands.
Internal speed command 6
Set the speed 6 of internal speed commands.

Setting range: 0 to permissible instantaneous speed

Internal speed limit 6 Internal speed limit 6 T
Used to set speed 6 of internal speed limits. Set the speed 6 of internal speed limits.

Setting range: 0 to permissible instantaneous speed

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PC11 Internal speed command 7 800 PC11 Same as MR-J3 800 S
Used to set speed 7 of internal speed commands.
Internal speed command 7
Set the speed 7 of internal speed commands.

Setting range: 0 to permissible instantaneous speed

Internal speed limit 7 Internal speed limit 7 T
Used to set speed 7 of internal speed limits. Set the speed 7 of internal speed limits.

Setting range: 0 to permissible instantaneous speed

PC12 Analog speed command maximum speed 0 PC12 Same setting as MR-J3 0 S
Used to set the speed at the maximum input voltage
(10 V) of the analog speed command (VC). Analog speed command - Maximum speed
When "0" is set, the analog speed command Set the speed of servo motor at the maximum
maximum speed would be the rated speed of the voltage (10 V) input to VC (Analog speed
servo motor connected. command).
The speed is as indicated below for motorless When "0" is set, the rated speed of the connected
operation of test operation. servo motor is used.
When you input a command value of the permissible
Servo amplifier capacity Servo motor speed [r/min]
speed or more to VC, the value is clamped at the
permissible speed.
100 V class 100 W to 400 W
3000
100 W to 750 W
200 V class Setting range: 0 to 50000
1 kW to 37 kW
2000
400 V class 600 W to 55 kW

Analog speed limit maximum speed Analog speed limit - Maximum speed T
Used to set the speed at the maximum input voltage Set the speed of servo motor at the maximum
(10 V) of the analog speed limit (VLA). voltage (10 V) input to VLA (Analog speed limit).
Set "0" to select the rated speed of the servo motor When "0" is set, the rated speed of the connected
connected. servo motor is used.
When you input a limit value of the permissible
speed or more to VLA, the value is clamped at the
permissible speed.

Setting range: 0 to 50000

PC13 Analog torque command maximum output 100.0 PC13 Same as MR-J3 100.0 T
Used to set the output torque at the analog torque
command voltage (TC = ±8 V) of +8 V on the Analog torque command maximum output
assumption that the maximum torque is 100 [%]. For This is used to set the output torque at the analog
example, set 50 to output (maximum torque × torque (TC = ±8 V) of +8 V on the assumption that
50/100) at the TC of +8 V. the maximum torque is 100.0%.
For example, set 50.0.
50.0
The maximum torque × 100.0 is outputted.

If a value equal to or larger than the maximum

torque is inputted to TC, the value will be clamped at
the maximum torque.

Setting range: 0.0 to 1000.0

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PC14 Analog monitor 1 output 0000h PC14 Analog monitor 1 output 00h P
Used to selection the signal provided to the analog _ _ x x: S
monitor 1 (MO1) output. Analog monitor 1 output selection T
Select a signal to output to MO1 (Analog monitor 1).
0 0 0 x: Refer to table 2.6 for settings.
Analog monitor 1 (MO1) output selection _ x _ _: 0h
Setting Item For manufacturer setting
0 Servo motor speed (8 V/max. speed) x _ _ _: 0h
1 Torque (8 V/max. torque) (Note 2) For manufacturer setting
2 Servo motor speed (+8 V/max. speed) Table 2.6 Analog monitor setting value
3 Torque (+8 V/max. torque) (Note 2) (MR-J4-_A_(-RJ) 100 W or more)
4 Current command (8 V/max. current command Setting Item
value
5 Command pulse frequency (10 V/1 Mpulse/s) __00 Servo motor speed (±8 V/max. speed)
__01 Torque (±8 V/max. torque) (Note 2)
6 Droop pulses (10 V/100 pulses) (Note 1)
__02 Servo motor speed (+8 V/max. speed)
7 Droop pulses (10 V/1000 pulses) (Note 1) __03 Torque (+8 V/max. torque) (Note 2)
8 Droop pulses (10 V/10000 pulses) (Note 1) __04 Current command (±8 V/max. current
command)
9 Droop pulses (10 V/100000 pulses) (Note 1) __05 Command pulse frequency (±10 V/±4
Mpulses/s)
A Feedback position (10 V/1 Mpulse) (Note 1)
__06 Servo motor-side droop pulses (±10 V/100
B Feedback position (10 V/10 Mpulses) (Note 1) pulses) (Note 1)
__07 Servo motor-side droop pulses (±10 V/1000
C Feedback position (10 V/100 Mpulses) (Note 1) pulses) (Note 1)
D Bus voltage (8 V/400 V) (Note 3) __08 Servo motor-side droop pulses (±10 V/10000
pulses) (Note 1)
__09 Servo motor-side droop pulses (±10 V/100000
pulses) (Note 1)
Note 1. Encoder pulse unit. __0A Feedback position (±10 V/1 Mpulse) (Note 1)
2. 8 V is outputted at the maximum torque. __0B Feedback position (±10 V/10 Mpulses) (Note
1)
However, when [Pr. PA11] [Pr. PA12] are
__0C Feedback position (±10 V/100 Mpulses) (Note
set to limit torque, 8 V is outputted at the 1)
torque highly limited. __0D Bus voltage (200 V class and 100 V class: +8
3. For 400 V class servo amplifier, the bus V/400 V, 400 V class: +8 V/800 V)
voltage becomes +8 V/800 V.

Note 1. Encoder pulse unit

2. The larger value of [Pr. PA11] or [Pr. PA12]
will be the maximum torque.
PC15 Analog monitor 2 output 0001h PC15 Analog monitor 2 output 01h P
Used to selection the signal provided to the analog _ _ x x: S
monitor 2 (MO2) output. Analog monitor 2 output selection T
Select a signal to output to MO2 (Analog monitor 2).
0 0 0 x: Refer to [Pr. PC14] for settings.
Select the analog monitor 2 (MO2) output _ x _ _: 0h
The settings are the same as those of [Pr. PC14] For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PC16 Electromagnetic brake sequence output 100 PC16 Same as MR-J3 0 P
Used to set the delay time (Tb) between electronic S
brake interlock (MBR) and the base drive circuit is Analog monitor 2 output
T
shut-off. Set the delay time between MBR (Electromagnetic
brake interlock) and the base drive circuit is shut-off.

Setting range: 0 to 1000

PC17 Zero speed 50 PC17 50 P
Same as MR-J3
Used to set the output range of the zero speed S
detection (ZSP). Zero speed
T
Zero speed detection (ZSP) has hysteresis width of Set the output range of ZSP (Zero speed detection).
20 r/min ZSP (Zero speed detection) has hysteresis of 20
r/min.

Setting range: 0 to 10000

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PC18 Alarm history clear 0000h PC18 Same as MR-J3 0h P
Used to clear the alarm history. S
Alarm history clear selection
T
_ _ _ x:
0 0 0 x:
Clear the alarm history.
Alarm history clear
0: Disabled
0: Invalid
1: Enabled
1: Valid When "Enabled" is set, the alarm history will be
When alarm history clear is made valid, the alarm cleared at the next power-on. After the alarm history
history is cleared at next power-on. is cleared, the setting is automatically disabled.
After the alarm history is cleared, the setting is
automatically made invalid (reset to 0). _ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PC19 Encoder output pulses selection 0000h PC19 Same setting as MR-J3 0h P
Use to select the, encoder output pulses direction S
and encoder output pulses setting. Encoder output pulse selection
T
_ _ _ x:
0 0 0 x: Encoder output pulse phase selection
Encoder output pulses phase changing Select the encoder pulse direction.
Changes the phases of A/B-phase encoder output 0: A-phase 90° shift in CCW
pulses. 1: A-phase 90° shift in CW
Servo motor rotation direction Servo motor rotation direction
Set value Set value
CCW CW CCW or positive direction CW or negative direction

A-phase A-phase A-phase A-phase

0 0
B-phase B-phase B-phase B-phase

A-phase A-phase A-phase A-phase

1 1
B-phase B-phase B-phase B-phase

0 0 x 0: _ _ x _: 0h P
Encoder output pulses setting selection Encoder output pulse setting selection S
(refer to [Pr. PA15]) 0: Output pulse setting T
0: Output pulses setting When "_ 1 0 _" is set to this parameter, [AL. 37
Parameter error] will occur.
1: Division ratio setting
1: Dividing ratio setting
2: Ratio is automatically set to command pulse unit
2: The same output pulse setting as the command
Setting "2" makes the [Pr. PA15] (encoder output
pulse
pulses) setting invalid.
3: A-phase/B-phase pulse electronic gear setting
When you select "1", the setting of [Pr. PA16
Encoder output pulses 2] will be disabled. When you
select "2", the settings of [Pr. PA15 Encoder output
pulses] and [Pr. PA16 Encoder output pulses 2] will
be disabled. When you select the setting, do not
change the settings in [Pr. PA06] and [Pr. PA07]
after the power-on.
_ x _ _: 0h P
Selection of the encoders for encoder output pulse
Select an encoder used for the encoder output
pulses which the servo amplifier outputs.
0: Servo motor encoder
1: Load-side encoder
When "_ 1 0 _" is set to this parameter, [AL. 37
Parameter error] will occur.
x _ _ _: 0h
For manufacturer setting

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PC20 Station number setting 0 PC20 0 P
Same setting as MR-J3
Used to specify the station number for serial S
Station No. setting
communication. T
Specify a station number of the servo amplifier for
Always set one station to one axis of servo amplifier. RS-422 and USB communications.
If one station number is set to two or more stations,
Always set one station to one axis of the servo
normal communication cannot be made.
amplifier. Setting one station number to two or more
stations will disable a normal communication.

Setting range: 0 to 31
PC21 Communication function selection 0000h PC21 RS-422 communication function selection
Select the communication I/F and select the RS-422 Select the communication I/F and select the RS-422
communication conditions. communication conditions.
0 0 x 0: _ _ _ x: 0h
RS-422 communication baud rate selection For manufacturer setting
0: 9600 [bps] _ _ x _: 0h P
1: 19200 [bps] RS-422 communication baud rate selection S
2: 38400 [bps] When using the parameter unit, set "1 _ _ _" in [Pr. T
3: 57600 [bps] PF34].
4: 115200 [bps] 0: 9600 [bps]
0 x 0 0: 1: 19200 [bps]
RS-422 communication response delay time 2: 38400 [bps]
0: Invalid 3: 57600 [bps]
1: Valid, reply sent after delay time of 800 μs or 4: 115200 [bps]
longer
_ x _ _: 0h P
RS-422 communication response delay time S
selection T
0: Disabled
1: Enabled (responding after 800 μs or longer delay
time)
x _ _ _: 0h
For manufacturer setting
PC22 Function selection C-1 0000h PC22 _ _ _ x: 0h
Select the execution of automatic restart after For manufacturer setting
instantaneous power failure selection, and encoder _ _ x _: 0h
cable communication system selection. For manufacturer setting
0 0 0 x:
_ x _ _: 0h
Restart after instantaneous power failure selection
For manufacturer setting
If the power supply voltage has returned to normal
Function selection C-1 0h P
after an undervoltage status caused by the reduction
of the input power supply voltage in the speed x _ _ _: S
control mode, the servo motor can be restarted by Encoder cable communication method selection T
merely turning on the start signal without resetting Select how to execute the encoder cable
the alarm. communication method.
0: Invalid ([AL.10 Undervoltage alarm] occurs.) 0: Two-wire type
1: Valid (If this function is enabled for the drive unit 1: Four-wire type
of 30 kW or more, [AL. 37 Parameter error] When using an encoder of A/B/Z-phase differential
occurs.) output method, set "0".
x 0 0 0: If the setting is incorrect, [AL. 16 Encoder initial
Encoder cable communication system selection communication error 1] or [AL. 20 Encoder normal
communication error 1] occurs.
0: Two-wire type
1: Four-wire type
The following encoder cables are four-wire type.
MR-EKCBL30M-L
MR-EKCBL30M-H
MR-EKCBL40M-H
MR-EKCBL50M-H
Other encoder cables are two-wire type.
Incorrect setting will result in [AL.16 Encoder error 1
(At power on)].

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PC23 Function selection C-2 0000h PC23 0h S
Same as MR-J3
Select the servo lock at speed control mode stop,
the VC-VLA voltage averaging, and the speed limit Function selection C-2
in torque control mode. _ _ _ x:
0 0 0 x: Servo-lock selection at speed control stop
Selection of servo lock at stop In the speed control Select the servo-lock selection at speed control stop.
mode, the servo motor shaft can be locked to In the speed control mode, the servo motor shaft can
prevent the shaft from being moved by the external be locked to prevent the shaft from being moved by
force. an external force.
0: Valid (Servo-locked) 0: Enabled (servo-lock)
The operation to maintain the stop position is The operation to maintain the stop position is
performed. performed.
1: Invalid (Not servo-locked) 1: Disabled (no servo-lock)
The stop position is not maintained. The stop position is not maintained.
The control to make the speed 0 r/min is The control to make the speed 0 r/min is
performed. performed.
0 x 0 0:
VC/VLA voltage averaging __x_: 0h
Used to set the filtering time when the analog speed For manufacturer setting
command (VC) voltage or analog speed limit (VLA)
_ x _ _: 0h S
is imported.
VC/VLA voltage averaging selection T
Set 0 to vary the speed to voltage fluctuation in real
Select the VC/VLA voltage average.
time. Increase the set value to vary the speed slower
to voltage fluctuation. Set the filtering time when VC (Analog speed
command) or VLA (Analog speed limit) is imported.
Set value Filtering time [ms]
Set 0 to vary the speed to voltage fluctuation in real
0 0 time. Increase the set value to vary the speed slower
1 0.444 to voltage fluctuation.
2 0.888
Setting value Filtering time [ms]
3 1.777
0 0
4 3.555
1 0.444
5 7.111
2 0.888
x 0 0 0: 3 1.777
Selection of speed limit for torque control 4 3.555
0: Valid 5 7.111
1: Invalid
Do not use this function except when configuring a
x _ _ _: 0h T
speed loop externally.
Speed limit selection at torque control
If the speed limit is invalid, the following parameters
Select the speed limit selection at torque control.
can be used.
0: Enabled
[Pr. PB01] (Adaptive tuning mode (Adaptive filter ))
1: Disabled
[Pr. PB13] (machine resonance suppression filter 1)
Do not use this function except when configuring an
[Pr. PB14] (notch shape selection 1)
external speed loop.
[Pr. PB15] (machine resonance suppression filter 2)
[Pr. PB16] (notch shape selection 2)
PC24 Function selection C-3 0000h PC24 Function selection C-3 0h P
Select the unit of the in-position range In-position range unit selection
0 0 0 x: _ _ _ x:
In-position range unit selection Select a unit of in-position range.
0: Command input pulse unit 0: Command input pulse unit
1: Servo motor encoder pulse unit 1: Servo motor encoder pulse unit
_ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h P
Error excessive alarm/error excessive warning level
unit selection
Select units for error excessive alarm level setting
with [Pr. PC43] and for error excessive warning level
setting with [Pr. PC73].
0: Per 1 rev
1: Per 0.1 rev
2: Per 0.01 rev
3: Per 0.001 rev

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PC26 Function selection C-5 0000h PC26 Same as MR-J3 0h P
Select the [AL. 99 stroke limit warning] S
Function selection C-5
0 0 0 x:
_ _ _ x:
[AL. 99 Stroke limit warning] selection
[AL. 99 Stroke limit warning] selection
0: Valid
Enable or disable [AL. 99 Stroke limit warning].
1: Invalid
0: Enabled
When this parameter is set to "1", [AL. 99] will not
occur if the forward rotation stroke end (LSP) or 1: Disabled
reverse rotation stroke end (LSN) turns OFF. _ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PC27 Function selection C-6 0000h PC27 Function selection C-6 0h P
Set this function if undervoltage alarm occurs _ _ _ x: S
because of distorted power supply voltage waveform [AL. 10 Undervoltage] detection method selection T
when using power regenerative converter or power Set this parameter when [AL. 10 undervoltage]
regenerative common converter. occurs due to power supply voltage distortion while
0 0 0 x: using FR-RC-(H) or FR-CV-(H).
Control circuit power supply undervoltage alarm 0: When [AL. 10] does not occur
detection method selectiom 1: When [AL. 10] occurs
0: Initial value _ _ x _: 0h P
1: Set "1" if undervoltage alarm occurs because of Main circuit power supply selection S
distorted power supply voltage waveform when
This digit is not available with MR-J4-_A_(-RJ) 100 T
using power regenerative converter or power
W or more servo amplifiers.
regenerative common converter.
_ x _ _: 0h P
Undervoltage alarm selection S
Select the alarm and warning for when the bus T
voltage drops to the undervoltage alarm level.
0: [AL. 10.2 Voltage drop in the main circuit power]
regardless of servo motor speed
1: [AL. E9.1 Servo-on signal on during main circuit
off] at servo motor speed 50 r/min or less, [AL. 10.2]
at over 50 r/min
x _ _ _: 0h
For manufacturer setting
PC30 Acceleration time constant 2 0 PC30 Same as MR-J3 0 S
This parameter is made valid when the T
acceleration/deceleration selection (STAB2) is Acceleration time constant 2
turned ON. To enable the parameter, turn on STAB2 (Speed
Used to set the acceleration time required to reach acceleration/deceleration selection).
the rated speed from 0 r/min in response to the
analog speed command and internal speed Set the acceleration time required to reach the rated
commands 1 to 7. speed from 0 r/min for VC (Analog speed command)
and [Pr. PC05 Internal speed command 1] to [Pr.
PC11 Internal speed command 7].

Setting range: 0 to 50000

PC31 Deceleration time constant 2 0 PC31 Same as MR-J3 0 S
This parameter is made valid when the T
acceleration/deceleration selection (STAB2) is Deceleration time constant 2
turned ON. To enable the parameter, turn on STAB2 (Speed
Used to set the deceleration time required to reach 0 acceleration/deceleration selection).
r/min from the rated speed in response to the analog
speed command and internal speed commands 1 to Set the deceleration time required to reach 0 r/min
7. from the rated speed for VC (Analog speed
command) and [Pr. PC05 Internal speed command
1] to [Pr. PC11 Internal speed command 7].

Setting range: 0 to 50000

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PC32 Command pulse multiplying factor numerator 2 1 PC32 Command pulse multiplication numerator 2 1 P
Available when the [Pr. PA05] is set to "0". To enable the parameter, select "Electronic gear (0
_ _ _)" or "J3 electronic gear setting value
compatibility mode (2 _ _ _)" of "Electronic gear
selection" in [Pr. PA21].

Setting range: 1 to 16777215

PC33 Command pulse multiplying factor numerator 3 1 PC33 Command pulse multiplication numerator 3 1 P
Available when the [Pr. PA05] is set to "0". To enable the parameter, select "Electronic gear (0
_ _ _)" or "J3 electronic gear setting value
compatibility mode (2 _ _ _)" of "Electronic gear
selection" in [Pr. PA21].

Setting range: 1 to 16777215

PC34 Command pulse multiplying factor numerator 4 1 PC34 Command pulse multiplication numerator 4 1 P
Available when the [Pr. PA05] is set to "0". To enable the parameter, select "Electronic gear (0
_ _ _)" or "J3 electronic gear setting value
compatibility mode (2 _ _ _)" of "Electronic gear
selection" in [Pr. PA21].

Setting range: 1 to 16777215

PC35 Internal torque limit 2 100.0 PC35 Internal torque limit 2 100.0 P
Set this parameter to limit servo motor torque on the Set the parameter on the assumption that the S
assumption that the maximum torque is 100 [%]. maximum torque is 100.0%. T
When 0 is set, torque is not produced. The parameter is for limiting the torque of the servo
When torque is output in analog monitor output, this motor.
set value is the maximum output voltage (8 V). No torque is generated when this parameter is set to
"0.0".
When TL1 (Internal torque limit selection) is turned
on, Internal torque limits 1 and 2 are compared and
the lower value will be enabled.

Setting range: 0.0 to 100.0

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PC36 Status display selection 0000h PC36 Status display selection 00h P
Select the status display to be provided at power-on. _ _ x x: S
0 0 0 x: Status display selection at power-on T
Selection of status display at power-on Select a status display shown at power-on. Setting
0: Cumulative feedback pulse "21" to "27" will trigger [AL. 37 Parameter error] in
1: Servo motor speed the mode other than the positioning mode.
2: Droop pulse 00: Cumulative feedback pulses
01: Servo motor speed
3: Cumulative command pulses
02: Droop pulses
4: Command pulse frequency
03: Cumulative command pulses
5: Analog speed command voltage (Note 1)
04: Command pulse frequency
6: Analog torque command voltage (Note 2)
05: Analog speed command voltage (Note 1)
7: Regenerative load ratio
06: Analog torque command voltage (Note 2)
8: Effective load ratio 07: Regenerative load ratio
9: Peak load ratio 08: Effective load ratio
A: Instantaneous torque 09: Peak load ratio
B: Within one-revolution position (1 pulse unit) 0A: Instantaneous torque
C: Within one-revolution position (100 pulses unit) 0B: Within one-revolution position/within virtual one-
D: ABS counter revolution position (1 pulse unit)
E: Load inertia moment ratio 0C: Within one-revolution position/within virtual one-
F: Bus voltage revolution position (1000 pulses unit)
0D: ABS counter/virtual ABS counter
Note 1. In speed control mode. Analog speed limit
voltage in torque control mode. 0E: Load to motor inertia ratio
0F: Bus voltage
2. In torque control mode. Analog torque limit Note 1. It is for the speed control mode. It will be
voltage in speed or position control mode. the analog speed limit voltage in the torque
control mode.
0 x 0 0: 2. It is for the torque control mode. It will be
Status display at power-on in corresponding control the analog torque limit voltage in the speed
mode control mode and position control mode.
Control mode Status display at power-on _ x _ _: 0h P
Position Cumulative feedback pulses Status display at power-on in corresponding control S
Position/speed Cumulative feedback pulses/servo mode
T
motor speed 0: Depends on the control mode
Speed Servo motor speed 1: Depends on the last 2 digits settings of the
Speed/torque Servo motor speed/analog torque parameter
command voltage
Control mode Status display at power-on
Torque Analog torque command voltage
Position Cumulative feedback pulses
Torque/position Analog torque command
Position/speed Cumulative feedback pulses/servo
voltage/cumulative feedback pulses motor speed
Speed Servo motor speed
0: Depends on the control mode. Speed/torque Servo motor speed/analog torque
1: Depends on the first digit setting of this command voltage
parameter. Torque Analog torque command voltage
Torque/position Analog torque command
voltage/cumulative feedback pulses

x _ _ _: 0h
For manufacturer setting

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PC37 Analog speed command offset Depen- PC37 The value S
ding on Same as MR-J3 differs
Used to set the offset voltage of the analog speed servo depending
command (VC). amplifier Analog speed command offset on the
servo
For example, if CCW rotation is provided by Set the offset voltage of VC (Analog speed amplifiers.
switching on forward rotation start (ST1) with 0 V command).
applied to VC, set a negative value. For example, if CCW rotation or positive direction
When automatic VC offset is used, the automatically travel is provided by switching on ST1 (Forward
offset value is set to this parameter. rotation start) while applying 0 V to VC, set a
negative value.
The initial value is the value provided by the
automatic VC offset function before shipment at the When automatic VC offset is used, the
VC-LG voltage of 0 V. automatically offset value is set to this parameter.
The initial value is provided before shipment by the
automatic VC offset function on condition that the
voltage between VC and LG is 0 V.

Setting range: -9999 to 9999

Analog speed limit offset Analog speed limit offset T
Used to set the offset voltage of the analog speed Set the offset voltage of VLA (Analog speed limit).
limit (VLA). For example, if CCW rotation or positive direction
For example, if CCW rotation is provided by travel is provided by switching on RS1 (Forward
switching on forward rotation selection (RS1) with 0 rotation selection) while applying 0 V to VLA, set a
V applied to VLA, set a negative value. negative value.
When automatic VC offset is used, the automatically When automatic VC offset is used, the
offset value is set to this parameter. automatically offset value is set to this parameter.
The initial value is the value provided by the The initial value is provided before shipment by the
automatic VC offset function before shipment at the automatic VC offset function on condition that the
VLA-LG voltage of 0 V. voltage between VLA and LG is 0 V.

Setting range: -9999 to 9999

PC38 Analog torque command offset 0 PC38 Analog torque command offset 0 T
Used to set the offset voltage of the analog torque Set the offset voltage of TC (Analog torque
command (TC). command).

Setting range: -9999 to 9999 mV

Analog torque limit offset Analog torque limit offset S
Used to set the offset voltage of the analog torque Set the offset voltage of TLA (Analog torque limit).
limit (TLA).
Setting range: -9999 to 9999 mV
PC39 Analog monitor 1 offset 0 PC39 Same as MR-J3 0 P
Used to set the offset voltage of the analog monitor S
(MO1). Analog monitor 1 offset
T
Set the offset voltage of MO1 (Analog monitor 1).

Setting range: -9999 to 9999 mV

PC40 Analog monitor 2 offset 0 PC40 Same as MR-J3 0 P
Used to set the offset voltage of the analog monitor S
(MO2). Analog monitor 2 offset
T
Set the offset voltage of MO2 (Analog monitor 2).

Setting range: -9999 to 9999 mV

PC43 For manufacturer setting 0000h PC43 Error excessive alarm level 0 P
Do not change this value by any means. Set an error excessive alarm level.
You can change the setting unit with "Error
excessive alarm/error excessive warning level unit
selection" in [Pr. PC24].
Set this per rev. for rotary servo motors. Setting "0"
will be "3 rev", and setting over 200 rev will be
clamped with 200 rev.

Setting range: 0 to 1000

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PD01 Input signal automatic ON selection 1 0000h PD01 Same as MR-J3
Select the input devices to be automatically turned
ON. Input signal automatic on selection 1
Select input devices to turn on them automatically.
_ _ _ x _ x _ _ (BIN): SON (Servo-on) _ _ _ x _ _ _ x (BIN): For manufacturer setting 0h
(HEX) 0: Disabled (Use for an external input (HEX) _ _ x _ (BIN): For manufacturer setting
signal.) _ x _ _ (BIN): SON (Servo-on) P
1: Enabled (automatic on) 0: Disabled (Use for an external input S
signal.) T
1: Enabled (automatic on)
x _ _ _ (BIN): For manufacturer setting
_ _ x _ _ _ _ x (BIN): PC (Proportional control) _ _ x _ _ _ _ x (BIN): PC (Proportional control) 0h P
(HEX) 0: Disabled (Use for an external input (HEX) 0: Disabled (Use for an external input S
signal.) signal.)
1: Enabled (automatic on) 1: Enabled (automatic on)
_ _ x _ (BIN): TL (External torque limit _ _ x _ (BIN): TL (External torque limit P
selection) selection) S
0: Disabled (Use for an external input 0: Disabled (Use for an external input
signal.) signal.)
1: Enabled (automatic on) 1: Enabled (automatic on)
_ x _ _ (BIN): For manufacturer setting
x _ _ _ (BIN): For manufacturer setting
_ x _ _ _ x _ _ (BIN): LSP (Forward rotation stroke _ x _ _ _ _ _ x (BIN): For manufacturer setting 0h
(HEX) end) (HEX) _ _ x _ (BIN): For manufacturer setting
0: Disabled (Use for an external input _ x _ _ (BIN): LSP (Forward rotation stroke P
signal.) end) S
1: Enabled (automatic on) 0: Disabled (Use for an external input
signal.)
1: Enabled (automatic on)
x _ _ _ (BIN): LSN (Reverse rotation stroke x _ _ _ (BIN): LSN (Reverse rotation stroke P
end) end) S
0: Disabled (Use for an external input 0: Disabled (Use for an external input
signal.) signal.)
1: Enabled (automatic on) 1: Enabled (automatic on)
x _ _ _ For manufacturer setting
Convert the setting value into hexadecimal as follows.
0
Initial value 0
Signal name
BIN HEX
Initial value
0 Signal name
BIN HEX
0
0 0
Servo-on (SON) 0
0
0 0
SON (Servo-on) 0
Initial value 0
Signal name
BIN HEX
Proportion control (PC) 0 Initial value
Signal name
BIN HEX
External torque limit
0 PC (Proportional control) 0
selection (TL) 0
0 TL (External torque limit selection) 0
0
0 0
0
Initial value
Signal name
BIN HEX Initial value
Signal name
0 BIN HEX
0 0
Forward rotation 0 0
0 0
stroke end (LSP) LSP (Forward rotation stroke end) 0
Reverse rotation 0 LSN (Reverse rotation stroke end) 0
stroke end (LSN) BIN 0: Use for an external input signal.
BIN 0: Used as external input signal BIN 1: Automatic on
BIN 1: Automatic ON

For example, to turn ON SON, the setting is "0 0 0 4".

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PD03 Input signal device selection 1 (CN1-15) 0002 PD03 Input device selection 1L 02h P
Any input signal can be assigned to the CN1-15 pin. 0202h Any input device can be assigned to the CN1-15 pin.
Note that the setting digits and the signal that can be _ _ x x:
assigned change depending on the control mode. Position control mode - Device selection
Refer to table 2.7.
Select the input device of the CN1-15 pin.
x x _ _: 02h S
00____xx
Speed control mode - Device selection
Position control mode
Refer to table 2.7.
00__xx__
Speed control mode Table 2.7 Selectable input devices
00xx____ Setting Input device (Note 1)
Torque control mode
value P S T
The devices that can be assigned in each control 02 SON SON SON
mode are those that have the symbols indicated in
03 RES RES RES
the following table. If any other device is set, it is
invalid. 04 PC PC
05 TL TL
06 CR
Control modes (Note 1)
Setting 07 ST1 RS2
P S T
08 ST2 RS1
00
09 TL1 TL1
01 For manufacturer setting (Note 2)
02 SON SON SON LSP
0A LSP LSP
(Note 3)
03 RES RES RES
04 PC PC LSN
0B LSN LSN
(Note 3)
05 TL TL
06 CR 0D CDP CDP

07 ST1 RS2 20 SP1 SP1

08 ST2 RS1 21 SP2 SP2

09 TL1 TL1 22 SP3 SP3
0A LSP LSP LOP LOP LOP
23
0B LSN LSN (Note 2) (Note 2) (Note 2)
0C For manufacturer setting (Note 2) 24 CM1
0D CDP CDP 25 CM2
0E to 1F For manufacturer setting (Note 2) 26 STAB2 STAB2
20 SP1 SP1 Note 1. P: Position control mode
21 SP2 SP2 S: Speed control mode
22 SP3 SP3 T: Torque control mode
23 LOP LOP LOP The diagonal lines indicate manufacturer
24 CM1 settings. Never change the setting.
25 CM2 2. When assigning LOP (Control switching),
26 STAB2 STAB2 assign it to the same pin in all control
27 to 3F For manufacturer setting (Note 2) modes.
3. In the torque control mode, this device
Note 1. P: Position control mode
cannot be used during normal operation.
S: Speed control mode
Also, when the magnetic pole detection in
T: Torque control mode the torque control mode is completed, this
2. For manufacturer setting. Never set this signal will be disabled.
value.
PD04 Input device selection 1H 02h T
Any input device can be assigned to the CN1-15 pin.
_ _ x x:
Torque control mode - Device selection
Refer to table 2.7 in [Pr. PD03] for settings.

x x _ _: 02h
For manufacturer setting

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PD04 Input signal device selection 2 (CN1-16) 0021 PD05 Input device selection 2L
Any input signal can be assigned to the CN1-16 pin. 2100h Any input device can be assigned to the CN1-16 pin.
The devices that can be assigned and the setting _ _ x x: 00h P
method are the same as in [Pr. PD03]. Position control mode - Device selection
Refer to table 2.7 in [Pr. PD03] for settings.
Select the input device of the CN1-16 pin. x x _ _: 21h
00____xx Speed control mode - Device selection
Position control mode
Refer to table 2.7 for settings.
00__xx__
PD06 Input device selection 2H
Speed control mode
00xx____ Any input device can be assigned to the CN1-16 pin.
Torque control mode _ _ x x: 21h T
Torque control mode - Device selection
Refer to table 2.7 in [Pr. PD03] for settings.
x x _ _: 20h
For manufacturer setting
PD05 Input signal device selection 3 (CN1-17) 0007 PD07 Input device selection 3L
Any input signal can be assigned to the CN1-17 pin. 0704h Any input device can be assigned to the CN1-17 pin.
The devices that can be assigned and the setting When "_ _ _ 1" is set in [Pr. PA03] and absolute
method are the same as in [Pr. PD03]. position detection system by DIO is selected, the
CN1-17 pin will become ABSM (ABS transfer mode).
Select the input device of the CN1-17 pin. _ _ x x: 04h P
00____xx Position control mode - Device selection
Position control mode Refer to table 2.7 in [Pr. PD03] for settings.
00__xx__ x x _ _: 07h S
Speed control mode Speed control mode - Device selection
00xx____
Refer to table 2.7 in [Pr. PD03] for settings.
Torque control mode
PD08 Input device selection 3H
When "Valid (ABS transfer by DI0)" has been
Any input device can be assigned to the CN1-17 pin.
selected for the absolute position detection system
in [Pr. PA03], the CN1-17 pin is set to the ABS _ _ x x: 07h T
transfer mode (ABSM). Torque control mode - Device selection
Refer to table 2.7 in [Pr. PD03] for settings.
x x _ _: 07h
For manufacturer setting

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PD06 Input signal device selection 4 (CN1-18) 0008 PD09 Input device selection 4L
Any input signal can be assigned to the CN1-18 pin. 0805h When "_ _ _ 1" is set in [Pr. PA03] and absolute
The devices that can be assigned and the setting position detection system by DIO is selected, the
method are the same as in [Pr. PD03]. CN1-18 pin will become ABSR (ABS transfer
request).
Select the input device of the CN1-18 pin. _ _ x x: 05h P
00____xx Position control mode - Device selection
Position control mode Refer to table 2.7 in [Pr. PD03] for settings.
00__xx__ x x _ _: 08h S
Speed control mode Speed control mode - Device selection
00xx____ Refer to table 2.7 in [Pr. PD03] for settings.
Torque control mode
PD10 Input device selection 4H
When "Valid (ABS transfer by DI0)" has been Any input device can be assigned to the CN1-18 pin.
selected for the absolute position detection system
_ _ x x: 08h T
in [Pr. PA03], the CN1-18 pin is set to the ABS
transfer request (ABSR). Torque control mode - Device selection
Refer to table 2.7 in [Pr. PD03] for settings.
x x _ _: 08h
For manufacturer setting
PD07 Input signal device selection 5 (CN1-19) 0003 PD11 Input device selection 5L
Any input signal can be assigned to the CN1-19 pin. 0303h Any input device can be assigned to the CN1-19 pin.
The devices that can be assigned and the setting _ _ x x: 03h P
method are the same as in [Pr. PD03]. Position control mode - Device selection
Refer to table 2.7 in [Pr. PD03] for settings.
Select the input device of the CN1-19 pin. x x _ _: 03h S
00____xx Speed control mode - Device selection
Position control mode
Refer to table 2.7 in [Pr. PD03] for settings.
00__xx__
PD12 Input device selection 5H
Speed control mode
00xx____ Any input device can be assigned to the CN1-19 pin.
Torque control mode
_ _ x x: 03h T
Torque control mode - Device selection
Refer to table 2.7 in [Pr. PD03] for settings.

x x _ _: 03h
For manufacturer setting
PD08 Input signal device selection 6 (CN1-41) 0020 PD13 Input device selection 6L
Any input signal can be assigned to the CN1-41 pin. 2006h Any input device can be assigned to the CN1-41 pin.
The devices that can be assigned and the setting
_ _ x x: 06h P
method are the same as in [Pr. PD03].
Position control mode - Device selection
Refer to table 2.7 in [Pr. PD03] for settings.
Select the input device of the CN1-41 pin.
x x _ _: 20h S
00____xx
Speed control mode - Device selection
Position control mode
Refer to table 2.7 in [Pr. PD03] for settings.
00__xx__
Speed control mode PD14 Input device selection 6H
00xx____ Any input device can be assigned to the CN1-41 pin.
Torque control mode _ _ x x: 20h T
Torque control mode - Device selection
Refer to table 2.7 in [Pr. PD03] for settings.
x x _ _: 39h
For manufacturer setting

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MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PD10 Input signal device selection 8 (CN1-43) 0000 PD17 Input device selection 8L
Any input signal can be assigned to the CN1-43 pin. 0A0Ah Any input device can be assigned to the CN1-43 pin.
The devices that can be assigned and the setting
method are the same as in [Pr. PD03] _ _ x x: 0Ah P
Position control mode - Device selection
Select the input device of the CN1-43 pin. Refer to table 2.7 in [Pr. PD03] for settings.
00____xx x x _ _: 0Ah S
Position control mode
Speed control mode - Device selection
00__xx__
Refer to table 2.7 in [Pr. PD03] for settings.
Speed control mode
00xx____ PD18 Input device selection 8H
Torque control mode Any input device can be assigned to the CN1-43 pin.
_ _ x x: 00h T
Torque control mode - Device selection
Refer to table 2.7 in [Pr. PD03] for settings.
x x _ _: 0Ah
For manufacturer setting
PD11 Input signal device selection 9 (CN1-44) 0000 PD19 Input device selection 9L
Any input signal can be assigned to the CN1-44 pin. 0B0Bh Any input device can be assigned to the CN1-44 pin.
The devices that can be assigned and the setting
method are the same as in [Pr. PD03]. _ _ x x: 0Bh P
Position control mode - Device selection
Select the input device of the CN1-44 pin. Refer to table 2.7 in [Pr. PD03] for settings.
00____xx x x _ _: 0Bh S
Position control mode
Speed control mode - Device selection
00__xx__
Refer to table 2.7 in [Pr. PD03] for settings.
Speed control mode
00xx____ PD20 Input device selection 9H
Torque control mode Any input device can be assigned to the CN1-44 pin.
_ _ x x: 00h T
Torque control mode - Device selection
Refer to table 2.7 in [Pr. PD03] for settings.
x x _ _: 0Bh
For manufacturer setting
PD12 Input signal device selection 10 (CN1-45) 0023 PD21 Input device selection 10L
Any input signal can be assigned to the CN1-45 pin. 2323h Any input device can be assigned to the CN1-45 pin.
The devices that can be assigned and the setting _ _ x x: 23h P
method are the same as in [Pr. PD03]. Position control mode - Device selection
Refer to table 2.7 in [Pr. PD03] for settings.
Select the input device of the CN1-45 pin. x x _ _: 23h S
00____xx Speed control mode - Device selection
Position control mode
Refer to table 2.7 in [Pr. PD03] for settings.
00__xx__
PD22 Input device selection 10H
Speed control mode
00xx____ Any input device can be assigned to the CN1-45 pin.
Torque control mode _ _ x x: 23h T
Torque control mode - Device selection
Refer to table 2.7 in [Pr. PD03] for settings.
x x _ _: 2Ah
For manufacturer setting

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MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PD13 Output signal device selection 1 (CN1-22) 0004h PD23 Output device selection 1 04h P
Any output signal can be assigned to the CN1-22 _ _ x x: S
pin. Device selection T
In the initial setting, INP is assigned in the position Any output device can be assigned to the CN1-22
control mode, and SA is assigned in the speed pin.
control mode. When "Enabled (absolute position detection system
Note that the device that can be assigned changes by DIO) (_ _ _ 1)" is selected in [Pr. PA03], the CN1-
depending on the control mode. 22 pin will become ABSB0 (ABS send data bit 0)
only during ABS transfer mode.
0 0 x x: Refer to table 2.8 for settings.
Select the output device of the CN1-22 pin. _ x _ _: 0h
For manufacturer setting
The devices that can be assigned in each control x _ _ _: 0h
mode are those that have the symbols indicated in For manufacturer setting
the following table. If any other device is set, it is
Table 2.8 Selectable output devices
invalid.
Setting Output device (Note)
value P S T
Control modes (Note 1)
Setting _ _ 00 Always off Always off Always off
P S T
00 _ _ 02 RD RD RD
Always OFF Always OFF Always OFF
01 For manufacturer setting (Note 2) _ _ 03 ALM ALM ALM

02 RD RD RD _ _ 04 INP SA Always off

_ _ 05 MBR MBR MBR
03 ALM ALM ALM
_ _ 06 DB DB DB
04 INP SA Always OFF
05 MBR MBR MBR _ _ 07 TLC TLC VLC

06 DB DB DB _ _ 08 WNG WNG WNG

07 TLC TLC VLC _ _ 09 BWNG BWNG BWNG

08 WNG WNG WNG _ _ 0A Always off SA Always off

_ _ 0B Always off Always off VLC
09 BWNG BWNG BWNG
_ _ 0C ZSP ZSP ZSP
0A Always OFF SA SA
0B VLC _ _ 0F CDPS Always off Always off
Always OFF Always OFF
0C ZSP ZSP ZSP _ _ 11 ABSV Always off Always off

0D For manufacturer setting (Note 2)

0E For manufacturer setting (Note 2) Note. P: Position control mode
S: Speed control mode
0F CDPS Always OFF Always OFF
T: Torque control mode
10 For manufacturer setting (Note 2)
11 ABSV Always OFF Always OFF
12 to 3F For manufacturer setting (Note 2)
Note 1. P: Position control mode
S: Speed control mode
T: Torque control mode
2. For manufacturer setting. Never set this
value.

When "Valid (ABS transfer by DI0)" has been

selected for the absolute position detection system
in [Pr. PA03], the CN1-22 pin is set to the ABS
transmission data bit 0 (ABSB0) in the ABS transfer
mode only.

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MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PD14 Output signal device selection 2 (CN1-23) 000Ch PD24 Same as MR-J3 0Ch P
Any output signal can be assigned to the CN1-23 S
pin. Output device selection 2
T
In the initial setting, ZSP is assigned to the pin. _ _ x x:
The devices that can be assigned and the setting Device selection
method are the same as in [Pr. PD13]. Any output device can be assigned to the CN1-23
pin.
0 0 x x: When "Enabled (absolute position detection system
by DIO) (_ _ _ 1)" is selected in [Pr. PA03], the CN1-
Select the output device of the CN1-23 pin.
23 pin will become ABSB1 (ABS send data bit 1)
only during ABS transfer mode.
When "Valid (ABS transfer by DI0)" has been
Refer to table 2.8 in [Pr. PD23] for settings.
selected for the absolute position detection system
in [Pr. PA13], the CN1-23 pin is set to the ABS _ x _ _: 0h
transmission data bit 1 (ABSB1) in the ABS transfer For manufacturer setting
mode only. x _ _ _: 0h
For manufacturer setting
PD15 Output signal device selection 3 (CN1-24) 0004h PD25 Same setting as MR-J3 04h P
Any output signal can be assigned to the CN1-24 S
pin. Output device selection 3
T
In the initial setting, INP is assigned in the position _ _ x x:
control mode, and SA is assigned in the speed Device selection
control mode. Any output device can be assigned to the CN1-24
The devices that can be assigned and the setting pin.
method are the same as in [Pr. PD13]. Refer to table 2.8 in [Pr. PD23] for settings.
_ x _ _: 0h
0 0 x x: For manufacturer setting
Select the output device of the CN1-24 pin. x _ _ _: 0h
For manufacturer setting
PD16 Output signal device selection 4 (CN1-25) 0007h PD26 Same setting as MR-J3 07h P
Any output signal can be assigned to the CN1-25 S
pin. Output device selection 4
T
In the initial setting, TLC is assigned in the position _ _ x x:
control and speed control modes, and VLC is Device selection
assigned in the torque control mode. Any output device can be assigned to the CN1-25
The devices that can be assigned and the setting pin.
method are the same as in [Pr. PD13]. When "Enabled (absolute position detection system
by DIO) (_ _ _ 1)" is selected in [Pr. PA03], the CN1-
0 0 x x: 25 pin will become ABST (ABS send data ready)
only during ABS transfer mode.
Select the output device of the CN1-25 pin.
Refer to table 2.8 in [Pr. PD23] for settings.
When "Valid (ABS transfer by DI0)" has been
selected for the absolute position detection system _ x _ _: 0h
in [Pr. PA03], the CN1-25 pin is set to the ABS For manufacturer setting
transmission data ready (ABST) in the ABS transfer x _ _ _: 0h
mode only. For manufacturer setting
PD18 Output signal device selection 6 (CN1-49) 0002h PD28 Same setting as MR-J3 02h P
Any output signal can be assigned to the CN1-49 S
pin. Output device selection 6
T
In the initial setting, RD is assigned to the pin. _ _ x x:
The devices that can be assigned and the setting Device selection
method are the same as in [Pr. PD13]. Any output device can be assigned to the CN1-49
pin.
0 0 x x: Refer to table 2.8 in [Pr. PD23] for settings.
Select the output device of the CN1-49 pin. _ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PD19 Input filter setting 0002h PD29 Input filter setting 4h P
Select the input filter. Select a filter for the input signal. S
_ _ _ x: T
0 0 0 x: Input signal filter selection
Input signal filter If external input signal causes chattering due to
If external input signal causes chattering due to noise, etc., input filter is used to suppress it.
noise, etc., input filter is used to suppress it. 0: None
0: None 1: 0.888 [ms]
1: 1.777 [ms] 2: 1.777 [ms]
2: 3.555 [ms] 3: 2.666 [ms]
3: 5.333 [ms] 4: 3.555 [ms]
_ _ x _: 0h P
RES (Reset) dedicated filter selection S
0: Disabled T
1: Enabled (50 [ms])
_ x _ _: 0h P
CR (Clear) dedicated filter selection S
0: Disabled T
1: Enabled (50 [ms])
x _ _ _: 0h
For manufacturer setting
PD20 Function selection D-1 0000h PD30 Function selection D-1 0h P
Select the stop processing at forward rotation stroke _ _ _ x: S
end (LSP)/reverse rotation stroke end (LSN) OFF Stop method selection for LSP (Forward rotation
and the base circuit status at reset (RES) ON. stroke end) off and LSN (Reverse rotation stroke
end) off
0 0 _ x: Select a stop method for LSP (Forward rotation
How to make a stop when forward rotation stroke stroke end) off and LSN (Reverse rotation stroke
end (LSP) reverse rotation stroke end (LSN) is valid. end) off. Setting "2" or "3" will trigger [AL. 37
0: Sudden stop Parameter error] in the mode other than the
1: Slow stop positioning mode.
0: Quick stop
1: Slow stop
00x_: _ _ x _: 0h P
Selection of base circuit status at reset (RES) ON Base circuit status selection for RES (Reset) on S
0: Base circuit switched off 0: Base circuit shut-off T
1: Base circuit not switched off 1: No base circuit shut-off
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h P
Enabled/disabled selection for a thermistor of servo S
motor T
0: Enabled
1: Disabled
The setting in this digit will be disabled when using a
servo motor without thermistor.
This parameter is used by servo amplifier with
software version A5 or later.

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MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PD21 For manufacturer setting 0000h PD31 Function selection D-2 0h
Do not change this value by any means. _ _ _ x:
For manufacturer setting
_ _ x _: 0h
For manufacturer setting
_ x _ _: 0h P
INP (In-position) on condition selection
Select a condition that INP (In-position) is turned on.
0: Droop pulses are within the in-position range.
1: The command pulse frequency is 0, and droop
pulses are within the in-position range.
When the position command is not inputted for
about 1 ms, the command pulse frequency is
decided as 0.
This parameter is used by servo amplifier with
software version B4 or later.
x _ _ _: 0h
For manufacturer setting
PD22 Function selection D-3 0000h PD32 Same setting as MR-J3 0h P
Set the clear (CR).
Function selection D-3
_ _ _ x:
0 0 0 x:
CR (Clear) selection
Clear (CR) selection
Set CR (Clear).
0: Droop pulses are cleared on the leading edge.
0: Deleting droop pulses at the leading edge of
1: While on, droop pulses are always cleared.
turning on of CR
1: Continuous deleting of droop pulses while CR is
on
2: Disabled (available for the software version B3 or
later)
_ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PD23 For manufacturer setting 0000h PD33 _ _ _ x: 0h
Do not change this value by any means. For manufacturer setting
_ _ x _: 0h
For manufacturer setting
Function selection D-4 0h P
_ x _ _: S
Rotation direction selection for enabling torque limit T
Select a direction which enables internal torque limit
2 or external torque limit.
0: Both of "CCW" and "CW" are enabled.
1: Enabled with "CCW"
2: Enabled with "CW"
This parameter setting is used with servo amplifier
with software version B3 or later.
x _ _ _: 0h
For manufacturer setting

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MR-J3-_A_ MR-J4-_A_
Control
Initial Initial mode
No. Name and function value No. Name and function value
PD24 Function selection D-5 0000h PD34 Function selection D-5 0h P
S
0 0 _ x: _ _ _ x: T
Setting of alarm code output Alarm code output
Select output status of alarm codes.
Select the alarm code and warning (WNG) outputs. Alarm codes are outputted to the pins CN1-22, CN1-
Connector pins of CN1 23, and CN1-24.
Set value
22 23 24 0: Disabled
0 Alarm code is not output 1: Enabled
1 Alarm code is output at alarm occurrence. When "Enabled (absolute position detection system
by DIO) (_ _ _ 1)" is selected in [Pr. PA03] and when
Alarm code (Note) MBR (Electromagnetic brake interlock) or ALM
Alarm
Name
CN1-22 CN1-23 CN1-24 display (Malfunction) is assigned to the CN1-22 pin, CN1-23
0 0 0 88888 Watchdog pin, or CN1-24 pin, selecting alarm code output will
AL.12 Memory error 1
AL.13 Clock error
generate [AL. Parameter error].
AL.15 Memory error 2 (The alarm code output is different from that for MR-
AL.17 Board error
J3. Refer to the "MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ)
AL.19 Memory error 3
AL.37 Parameter error
Servo Amplifier Instruction Manual".)
AL.8A Serial communication time-out __x_: 0h P
error
AL.8E Serial communication error Selection of output device at warning occurrence S
0 0 1 AL.30 Regenerative error
Select ALM (Malfunction) output status at warning T
AL.33 Overvoltage
0 1 0 AL.10 Undervoltage occurrence.
0 1 1 AL.45 Main circuit device overheat
Setting
AL.46 Servo motor overheat
value Device status
AL.47 Cooling fan alarm
AL.50 Overload 1
AL.51 Overload 2 ON
WNG
1 0 0 AL.24 Main circuit OFF
AL.32 Overcurrent ON
0 ALM
1 0 1 AL.31 Overspeed OFF
AL.35 Command pulse frequency error
AL.52 Error excessive
Warning occurrence
1 1 0 AL.16 Encoder error 1
AL.1A Motor combination error
AL.20 Encoder error 2
ON
AL.25 Absolute position erase WNG
OFF
Note 0: off ON
1 ALM
OFF
1: on
A parameter alarm [AL. 37 Parameter Warning occurrence
error] occurs if the alarm code output is
selected with [Pr. PA03] set to "_ _ _ 1"
and the DI0-based absolute position _ x _ _: 0h
detection system selected. For manufacturer setting
x _ _ _: 0h
For manufacturer setting
0 0 x _:
Selection of output device at warning occurrence
Select the warning (WNG) and trouble (ALM) output
status at warning occurrence.
Setting Device status

1
WNG 0
0 ALM 1
0
Warning occurrence

1
WNG 0
1 1
ALM 0
Warning occurrence
Note 0: off
1: on

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3.6 Important Points for Replacement

1. SUMMARY

This section describes the precautions for setting parameters for the replacement of MR-J3-_A_ with MR-J4-
_A. For details on the parameters of MR-J3-_A_, refer to "MR-J3-_A_ Servo Amplifier Instruction Manual".

2. Precautions

We recommend that you use the parameter converter function (supported from version 1.12N or later) of MR
Configurator2 for the replacement of MR-J3-_A_ with MR-J4-_A_. The following describes the parameters
that are easily missed when the parameter setting is manually changed.

(1) Command input pulse train filter selection (_ x _ _) of [Pr. PA13 Command pulse input form]
As compared to MR-J3-_A_, the command input pulse train filter selection is added in [Pr.PA13] of MR-
J4-_A_. Do not set "0h" for the command input pulse train filter selection when changing the command
input pulse train form selection and pulse train logic selection. Setting "0h" for the command input pulse
train filter selection enables the command input of up to 4 Mpulses/s but reduces the noise filter ability.

POINT
Set "pulse train form" of the pulse output function correctly.

Initial Control mode

No./symbol/ Setting
Function value (:Enabled)
name digit
[unit] P S T
PA13 ___x Command input pulse train form selection 0h
*PLSS 0: Forward/reverse rotation pulse train
Command pulse 1: Signed pulse train
input form 2: A-phase/B-phase pulse train
__x_ Pulse train logic selection 0h
0: Positive logic
1: Negative logic
_x__ Command input pulse train filter selection 1h
Selecting proper filter enables to enhance noise tolerance.
0: Command input pulse train is 4 Mpulses/s or less.
1: Command input pulse train is 1 Mpulse/s or less.
2: Command input pulse train is 500 kpulses/s or less.
3: Command input pulse train is 200 kpulses/s or less (available for the
software version A5 or later)
1 Mpulse/s or lower commands are supported by "1". When inputting
commands over 1 Mpulse/s and 4 Mpulses/s or lower, set "0".
x___ For manufacturer setting 0h

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

(2) [Pr. PC16 Electromagnetic brake sequence output]

MR-J3-_A_ and MR-J4-_A_ have different initial values for [Pr. PC16] (MR-J3-_A_: 100 ms, MR-J4-_A_:
0 ms). When MBR (Electromagnetic brake interlock) is assigned for [Pr. PD23] to [Pr. PD26] and [Pr.
PD28], refer to the "MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ) Servo Amplifier Instruction Manual" and then set
[Pr. PC16].

Initial Control mode

No./symbol/ Setting
Function value (: Enabled)
name digit
[unit] P S T
PC16 Set the delay time between MBR (Electromagnetic brake interlock) and the 0
MBR base drive circuit is shut-off. [ms]
Electromagnetic
brake sequence
output Setting range: 0 to 1000

(3) Input signal filter selection (_ _ _ x) of [Pr. PD29 Input filter setting]
MR-J3-_A_ and MR-J4-_A_ have different initial values for the input signal filter selection.

Initial Control mode

No./symbol/ Setting
Function value (:Enabled)
name digit
[unit] P S T
PD29 Select a filter for the input signal.
*DIF _ _ _ x Input signal filter selection 4h
Input filter If external input signal causes chattering due to noise, etc., input filter is used to
setting suppress it.
Setting value MR-J3-_A_ MR-J4-_A_
0 None None
1 1.777 [ms] 0.888 [ms]
2 3.555 [ms] (Initial value) 1.777 [ms]
3 5.333 [ms] 2.666 [ms]
4 3.555 [ms] (Initial value)

__x_ RES (Reset) dedicated filter selection 0h

0: Disabled
1: Enabled (50 [ms])
_x__ CR (Clear) dedicated filter selection 0h
0: Disabled
1: Enabled (50 [ms])
x___ For manufacturer setting 0h

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Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_

MEMO

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

Part 3
Review on Replacement of
MR-J3-_B_ with MR-J4-_B_

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

1. SUMMARY

This document describes the changes that are applied to when replacing a system using the MR-J3-_B_ with
a system using the MR-J4-_B_.

2. CASE STUDY ON REPLACEMENT OF MR-J3-_B_

2.1 Review on Replacement Method

SSCNET III/H SSCNET III

SSCNET III
servo system
controller

YES Simultaneouss NO
ystem
replacement
MR-J3-_B_
YES Only the controller NO
and the amplifier
are replaced.

YES Only the amplifier NO

and the motor are
HF-_P/HC-_P/HA-_P replaced.
motor
(J3 motor)

(1) Simultaneous replacement with (3) Gradual replacement of (4) Replace the servo
(2) In (1) on the left, an
SSCNET III/H servo system MR-J3-_B_ with MR-J4-_B_ amplifier and the
J3 series motor is
and eventual replacement with servo motor
controller + MR-J4_B_ + J4 series driven. (Note 3) SSCNET III/H servo system individually.
servo motor (Note 1, 2) controller

Note 1. Although heavier burdens including a longer construction period need to be borne, once replaced the system can be
operated for a long period of time.
2. When designing a new system, apply simultaneous replacement at (1).
3. Replacing the system allows some J3 series servo motors to drive in MR-J4-_B_ (J4 mode) and MR-J4-_B_ (J3
compatibility mode). Check "Part 8: Common Reference Material" for target motors.

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

2.2 Replacement Method

This section shows replacements using a QDS motion controller and an SSCNETIII/H stand-alone motion
controller as examples.

(1) For simultaneous replacement

QDS motion controller + MR-J4-_B_ + HG motor Stand-alone motion controller + MR-J4-_B_ + HG motor

QnUD(E)(H)CPU + QDS motion controller + Q3_DB SSCNET III/H stand-alone motion controller
Q170MSCPU(-S1)

MR-J4-_B_ MR-J4-_B_

HG motor HG motor

High-speed motion control and excellent extensibility can reduce High performance equivalent to that of a QDS motion controller
cycle time. can be achieved at a lower cost.
"QDS motion controller" refers to the following model. "Stand-alone motion controller" refers to the following model.
・Q172DSCPU ・Q170MSCPU(-S1)
・Q173DSCPU

(2) For replacement of a controller and a servo amplifier

Replacing the system allows some J3 series servo motors to drive in MR-J4-_B_ (J4 mode).
For J3 series servo motors which are available with this, check "Part 8: Common Reference Material".
Stand-alone motion controller + MR-J4-_B_
QDS motion controller + MR-J4-_B_ + HC-_FS/HA-_FS motor
+ HC-_FS/HA-_FS motor

QnUD(E)(H)CPU + QDS motion controller + Q3_DB SSCNET III/H stand-alone motion controller
Q170MSCPU(-S1)

MR-J4-_B_ MR-J4-_B_

HF-_P/HC-_P/
HA-_P motor
HF-_P/HC-_P/
HA-_P motor

"QDS motion controller" refers to the following model. "Stand-alone motion controller" refers to the following model.
・Q172DSCPU ・Q170MSCPU(-S1)
・Q173DSCPU
Note. When designing a new system, please consider simultaneous replacement.

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

POINT
MR-J3-_B_ cannot drive an HG motor. When the servo motor is replaced with
an HG motor, simultaneous replacement with MR-J4-_B_ and an HG motor is
necessary.
If the existing system is any of the combinations in the following table, it is
recommended to replace both the servo amplifier and servo motor with an MR-
J4-_B_ and HG motor at the same time. When an HG motor is adopted, the
capacity of the servo amplifier needs to be changed. (Consider replacement,
referring to "torque characteristics" described in "Part 9: Replacement of Motor".)
The low inertia "HG-JR motor" is recommended for the replacement of "HC-LP
motor".
To use a servo motor other than the servo motors listed in following table, check
the compatibility with the equipment because the motor inertia, etc. is different.
Replacement models for simultaneous
Existing device models replacement (example)
Servo motor Servo amplifier Servo motor Servo amplifier
HC-RP103(B)G5 1/_ MR-J3-200B(N)(-RT) HG-SR102(B)G5 1/_ MR-J4-100B
HC-RP203(B)G5 1/_ MR-J3-350B HG-SR202(B)G5 1/_ MR-J4-200B
HC-RP353(B)G5 1/_ MR-J3-500B HG-SR352(B)G5 1/_ MR-J4-350B
HC-RP103(B)G7 1/_ MR-J3-200B(N)(-RT) HG-SR102(B)G7 1/_ MR-J4-100B
HC-RP203(B)G7 1/_ MR-J3-350B HG-SR202(B)G7 1/_ MR-J4-200B
HC-RP353(B)G7 1/_ MR-J3-500B HG-SR352(B)G7 1/_ MR-J4-350B
HC-LP52(B) MR-J3-60B HG-JR73(B) MR-J4-70B
HC-LP102(B) MR-J3-100B HG-JR153(B) MR-J4-200B
HC-LP152(B) MR-J3-200B(N)(-RT) HG-JR353(B) MR-J4-350B

(3) Gradual replacement of MR-J3-_B_ with MR-J4-_B_

1: Current system 2: Only one axis replaced 3: All axes replaced 4: Replacement of a controller
(Note 1) (Note 2)
SSCNET III servo system SSCNET III servo system SSCNET III servo system SSCNET III/H servo system
controller controller controller controller

MR-
J4-_B_

MR- MR- MR- MR-

J3-_B_ J3-_B_ J4-_B_ J4-_B_

J3 series J4 series servo motor J4 series servo motor

J3 series servo motor
servo motor
J4 series
servo motor

Note 1. The MR-J4-_B_ series has "J3 compatibility mode". MR-J4-_B_ and MR-J3-_B_ servo amplifiers can be used together.
Optical fiber cables for the conventional SSCNET III can be used as they are.
2. Change the settings of the MR-J4-_B_ servo amplifier to "J4 mode" using the application software "MR Mode Change" (*1).
The servo amplifiers and servo motors can be used as they are.
(*1): The application software is available with MR Configurator2 version 1.12N or later.

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(4) For separate repair (Note)

Replacement of Servo amplifier (MR-J3-_B_) Replacement of J3 series servo motor (HC/HA)

SSCNET III servo system controller SSCNET III servo system controller

MR-J3-_B_ MR-J3-_B_

MR-J3-_B_ MR-J4-_B_
MR-J3-_B_ MR-J4-_B_ (J3 compatibility mode)
(J3 compatibility mode)

J3 series servo motor J4 series servo motor

J3 series servo motor J3 series servo motor

● J3 series servo motor driving with MR-J4-_B_ servo amplifiers ● The J4 series servo motor cannot be driven by the MR-J3-_B_
(J3 compatibility mode) will be sequentially available. servo amplifier. Replace the existing servo amplifier and servo
Refer to "Part 8: Common Reference Material" for target motors. motor with MR-J4-_B_ servo amplifier (J3 compatibility mode)
and J4 series servo motor simultaneously.

Note. Separate repair means replacement.

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3. DIFFERENCES BETWEEN MR-J3-_B_ AND MR-J4-_B_

3.1 Function Comparison Table

POINT
Functions with difference are shown with shading.

(1) 200 V Class

Item MR-J3-_B_ series MR-J4-_B_ series
1 Capacity range 0.1 kW to 22 kW/200 V 0.1 kW to 22 kW/200 V
Built-in (0.2 kW to 7 kW) Built-in (0.2 kW to 7 kW)
2 Internal regenerative resistor
External (11kW to 22 kW) External (11kW to 22 kW)
Built-in (0.1kW to 7kW)
Built-in (0.1kW to 7kW)
3 Dynamic brake External (11kW to 22 kW)
External (11kW to 22 kW)
Coasting distance may differ. (Note 1)
4 Control circuit power 1-phase 200 V AC to 230 V AC 1-phase 200 V AC to 240 V AC
1-phase
1-phase
200 V AC to 240 V AC (0.1 kW to 2 kW) (Note
200 V AC to 230 V AC (0.1 kW to 0.75 kW)
5 Main circuit power 2)
3-phase
3-phase
200 V AC to 230 V AC (0.1 kW to 22 kW)
200 V AC to 240 V AC (0.1 kW to 22 kW)
6 24 V DC power External supply required External supply required
Real-time auto tuning: 32 steps Real-time auto tuning: 40 steps
7 Auto Tuning
Advanced gain search One-touch tuning
SSCNET III interface (50 Mbps) SSCNET III/H interface (150 Mbps)
Position control mode Position control mode
Speed control mode Speed control mode
Torque control mode
8 Control mode
< J3 compatibility mode >
SSCNET III interface (50 Mbps)
Position control mode
Speed control mode
The number of DIO points
9 DI: 3 points, DO: 3 points DI: 3 points, DO: 3 points
(excluding EM1)
10 Encoder pulse output ABZ-phase (differential line driver) ABZ-phase (differential line driver)
11 DIO interface input/output: sink/source input/output: sink/source
12 Analog input/output (Output) 10-bit or equivalent × 2ch (Output) 10-bit or equivalent × 2ch
Setup software (SETUP221E)
13 Parameter setting method MR Configurator2
MR Configurator2
Setup software
14 USB USB
communication function
Servo motor HF-_P series (18-bit ABS) HG series (22-bit ABS)
15
(Encoder resolution) HA-_P series (18-bit ABS)
HF-KP 350% HG-KR 350%
HF-MP 300% HG-MR 300%
16 Motor maximum torque HF-SP 300% HG-SR 300%
HF-JP 300% HG-JR 300%
HA-LP 250% HG-JR 300%
17 LED display 7-segment 3-digit 7-segment 3-digit
Advanced vibration Provided
18 Provided
suppression control (advanced vibration suppression control II)
19 Adaptive filter II Provided Provided
20 Notch filter Provided (2 pcs) Provided (5 pcs)
21 Tough drive Unprovided Provided
22 Drive recorder Unprovided Provided
23 Forced stop EM1 (DB stop) EM1 (DB stop)/ EM2 (deceleration to a stop)

Note 1. For the coasting distance, refer to "1.2.3 Dynamic brake: coasting distance" in "Part 8: Common Reference Material".
2. If using a 1-phase 200 V AC to 240 V AC power supply with a 1 kW/2 kW servo amplifier, operate the servo amplifier at
75% or less of the effective load ratio.

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(2) 400 V Class

Item MR-J3-_B_ series MR-J4-_B_ series
1 Capacity range 0.6 kW to 22 kW/400 V 0.6 kW to 22 kW/400 V
Built-in (0.6 kW to 7 kW) Built-in (0.6 kW to 7 kW)
2 Internal regenerative resistor
External (11kW to 22 kW) External (11kW to 22 kW)
Built-in (0.6 kW to 7 kW)
Built-in (0.6 kW to 7 kW)
3 Dynamic brake External (11kW to 22 kW)
External (11kW to 22 kW)
Coasting distance may differ. (Note)
4 Control circuit power 1-phase 380 V AC to 480 V AC 1-phase 380 V AC to 480 V AC
5 Main circuit power 3-phase 380 V AC to 480 V AC 3-phase 380 V AC to 480 V AC
6 24 V DC power External supply required External supply required
Real-time auto tuning: 32 steps Real-time auto tuning: 40 steps
7 Auto Tuning
Advanced gain search One-touch tuning
SSCNET III interface (50 Mbps) SSCNET III/H interface (150 Mbps)
Position control mode Position control mode
Speed control mode Speed control mode
Torque control mode
8 Control mode
< J3 compatibility mode >
SSCNET III interface (50 Mbps)
Position control mode
Speed control mode
The number of DIO points
9 DI: 3 points, DO: 3 points DI: 3 points, DO: 3 points
(excluding EM1)
10 Encoder pulse output ABZ-phase (differential line driver) ABZ-phase (differential line driver)
11 DIO interface input/output: sink/source input/output: sink/source
12 Analog input/output (Output) 10-bit or equivalent × 2ch (Output) 10-bit or equivalent × 2ch
Setup software (SETUP221E)
13 Parameter setting method MR Configurator2
MR Configurator2
Setup software
14 USB USB
communication function
Servo motor HF-_P series (18-bit ABS) HG series (22-bit ABS)
15
(Encoder resolution) HA-_P series (18-bit ABS)
HF-SP 300% HG-SR 300%
16 Motor maximum torque HF-JP 300% HG-JR 300%
HA-LP 250% HG-JR 300%
17 LED display 7-segment 3-digit 7-segment 3-digit
Advanced vibration Provided
18 Provided
suppression control (Advanced vibration suppression control II)
19 Adaptive filter II Provided Provided

Note. For the coasting distance, refer to "1.2.3 Dynamic brake: coasting distance" in "Part 8: Common Reference Material".

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(3) 100 V Class

Item MR-J3-_B_ series MR-J4-_B_ series
1 Capacity range 0.1 to 0.4 kW/100 V 0.1 to 0.4 kW/100 V
None (0.1 kW) None (0.1 kW)
2 Internal regenerative resistor
Built-in (0.2, 0.4 kW) Built-in (0.2, 0.4 kW)
Built-in (0.1 to 0.4 kW)
3 Dynamic brake Built-in (0.1 to 0.4 kW)
Coasting distance may differ. (Note)
4 Control circuit power 1-phase AC 100 to 120 V 1-phase AC 100 to 120 V
5 Main circuit power 1-phase AC 100 to 120 V (0.1 to 0.4 kW) 1-phase AC 100 to 120 V (0.1 to 0.4 kW)
6 24 V DC power External supply required External supply required
Real-time auto tuning: 32 steps Real-time auto tuning: 40 steps
7 Auto Tuning
Advanced gain search One-touch tuning
SSCNET III interface (50 Mbps) SSCNET III/H interface (150 Mbps)
Position control mode Position control mode
Speed control mode Speed control mode
Torque control mode
8 Control mode
< J3 compatibility mode >
SSCNET III interface (50 Mbps)
Position control mode
Speed control mode
The number of DIO points
9 DI: 3 points, DO: 3 points DI: 3 points, DO: 3 points
(excluding EM1)
10 Encoder pulse output ABZ-phase (differential line driver) ABZ-phase (differential line driver)
11 DIO interface input/output: sink/source input/output: sink/source
12 Analog input/output (Output) 10-bit or equivalent × 2ch (Output) 10-bit or equivalent × 2ch
Setup software (SETUP221E)
13 Parameter setting method MR Configurator2
MR Configurator2
Setup software
14 USB USB
communication function
Servo motor HF-_P series (18-bit ABS) HG series (22-bit ABS)
15
(Encoder resolution) HA-_P series (18-bit ABS)
HF-KP 350% HG-KR 350%
16 Motor maximum torque
HF-MP 300% HG-MR 300%
17 LED display 7-segment 3-digit 7-segment 3-digit
Advanced vibration Provided
18 Provided
suppression control (advanced vibration suppression control II)
19 Adaptive filter II Provided Provided
20 Notch filter Provided (2 pcs) Provided (5 pcs)
21 Tough drive Unprovided Provided
22 Drive recorder Unprovided Provided
23 Forced stop EM1 (DB stop) EM1 (DB stop)/EM2 (deceleration to a stop)

Note. For the coasting distance, refer to "1.2.3 Dynamic brake: coasting distance" in "Part 8: Common Reference Material".

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3.2 Comparison of Networks

POINT
Refer to "Part 8: Common Reference Material".

3.3 Comparison of Standard Connection Diagrams

MR-J3-_B_ MR-J4-_B_
MR-J3-700B or less
10 m or less 10 m or less
Servo amplifier
Servo amplifier

24 V DC CN3 CN3 CN8

DICOM 5 13 MBR RA1 Magnetic brake interlock Short-circuit connector
DOCOM 3 (Packed with the servo amplifier)
Forced stop EM1 20 9 INP RA2 In-position
Upper stroke limit (FLS) DI1 2 15 ALM RA3 Trouble 10 m or less
Lower stroke limit (RLS) DI2 12 CN3
10 m or less 24 V DC
Proximity dog (DOG) DI3 19 10 DICOM
3 DOCOM

Personal 6 LA Encoder A-phase pulse Main circuit power supply CN3

USB cable 13 MBR RA1 Electromagnetic brake interlock
Setup software computer 16 LAR (differential line driver) Forced stop 2 EM2 20
(SETUP221E) MR-J3USBCBL3M
(option) 7 LB Encoder B-phase pulse FLS DI1 2
9 INP RA2 In-position
CN5 17 LBR (differential line driver)
RLS DI2 12 15 ALM RA3 Malfunction
＋ 8 LZ Encoder Z-phase pulse
(differential line driver) DOG DI3 19
18 LZR
11 LG Control common DICOM 5 6 LA Encoder A-phase pulse
24 V DC 16 LAR (differential line driver)
DICOM 10
Personal 7 LB Encoder B-phase pulse
4 MO1 Analog monitor 1 (differential line driver)
computer USB cable 17 LBR
1 LG MR Configurator2 MR-J3USBCBL3M 8 LZ Encoder Z-phase pulse
Servo system 14 MO2 Analog monitor 2 (option) (differential line driver)
CN5 18 LZR
controller + 11 LG Control common
SSCNETⅢ cable Plate SD
(option)
CN1A 4 MO1 Analog monitor 1
2 m or less
SW1 1 LG DC ± 10 V
14 MO2 Analog monitor 2
DC ± 10 V
SW2
Plate SD
CN1B Servo system
12 controller 2 m or less Servo amplifier
SSCNET III cable
(option)
CN1A CN1B CN1A

MR-J3-B
(2 axis) CN1B
CN1A SW1

CN1B SW2 The last servo amplifier

12 CN1A

MR-J3-B SSCNET III cable

(3 axis) (option)
Cap CN1B
SSCNETⅢcable CN1A SW1
(option)

CN1B SW2

12

MR-J3-B
(n axis)
CN1A SW1

Cap CN1B SW2

12

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3.4 List of Corresponding Connectors and Terminal Blocks

An example of connections with the peripheral equipment is shown below. Refer to the respective instruction
manuals for details on the signals.

(1) Comparison of connectors (7 kW or less)

MR-J3-_B_ MR-J4-_B_

RS T Personal
Setup software computer
(SETUP221E)
Power supply

Molded-case
Molded-case circuit breaker Personal
circuit breaker Servo amplifier computer
(MCCB)
(MCCB) MR Configurator2

Junction
terminal Magnetic
Magnetic block contactor
contactor (MC)
(MC) Servo system Junction terminal
controller or Front axis (Note 2) block
(Note 2) servo amplifier CN1B

Line noise Line noise CN8

filter To safety relay or MR-J3-D05
filter Rea r servo amplifier (FR-BSF01) safety logic unit
(FR-BSF01) CN1A or Cap
Servo system controller or
previous servo amplifier
CN1B
Encoder cable U
L1
V Next servo amplifier CN1A or
L1 L2
W cap
L2 L3

L3 Power factor P3
improving DC Encoder cable
reactor
(FR-HEL) P4 Servo motor

Power factor P1 P+
improving DC Regenerative
UV W Servo motor option
reactor P2 C
(FR-BEL-H) P C
L11
Regenerative option
L11 L21

L21
Power supply lead

Note 1. The above configuration example is applied to the MR-J3- Note 1. The above configuration example is applied to the MR-J4-
200B or less capacities. 200B or less capacities.
2. The power factor improving AC reactor can also be used. 2. The power factor improving AC reactor can also be used.
In this case, the power factor improving DC reactor cannot In this case, the power factor improving DC reactor
be used. cannot be used.

(2) List of connector and terminal block correspondence (7 kW or less)

MR-J3-_B_ MR-J4-_B_
Precautions
No. Connector name Connector No. No. Connector name Connector No.
① SSCNET III cable connector CN1A ① SSCNET III cable connector CN1A

② SSCNET III cable connector CN1B ② SSCNET III cable connector CN1B

③ Encoder connector CN2 ③ Encoder connector CN2

USB communication CN5 USB communication CN5
④ ④
connector connector
→
⑤ I/O signal connector CN3 ⑤ I/O signal connector CN3
Main circuit power CNP1 Main circuit power CNP1
⑥ ⑥
connector connector
Must switch to the power
Control circuit power CNP2 Control circuit power CNP2
⑦ ⑦ connector (enclosed with
connector connector
the servo amplifier).
Servo motor power CNP3 Servo motor power output CNP3
⑧ ⑧
connector connector
⑨ Battery connector CN4 ⑨ Battery connector CN4 Prepare a new battery.

Note. When not using the STO function in MR-J4-_B_, attach a short-circuit connector supplied with a servo amplifier onto CN8 (STO
input signal connector).
The configuration of the main circuit terminal block differs depending on capacity. Refer to "Part 8: Common Reference
Material".

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(3) Comparison of connectors (11 kW or more)

MR-J3-_B_ MR-J4-_B_
(Note 3) RS T Personal
Power supply computer
Personal MR Configurator2
Setup software computer RS T
(SETUP221E) (Note 2)
Power supply
No-fuse Molded-case
breaker (NFB) circuit breaker
or fuse L2 1 (MCCB)

L1 1 Servo amplifier
Junction terminal
block
Magnetic Junction
contactor terminal (Note 3)
block Magnetic CN8 To safety relay or MR-J3-D05
(MC)
contactor safety logic unit
(MC)
Servo system Servo system controller or
(Note 2) controller or Front axis
(Note 1) previous servo amplifier
Battery servo amplifier CN1B (Note 1) CN1B
Line noise filter
(FR-BLF) MR-J3BAT
Line noise
filter Next servo amplifier CN1A or
Rear servo amplifier cap
CN1A or Cap (FR-BLF)

L21
L11
Battery

L3
L3 L2
L1
L2
L1 U V W
(Note 2)
Power factor improving Power factor
DC reactor (FR-BEL-(H)) improving DC
reactor
P1 W V U (FR-HEL)
P3
P
P C P4
Regenerative option
P+ C
(Note 4) Regenerative
option

Servo motor

Servo motor

The above configuration example is for MR-J3-11KB or models The above configuration example is for MR-J4-11KB or models
with more capacity. with more capacity.
Note 1. The battery (option) is used for the absolute position Note 1. The power factor improving AC reactor can also be
detection system in the position control mode. used. In this case, the power factor improving DC
2. The power factor improving AC reactor can also be reactor cannot be used.
used. In this case, the power factor improving DC When not using the power factor improving DC reactor,
reactor cannot be used. short P3 and P4.
When not using the power factor improving DC reactor, 2. For power supply specifications, refer to "MR-J4-_B_(-
short P1 and P. RJ) servo amplifier instruction manual".
3. Refer to the respective instruction manuals for the power 3. Depending on the main circuit voltage and operation
supply specification. pattern, bus voltage decreases, and that may cause the
forced stop deceleration to shift to the dynamic brake
deceleration. When dynamic brake deceleration is not
required, slow the time to turn off the magnetic
contactor.
4. When using the regenerative option, refer to Part 10
section 1.1 or 1.2.

(4) List of connector and terminal block correspondence (11 kW or more)

MR-J3-_B_ MR-J4-_B_
Precautions
No. Connector name Connector No. No. Connector name Connector No.
① SSCNET III cable connector CN1A ① SSCNET III cable connector CN1A

② SSCNET III cable connector CN1B ② SSCNET III cable connector CN1B
The cable needs to be
changed when using 15 kW
→ or more HG-JR 1000 r/min
③ Encoder connector CN2 ③ Encoder connector CN2
series or 22 kW or more
HG-JR 1500 r/min series is
used.
USB communication USB communication
④ CN5 ④ CN5
connector connector
⑤ I/O signal connector CN3 ⑤ I/O signal connector CN3

⑥ Battery connector CN4 ⑥ Battery connector CN4 Prepare a new battery.

Note 1.When not using the STO function in MR-J4-_B_, attach a short-circuit connector supplied with a servo amplifier onto CN8
(STO input signal connector).
2.The configuration of the main circuit terminal block differs depending on capacity. Refer to "Part 8: Common Reference Material".

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(5) Comparison of signals

Signals unique to MR-J4-_B_ are in parentheses.
MR-J3-_B_ < 7 kW or less > MR-J4-_B_
Abbreviation
Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment
CN3-1 LG CN3-1
CN3-2 DI1 CN3-2
CN3 CN3
CN3-3 DOCOM CN3-3
CN3-4 MO1 CN3-4
1 11 CN3-5 DICOM CN3-5 1 11
2 12 CN3-6 LA CN3-6 2 12
LG LG LG LG
DI1 DI2 CN3-7 LB CN3-7 DI1 DI2
3 13 3 13
CN3-8 LZ CN3-8
4 14 4 14
DOCOM MBR CN3-9 INP CN3-9 DOCOM MBR
MO1 MO2 CN3-10 DICOM CN3-10 MO1 MO2
5 15 5 15
6 16 CN3-11 LG CN3-11 6 16
DICOM ALM DICOM ALM
CN3-12 DI2 CN3-12
LA LAR LA LAR
7 17 CN3-13 MBR CN3-13 7 17
8 18 CN3-14 MO2 CN3-14 8 18
LB LBR LB LBR
LZ LZR CN3-15 ALM CN3-15 LZ LZR
9 19 LAR 9 19
CN3-16 CN3-16
10 20 10 20
INP DI3 CN3-17 LBR CN3-17 INP DI3
DICOM EM1 CN3-18 LZR CN3-18 DICOM EM2
CN3-19 DI3 CN3-19
EM1
CN3-20 (Note) CN3-20
(EM2)
Plate SD Plate

Note. The factory setting for MR-J4-_B_ is EM2.

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3.5 Comparison of Peripheral Equipment

POINT
Refer to "Part 10: Review on Replacement of Optional Peripheral Equipment".

3.6 Comparison of Parameters

Never perform extreme adjustments and changes to the parameters, otherwise

the operation may become unstable.
CAUTION If fixed values are written in the digits of a parameter, do not change these values.
Do not change parameters for manufacturer setting.
Do not enter any setting value other than those specified for each parameter.

POINT
For the parameter converter function, refer to "Part 8: Common Reference
Material".
The parameter whose symbol is preceded by * is enabled with the following
conditions:
*: After setting the parameter, cycle the power or reset the controller.
**: After setting the parameter, cycle the power.
For details about parameter settings for replacement, refer to the "MR-J4-_B_(-
RJ) Servo Amplifier Instruction Manual" to set parameters.

POINT
With MR-J4-_B_, the deceleration to a stop function is enabled in the factory
setting. To disable the deceleration to a stop function, set [Pr.PA04] to "0 _ _ _".
In cases of 11 kW or more, the dynamic brake (DB) needs to be assigned to a
device in [Pr.PD07] to [Pr. PD09].

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3.6.1 Setting requisite parameters upon replacement

The parameters shown in this section are a minimum number of parameters that need to be set for
simultaneous replacement. Depending on the settings of the currently used servo amplifier, parameters other
than these may need to be set.
Parameter
Name Precautions
number
In MR-J3-_B_, the maximum torque was set to 300% as the initial value.
However, in MR-J4-_B_, the maximum torque is set to 350% as the initial
PA01 Control type selection value when using the HG-KR servo motor. Refer to Part 9 "Review on
Replacement of Motor", check the operation status on customer side, and
revise the settings as required.
PA02 Regenerative option selection The setting value must be changed according to the option model.
Forced stop deceleration function selection
Function selection A-1
PA04 To configure the same settings as for MR-J3-_B_, select "Forced stop
Servo forced stop selection
deceleration function disabled (with EM1 used)".
PA08 Gain adjustment mode selection The setting value needs to be changed according to the auto tuning mode.
Auto tuning response setting
Refer to "3.6.3 Comparison of parameter details" for the setting value of this
parameter upon replacement. It is necessary to make gain adjustment again
PA09 Auto tuning response when replacing.
For details on how to make gain adjustments, refer to Chapter 6 of the
"MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". The setting value
needs be changed based on the standard machine resonance frequency.
PA10 In-position range The setting needs to be changed depending on the servo motor.
Used to set the encoder pulses (A-phase and B-phase) output by the servo
PA15 Encoder output pulse
amplifier.
PA19 Parameter writing inhibit Change the setting value as necessary.
The unit system is different. (0.1-fold → 0.01-fold) Pay attention to setting
PB06 Load to motor inertia ratio
value.
PB07 Model loop gain The unit system is different. (rad/s → 0.1 rad/s)
PB08 Position loop gain The unit system is different. (rad/s → 0.1 rad/s)
PB13 Machine resonance suppression filter 1
Change the setting value according to the frequency and depth.
PB14 Notch shape selection 1
PB15 Machine resonance suppression filter 2
Change the setting value according to the frequency and depth.
PB16 Notch shape selection 2
Load to motor inertia ratio after gain The unit system is different. (0.1-fold → 0.01-fold) Pay attention to setting
PB29
switching value.
PB30 Position loop gain after gain switching It is necessary to convert the ratio to a value to change the setting value.
PB31 Speed loop gain after gain switching It is necessary to convert the ratio to a value to change the setting value.
Speed integral compensation after gain
PB32 It is necessary to convert the ratio to a value to change the setting value.
switching
PC09 Analog monitor 1 output The setting value must be changed according to monitor output data.
The "maximum speed" and "maximum torque" differ depending on the servo
PC10 Analog monitor 2 output
motor currently in use. Set them in accordance with the servo motor.
PC11 Analog monitor 1 offset Depends on hardware. It is necessary to change the setting value.
PC12 Analog monitor 2 offset Depends on hardware. It is necessary to change the setting value.

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3.6.2 Parameter comparison list

MR-J3-_B_ parameters MR-J4-_B_ parameters

Customer Customer
Initial Initial
No. Abbreviation Parameter name value
setting No. Abbreviation Parameter name value
setting
value value

PA01 **STY For manufacturer setting 0000h PA01 **STY Operation mode 1000h
PA02 **REG Regenerative option 0000h PA02 **REG Regenerative option 0000h
PA03 *ABS Absolute position detection system 0000h PA03 *ABS Absolute position detection system 0000h
PA04 *AOP1 Function selection A-1 0000h PA04 *AOP1 Function selection A-1 2000h
PA05 For manufacturer setting 0 PA05 For manufacturer setting 10000
PA06 1 PA06 1
PA07 1 PA07 1
PA08 ATU Auto tuning mode 0001h PA08 ATU Auto tuning mode 0001h
PA09 RSP Auto tuning response 12 PA09 RSP Auto tuning response 16
PA10 INP In-position range 100 PA10 INP In-position range 1600
PA11 For manufacturer setting 1000.0 PA11 For manufacturer setting 1000.0
PA12 1000.0 PA12 1000.0
PA13 0000h PA13 0000h
PA14 *POL Rotation direction selection 0 PA14 *POL Rotation direction selection 0
PA15 *ENR Encoder output pulses 4000 PA15 *ENR Encoder output pulses 4000
PA16 For manufacturer setting 0 PA16 *ENR2 Encoder output pulses 2 1
PA17 0000h PA17 **MSR Servo motor series setting 0000h
PA18 0000h PA18 **MTY Servo motor type setting 0000h
PA19 *BLK Parameter write inhibit 000Bh PA19 *BLK Parameter writing inhibit 00ABh
PB01 FILT Adaptive tuning mode 0000h PB01 FILT Adaptive tuning mode 0000h
(adaptive filter II) (adaptive filter II)
PB02 VRFT Vibration suppression control tuning 0000h PB02 VRFT Vibration suppression control tuning 0000h
mode (advanced vibration mode (advanced vibration
suppression control) suppression control II)
PB03 For manufacturer setting 0 PB03 TFBGN Torque feedback loop gain 18000
PB04 FFC Feed forward gain 0 PB04 FFC Feed forward gain 0
PB05 For manufacturer setting 500 PB05 For manufacturer setting 500
PB06 GD2 Ratio of load inertia moment to servo 7.0 PB06 GD2 Load to motor inertia ratio 7.00
motor inertia moment
PB07 PG1 Model loop gain 24 PB07 PG1 Model loop gain 15.0
PB08 PG2 Position loop gain 37 PB08 PG2 Position loop gain 37.0
PB09 VG2 Speed loop gain 823 PB09 VG2 Speed loop gain 823
PB10 VIC Speed integral compensation 33.7 PB10 VIC Speed integral compensation 33.7
PB11 VDC Speed differential compensation 980 PB11 VDC Speed differential compensation 980
PB12 OVA Overshoot amount compensation 0 PB12 OVA Overshoot amount compensation 0
PB13 NH1 Machine resonance suppression 4500 PB13 NH1 Machine resonance suppression 4500
filter 1 filter 1
PB14 NHQ1 Notch shape selection 1 0000h PB14 NHQ1 Notch shape selection 1 0000h
PB15 NH2 Machine resonance suppression 4500 PB15 NH2 Machine resonance suppression 4500
filter 2 filter 2
PB16 NHQ2 Notch shape selection 2 0000h PB16 NHQ2 Notch shape selection 2 0000h
PB17 Automatic setting parameter PB17 NHF Shaft resonance suppression filter 0000h
PB18 LPF Low-pass filter setting 3141 PB18 LPF Low-pass filter setting 3141
PB19 VRF1 Vibration suppression control 100.0 PB19 VRF11 Vibration suppression control 1 - 100.0
vibration frequency setting Vibration frequency
PB20 VRF2 Vibration suppression control 100.0 PB20 VRF12 Vibration suppression control 1 - 100.0
resonance frequency setting Resonance frequency
PB21 For manufacturer setting 0.00 PB21 VRF13 Vibration suppression control 1 - 0.00
Vibration frequency damping
PB22 0.00 PB22 VRF14 Vibration suppression control 1 - 0.00
Resonance frequency damping
PB23 VFBF Low-pass filter selection 0000h PB23 VFBF Low-pass filter selection 0000h

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ parameters MR-J4-_B_ parameters

Customer Customer
Initial setting
Initial setting
No. Abbreviation Parameter name value No. Abbreviation Parameter name value
value value
PB24 *MVS Slight vibration suppression control 0000h PB24 *MVS Slight vibration suppression control 0000h
selection
PB25 For manufacturer setting 0000h PB25 *BOP1 Function selection B-1 0000h
PB26 *CDP Gain changing selection 0000h PB26 *CDP Gain switching function 0000h
PB27 CDL Gain changing condition 10 PB27 CDL Gain switching condition 10
PB28 CDT Gain changing time constant 1 PB28 CDT Gain switching time constant 1
PB29 GD2B Gain changing ratio of load inertia 7.0 PB29 GD2B Load to motor inertia ratio after gain 7.00
moment to servo motor inertia switching
moment
PB30 PG2B Gain changing position loop gain 37 PB30 PG2B Position loop gain after gain switching 0.0
PB31 VG2B Gain changing speed loop gain 823 PB31 VG2B Speed loop gain after gain switching 0
PB32 VICB Gain changing speed integral 33.7 PB32 VICB Speed integral compensation after 0.0
compensation gain switching
PB33 VRF1B Gain changing vibration suppression 100.0 PB33 VRF11B Vibration suppression control 1 - 0.0
control vibration frequency setting Vibration frequency after gain
switching
PB34 VRF2B Gain changing vibration suppression 100.0 PB34 VRF12B Vibration suppression control 1 - 0.0
control resonance frequency setting Resonance frequency after gain
switching
PB35 For manufacturer setting 0.00 PB35 VRF13B Vibration suppression control 1 - 0.00
Vibration frequency damping after
gain switching
PB36 0.00 PB36 VRF14B Vibration suppression control 1 - 0.00
Resonance frequency damping after
gain switching
PB37 100 PB37 For manufacturer setting 1600
PB38 0.0 PB38 0.00
PB39 0.0 PB39 0.00
PB40 0.0 PB40 0.00
PB41 1125 PB41 0
PB42 1125 PB42 0
PB43 0004h PB43 0000h
PB44 0.0 PB44 0.00
PB45 CNHF Vibration suppression control filter 2 0000h PB45 CNHF Command notch filter 0000h
PC01 ERZ Error excessive alarm level 3 PC01 ERZ Error excessive alarm level 0
PC02 MBR Electromagnetic brake sequence 0 PC02 MBR Electromagnetic brake sequence 0
output output
PC03 *ENRS Encoder output pulses selection 0000h PC03 *ENRS Encoder output pulse selection 0000h
PC04 **COP1 Function selection C-1 0000h PC04 **COP1 Function selection C-1 0000h
PC05 **COP2 Function selection C-2 0000h PC05 **COP2 Function selection C-2 0000h
PC06 *COP3 Function selection C-3 0000h PC06 *COP3 Function selection C-3 0000h
PC07 ZSP Zero speed 50 PC07 ZSP Zero speed 50
PC08 For manufacturer setting 0 PC08 OSL Overspeed alarm detection level 0
PC09 MOD1 Analog monitor 1 output 0000h PC09 MOD1 Analog monitor 1 output 0000h
PC10 MOD2 Analog monitor 2 output 0001h PC10 MOD2 Analog monitor 2 output 0001h
PC11 MO1 Analog monitor 1 offset 0 PC11 MO1 Analog monitor 1 offset 0
PC12 MO2 Analog monitor 2 offset 0 PC12 MO2 Analog monitor 2 offset 0
PC13 MOSDL Analog monitor feedback position 0 PC13 MOSDL Analog monitor - Feedback position 0
output standard data Low output standard data - Low
PC14 MOSDH Analog monitor feedback position 0 PC14 MOSDH Analog monitor - Feedback position 0
output standard data High output standard data - High
PC15 For manufacturer setting 0 PC15 For manufacturer setting 0
PC16 0000h PC16 0000h
PC17 **COP4 Function selection C-4 0000h PC17 **COP4 Function selection C-4 0000h
PC18 For manufacturer setting 0000h PC18 *COP5 Function selection C-5 0000h
PC19 0000h PC19 For manufacturer setting 0000h
PC20 *COP7 Function selection C-7 0000h PC20 *COP7 Overspeed alarm detection level 0000h

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ parameters MR-J4-_B_ parameters

Customer Customer
Initial Initial
No. Abbreviation Parameter name value
setting No. Abbreviation Parameter name value
setting
value value

PC21 *BPS Alarm history clear 0000h PC21 *BPS Alarm history clear 0000h
PC22 For manufacturer setting 0000h PC22 For manufacturer setting 0
PC23 0000h PC23 0000h
PC24 0000h PC24 RSBR Forced stop deceleration time 100
constant
PC25 0000h PC25 For manufacturer setting 0
PC26 0000h PC26 **COP8 Function selection C-8 0000h
PC27 0000h PC27 **COP9 Function selection C-9 0000h
PC28 0000h PC28 For manufacturer setting 0000h
PC29 0000h PC29 *COPB Function selection C-B 0000h
PC30 0000h PC30 For manufacturer setting 0
PC31 0000h PC31 RSUP1 Vertical axis freefall prevention 0
compensation amount
PC32 0000h PC32 For manufacturer setting 0000h
PD01 0000h PD01 For manufacturer setting 0000h
PD02 0000h PD02 *DIA2 Input signal automatic on selection 2 0000h
PD03 0000h PD03 For manufacturer setting 0020h
PD04 0000h PD04 0021h
PD05 0000h PD05 0022h
PD06 0000h PD06 0000h
PD07 *DO1 Output signal device selection 1 0005h PD07 *DO1 Output device selection 1 0005h
(CN3-13)
PD08 *DO2 Output signal device selection 2 0004h PD08 *DO2 Output device selection 2 0004h
(CN3-9)
PD09 *DO3 Output signal device selection 3 0003h PD09 *DO3 Output device selection 3 0003h
(CN3-15)
PD10 For manufacturer setting 0000h PD10 For manufacturer setting 0000h
PD11 0004h PD11 *DIF Input filter setting (Note) 0004h
PD12 0000h PD12 *DOP1 Function selection D-1 0000h
PD13 0000h PD13 *DOP2 Function selection D-2 0000h
PD14 *DOP3 Function selection D-3 0000h PD14 *DOP3 Function selection D-3 0000h
PD15 *IDCS For manufacturer setting 0000h PD15 *IDCS Driver communication setting 0000h
PD16 *MD1 Driver communication setting - 0000h PD16 *MD1 Driver communication setting - 0000h
Master - Transmit data selection 1 Master - Transmit data selection 1
PD17 *MD2 Driver communication setting - 0000h PD17 *MD2 Driver communication setting - 0000h
Master - Transmit data selection 2 Master - Transmit data selection 2
PD18 For manufacturer setting 0000h PD18 For manufacturer setting 0000h
PD19 0000h PD19 0000h
PD20 *SLA1 Driver communication setting - Slave 0 PD20 *SLA1 Driver communication setting - Slave 0
- Master axis No. selection 1 - Master axis No. selection 1
PD21 For manufacturer setting 0 PD21 For manufacturer setting 0
PD22 0 PD22 0
PD23 0 PD23 0
PD24 0000h PD24 0000h
PD25 0000h PD25 0000h
PD26 0000h PD26 0000h
PD27 0000h PD27 0000h
PD28 0000h PD28 0000h
PD29 0000h PD29 0000h
PD30 TLC Master-slave operation - Torque 0000h PD30 TLC Master-slave operation - Torque 0
command coefficient on slave command coefficient on slave
PD31 VLC Master-slave operation - Speed limit 0000h PD31 VLC Master-slave operation - Speed limit 0
coefficient on slave coefficient on slave
PD32 VLL Master-slave operation - Speed limit 0000h PD32 VLL Master-slave operation - Speed limit 0
adjusted value on slave adjusted value on slave

Note Refer to the servo system controller instruction manual for the setting.

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

3.6.3 Comparison of parameter details

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PA01 Control mode 0000h PA01 Operation mode 0h
Turn off the power and then on again after setting the Select an operation mode.
parameter to validate the parameter value.
This parameter is supported by a combination of a servo _ _ _ x:
amplifier, whose software version is C4 or later For manufacturer setting
(manufactured in January 2010 or later), and a HF-KP
__x_: 0h
servo motor (manufactured in August 2009 or later).
Check the software version using status display or Setup Operation mode selection
software (SETUP221E). 0: Standard control mode
When the 350% maximum torque setting of the HF-KP Setting other than above will result in [AL. 37 Parameter
servo motor is enabled, set the torque limit value in the error].
controller at 1000%. _x__: 0h
A HF-KP servo motor with a decelerator and servo For manufacturer setting
motors except the HF-KP series do not support the 350 x___: 1h
maximum torque setting. Making the 350 maximum
Operation mode selection
torque setting valid when using these servo motors
To change this digit, use an application software "MR
causes the [AL. 37 parameter error].
Mode Change". When you change it without the
Set the control loop composition of the servo amplifier,
application, [AL. 3E Operation mode error] will occur.
and the maximum torque of the HFKP series servo
0: J3 compatibility mode
motor.
1: J4 mode
By making the high-response control valid in the control
loop composition, response of the servo can be
increased compared to the response under the standard
control (factory setting).Moreover, the track ability for a
command and the settling time in machines with high
rigidity can be decreased. To further shorten the settling
time using the auto tuning results of the high-response
control, increase the setting of model loop gain ([Pr.
PB07]) in the manual mode.
By making the 350 maximum torque setting valid, the
maximum torque of the HF-KP servo motor can be
increased from 300 to 350. To operate at the maximum
torque of 350, operate within the range of overload
protection characteristic. If operated beyond the overload
protection characteristic range, servo motor overheat
(46), overload 1 (50), and overload 2 (51) may occur.

0 x 0 0:
Control type selection
0: Standard control (350 maximum torque setting of HF-
KP servo motor Invalid)
3: Standard control (350 maximum torque setting of HF-
KP servo motor Valid)
4: High-response control valid (350 maximum torque
setting of HF-KP servo motor Invalid)
5: High-response control valid (350 maximum torque
setting of HF-KP servo motor Valid)

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PA02 Regenerative option 0000h PA02 00h
Same as MR-J3
This parameter value and switch power off once, then
switch it on again to make that parameter setting valid. Regenerative option
Wrong setting may cause the regenerative option to Used to select the regenerative option.
burn. Incorrect setting may cause the regenerative option to
If the regenerative option selected is not for use with the burn.
servo amplifier, [AL.37 parameter error] occurs.
If a selected regenerative option is not for use with the
servo amplifier, [AL. 37 Parameter error] occurs.
0 0 x x:
Selection of regenerative option
_ _ x x:
00: Regenerative option is not used
Regenerative option selection
For servo amplifier of 100 W, regenerative resistor
is not used. 00: Regenerative option is not used.
For servo amplifier of 0.2 kW to 7 kW, built-in For servo amplifier of 100 W, regenerative resistor
regenerative resistor is used. is not used.
Supplied regenerative resistors or regenerative For servo amplifier of 0.2 kW to 7 kW, built-in
option is used with the servo amplifier of 11 kW to regenerative resistor is used.
22 kW. Supplied regenerative resistors or regenerative
01: FR-BU2-(H)/FR-RC-(H)/FR-CV-(H) option is used with the servo amplifier of 11 kW to
02: MR-RB032 22 kW.
03: MR-RB12 01: FR-RC-(H)/FR-CV-(H)/FR-BU2-(H)
04: MR-RB32 When you use FR-RC-(H) or FR-CV-(H), "Mode 2
05: MR-RB30 (_ _ _ 1)" of "Undervoltage alarm detection mode
06: MR-RB50 (Cooling fan is required) selection" in [Pr. PC20].
08: MR-RB31 02: MR-RB032
09: MR-RB51 (Cooling fan is required) 03: MR-RB12
80: MR-RB1H-4 04: MR-RB32
81: MR-RB3M-4 (Cooling fan is required) 05: MR-RB30
82: MR-RB3G-4 (Cooling fan is required) 06: MR-RB50 (Cooling fan is required.)
83: MR-RB5G-4 (Cooling fan is required) 08: MR-RB31
84: MR-RB34-4 (Cooling fan is required) 09: MR-RB51 (Cooling fan is required.)
85: MR-RB54-4 (Cooling fan is required) 0B: MR-RB3N
FA: When the supplied regenerative resistor is cooled by 0C: MR-RB5N (Cooling fan is required.)
the cooling fan to increase the ability with the servo 80: MR-RB1H-4
amplifier of 11kW to 22kW. 81: MR-RB3M-4 (Cooling fan is required.)
82: MR-RB3G-4 (Cooling fan is required.)
Note. The setting is for the servo amplifier of 22 kW or 83: MR-RB5G-4 (Cooling fan is required.)
less.
84: MR-RB34-4 (Cooling fan is required.)
85: MR-RB54-4 (Cooling fan is required.)
91: MR-RB3U-4 (Cooling fan is required.)
92: MR-RB5U-4 (Cooling fan is required.)
FA: When the supplied regenerative resistors or the
regenerative option is cooled by the cooling fan to
increase the ability with the servo amplifier of 11 kW
to 22 kW.
_x__: 0h
For manufacturer setting
x___: 0h
For manufacturer setting

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PA03 Absolute position detection system 0000h PA03 Same as MR-J3
This parameter is made valid when power is switched off,
then on after setting, or when the controller reset has Absolute position detection system
been performed. Set this parameter when using the absolute position
This parameter cannot be used in the speed control detection system.
mode. The parameter is not available in the speed control mode
Set this parameter when using the absolute position and torque control mode.
detection system in the position control mode. _ _ _ x: 0h
0 0 0 x: Absolute position detection system selection
Selection of absolute position detection system 0: Disabled (used in incremental system)
0: Used in incremental system 1: Enabled (used in absolute position detection system)
1: Used in absolute position detection system __x_: 0h
For manufacturer setting
_x__: 0h
For manufacturer setting
x___: 0h
For manufacturer setting
PA04 Function selection A-1 0000h PA04 Same setting as MR-J3
This parameter is made valid when power is switched off,
then on after setting, or when the controller reset has Function selection A-1
been performed. This is used to select the forced stop input and forced
The servo forced stop function is avoidable. stop deceleration function.
_ _ _ x: 0h
0 x 0 0: For manufacturer setting
Selection of servo forced stop __x_: 0h
0: Valid (Forced stop (EM1) is used For manufacturer setting
1: Invalid (Forced stop (EM1) is not used.) _x__: 0h
Servo forced stop selection
When not using the forced stop (EM1) of servo amplifier, 0: Enabled (The forced stop input EM2 or EM1 is used.)
set the selection of servo forced stop to Invalid (_ _1_). 1: Disabled (The forced stop input EM2 and EM1 are not
At this time, the forced stop (EM1) automatically turns on used.)
inside the servo amplifier. Refer to table 3.1 for details.
x___: 2h
Forced stop deceleration function selection
0: Forced stop deceleration function disabled (EM1)
2: Forced stop deceleration function enabled (EM2)
Refer to table 3.1 for details.
Table 3.1 Deceleration method
Deceleration method
Setting EM2/EM1 Controller forced
value EM2 or EM1 is off stop is
enabled/Alarm
occurred
00__ EM1 MBR MBR
(Electromagnetic (Electromagnetic
brake interlock) brake interlock)
turns off without the turns off without the
forced stop forced stop
deceleration. deceleration.
20__ EM2 MBR MBR
(Electromagnetic (Electromagnetic
brake interlock) brake interlock)
turns off after the turns off after the
forced stop forced stop
deceleration. deceleration.
0 1 _ _ Not using MBR
EM2 and (Electromagnetic
EM1 brake interlock)
turns off without the
forced stop
deceleration.
2 1 _ _ Not using MBR
EM2 and (Electromagnetic
EM1 brake interlock)
turns off after the
forced stop
deceleration.

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PA08 Auto tuning mode 0001h PA08 Same setting as MR-J3
This parameter cannot be used in the torque control
mode. Auto tuning response
Make gain adjustment using auto tuning. Set a response of the auto tuning.
Auto tuning mode [Pr. PA08] _ _ _ x: 1h
Select the gain adjustment mode. Gain adjustment mode selection
0: 2 gain adjustment mode 1 (interpolation mode)
0 0 0 x: 1: Auto tuning mode 1
Gain adjustment mode setting 2: Auto tuning mode 2
0: Interpolation mode (Automatically set parameter No. 3: Manual mode
(Note) [Pr. PB06/PB08/PB09/PB10]) 4: 2 gain adjustment mode 2
1: Auto tuning mode 1 (Automatically set parameter No. __x_: 0h
(Note) [Pr. PB06/PB07/PB08/PB09/PB10]) For manufacturer setting
2: Auto tuning mode 2 (Automatically set parameter No. _x__: 0h
[Pr. PB07/PB08/PB09/PB10])
For manufacturer setting
3: Manual mode
x___: 0h
Parameter
No. Name For manufacturer setting
Ratio of load inertia moment to servo
PB06 motor inertia moment
PB07 Model loop gain
PB08 Position loop gain
PB09 Speed loop gain
PB10 Speed integral compensation
Note. The parameters have the following names.
PA09 Auto tuning response 12 PA09 Auto tuning response 16
If the machine hunts or generates large gear sound, Set a response of the auto tuning.
decrease the set value. To improve performance, e.g.
shorten the settling time, increase the set value. Machine characteristic Machine characteristic
Settin Guideline Guideline
for machine Setting for machine
g
Guideline for Guideline Response resonance value Respoznse resonance
machine for machine value
Setting Respons Setting frequency frequency
resonance Response resonance [Hz] [Hz]
value e frequency value frequency
[Hz] [Hz] Low Middle
1 2.7 21 67.1
response response
1 Low 10.0 17 Middle 67.1
response response 2 3.6 22 75.6
2 11.3 18 75.6 3 4.9 23 85.2
4 6.6 24 95.9
3 12.7 19 85.2
5 10.0 25 108.0
4 14.3 20 95.9 6 11.3 26 121.7
5 16.1 21 108.0 7 12.7 27 137.1
6 18.1 22 121.7 8 14.3 28 154.4
9 16.1 29 173.9
7 20.4 23 137.1
10 18.1 30 195.9
8 23.0 24 154.4 11 20.4 31 220.6
9 25.9 25 173.9 12 23.0 32 248.5

10 29.2 26 195.9 13 25.9 33 279.9

14 29.2 34 315.3
11 32.9 27 220.6
15 32.9 35 355.1
12 37.0 28 248.5 16 37.0 36 400.0
13 41.7 29 279.9 17 41.7 37 446.6

14 47.0 30 315.3 18 47.0 38 501.2

19 52.9 39 571.5
15 52.9 31 355.1 Middle High
20 59.6 40 642.7
Middle High response response
16 59.6 32 400.0
response response

PA10 In-position range 100 PA10 In-position range 1600

This parameter cannot be used in the speed control Set an in-position range per command pulse.
mode.
Set the range, where in position (INP) is output, in the
command pulse unit.

Servo motor droop pulse

Command pulse Command pulse

In-position range [pulse]
Droop pulse

ON
In position (INP)
OFF

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function No. Name and function
value value
PA14 Rotation direction selection 0 PA14 Rotation direction selection 0
This parameter is made valid when power is switched off, This is used to select a rotation direction.
then on after setting, or when the controller reset has For the setting for the master-slave operation function,
been performed. refer to "Part 8 section 6.2".
Select servo motor rotation direction relative.

Servo motor rotation direction (Note1) Servo motor rotation direction

Setting
Positioning Positioning
When positioning When positioning value
address increase address decrease
address increases address decreases
(Position control) (Position control) 0 CCW CW
[Pr. PA14]
Command speed in the Command speed in the 1 CW CCW
setting
positive direction negative direction
(Speed control) (Speed control)
Command torque in the Command torque in the
positive direction negative direction The following shows the servo motor rotation directions.
(Torque control (Note2)) (Torque control (Note2))
0 CCW CW
Forward rotation (CCW)
1 CW CCW

Note 1. The torque generation direction for the torque

control.
2. The torque generation direction can be set for the
slave axis with this parameter by using the
master-slave operation function.
Reverse rotation (CW)

Forward rotation (CCW)

Reverse rotation (CW)

PA15 Encoder output pulse 4000 PA15 Encoder output pulses 4000
This parameter is made valid when power is switched off, Set the encoder output pulses from the servo amplifier by
then on after setting, or when the controller reset has using the number of output pulses per revolution, dividing
been performed. ratio, or electronic gear ratio. (after multiplication by 4)
Used to set the encoder pulses (A-phase, B-phase) To set a numerator of the electronic gear, select "A-
output by the servo amplifier. Set the value 4 times phase/B-phase pulse electronic gear setting (_ _ 3 _)" of
greater than the A-phase or B-phase pulses. "Encoder output pulse setting selection" in [Pr. PC03].
You can use [Pr. PC03] to choose the output pulse The maximum output frequency is 4.6 Mpulses/s. Set the
setting or output division ratio setting. parameter within this range.
The number of A/B-phase pulses actually output is 1/4 PA16 Encoder output pulses 2 1
times greater than the preset number of pulses. Set a denominator of the electronic gear for the A/B-
The maximum output frequency is 4.6 Mpulses/s (after phase pulse output. To set a denominator of the
multiplication by 4). Use this parameter within this range. electronic gear, select "A-phase/B-phase pulse electronic
gear setting (_ _ 3 _)" of "Encoder output pulse setting
For output pulse designation selection" in [Pr. PC03].
Set "_ _ 0 _" (initial value) in [Pr. PC03]
Set the number of pulses per servo motor revolution.
Output pulse set value [pulses/rev]
For instance, set "5600" to [Pr. PA15], the actually output
A/B-phase pulses are as indicated below.
5600
A/B-phase output pulses = = 1400 pulses
4

For output division ratio setting

Set "_ _ 1 _" in [Pr. PC03]
The number of pulses per servo motor revolution is
divided by the set value.

Output pulse Resolution per servo motor revolution

[pulses/rev]
Set value

For instance, set "8" to [Pr. PA15], the actually output

A/B-phase pulses are as indicated below.
262144 1
A/B-phase output pulses= ・ = 8192 pulses
8 4

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PA19 Parameter write inhibit 000Bh PA19 Parameter writing inhibit 00ABh
Basic Extension
[Pr. PA19] Setting setting
Gain/filter
setting
I/O setting Select a reference range and writing range of the
setting operation [Pr. PA _ _] [Pr. PB_ _] [Pr. PD_ _]
[Pr. PC_ _]
parameter.
Reference See the table below for the setting value.
0000h
Write
[Pr. PA19] setting value and reading/writing range
000Bh Reference
Setting
(initial value) PA19 PA PB PC PD PE PF PL
Write operation

Reference Reading
Other than
000Ch below
Writing
Write
Reading 19 only
Reference 000Ah
100Bh Writing 19 only
[Pr. PA19]
Write only Reading
000Bh
Reference Writing
100Ch [Pr. PA19] Reading
Write only 000Ch
Writing
: Enabled
Reading
000Fh
Writing

Reading
00AAh
Writing

00ABh Reading
(initial value) Writing

Reading
100Bh
Writing 19 only

Reading
100Ch
Writing 19 only

Reading
100Fh
Writing 19 only

Reading
10AAh
Writing 19 only

Reading
10ABh
Writing 19 only

: Enabled
PB01 Adaptive tuning mode (adaptive filter II) 0000h PB01 Adaptive tuning mode (adaptive filter II)
Select the setting method for filter tuning. Setting this Set the adaptive tuning.
parameter to " _ _ _ 1" (filter tuning mode 1) _ _ _ x: 0h
automatically changes the machine resonance Filter tuning mode selection
suppression filter 1 [Pr. PB13] and notch shape selection
Select the adjustment mode of the machine resonance
[Pr. PB14].
suppression filter 1.
0: Disabled
mechanical system

1: Automatic setting
Machine resonance point 2: Manual setting
Response of

__x_: 0h
For manufacturer setting
Frequency _x__: 0h
For manufacturer setting
x___: 0h
Notch depth

uning accuracy selection

0: Standard
1: High accuracy
Frequency
Notch frequency The frequency is estimated more accurately in the high
0 0 0 x: accuracy mode compared to the standard mode.
Filter tuning mode selection However, the tuning sound may be larger in the high
0: Filter OFF ([Pr. PB13/PB14] are fixed to the initial accuracy mode.
values.) This digit is available with servo amplifier with software
1: Filter tuning mode (Automatically set parameter: [Pr. version C5 or later.
PB13/PB14])
2: Manual mode
When this parameter is set to "_ _ _ 1", the tuning is
completed after positioning is done the predetermined
number or times for the predetermined period of time,
and the setting changes to "_ _ _ 2". When the filter
tuning is not necessary, the setting changes to "_ _ _ 0".
When this parameter is set to "_ _ _ 0", the initial values
are set to the machine resonance suppression filter 1
and notch shape selection. However, this does not occur
when the servo off.

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PB02 Vibration suppression control tuning mode 0000h PB02 Vibration suppression control tuning mode (advanced
(advanced vibration suppression control) vibration suppression control II)
This parameter cannot be used in the speed control This is used to set the vibration suppression control
mode. tuning.
The vibration suppression is valid when the [Pr. PA08] _ _ _ x: 0h
(auto tuning) setting is "_ _ _ 2" or "_ _ _ 3". When PA08 Vibration suppression control 1 tuning mode selection
is [Pr. PA08] is "_ _ _ 1", vibration suppression is always Select the tuning mode of the vibration suppression
invalid. control 1.
Select the setting method for vibration suppression 0: Disabled
control tuning. Setting this parameter to "_ _ _ 1"
1: Automatic setting
(vibration suppression control tuning mode) automatically
2: Manual setting
changes the vibration suppression control vibration
frequency ([Pr. PB19]) and vibration suppression control __x_: 0h
resonance frequency ([Pr. PB20]) after positioning is Vibration suppression control 2 tuning mode selection
done the predetermined number of times. Select the tuning mode of the vibration suppression
control 2. To enable the digit, select "3 inertia mode (_ _
Droop pulse Droop pulse _ 1)" of "Vibration suppression mode selection" in [Pr.
Automatic
Command adjustment Command PA24 Function selection A-4].
Machine end Machine end 0: Disabled
position position 1: Automatic setting
2: Manual setting

0 0 0 x: _x__: 0h
Vibration suppression control tuning mode For manufacturer setting
0: Vibration suppression control OFF ([Pr. PB19/PB20] x___: 0h
are fixed to the initial values.) For manufacturer setting
1: Vibration suppression control tuning mode (Advanced
vibration suppression control) (Automatically set
parameter: [Pr.PB19/PB20])
2: Manual mode

When this parameter is set to "_ _ _ 1", the tuning is

completed after positioning is done the predetermined
number or times for the predetermined period of time,
and the setting changes to "_ _ _ 2". When the vibration
suppression control tuning is not necessary, the setting
changes to "_ _ _ 0". When this parameter is set to "_ _
_ 0", the initial values are set to the vibration suppression
control vibration frequency and vibration suppression
control resonance frequency. However, this does not
occur when the servo off.
PB03 For manufacturer setting 0 PB03 Torque feedback loop gain 18000
Do not change this value by any means. This is used to set a torque feedback loop gain in the
continuous operation to torque control mode.
Decreasing the setting value will also decrease a
collision load during continuous operation to torque
control mode.
Setting a value less than 6 rad/s will be 6 rad/s.
PB04 Feed forward gain 0 PB04 Same as MR-J3 0
This parameter cannot be used in the speed control
mode. Feed forward gain
Set the feed forward gain. When the setting is 100%, the Set the feed forward gain.
droop pulses during operation at constant speed are When the setting is 100%, the droop pulses during
nearly zero. However, sudden acceleration/deceleration operation at constant speed are nearly zero. When the
will increase the overshoot. As a guideline, when the super trace control is enabled, constant speed and
feed forward gain setting is 100%, set 1 s or more as the uniform acceleration/deceleration droop pulses will be
acceleration/deceleration time constant up to the rated almost 0. However, sudden acceleration/deceleration will
speed. increase the overshoot. As a guideline, when the feed
forward gain setting is 100%, set 1 s or more as the
acceleration time constant up to the rated speed.

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PB06 Load to motor inertia ratio 7.0 PB06 7.00
Same setting as MR-J3
Used to set the ratio of the load inertia moment to the
servo motor shaft inertia moment. When auto tuning Load to motor inertia ratio
mode 1 and interpolation mode is selected, the result of This is used to set the load to motor inertia ratio. Setting
auto tuning is automatically used. a value considerably different from the actual load
When [Pr. PA08] is set to "_ _ _ 2" or "_ _ _ 3", this moment of inertia may cause an unexpected operation
parameter can be set manually. such as an overshoot.
The setting of the parameter will be the automatic setting
or manual setting depending on the [Pr. PA08] setting.
Refer to the following table for details. When the
parameter is automatic setting, the value will vary
between 0.00 and 100.00.

Pr. PA08 This parameter

_ _ _ 0 (2 gain adjustment mode 1 Automatic setting
(interpolation mode))
_ _ _ 1 (Auto tuning mode 1)
_ _ _ 2 (Auto tuning mode 2) Manual setting
_ _ _ 3 (Manual mode)
_ _ _ 4 (2 gain adjustment mode 2)

PB07 Model loop gain 24 PB07 15.0

Same setting as MR-J3
Set the response gain up to the target position.
Increase the gain to improve track ability in response to Model loop gain
the command. Set the response gain up to the target position.
When auto turning mode 1 2 is selected, the result of Increasing the setting value will also increase the
auto turning is automatically used. response level to the position command but will be liable
When [Pr. PA08] is set to "_ _ _ 0" or "_ _ _ 3", this to generate vibration and noise.
parameter can be set manually. The setting of the parameter will be the automatic setting
or manual setting depending on the [Pr. PA08] setting.
Refer to the following table for details.

Pr. PA08 This parameter

_ _ _ 0 (2 gain adjustment mode 1 Manual setting
(interpolation mode))
_ _ _ 1 (Auto tuning mode 1) Automatic setting
_ _ _ 2 (Auto tuning mode 2)
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4 (2 gain adjustment mode 2)

PB08 Position loop gain 37 PB08 37.0

Same as MR-J3
This parameter cannot be used in the speed control
mode. Position loop gain
Used to set the gain of the position loop. This is used to set the gain of the position loop.
Set this parameter to increase the position response to Set this parameter to increase the position response to
level load disturbance. Higher setting increases the level load disturbance.
response level but is liable to generate vibration and/or Increasing the setting value will also increase the
noise. response level to the load disturbance but will be liable to
When auto tuning mode 1 2 and interpolation mode is generate vibration and noise.
selected, the result of auto tuning is automatically used. The setting of the parameter will be the automatic setting
When [Pr. PA08] is set to " _ _ _ 3", this parameter can or manual setting depending on the [Pr. PA08] setting.
be set manually. Refer to the following table for details.

Pr. PA08 This parameter

_ _ _ 0 (2 gain adjustment mode 1 Automatic setting
(interpolation mode))
_ _ _ 1 (Auto tuning mode 1)
_ _ _ 2 (Auto tuning mode 2)
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4 (2 gain adjustment mode 2) Automatic setting

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PB09 Speed loop gain 823 PB09 Same as MR-J3 823
Used to set the gain of the speed loop.
Speed loop gain
Set this parameter when vibration occurs on machines of
low rigidity or large backlash. This is used to set the gain of the speed loop.
Higher setting increases the response level but is liable Set this parameter when vibration occurs on machines of
to generate vibration and/or noise. low rigidity or large backlash. Increasing the setting
value will also increase the response level but will be
When auto tuning mode 1 2, and interpolation mode is
liable to generate vibration and noise.
selected, the result of auto tuning is automatically used.
The setting of the parameter will be the automatic setting
When [Pr. PA08] is set to " _ _ _ 3", this parameter can
or manual setting depending on the [Pr. PA08] setting.
be set manually.
Refer to the table of [Pr. PB08] for details.
PB10 Speed integral compensation 33.7 PB10 Same as MR-J3 33.7
Used to set the integral time constant of the speed loop.
Speed integral compensation
Lower setting increases the response level but is liable to
generate vibration and/or noise. This is used to set the integral time constant of the
speed loop.
When auto tuning mode 1 2 and interpolation mode is
selected, the result of auto tuning is automatically used. Decreasing the setting value will increase the response
level but will be liable to generate vibration and noise.
When [Pr. PA08] is set to " _ _ _ 3", this parameter can
be set manually. The setting of the parameter will be the automatic setting
or manual setting depending on the [Pr. PA08] setting.
Refer to the table of [Pr. PB08] for details.
PB11 Speed differential compensation 980 PB11 Same as MR-J3 980
Used to set the differential compensation.
Speed differential compensation
When [Pr. PB24] is set to "_ _ 3 _", this parameter is
made valid. When [Pr. PB24] is set to " _ _ 0 _", this This is used to set the differential compensation.
parameter is made valid by instructions of controller. To enable the parameter, select "Continuous PID control
enabled (_ _ 3 _)" of "PI-PID switching control selection"
in [Pr. PB24].
PB12 Overshoot amount compensation 0 PB12 0
Same as MR-J3
This parameter is supported by the servo amplifiers
whose software versions are C4 or later. Check the Overshoot amount compensation
software version using Setup software (SETUP221E). This is used to set a dymanic friction torque to rated
Used to suppress overshoot during position control. torque in percentage unit at servo motor rated speed
Overshoot can be suppressed in machines with high rated speed.
friction. When the response level is low or when the torque is
Set a control ratio against the friction torque in limited, the efficiency of the parameter may be lower.
percentage unit.
When [Pr. PA01] is set to "_ 4 _ _" or "_ 5 _ _" and [Pr.
PB12] is set to "0", the control ratio against the friction
torque is fixed at 5% in the servo amplifier.
PB13 Machine resonance suppression filter 1 4500 PB13 4500
Same as MR-J3
Set the notch frequency of the machine resonance
suppression filter 1. Machine resonance suppression filter 1
Setting [Pr. PB01] (adaptive tuning mode (adaptive filter Set the notch frequency of the machine resonance
II)) to "_ _ _ 1" automatically changes this parameter. suppression filter 1.
When the [Pr. PB01] setting is " _ _ _ 0", the setting of When "Filter tuning mode selection" is set to "Automatic
this parameter is ignored. setting (_ _ _ 1)" in [Pr. PB01], this parameter will be
adjusted automatically.
When "Filter tuning mode selection" is set to "Manual
setting (_ _ _ 2)" in [Pr. PB01], the setting value will be
enabled.

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PB14 Notch shape selection 1 0000h PB14 Same as MR-J3
Used to selection the machine resonance suppression
filter 1. Notch shape selection 1
Set the shape of the machine resonance suppression
0 _ x 0: filter 1.
Notch depth selection When "Filter tuning mode selection" is set to "Automatic
0: -40 dB setting (_ _ _ 1)" in [Pr. PB01], this parameter will be
adjusted automatically.
1: -14 dB
Set manually for the manual setting.
2: -8 dB
3: -4 dB _ _ _ x: 0h
For manufacturer setting
0 x _ 0: __x_: 0h
Notch width selection Notch depth selection
0: α = 2 0: -40 dB
1: α = 3 1: -14 dB
2: α = 4 2: -8 dB
3: α = 5 3: -4 dB
_x__: 0h
Setting [Pr. PB01] (adaptive tuning mode (adaptive filter Notch width selection
II)) to "_ _ _ 1" automatically changes this parameter. 0: α = 2
When the [Pr. PB01] setting is "_ _ _ 0", the setting of 1: α = 3
this parameter is ignored. 2: α = 4
3: α = 5
x___: 0h
For manufacturer setting
PB15 Machine resonance suppression filter 2 4500 PB15 Same as MR-J3 4500
Set the notch frequency of the machine resonance
suppression filter 2. Machine resonance suppression filter 2
Set [Pr. PB16] (notch shape selection 2) to "_ _ _ 1" to Set the notch frequency of the machine resonance
make this parameter valid. suppression filter 2.
To enable the setting value, select "Enabled (_ _ _ 1)" of
"Machine resonance suppression filter 2 selection" in [Pr.
PB16].
PB16 Notch shape selection 2 0000h PB16 Same as MR-J3
Select the shape of the machine resonance suppression
filter 2. Notch shape selection 2
Set the shape of the machine resonance suppression filter
0 _ _ x: 2.
Machine resonance suppression filter 2 selection _ _ _ x: 0h
0: Invalid Machine resonance suppression filter 2 selection
1: Valid 0: Disabled
1: Enabled
0_x_: __x_: 0h
Notch depth selection Notch depth selection
0: -40 dB 0: -40 dB
1: -14 dB 1: -14 dB
2: -8 dB 2: -8 dB
3: -4 dB 3: -4 dB
0x__: _x__: 0h
Notch width Notch width selection
0: α = 2 0: α = 2
1: α = 3 1: α = 3
2: α = 4 2: α = 4
3: α = 5 3: α = 5
x___: 0h
For manufacturer setting

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PB17 Automatic setting parameter PB17 Shaft resonance suppression filter
The value of this parameter is set according to a set This is used for setting the shaft resonance suppression
value of [Pr. PB06] (Load to motor inertia ratio) filter.
This is used to suppress a low-frequency machine
vibration.
When you select "Automatic setting (_ _ _ 0)" of "Shaft
resonance suppression filter selection" in [Pr. PB23], the
value will be calculated automatically from the servo
motor you use and load to motor inertia ratio. When
"Manual setting (_ _ _ 1)" is selected, the setting written
to the parameter is used.
When "Shaft resonance suppression filter selection" is
"Disabled (_ _ _ 2)" in [Pr. PB23], the setting value of this
parameter will be disabled.
When you select "Enabled (_ _ _ 1)" of "Machine
resonance suppression filter 4 selection" in [Pr. PB49],
the shaft resonance suppression filter is not available.
_ _ x x: 00h
Shaft resonance suppression filter setting frequency
selection
This is used for setting the shaft resonance suppression
filter.
Refer to table 3.2 for settings.
Set the value closest to the frequency you need.
_x__: 0h
Notch depth selection
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
x___: 0h
For manufacturer setting
Table 3.2 Shaft resonance suppression filter setting
frequency selection

Setting Setting
Frequency [Hz] Frequency [Hz]
value value
__00 Disabled __10 562
__01 Disabled __11 529
__02 4500 __12 500
__03 3000 __13 473
__04 2250 __14 450
__05 1800 __15 428
__06 1500 __16 409
__07 1285 __17 391
__08 1125 __18 375
__09 1000 __19 360
__0A 900 __1A 346
__0B 818 __1B 333
__0C 750 __1C 321
__0D 692 __1D 310
__0E 642 __1E 300
__0F 600 __1F 290

PB18 Low-pass filter setting 3141 PB18 Same setting as MR-J3 3141
Set the low-pass filter.
Low-pass filter setting
Setting [Pr. PB023] (low-pass filter selection) to "_ _ 0 _"
automatically changes this parameter. Set the low-pass filter.
When [Pr. PB023] is set to "_ _ 1 _", this parameter can The following shows a relation of a required parameter to
be set manually. this parameter.
[Pr. PB23] [Pr. PB18]
_ _ 0 _ (Initial value) Automatic setting
__1_ Setting value enabled
__2_ Setting value disabled

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PB19 Vibration suppression control vibration frequency setting 100.0 PB19 Same as MR-J3 100.0
This parameter cannot be used in the speed control
mode. Vibration suppression control 1 - Vibration frequency
Set the vibration frequency for vibration suppression Set the vibration frequency for vibration suppression
control to suppress low-frequency machine vibration, control 1 to suppress low-frequency machine vibration.
such as enclosure vibration. When "Vibration suppression control 1 tuning mode
Setting [Pr. PB02] (vibration suppression control tuning selection" is set to "Automatic setting (_ _ _ 1)" in [Pr.
mode) to "_ _ _ 1"automatically changes this parameter. PB02], this parameter will be set automatically. Set
When [Pr. PB02] is set to "_ _ _ 2", this parameter can manually for "Manual setting (_ _ _ 2)".
be set manually.
PB20 Vibration suppression control resonance frequency 100.0 PB20 Same as MR-J3 100.0
setting
This parameter cannot be used in the speed control Vibration suppression control 1 - Resonance frequency
mode. Set the resonance frequency for vibration suppression
Set the resonance frequency for vibration suppression control 1 to suppress low-frequency machine vibration.
control to suppress low frequency machine vibration, When "Vibration suppression control 1 tuning mode
such as enclosure vibration. selection" is set to "Automatic setting (_ _ _ 1)" in [Pr.
Setting [Pr. PB02] (vibration suppression control tuning PB02], this parameter will be set automatically. Set
mode) to "_ _ _ 1" automatically changes this parameter. manually for "Manual setting (_ _ _ 2)".
When parameter No.PB02 is set to "_ _ _ 2", this
parameter can be set manually.
PB21 For manufacturer setting 0.00 PB21 Vibration suppression control 1 - Vibration frequency 0.00
Do not change this value by any means. damping
Set a damping of the vibration frequency for vibration
suppression control 1 to suppress low-frequency
machine vibration.
When "Vibration suppression control 1 tuning mode
selection" is set to "Automatic setting (_ _ _ 1)" in [Pr.
PB02], this parameter will be set automatically. Set
manually for "Manual setting (_ _ _ 2)".
PB22 For manufacturer setting 0.00 PB22 Vibration suppression control 1 - Resonance frequency 0.00
Do not change this value by any means. damping
Set a damping of the resonance frequency for vibration
suppression control 1 to suppress low-frequency
machine vibration.
When "Vibration suppression control 1 tuning mode
selection" is set to "Automatic setting (_ _ _ 1)" in [Pr.
PB02], this parameter will be set automatically. Set
manually for "Manual setting (_ _ _ 2)".
PB23 Low-pass filter selection 0000h PB23 Same setting as MR-J3
Select the low-pass filter.
Low-pass filter selection
Select the shaft resonance suppression filter and low-pass
0 0 x 0:
filter.
Low-pass filter selection
0: Automatic setting _ _ _ x: 0h
Shaft resonance suppression filter selection
1: Manual setting ([Pr. PB18] setting)
0: Automatic setting

When automatic setting has been selected, select the filter 1: Manual setting
that has the band width close to the one calculated with 2: Disabled
VG2･10 When you select "Enabled (_ _ _ 1)" of "Machine
[rad/s] .
1 + GD2 resonance suppression filter 4 selection" in [Pr. PB49],
the shaft resonance suppression filter is not available.
__x_: 0h
Low-pass filter selection
0: Automatic setting
1: Manual setting
2: Disabled
_x__: 0h
For manufacturer setting
x___: 0h
For manufacturer setting

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PB24 Slight vibration suppression control selection 0000h PB24 Same as MR-J3
Select the slight vibration suppression control and PI-PID
change. Slight vibration suppression control
When [Pr. PA08] (auto tuning mode) is set to "_ _ _ 3", Select the slight vibration suppression control and PI-PID
the slight vibration suppression control is made valid. switching control.
(Slight vibration suppression control cannot be used in _ _ _ x: 0h
the speed control mode.) Slight vibration suppression control selection
0: Disabled
0 0 _ x: 1: Enabled
Slight vibration suppression control selection To enable the slight vibration suppression control, select
0: Invalid "Manual mode (_ _ _ 3)" of "Gain adjustment mode
1: Valid selection" in [Pr. PA08]. Slight vibration suppression
control cannot be used in the speed control mode.
00x_: __x_: 0h
PI-PID control switch over selection PI-PID switching control selection
0: PI control is valid. (Switching to PID control is possible 0: PI control enabled
with instructions of controller.) (Switching to PID control is possible with commands
3: PID control is always valid. of servo system controller.)
3: Continuous PID control enabled
If the servo motor at a stop is rotated even one pulse
due to any external factor, it generates torque to
compensate for a position shift. When the servo motor
shaft is to be locked mechanically after positioning
completion (stop), enabling PID control and
completing positioning simultaneously will suppress
the unnecessary torque generated to compensate for
a position shift.
_x__: 0h
For manufacturer setting
x___: 0h
For manufacturer setting
PB25 For manufacturer setting 0000h PB25 Function selection B-1
Do not change this value by any means. Select enabled/disabled of model adaptive control.
This parameter is supported with software version B4 or
later.
_ _ _ x: 0h
Model adaptive control selection
0: Enabled (model adaptive control)
2: Disabled (PID control)
__x_: 0h
For manufacturer setting
_x__: 0h
For manufacturer setting
x___: 0h
For manufacturer setting

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PB26 Gain changing selection 0000h PB26 Same setting as MR-J3
Select the gain changing condition.
Gain switching function
Select the gain switching condition.
Set conditions to enable the gain switching values set in
[Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60].
0 0 _ x: _ _ _ x: 0h
Gain changing selection Gain switching selection
Under any of the following conditions, the gains change 0: Disabled
on the basis of the [Pr. PB29 to PB34] settings. 1: Control command from controller is enabled
0: Invalid 2: Command frequency
1: Control instructions from a controller. 3: Droop pulses
2: Command frequency ([Pr. PB27] setting) 4: Servo motor speed
3: Droop pulse value ([Pr. PB27] setting) __x_: 0h
4: Servo motor speed ([Pr. PB27] setting) Gain switching condition selection
00x_: 0: Gain after switching is enabled with gain switching
Gain changing condition condition or more
0: Valid when the control instruction from a controller is 1: Gain after switching is enabled with gain switching
ON condition or less
Valid at equal to or more than the value set in _x__: 0h
[Pr. PB27] Gain switching time constant disabling condition
1: Valid when the control instruction from a controller is selection
OFF 0: Switching time constant enabled
Valid at equal to or less than the value set in 1: Switching time constant disabled
[Pr. PB27] 2: Return time constant disabled
This parameter is used by servo amplifier with software
version B4 or later.
x___: 0h
For manufacturer setting
PB27 Gain changing condition 10 PB27 Same setting as MR-J3 10
Used to set the value of gain changing condition
(command frequency, droop pulses, servo motor speed) Gain switching condition
selected in [Pr. PB26]. The set value unit changes with This is used to set the value of gain switching (command
the changing condition item. frequency, droop pulses, and servo motor speed)
selected in [Pr. PB26].
The set value unit differs depending on the switching
condition item.
PB28 Gain changing time constant 1 PB28 Same setting as MR-J3 1
Used to set the time constant at which the gains will
change in response to the conditions set in [Pr. PB26 Gain switching time constant
and PB27]. This is used to set the time constant at which the gains
will change in response to the conditions set in
[Pr. PB26] and [Pr. PB27].
PB29 Gain changing load to motor inertia ratio 7.0 PB29 Same as MR-J3 7.00
Used to set the load to motor inertia ratio when gain
changing is valid. Load to motor inertia ratio after gain switching
This parameter is made valid when the auto tuning is This is used to set the load to motor inertia ratio when
invalid ([Pr. PA08]: _ _ _ 3). gain switching is enabled.
This parameter is enabled only when you select "Manual
mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].
PB30 Gain changing position loop gain 37 PB30 Position loop gain after gain switching 0.0
This parameter cannot be used in the speed control Set the position loop gain when the gain switching is
mode. enabled.
Set the position loop gain when the gain changing is When you set a value less than 1.0 rad/s, the value will
valid. be the same as [Pr. PB08].
This parameter is made valid when the auto tuning is This parameter is enabled only when you select "Manual
invalid ([Pr. PA08]: _ _ _ 3). mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PB31 Gain changing speed loop gain 823 PB31 Speed loop gain after gain switching 0.0
Set the speed loop gain when the gain changing is valid. Set the speed loop gain when the gain switching is
This parameter is made valid when the auto tuning is enabled.
invalid ([Pr. PA08]: _ _ _ 3). When you set a value less than 20 rad/s, the value will
be the same as [Pr. PB09].
This parameter is enabled only when you select "Manual
mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].
PB32 Gain changing speed integral compensation 33.7 PB32 Speed integral compensation after gain switching 0.0
Set the speed integral compensation when the gain Set the speed integral compensation when the gain
changing is valid. changing is enabled.
This parameter is made valid when the auto tuning is When you set a value less than 0.1 ms, the value will be
invalid ([Pr. PA08]: _ _ _ 3) the same as [Pr. PB10].
This parameter is enabled only when you select "Manual
mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].
PB33 Gain changing vibration suppression control vibration 100.0 PB33 Vibration suppression control 1 - Vibration frequency 0.0
frequency setting after gain switching
This parameter cannot be used in the speed control Set the vibration frequency for vibration suppression
mode. control 1 when the gain switching is enabled.
Set the vibration frequency for vibration suppression When you set a value less than 0.1 Hz, the value will be
control when the gain changing is valid. This parameter the same as [Pr. PB19].
is made valid when the [Pr. PB02] setting is "_ _ _ 2"and This parameter will be enabled only when the following
the [Pr. PB26] setting is " _ _ _ 1". When using the conditions are fulfilled.
vibration suppression control gain changing, always "Gain adjustment mode selection" in [Pr. PA08] is
execute the changing after the servo motor has stopped. "Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode
selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Control
command from controller is enabled (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to
switch them after the servo motor stops.
PB34 Gain changing vibration suppression control resonance 100.0 PB34 Vibration suppression control 1 - Resonance frequency 0.0
frequency setting after gain switching
This parameter cannot be used in the speed control Set the resonance frequency for vibration suppression
mode. control 1 when the gain switching is enabled.
Set the resonance frequency for vibration suppression When you set a value less than 0.1 Hz, the value will be
control when the gain changing is valid. This parameter the same as [Pr. PB20].
is made valid when the [Pr. PB02] setting is "_ _ _ 2" and This parameter will be enabled only when the following
the [Pr. PB26] setting is "_ _ _ 1". conditions are fulfilled.
When using the vibration suppression control gain "Gain adjustment mode selection" in [Pr. PA08] is
changing, always execute the changing after the servo "Manual mode (_ _ _ 3)".
motor has stopped. "Vibration suppression control 1 tuning mode
selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Control
command from controller is enabled (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to
switch them after the servo motor stops.

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MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PB35 For manufacturer setting 0.00 PB35 Vibration suppression control 1 - Vibration frequency 0.00
Do not change this value by any means. damping after gain switching
Set a damping of the vibration frequency for vibration
suppression control 1 when the gain switching is
enabled.
This parameter will be enabled only when the following
conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is
"Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode
selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Control
command from controller is enabled (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to
switch them after the servo motor stops.
PB36 For manufacturer setting 0.00 PB36 Vibration suppression control 1 - Resonance frequency 0.00
Do not change this value by any means. damping after gain switching
Set a damping of the resonance frequency for vibration
suppression control 1 when the gain switching is
enabled.
This parameter will be enabled only when the following
conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is
"Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode
selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Control
command from controller is enabled (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to
switch them after the servo motor stops.

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PB45 Vibration suppression control filter 2 0000h PB45 Same as MR-J3
Used to set the vibration suppression control filter 2.
Command notch filter
By setting this parameter, machine end vibration, such as
workpiece end vibration and base shake, can be Set the command notch filter.
suppressed.
0 0 x x: _ _ x x: 00h
Vibration suppression control filter 2 setting frequency Command notch filter setting frequency selection
selection (Note) Refer to table 3.3 for the relation of setting values to
frequency.
Setting value Frequency [Hz]
_x__: 0h
0 Invalid
Notch depth selection
1 2250
Refer to table 3.4 for details.
to to
x___: 0h
5F 4.5 For manufacturer setting

0 x 0 0: Table 3.3 Command notch filter setting frequency

Notch depth selection selection

Setting value Depth Setting Frequency Setting Frequency Setting Frequency

value [Hz] value [Hz] value [Hz]
0 -40dB __00 Disabled __20 70 __40 17.6
__01 2250 __21 66 __41 16.5
to to __02 1125 __22 62 __42 15.6
__03 750 __23 59 __43 14.8
F -0.6dB
__04 562 __24 56 __44 14.1
__05 450 __25 53 __45 13.4
__06 375 __26 51 __46 12.8
Note. This parameter is supported by the servo __07 321 __27 48 __47 12.2
amplifiers whose software versions are C4 or __08 281 __28 46 __48 11.7
later. __09 250 __29 45 __49 11.3
__0A 225 __2A 43 __4A 10.8
Check the software version using
__0B 204 __2B 41 __4B 10.4
Setup software (SETUP221E).
__0C 187 __2C 40 __4C 10
__0D 173 __2D 38 __4D 9.7
__0E 160 __2E 37 __4E 9.4
__0F 150 __2F 36 __4F 9.1
__10 140 __30 35.2 __50 8.8
__11 132 __31 33.1 __51 8.3
__12 125 __32 31.3 __52 7.8
__13 118 __33 29.6 __53 7.4
__14 112 __34 28.1 __54 7.0
__15 107 __35 26.8 __55 6.7
__16 102 __36 25.6 __56 6.4
__17 97 __37 24.5 __57 6.1
__18 93 __38 23.4 __58 5.9
__19 90 __39 22.5 __59 5.6
__1A 86 __3A 21.6 __5A 5.4
__1B 83 __3B 20.8 __5B 5.2
__1C 80 __3C 20.1 __5C 5.0
__1D 77 __3D 19.4 __5D 4.9
__1E 75 __3E 18.8 __5E 4.7
__1F 72 __3F 18.2 __5F 4.5

Table 3.4 Notch depth selection

Setting Setting
Depth [dB] Depth [dB]
value value
_0__ -40.0 _8__ -6.0
_1__ -24.1 _9__ -5.0
_2__ -18.1 _A__ -4.1
_3__ -14.5 _B__ -3.3
_4__ -12.0 _C__ -2.5
_5__ -10.1 _D__ -1.8
_6__ -8.5 _E__ -1.2
_7__ -7.2 _F__ -0.6

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PC01 Error excessive alarm level 3 PC01 Error excessive alarm level 0
This parameter cannot be used in the speed control Set an error excessive alarm level.
mode or in the torque control mode. Set this per rev. for rotary servo motors and direct drive
Set error excessive alarm level with rotation amount of motors. Setting "0" will be 3 rev. Setting over 200 rev will
servo motor. be clamped with 200 rev.

Note 1. Setting can be changed in [Pr. PC06].

2. For a servo amplifier with software version of B2
or later, reactivating the power supply to enable
the setting value is not necessary. For a servo
amplifier with software version of earlier than B2,
reactivating the power supply is required to
enable the setting value.
Check the software version using Setup software
(SETUP221E).
PC02 Electromagnetic brake sequence output 0 PC02 Same as MR-J3 0
Used to set the delay time (Tb) between electronic brake
interlock (MBR) and the base drive circuit is shut-off. Electromagnetic brake sequence output
This is used to set the delay time between MBR
(Electromagnetic brake interlock) and the base drive
circuit is shut-off.
PC03 Encoder output pulse selection 0000h PC03 Same setting as MR-J3
Use to select the, encoder output pulse direction and
encoder output pulse setting. Encoder output pulse selection
This is used to select the encoder pulse direction and
encoder output pulse setting.
0 0 _ x: _ _ _ x: 0h
Encoder output pulse phase changing Encoder output pulse phase selection
Changes the phases of A, B-phase encoder pulses 0: Increasing A-phase 90° in CCW or positive direction
output. 1: Increasing A-phase 90° in CW or negative direction

Setting Servo motor rotation direction Servo motor rotation direction

Setting
value CCW CW CCW or positive
value CW or negative direction
direction
A-phase A-phase
0 A-phase A-phase
B-phase B-phase
0 B-phase B-phase
A-phase A-phase
1 A-phase A-phase
B-phase B-phase
1 B-phase B-phase

0 0 x _: __x_: 0h
Encoder output pulse setting selection Encoder output pulse setting selection
0: Output pulse designation 0: Output pulse setting
1: Division ratio setting When "_ 1 0 _" is set to this parameter, [AL. 37
Parameter error] will occur.
1: Division ratio setting
3: A-phase/B-phase pulse electronic gear setting
4: A/B-phase pulse through output setting
_x__: 0h
Selection of the encoders for encoder output pulse
Select an encoder used for the encoder output pulses
which the servo amplifier outputs.
0: Servo motor encoder
1: Load-side encoder
When "_ 1 0 _" is set to this parameter, [AL. 37
Parameter error] will occur.
x___: 0h
For manufacturer setting

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PC04 Function selection C-1 0000h PC04 Same as MR-J3
Select the encoder cable communication system
selection. Function selection C-1
Select the encoder cable communication method
selection.
x 0 0 0:
Encoder cable communication system selection _ _ _ x: 0h
0: Two-wire type For manufacturer setting
1: Four-wire type __x_: 0h
Incorrect setting will result in an [AL.16 encoder alarm 1]. For manufacturer setting
_x__: 0h
For manufacturer setting
x___: 0h
Encoder cable communication method selection
0: Two-wire type
1: Four-wire type
When using an encoder of A/B/Z-phase differential
output method, set "0".
Incorrect setting will result in [AL. 16 Encoder initial
communication error 1]. or [AL. 20 Encoder initial
communication error 1] will occur.
PC05 Function selection C-2 0000h PC05 Same setting as MR-J3
Motor-less operation select.
Function selection C-2
Set the motor-less operation.
0 0 0 x:
Motor-less operation select. _ _ _ x: 0h
0: Valid Motor-less operation selection
1: Invalid 0: Disabled
1: Enabled
__x_: 0h
For manufacturer setting
_x__: 0h
For manufacturer setting
x___: 0h
[AL. 9B Error excessive warning] selection
0: [AL. 9B Error excessive warning] disabled
1: [AL. 9B Error excessive warning] enabled
The setting of this digit is used by servo amplifier with
software version B4 or later.
PC06 Function selection C-3 0000h PC06 Same as MR-J3
This parameter cannot be used in the speed control
mode or in the torque control mode. Function selection C-3
Select the error excessive alarm level setting for Select units for error excessive alarm level setting with [Pr.
[Pr. PC01] PC01]. The parameter is not available in the speed control
mode and torque control mode.

x 0 0 0: _ _ _ x: 0h
Error excessive alarm level setting selection For manufacturer setting
0: 1 [rev] unit __x_: 0h
1: 0.1 [rev] unit For manufacturer setting
2: 0.01 [rev] unit _x__: 0h
3: 0.001 [rev] unit For manufacturer setting
x___: 0h
This parameter is available to software version B1 or Error excessive alarm/error excessive warning level unit
later. selection
Check the software version using Setup software 0: Per 1 rev
(SETUP221E). 1: Per 0.1 rev
2: Per 0.01 rev
3: Per 0.001 rev

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PC07 Zero speed 50 PC07 Same as MR-J3 50
Used to set the output range of the zero speed detection
(ZSP). Zero speed
Zero speed detection (ZSP) has hysteresis width of 20 Used to set the output range of ZSP (Zero speed
r/min detection).
ZSP (Zero speed detection) has hysteresis of 20 r/min.
PC08 For manufacturer setting 0 PC08 Overspeed alarm detection level 0
Do not change this value by any means. This is used to set an overspeed alarm detection level.
When you set a value more than "servo motor maximum
speed × 120%" the set value will be clamped.
When you set "0", the value of "servo motor maximum
speed × 120%" will be set.
PC09 Analog monitor 1 output 0000h PC09 Analog monitor 1 output
Used to selection the signal provided to the analog Select a signal to output to MO1 (Analog monitor 1).
monitor 1 (MO1) output. _ _ x x: 00h
Analog monitor 1 output selection
0 0 0 x: 0 0: servo motor speed (±8 V/max. speed)
Analog monitor 1 (MO1) output selection 0 1: Torque (±8 V/max. torque)
0: Servo motor speed (± 8 V/max. speed) 0 2: servo motor speed (+8 V/max. speed)
1: Torque (±8 V/max. torque) 0 3: Torque (+8 V/max. torque)
2: Servo motor speed (+8 V/max. speed) 0 4: Current command (±8 V/max. current command)
3: Torque (+8 V/max. torque) 0 5: Speed command (±8 V/max. speed)
4: Current command (±8 V/max. current command) 0 6: Servo motor-side droop pulses (±10 V/100 pulses)
5: Speed command (±8 V/max. current command) (Note)
6: Droop pulses (±10 V/100 pulses) 0 7: Servo motor-side droop pulses (±10 V/1000 pulses)
7: Droop pulses (±10 V/1000 pulses) (Note)
8: Droop pulses (±10 V/10000 pulses) 0 8: Servo motor-side droop pulses (±10 V/10000 pulses)
9: Droop pulses (±10 V/100000 pulses) (Note)
A: Feedback position (±10 V/1 Mpulse) 0 9: Servo motor-side droop pulses (±10 V/100000 pulses)
B: Feedback position (±10 V/10 Mpulses) (Note)
C: Feedback position (±10 V/100 Mpulses) 0 A: Feedback position (±10 V/1 Mpulse) (Note)
D: Bus voltage (+8 V/400 V) 0 B: Feedback position (±10 V/10 Mpulses) (Note)
E: Speed command 2 (±8 V/max. current command) 0 C: Feedback position (±10 V/100 Mpulses) (Note)
0 D: Bus voltage (200 V class and 100 V class: +8 V/400 V,
400 V class: +8 V/800 V)
0 E: Speed command 2 (±8 V/max. speed)

Note . Encoder pulse unit

_x__: 0h
For manufacturer setting
x___: 0h
For manufacturer setting
PC10 Analog monitor 2 output 0001h PC10 Analog monitor 2 output
Used to selection the signal provided to the analog Select a signal to output to Analog monitor 2 (MO2).
monitor 2 (MO2) output. _ _ x x: 01h
Analog monitor 2 output selection
0 0 0 x: Refer to [Pr. PC09] for settings.
Select the analog monitor 2 (MO2) output _x__: 0h
The settings are the same as those of [Pr. PC09]. For manufacturer setting
x___: 0h
For manufacturer setting
PC11 Analog monitor 1 offset 0 PC11 Same as MR-J3 0
Used to set the offset voltage of the analog monitor 1
(MO1) output. Analog monitor 1 offset
This is used to set the offset voltage of Analog monitor 1
(MO1).

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PC12 Analog monitor 2 offset 0 PC12 Same as MR-J3 0
Used to set the offset voltage of the analog monitor 2
(MO2) output. Analog monitor 2 offset
This is used to set the offset voltage of Analog monitor 2
(MO2).
PC13 Analog monitor feedback position output standard data 0 PC13 Same as MR-J3 0
Low
Used to set the standard position of feedback output with Analog monitor - Feedback position output standard data
analog monitor 1 (M01) or 2 (M02). Low
For this parameter, the lower-order four digits of standard Set a monitor output standard position (lower 4 digits) for
position in decimal numbers are set. the feedback position for when selecting "Feedback
position" for Analog monitor 1 (MO1) and Analog monitor
2 (MO2).
Monitor output standard position = [Pr. PC14] setting ×
10000 + [Pr. PC13] setting
PC14 Analog monitor feedback position output standard data 0 PC14 Same as MR-J3 0
High
Used to set the standard position of feedback output with Analog monitor - Feedback position output standard data
analog monitor 1 (M01) or 2 (M02). High
For this parameter, the higher-order four digits of Set a monitor output standard position (higher 4 digits)
standard position in decimal numbers are set. for the feedback position for when selecting "Feedback
position" for Analog monitor 1 (MO1) and Analog monitor
2 (MO2).
Monitor output standard position = [Pr. PC14] setting ×
10000 + [Pr. PC13] setting
PC17 Function Selection C-4 0000h PC17 Same setting as MR-J3
This parameter cannot be used in the speed control mode
or in the torque control mode. Function selection C-4
Home position setting condition in the absolute position This is used to select a home position setting condition.
detection system can be selected. _ _ _ x: 0h
Selection of home position setting condition
0 0 0 x: 0: Need to pass servo motor Z-phase after power on
Selection of home position setting condition 1: Not need to pass servo motor Z-phase after power on
0: Need to pass motor Z-phase after the power supply is __x_: 0h
switched on. When the rotary servo motor is used, the setting need
1: Not need to pass motor Z-phase after the power not be changed.
supply is switched on. _x__: 0h
For manufacturer setting
x___: 0h
For manufacturer setting
PC18 For manufacturer setting 0000h PC18 Function selection C-5
Do not change this value by any means. This is used to select an occurring condition of [AL. E9
Main circuit off warning].
_ _ _ x: 0h
For manufacturer setting
__x_: 0h
For manufacturer setting
_x__: 0h
For manufacturer setting
x___: 0h
[AL. E9 Main circuit off warning] selection
0: Detection with ready-on and servo-on command
1: Detection with servo-on command

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PC20 Function Selection C-7 0000h PC20 Function selection C-7
Set this function if undervoltage alarm occurs because of This is used to select an undervoltage alarm detection
distorted power supply voltage waveform when using method.
power regenerative converter or power regeneration _ _ _ x: 0h
common converter. [AL. 10 Undervoltage] detection method selection
This is set when FR-RC-(H) or FR-CV-(H) is used and if
0 0 0 x: [AL. 10 undervoltage] occurs due to distorted power
Setting when undervoltage alarm occurs supply voltage waveform.
0: Initial value (Waveform of power supply voltage is not 0: [AL. 10] not occurrence
distorted) 1: [AL. 10] occurrence
1: Set "1" if undervoltage alarm occurs because of
__x_: 0h
distorted power supply voltage waveform when using
For manufacturer setting
power regenerative converter or power regeneration
common converter. _x__: 0h
Undervoltage alarm selection
Select the alarm and warning for when the bus voltage
drops to the undervoltage alarm level.
0: [AL. 10] regardless of servo motor speed
1: [AL. E9] at servo motor speed 50 r/min or less, [AL.
10] at over 50 r/min
x___: 0h
For manufacturer setting
PC21 Alarm history clear 0000h PC21 Same as MR-J3
Used to clear the alarm history.
Alarm history clear
Used to clear the alarm history.
0 0 0 x:
_ _ _ x: 0h
Alarm history clear
Alarm history clear selection
0: Invalid
0: Disabled
1: Valid
1: Enabled
When alarm history clear is made valid, the alarm history
is cleared at next power-on. When "Enabled" is set, the alarm history will be cleared
at the next power-on. After the alarm history is cleared,
After the alarm history is cleared, the setting is
the setting is automatically disabled.
automatically made invalid (reset to 0).
__x_: 0h
For manufacturer setting
_x__: 0h
For manufacturer setting
x___: 0h
For manufacturer setting

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PC24 For manufacturer setting 0000h PC24 Forced stop deceleration time constant 100
Do not change this value by any means. This is used to set deceleration time constant when you
use the forced stop deceleration function.
Set the time per ms from the rated speed to 0 r/min.
Setting "0" will be 100 ms.

Dynamic brake
Rated speed Forced stop deceleration deceleration

Servo motor speed

0 r/min
[Pr. PC24]

[Precautions]
If the servo motor torque is saturated at the maximum
torque during forced stop deceleration because the set
time is too short, the time to stop will be longer than
the set time constant.
[AL. 50 Overload alarm 1] or [AL. 51 Overload alarm 2]
may occur during forced stop deceleration, depending
on the set value.
After an alarm that leads to a forced stop deceleration,
if an alarm that does not lead to a forced stop
deceleration occurs or if the control circuit power
supply is cut, dynamic braking will start regardless of
the deceleration time constant setting.
Set a longer time than deceleration time at quick stop
of the controller. If a shorter time is set, [AL. 52 Error
excessive] may occur.
PC29 For manufacturer setting 0000h PC29 Function selection C-B
Do not change this value by any means. This is used to select the POL reflection at torque control.
_ _ _ x: 0h
For manufacturer setting
__x_: 0h
For manufacturer setting
_x__: 0h
For manufacturer setting
x___: 0h
POL reflection selection at torque control
0: Enabled
1: Disabled
PC31 For manufacturer setting 0000h PC31 Vertical axis freefall prevention compensation amount 0
Do not change this value by any means. Set the compensation amount of the vertical axis freefall
prevention function.
Set it per servo motor rotation amount travel distance.
When a positive value is set, compensation is performed
to the address increasing direction. When a negative
value is set, compensation is performed to the address
decreasing direction.
The vertical axis freefall prevention function is performed
when all of the following conditions are met.
1) Position control mode
2) The value of the parameter is other than "0".
3) The forced stop deceleration function is enabled.
4) Alarm occurs or EM2 turns off when the servo motor
speed is zero speed or less.
5) MBR (Electromagnetic brake interlock) was enabled in
[Pr. PD07] to [Pr. PD09], and the base circuit shut-off
delay time was set in [Pr. PC02].

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PD02 For manufacturer setting 0000h PD02 Input signal automatic on selection 2
Do not change this value by any means. ___x _ _ _ x: 0h
(HEX) FLS (Upper stroke limit) selection
0: Disabled
1: Enabled
__x_:
RLS (Lower stroke limit) selection
0: Disabled
1: Enabled
_x__:
For manufacturer setting
x___:
For manufacturer setting
__x_ For manufacturer setting 0h
(HEX)
_x__ For manufacturer setting 0h
(HEX)
x___ For manufacturer setting 0h
(HEX)
Convert the setting value into hexadecimal as follows.

0 0 0
Initial value
Signal name
BIN HEX
FLS (Upper stroke limit) selection 0
RLS (Lower stroke limit) selection 0
0
0
0
BIN 0: Use for an external input signal.
BIN 1: Automatic on

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PD07 Output signal device selection 1 (CN3-13) 0005h PD07 Same setting as MR-J3
Any input signal can be assigned to the CN3-13 pin.
Output device selection 1
As the initial value, MBR is assigned to the pin.
You can assign any output device to the CN3-13 pin.

0 0 x x: _ _ x x: 05h
Select the output device of the CN3-13 pin. Device selection
00: Always OFF 0 0: Always off
01: For manufacturer setting (Note 3) 0 2: RD (Ready)
02: RD 0 3: ALM (Malfunction)
03: ALM 0 4: INP (In-position)
04: INP (Note1, 4) 0 5: MBR (Electromagnetic brake interlock)
05: MBR 0 6: DB (Dynamic brake interlock)
06: DB 0 7: TLC (Limiting torque)
07: TLC (Note 4) 0 8: WNG (Warning)
08: WNG 0 9: BWNG (Battery warning)
09: BWNG 0 A: SA (Speed reached)
0A: SA (Note 2) 0 C: ZSP (Zero speed detection)
0B: VLC (Note 5) 0 F: CDPS (Variable gain selection)
0C: ZSP 1 1: ABSV (Absolute position undetermined)
0D: For manufacturer setting (Note 3) _x__: 0h
0E: For manufacturer setting (Note 3) For manufacturer setting
0F: CDPS x___: 0h
10: For manufacturer setting (Note 3) For manufacturer setting
11: ABSV (Note 1)
12 to1F: For manufacturer setting (Note 3)
20 to 3F: For manufacturer setting (Note 3)

Note 1. It becomes always OFF in the speed control

mode.
2. It becomes always OFF in the position control
mode or in the torque control mode.
3. For manufacturer setting Never change this
setting.
4. It becomes always OFF in the torque control
mode.
5. It becomes always OFF in the position control
mode or in the speed control mode.
PD08 Output signal device selection 2 (CN3-9) 0004h PD08 Same setting as MR-J3
Any input signal can be assigned to the CN3-9 pin.
Output device selection 2
As the initial value, INP is assigned to the pin.
You can assign any output device to the CN3-9 pin. INP
The devices that can be assigned and the setting method
(In-position) is assigned as the initial value.
are the same as in [Pr. PD07].
The devices that can be assigned and the setting method
are the same as in [Pr. PD07].
0 0 x x:
Select the output device of the CN3-9 pin. _ _ x x: 04h
Device selection
Refer to [Pr. PD07] for settings.
_x__: 0h
For manufacturer setting
x___: 0h
For manufacturer setting

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PD09 Output signal device selection 3 (CN3-15) 0003h PD09 Same setting as MR-J3
Any input signal can be assigned to the CN3-15 pin.
Output device selection 3
As the initial value, ALM is assigned to the pin.
You can assign any output device to the CN3-15 pin. ALM
The devices that can be assigned and the setting method
(Malfunction) is assigned as the initial value.
are the same as in [Pr. PD07].
The devices that can be assigned and the setting method
are the same as in [Pr. PD07].
0 0 x x:
_ _ x x: 03h
Select the output device of the CN3-15 pin.
Device selection
Refer to [Pr. PD07] for settings.
_x__: 0h
For manufacturer setting
x___: 0h
For manufacturer setting
PD11 For manufacturer setting 0004h PD11 Input filter setting
Do not change this value by any means. Select the input filter.
_ _ _ x: 4h
Input signal filter selection
Refer to the servo system controller instruction manual for
the setting.
If external input signal causes chattering due to noise, etc.,
input filter is used to suppress it.
0: None
1: 0.888 [ms]
2: 1.777 [ms]
3: 2.666 [ms]
4: 3.555 [ms]
__x_: 0h
For manufacturer setting
_x__: 0h
For manufacturer setting
x___: 0h
For manufacturer setting
PD12 For manufacturer setting 0000h PD12 Function selection D-1
Do not change this value by any means. ___x: 0h
For manufacturer setting
__x_: 0h
For manufacturer setting
_x__: 0h
For manufacturer setting
x___: 0h
Servo motor thermistor enabled/disabled selection
0: Enabled
1: Disabled
For servo motors without thermistor, the setting will be
disabled.
This parameter setting is used with servo amplifier with
software version A5 or later.

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PD13 For manufacturer setting 0000h PD13 Function selection D-2
Do not change this value by any means. Select the INP (In-position) on condition.
This parameter is supported with software version B4 or
later.
_ _ _ x: 0h
For manufacturer setting
__x_: 0h
For manufacturer setting
_x__: 0h
INP (In-position) on condition selection
Select a condition that INP (In-position) is turned on.
0: Droop pulses are within the in-position range.
1: The command pulse frequency is 0, and droop pulses
are within the in-position range.
When the position command is not inputted for about 1 ms,
the command pulse frequency is decided as 0.
x___: 0h
For manufacturer setting
PD14 Function selection D-3 0000h PD14 Same setting as MR-J3 0000h
Set the ALM output signal at warning occurrence.
Function selection D-3

0 0 x 0: _ _ _ x:
Selection of output device at warning occurrence For manufacturer setting
Select the warning (WNG) and trouble (ALM) output __x_:
status at warning occurrence. Selection of output device at warning occurrence
Select WNG (Warning) and ALM (Malfunction) output
Output of Servo amplifier status at warning occurrence.

Setting Device status (Note)

Servo amplifier output
1
WNG Setting Device status (Note1)
0
0 1
ALM 1
0 WNG
0
0 1
Warning occurrence ALM
0
1 Warning occurrence
WNG
0
1 1
ALM 1
0 WNG
0
1 1
Warning occurrence ALM
0
Note. 0: off Warning occurrence (Note 2)
1: on
Note1. 0: Off
1: On
2. Although ALM is turned off upon occurrence of
the warning, the forced stop deceleration is
performed.
_x__:
For manufacturer setting
x___:
For manufacturer setting

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PD15 Driver communication setting 0000h PD15 Same setting as MR-J3
This parameter setting is used with servo amplifier with
software version C1 or later. Check the software version Driver communication setting
using Setup software (SETUP221E). This parameter is used to select master/slave axis for the
This parameter is used to select master/slave axis for the driver communication.
driver communication. This is available only when the forced stop deceleration
function is disabled. When the forced stop deceleration
function is enabled, [AL. 37 Parameter error] will occur.
This parameter setting is used with servo amplifier with
software version A8 or later.
0 0 _ x: _ _ _ x: 0h
Master axis operation selection Master axis operation selection
0: Disabled (not using master-slave operation function) Setting "1" other than in standard control mode will
1: Enabled (this servo amplifier: master axis) trigger [AL. 37].
0: Disabled (not using master-slave operation function)
1: Enabled (this servo amplifier: master axis)
00x_: _ _ x _: 0h
Slave axis operation selection Slave axis operation selection
0: Disabled (not using master-slave operation function) Setting "1" other than in standard control mode will
1: Enabled (this servo amplifier: slave axis) trigger [AL. 37].
0: Disabled (not using master-slave operation function)
Master-slave operation function Setting value 1: Enabled (this servo amplifier: slave axis)

Not used 0000 _ x _ _: 0h

Master 0001 For manufacturer setting

Used x _ _ _: 0h
Slave 0010
For manufacturer setting

Master-slave operation function Setting value

Not used 0000
Master 0001
Used
Slave 0010

PD16 Driver communication setting - Master - Transmit data 0000h PD16 Same setting as MR-J3
selection 1
This parameter setting is used with servo amplifier with Driver communication setting - Master - Transmit data
software version C1 or later. Check the software version selection 1
using Setup software (SETUP221E). This parameter is used to select transmit data from
This parameter is used to select transmit data from master axis to slave axis.
master axis to slave axis. When setting this amplifier as master axis ([Pr. PD15] is
When setting this amplifier as master axis ([Pr. PD15] = "_ _ 0 1".), select "_ _ 3 8 (torque command)" with this
"0001"), select "0038 (torque command)" with this parameter.
parameter. This parameter setting is used with servo amplifier with
software version A8 or later.
0 0 x x: _ _ x x: 00h
Transmission data selection Transmission data selection
00: Disabled 00: Disabled
38: Torque command 38: Torque command
_x__: 0h
For manufacturer setting
x___: 0h
For manufacturer setting

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PD17 Driver communication setting - Master - Transmit data 0000h PD17 Driver communication setting - Master - Transmit data
selection 2 selection 2
This parameter setting is used with servo amplifier with This parameter is used to select transmit data from
software version C1 or later. Check the software version master axis to slave axis.
using Setup software (SETUP221E). When setting this amplifier as master axis ([Pr. PD15] is
This parameter is used to select transmit data from "_ _ 0 1".), select "_ _ 3 A (speed limit command)" with
master axis to slave axis. this parameter.
When setting this amplifier as master axis ([Pr. PD15] = This parameter setting is used with servo amplifier with
"0001"), select "003A (speed limit command)" with this software version A8 or later.
parameter. _ _ x x: 00h
Transmission data selection
0 0 x x: 00: Disabled
Transmission data selection 3A: speed limit command
00: Disabled _x__: 0h
3A: speed limit command For manufacturer setting
x___: 0h
For manufacturer setting
PD20 Driver communication setting - Slave - Master axis No. 0 PD20 Driver communication setting - Slave - Master axis No. 0
selection 1 selection 1
This parameter setting is used with servo amplifier with Select a master axis when this amplifier is slave axis.
software version C1 or later. Check the software version When setting this amplifier as slave axis ([Pr. PD15] is "_
using Setup software (SETUP221E). _ 1 0".), set the axis No. of the servo amplifier of master.
Select a master axis when this amplifier is slave axis. Setting "0" disables this parameter.
When setting this amplifier as slave axis ([Pr. PD15] = This parameter setting is used with servo amplifier with
"0010"), set the axis No. of the servo amplifier of master. software version A8 or later.
Refer to "MR-J3-_B_ Servo Amplifier Instruction Manual"
for details of axis Nos.
PD30 Master-slave operation - Torque command coefficient on 0000h PD30 Master-slave operation - Torque command coefficient on 0
slave slave
This parameter setting is used with servo amplifier with This parameter is used to set an internal torque
software version C1 or later. Check the software version command coefficient to torque command value received
using Setup software (SETUP221E). from master axis.
This parameter is used to set an internal torque This parameter is enabled when this amplifier is set as
command coefficient to torque command value received slave axis ([Pr. PD15] is "_ _ 1 0".). The maximum value
from master axis. is 500. Setting over 500 will be 500.
This parameter is enabled when this amplifier is set as Setting 100 [%] means multiplication of one. The torque
slave axis ([Pr. PD15] = "0010"). Convert a decimal value ratio will be 100 (master) to 100 (slave).
to a hexadecimal value for input. The maximum value is Setting 90 [%] means multiplication of 0.9. The torque
500. Setting over 500 will be 500. ratio will be 100 (master) to 90 (slave).
Setting 100 [%] (0064h in hexadecimal) means This parameter setting is used with servo amplifier with
multiplication of one. The torque ratio will be 100 software version A8 or later.
(master) to 100 (slave). Setting 90 [%] (005Ah in
hexadecimal) means multiplication of 0.9. The torque
ratio will be 100 (master) to 90 (slave).

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MR-J3-_B_ MR-J4-_B_
Initial Initial
No. Name and function value No. Name and function value
PD31 Master-slave operation - Speed limit coefficient on slave 0000h PD31 Master-slave operation - Speed limit coefficient on slave 0
This parameter setting is used with servo amplifier with This parameter is used to set an internal speed limit
software version C1 or later. Check the software version value coefficient to speed limit command value received
using Setup software (SETUP221E). from master axis.
This parameter is used to set an internal speed limit This parameter is enabled when this amplifier is set as
value coefficient to speed limit command value received slave axis ([Pr. PD15] is "_ _ 1 0".). The maximum value
from master axis. This parameter is enabled when this is 500. Setting over 500 will be 500.
amplifier is set as slave axis ([Pr. PD15] = "0010"). Setting 100 [%] means multiplication of one.
Convert a decimal value to a hexadecimal value for input. Setting example: [Pr. PD31 (VLC)] = 140 [%], [Pr. PD32
The maximum value is 500. Setting over 500 will be 500. (VLL)] = 300 [r/min], and master side
acceleration/deceleration at 1000 [r/min]
Setting 100 [%] (0064h in hexadecimal) means
Speed limit value of
multiplication of one. Speed command from slave side

Speed (r/min)
master side × VLC [%]
1400 r/min

Setting example: [Pr. PD31 (VLC)] = 0078h (120%), [Pr. 1000 r/min
VLL
PD32 (VLL)] = 012Ch (300 r/min), and master side 300 r/min
Speed limit command
from master side (drive
acceleration/deceleration at 1000 [r/min] 0
communication)

This parameter setting is used with servo amplifier with

Speed command
from master side Speed limit value of software version A8 or later.
slave side
Speed (r/min)

1200 r/min

1000 r/min
VLL
Speed limit command
300 r/min from master side
(driver communication)
0

PD32 Master-slave operation - Speed limit adjusted value on 0000h PD32 Master-slave operation - Speed limit adjusted value on 0
slave slave
This parameter setting is used with servo amplifier with This parameter is used to set a minimum value for
software version C1 or later. Check the software version internal speed limit value.
using Setup software (SETUP221E). This parameter is enabled when this amplifier is set as
slave axis ([Pr. PD15] is "_ _ 1 0".). The speed limit value
This parameter is used to set a minimum value for will not be this setting value or lower.
internal speed limit value. This parameter ensures torque control range at low
speed driving (avoid area likely to reach speed limit). Set
This parameter is enabled when this amplifier is set as 100 to 500 [r/min] normally as a reference.
slave axis ([Pr. PD15] = "0010"). Convert a decimal value Refer to [Pr. PD31] for the setting example.
to a hexadecimal value for input. The speed limit value This parameter setting is used with servo amplifier with
will not be this setting value or lower. software version A8 or later.
This parameter ensures torque control range at low
speed driving (avoid area likely to reach speed limit). Set
100 to 500 [r/min] normally as a reference.
Refer to [Pr. PD31] for the setting example.

4. APPLICATION OF FUNCTIONS

POINT
Refer to "Part 8 Common Reference Material" for the application of functions.
J3 compatibility mode
MR-J4-_B_(-RJ) servo amplifiers have two operation mode: "J4 mode" is for
using all functions with full performance and "J3 compatibility mode" for using
the conventional MR-J3-_B_ servo amplifiers.

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Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_

MEMO

3 - 48
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

Part 4
Review on Replacement of
MR-J3W-_B with MR-J4W2-_B

4- 1
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

1. SUMMARY

This section describes the changes to be made when a system using MR-J3W-_B is replaced with a system
using MR-J4W2-_B.

2. CASE STUDY ON REPLACEMENT OF MR-J3W-_B

2.1 Review on Replacement Method

SSCNETIII
servo system controller

MR-J3W-_B YES Simultaneous system NO

replacement

YES Replacement of NO
controller and servo
amplifier only

J3 series servo motor YES Replacement of servo NO

HF-_P motor amplifier and servo
motor only
HC-_P motor

(1) Replace with SSCNETIII/H (2) Drive J3 series servo (3) Replace MR-J3W-_B (4) Replace the
servo system controller + motors in the system as with MR-J4W2-_B servo amplifier
MR-J4W2-_B + J4 series shown in the left column gradually, and replace and the servo
servo motor simultaneously. (1). (Note 2) with SSCNETIII/H motor individually.
(Note 1) servo system
controller eventually.

Note 1. Although heavier burdens including a longer construction period need to be borne, once replaced the system can be operated
for a long period of time.
2. Replacing the system, you can drive some J3 series servo motors with MR-J4W2-_B (J4 mode) and MR-J4W2-_B (J3
compatibility mode). Refer to "Part 8 Common Reference Material" for the applicable servo motor.

2.2 Servo Amplifier Replacement Model

The following shows the target models (MR-J3W series) and replacement models (MR-J4W2-_B servo
amplifier).

Servo amplifier model Servo amplifier model

MR-J3W-22B MR-J4W2-22B
MR-J3W-44B MR-J4W2-44B
→
MR-J3W-77B MR-J4W2-77B
MR-J3W-1010B MR-J4W2-1010B
MR-J3W-0303BN6 MR-J4W2-0303B6

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Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

2.3 Replacement Method

This section shows replacements using a QDS motion controller and an SSCNETIII/H stand-alone motion
controller as examples.

(1) For simultaneous replacement

SSCNET III/H servo system controller (Note1) + MR-J4W2-_B + J4 series servo motor

QnUD(E)(H)CPU + SSCNET III/H servo system controller + Q3_DB

MR-J4W2-_B

J4 series
servo motor

High-speed motion control and excellent extensibility can reduce cycle time

(2) For replacement of controller and amplifier only

SSCNET III/H servo system controller (Note1) + MR-J4W2-_B

QnUD(E)(H)CPU + SSCNET III/H servo system controller + Q3_DB

MR-J4W2-_B

J3 series
servo motor

Note 1. The SSCNETIII/H servo system controller indicates QDS Motion (Q172DSCPU/Q173DSCPU) or Q simple Motion
(QD77MS2/4/16).
2. Replacing the system, you can drive some J3 series servo motors with MR-J4W2-_B (J4 mode) and MR-J4W2-_B (J3
compatibility mode). Refer to "Part 8 Common Reference Material" for the applicable servo motor.

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Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

(3) Gradual replacement of MR-J3W-_B with MR-J4W2-_B

POINT
MR-J3W-_B cannot drive an HG motor. When the servo motor is replaced with
an HG motor, simultaneous replacement with MR-J4W2-_B and HG motor is
necessary.
Replacing the system, you can drive some J3 series servo motors with MR-
J4W2-_B (J4 mode) and MR-J4W2-_B(J3 compatibility mode). Refer to "Part 8
Common Reference Material" for the applicable servo motor.
When an "HC-_P motor" shown below is used, "simultaneous replacement with
MR-J4W2-_B and an HG motor" is recommended. When an HG motor is
adopted, the capacity of the servo amplifier needs to be changed. (Consider
replacement, referring to "torque characteristics" described in "Part 9:
Replacement of Motor".)
The low inertia "HG-JR motor" is recommended for the replacement of "HC-LP
motor". To use a servo motor other than the motors listed in following table,
check the compatibility with the equipment because the motor inertia, etc. is
different.
Replacement models for simultaneous
Existing device models
replacement (example)
Servo motor Servo amplifier Servo motor Servo amplifier
Replace with the
HC-LP102(B) MR-J3W-1010B HG-JR153(B)
MR-J4-200B.

1: Current system 2: Only one axis replaced 3: All axes replaced 4: Controller update

SSCNETIII servo system SSCNETIII servo system SSCNETIII servo system SSCNETIII/H servo system
controller controller controller controller

MR-
MR- MR- J4W2-_B MR-
MR-
J3W-_B J3W-_B J4W2-_B
J4W2-_B

J3 series servo motor J3 series J4 series J4 series servo motor

J4 series servo motor
servo motor servo motor

The MR-J4W2-_B series Change the settings of the

has the J3 compatibility MR-J4W2-_B to J4 mode
mode (Note 1). The MR- using the application
J4W2-_B series and the software "MR-J4(W)-B
MR-J3W-_B series can be mode selection" (Note 2).
used together. The servo amplifiers and
Optical fiber cables for the servo motors can be used
conventional SSCNETIII as they are.
can be used as they are.

Note 1. Replacing the system, you can drive some J3 series servo motors with MR-J4W2-_B (J4 mode) and MR-J4W2-_B (J3
compatibility mode). Refer to "Part 8 Common Reference Material" for the applicable servo motor.
2. The application software is available with MR Configurator2 version 1.12N or later.

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Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

(4) Separate repair

(a) Replacement of servo amplifier
Replacing the system, you can drive some J3 series servo motors with MR-J4W2-_B (J4 mode) and
MR-J4W2-_B(J3 compatibility mode). Refer to "Part 8 Common Reference Material" for the
applicable servo motor.

SSCNETIII
servo system
controller

MR-J3W-_B MR-J4W2-_B
(J3 compatibility mode)

J3 series J4 series
servo motor servo motor

(b) Replacement of servo motor

The J4 series servo motors cannot be driven by MR-J3W-_B. Replace the existing servo amplifiers
and servo motors with MR-J4W2-_B servo amplifiers (J3 compatibility mode) and J4 series servo
motors simultaneously.

SSCNETIII
servo system
controller

MR-J3W-_B MR-J4W2-_B
(J3 compatibility mode)

J3 series J4 series
servo motor servo motor

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Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

3. DIFFERENCES BETWEEN MR-J3W-_B AND MR-J4W2-_B

3.1 Function Comparison Table

POINT
Functions with difference are shown with shading.

(1) MR-J3W-_B/MR-J4W2-_B 200 V class

Item MR-J3W-_B series MR-J4W2-_B servo amplifier
MR-J3W-22B 200 W (A axis)/200 W (B axis) MR-J4W2-22B 200 W (A axis)/200 W (B axis)
MR-J3W-44B 400 W (A axis)/400 W (B axis) MR-J4W2-44B 400 W (A axis)/400 W (B axis)
1 Capacity range
MR-J3W-77B 750 W (A axis)/750 W (B axis) MR-J4W2-77B 750 W (A axis)/750 W (B axis)
MR-J3W-1010B 1 kW (A axis)/1 kW (B axis) MR-J4W2-1010B 1 kW (A axis)/1 kW (B axis)
Built-in Built-in
Internal regenerative
2 MR-J3W-22B/-44B 10 W MR-J4W2-22B/-44B 20 W
resistor
MR-J3W-77B/-1010B 100 W MR-J4W2-77B/-1010B 100 W
Built-in
3 Dynamic brake Built-in
Coasting distance may differ. (Note)
4 Control circuit power 1-phase AC 200 to 230 V 1-phase AC 200 to 240 V
1-phase AC 200 to 240 V
1-phase AC 200 to 230 V
(MR-J4W2-22B/MR-J4W2-44B/MR-J4W2-77B
5 Main circuit power (MR-J3W-22B/MR-J3W-44B only)
only)
3-phase AC 200 to 230 V
3-phase AC 200 to 240 V
6 Interface power supply External supply required (24 V DC) External supply required (24 V DC)
Real-time auto tuning: 32 steps Real-time auto tuning: 40 steps
7 Auto Tuning
Advanced gain search One-touch tuning
SSCNET III interface (50 Mbps) SSCNET III/H interface (150 Mbps)
Position control mode Position control mode
Speed control mode Speed control mode
Torque control mode
8 Control mode
< J3 compatibility mode >
SSCNET III interface (50 Mbps)
Position control mode
Speed control mode
The number of DIO points
9 DI: 6 points, DO: 4 points DI: 6 points, DO: 4 points
(excluding EM1)
A/B-phase pulse (differential line driver) × 2 A/B-phase pulse (differential line driver) × 2
10 Encoder pulse output
axes axes
11 DIO interface input/output: sink/source input/output: sink/source
Analog monitors (MO1 and MO2) are not
supported. When using MO1 and MO2, please
12 Analog input/output 10-bit or equivalent × 2ch
consider replacing the servo amplifier with two
MR-J4 single-axis servo amplifiers.
Setup software (SETUP221E)
13 Parameter setting method MR Configurator2
MR Configurator2
Setup software
14 USB USB
communication function
Servo motor HF-_P series (18-bit ABS)
15 HG series (22-bit ABS)
(Encoder resolution) HA-_P series (18-bit ABS)
HF-KP 350% HG-KR 350%
HF-MP 300% HG-MR 300%
HF-SP 300% HG-SR 300%
HC-UP 300% HG-UR 300%
16 Motor maximum torque
HF-JP 300%
HG-JR 300%
(When HF-JP53 and MR-J3W-1010B are used
together: 400%) (When HG-JR53 and MR-J4W2-1010B are used
together: 400%)
HC-LP 300%
17 LED display 7-segment 3-digit 7-segment 3-digit

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Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

Item MR-J3W-_B series MR-J4W2-_B servo amplifier

Advanced vibration Provided
18 Provided
suppression control (Advanced vibration suppression control II)
19 Adaptive filter II Provided Provided
20 Notch filter Provided (2 pcs) Provided (5 pcs)
21 Tough drive Unprovided Provided
22 Drive recorder Unprovided Provided
23 Forced stop EM1 (DB stop) EM1 (DB stop)/ EM2 (deceleration to a stop)

Note. For the coasting distance, refer to "1.2.3 Dynamic brake: coasting distance" in "Part 8 Common Reference Material".

(2) MR-J3W-0303BN6/MR-J4W2-0303B6 48 V DC class /24 V DC class

Item MR-J3W-0303BN6 servo amplifier MR-J4W2-0303B6 servo amplifier
1 Capacity range 30 W (A-axis)/30 W (B-axis) 30 W (A-axis)/30 W (B-axis)
2 Internal regenerative resistor Built-in 1.3 W Built-in 1.3 W
Built-in (Electronic type)
3 Dynamic brake Built-in (Electronic type)
Coasting distance may differ. (Note)
4 Control circuit power 24 V DC 24 V DC
5 Main circuit power 48 V DC/24 V DC 48 V DC/24 V DC
6 Interface power supply External supply required (24 V DC) External supply required (24 V DC)
Real-time auto tuning: 32 steps Real-time auto tuning: 40 steps
7 Auto Tuning
Advanced gain search One-touch tuning
SSCNET III interface (50 Mbps) SSCNET III/H interface (150 Mbps)
Position control mode Position control mode
Speed control mode Speed control mode
Torque control mode
8 Control mode
< J3 compatibility mode >
SSCNET III interface (50 Mbps)
Position control mode
Speed control mode
The number of DIO points
9 DI: 6 points, DO: 4 points DI: 6 points, DO: 4 points
(excluding EM1)
A/B-phase pulse (differential line driver) × 2 A/B-phase pulse (differential line driver) × 2
10 Encoder pulse output
axes axes
11 DIO interface input/output: sink/source input/output: sink/source
12 Analog monitor output 10-bit or equivalent × 2ch 10-bit or equivalent × 2ch
Setup software (SETUP221E)
13 Parameter setting method MR Configurator2
MR Configurator2
Setup software
14 USB USB
communication function
Servo motor
15 HG-AK series (18-bit ABS) HG-AK series (18-bit ABS)
(Encoder resolution)
16 LED display 7-segment 3-digit 7-segment 3-digit
Advanced vibration Provided (Advanced vibration suppression
17 Provided
suppression control control II)
18 Adaptive filter II Provided Provided
19 Notch filter Provided (2 pcs) Provided (5 pcs)
Provided (The instantaneous power failure
20 Tough drive Unprovided
tough drive is unavailable.)
21 Drive recorder Unprovided Provided
EM1 (DB stop)/ EM2 (deceleration to a
22 Forced stop EM1 (DB stop)
stop)
23 DIN rail mounting unattachable attachable

Note. For the coasting distance, refer to "1.2.3 Dynamic brake: coasting distance" in "Part 8: Common Reference Material".

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Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

3.2 Configuration including auxiliary equipment

(1) MR-J3W-_B
(Note 2) RST
Power supply Servo amplifier Personal
Setup software
computer
(SETUP221E)

Molded-case CN5
circuit breaker
(MCCB) or fuse
L1
L2 CNP1

L3
Magnetic
contactor CN3 I/O signal
(MC)
P+
Power factor (Note 2) Regenerative
option CNP2 Servo system
improving AC C CN1A controller or Front axis
reactor D
V (Note 3) servo amplifier CN1B
(FR-BAL) U
W
Line noise CNP3A
CN1B Rear axis servo amplifier
filter CN1A or Cap
W
(FR-BSF01)
CNP3B

V
CN2A
U

CN2B

(Note 1)
L21 CN4 Battery
L11 unit

B-axis servo motor A-axis servo motor

SW3
ON
Front side

A-axis
1

B-axis
2

Note 1. A battery unit consists of one MR-BTCASE battery case and eight MR-BAT batteries. Use the battery unit in the absolute
position detection system of the position control mode.
2. For 1-phase 200 V to 230 V AC, connect the power supply to L1/L2 and leave L3 open. Refer to section 3.1 for the power
supply specification.
3. Make sure to connect the P+ terminal to the D terminal. When using the regenerative option, Refer to "MR-J3W-0303BN6/MR-
J3W-_B Servo Amplifier Instruction Manual".

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Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

(2) MR-J4W2-_B

Personal
computer
MR Configurator2
CN5
(under the cover)
RS T
Power supply

Molded-case
circuit breaker L1
(MCCB) or fuse L2
CNP1 CN3
L3 I/O signal

CN8 Safety relay or

P+ MR-J3-D05 safety logic unit
Magnetic C CNP2
contactor D (Note 2)
(MC) CN1A Servo system
Regenerative
option controller or Front axis
CNP3A servo amplifier CN1B
Power factor U
W
improving
reactor V CN1B
(FR-HAL) CNP3B Rear servo amplifier
U
W CN1A or Cap
Line noise V CN2A
filter
(FR-BSF01) CN2B A-axis encoder

B-axis encoder

CN4

(Note 1)
L21 Battery unit
L11

A-axis B-axis
servo motor servo motor

Note 1. The battery unit consists of an MR-BT6VCASE battery case and five MR-BAT6V1 batteries. The battery unit is used in the
absolute position detection system. For details, refer to "MR-J4W2-_B/MR-J4W3-_B/MR-J4W2-0303B6 Servo Amplifier
Instruction Manual".
2. Always connect P+ and D. When using the regenerative option, Refer to，"MR-J4W2-_B/MR-J4W3-_B/MR-J4W2-0303B6
Servo Amplifier Instruction Manual".

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(3) MR-J3W-0303BN6

Setup software Personal

(SETUP221E) computer
CN5

Main circuit power supply: 48 V DC

48 V DC 24 V DC CN3
power supply power supply I/O signal
CN4

CN1A Servo system

controller or Front axis
Circuit servo amplifier CN1B
protector

CN1B Rear axis servo amplifier

CN1A or Cap

CN2A

CN2B
24
0
PM
Relay CNP2A A-axis servo motor
Main circuit power supply: 24 V DC
CNP2B

24 V DC
power supply
MR-J3BAT

B-axis servo motor

Circuit
protector

PM 0 24

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Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

(4) MR-J4W2-0303B6

Personal
computer
MR Configurator2
CN5

48 V DC main circuit power supply

48 V DC 24 V DC CN3
power supply power supply I/O signal

+ - - +

CN1A Servo system controller or

previous servo amplifier
Circuit CN1B
protector

CN1B Next servo amplifier CN1A or

cap

CN2A

CN2B
24 CNP1
0 (Note)
PM
CNP1
Relay
CNP1 A-axis servo motor
24 V DC main circuit power supply
CN4
24 V DC
power supply

- +

B-axis servo motor

Circuit
protector
MR-BAT6V1SET-A

PM 0 24

Note. For details, refer to "MR-J4W2-_B/MR-J4W3-_B/MR-J4W2-0303B6 Servo Amplifier Instruction Manual".

4 - 11
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

3.3 Comparison of Networks

POINT
Refer to "Part 8: Common Reference Material".

3.4 Comparison of Standard Connection Diagrams

(1) MR-J3W-_B/MR-J4W2-_B 200 V class

MR-J3W-_B MR-J4W2-_B

10 m or less 10 m or less
10 m or less 10 m or less
Servo amplifier
(1 axis/2 axis) Main circuit Servo amplifier
power supply CN3 24 V DC
24 V DC CN3 CN3 26 DOCOM
DICOM 23 11 ALM-A RA1 A-axis malfunction 24 V DC CN3 11 CALM AND malfunction
DOCOM 26 RA1

12 MBR-A RA2 A-axis electromagnetic DICOM 23 Electromagnetic brake

Forced EM1 10 brake interlock 12 MBR-A interlock A-axis
Forced stop 2 EM2 10 RA2

A-axis upper stroke limit (FLS) DI1-A 7 24 ALM-B RA3 B-axis malfunction Electromagnetic brake
A-axis FLS DI1-A 7 25 MBR-B RA3 interlock B-axis
A-axis lower stroke limit (RLS) DI2-A 8
25 MBR-B RA4 B-axis electromagnetic A-axis RLS DI2-A 8
A-axis proximity dog (DOG) DI3-A 9 brake interlock A-axis DOG DI3-A 9
B-axis upper stroke limit (FLS) DI1-B 20 20
B-axis FLS DI1-B 24 CINP
B-axis lower stroke limit (RLS) DI2-B 21 3 LA-A A-axis encoder A-phase pulse B-axis RLS DI2-B 21
B-axis proximity dog (DOG) DI3-B 22 16 LAR-A (Differential line driver)
B-axis DOG DI3-B 22
4 LB-A A-axis encoder B-phase pulse 3 LA-A Encoder A-phase pulse A-axis
Personal (differential line driver)
computer USB cable 17 LBR-A (Differential line driver) 16 LAR-A
Setup software
MR-J3USBCBL3M 5 LA-B B-axis encoder A-phase pulse 4 LB-A Encoder B-phase pulse A-axis
(SETUP221E)
(option) 18 LAR-B (Differential line driver) 17 LBR-A (differential line driver)
CN5 5 LA-B Encoder A-phase pulse B-axis
6 LB-B B-axis encoder B-phase pulse CN8
(Differential line driver) 18 LAR-B (differential line driver)
19 LBR-B
Short-circuit connector
(Packed with the servo amplifier) 6 LB-B Encoder B-phase pulse B-axis
19 LBR-B (differential line driver)
2 MO1
±10 V DC Analog monitor 1 Servo system 14 LG Control common
1 LG
controller Plate SD Servo amplifier
Servo system 15 MO2
±10 V DC Analog monitor 2 SSCNET III cable
controller 14 LG (option)
SSCNET cable Plate SD CN1A CN1B CN1A
(option)
CN1A
SW1
Personal CN1B
computer USB cable
MR Configurator2 MR-J3USBCBL3M
SW2 (option)
CN1B CN5 The last servo amplifier
12 +

SW3 CN1A
Front side

ON
A-axis
SSCNET III cable
1

B-axis
(option)
2

CN1B
Cap
MR-J3W-B
(3 axis 4 axis)
CN1A SW1

CN1B SW2

12
SW3
SSCNET cable
Front side

ON

(option) A-axis
1

B-axis
2

MR-J3W-B
(n-1 axis n axis)
CN1A SW1

CN1B SW2
Cap
12
SW3
Front side

ON
A-axis
1

B-axis
2

4 - 12
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

(2) MR-J3W-0303BN6/MR-J4W2-0303B6 48 V DC/24 V DC class

MR-J3W-0303BN6 MR-J4W2-0303B6

10 m or less 10 m or less
10 m or less 10 m or less

Servo amplifier Main circuit Servo amplifier

(1 axis 2 axis) power supply CN3 24 V DC
26 DOCOM
24 V DC CN3 CN3
A-axis malfunction 24 V DC CN3 11 CALM AND malfunction
DICOM 23 11 ALM-A RA1
RA1

DICOM 23
DOCOM 26 A-axis electromagnetic 12 MBR-A RA2
Electromagnetic brake
12 MBR-A RA2 brake interlock Forced stop 2 EM2 10 interlock for A-axis
Forced EM1 10
B-axis malfunction A-axis FLS DI1-A 7 25 MBR-B RA3
Electromagnetic brake
A-axis upper stroke limit (FLS) DI1-A 7 24 ALM-B RA3
8
interlock for B-axis
A-axis RLS DI2-A
A-axis lower stroke limit (RLS) DI2-A 8 B-axis electromagnetic 13
brake interlock A-axis DOG DI3-A 9
A-axis proximity dog (DOG) DI3-A 9 25 MBR-B RA4
B-axis FLS DI1-B 20 24 CINP
B-axis upper stroke limit (FLS) DI1-B 20 B-axis RLS DI2-B 21
B-axis lower stroke limit (RLS) DI2-B 21 3 LA-A A-axis encoder A-phase B-axis DOG DI3-B 22
pulse (Differential line driver) 3 LA-A Encoder A-phase pulse A-axis
B-axis proximity dog (DOG) DI3-B 22 16 LAR-A
16 LAR-A (differential line driver)
4 LB-A A-axis encoder B-phase
Personal pulse (Differential line driver)
4 LB-A Encoder B-phase pulse A-axis
computer USB cable 17 LBR-A
(differential line driver)
Setup software 17 LBR-A
(SETUP221E) MR-J3USBCBL3M 5 LA-B B-axis encoder A-phase
(option) 5 LA-B Encoder A-phase pulse B-axis
18 LAR-B pulse (Differential line driver)
CN5 18 LAR-B (differential line driver)
6 LB-B B-axis encoder B-phase 6 LB-B Encoder B-phase pulse B-axis
19 LBR-B pulse (Differential line driver)
19 LBR-B (differential line driver)
14 LG
2 MO1 2 MO1
Analog monitor 1 10 V DC ± 5 V Analog monitor 1
1 LG 1 LG
Servo system 15 MO2 15 MO2
Analog monitor 2 10 V DC ± 5 V Analog monitor 2
controller 14 LG
Servo system
SSCNET cable Plate SD Output voltage: 10 V ± 5 V Plate SD
controller Servo amplifier
(option) Maximum current: 1 mA
CN1A 2 m or less SSCNET III cable
SW (option)
CN1A CN1B CN1A

SW
Personal CN1B
computer USB cable SSCNET III cable
12 MR-J3USBCBL3M (option)
MR Configurator2
(option) CNP1
CN5 11 The last servo amplifier
CNP1 +

CN1A
MR-J3W-B
(3 axis 4 axis)
SW Cap CN1B
CN1A

CN1B SW

12
SSCNET cable
(option)

MR-J3W-B
(n-1 axis n axis)

CN1A SW

Cap CN1B SW

12

4 - 13
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

3.5 List of Corresponding Connectors and Terminal Blocks

An example of connections with the peripheral equipment is shown below. Refer to the respective Instruction
Manuals for details on the signals.

3.5.1 200 V class

(1) Comparison of connectors

MR-J3W-_B MR-J4W2-_B
Personal
Power supply Servo amplifier Personal computer
Setup software MR Configurator2
computer
CN2B (SETUP221E) (under the cover)
RS T
Molded-case Power supply
circuit breaker
(MCCB) or fuse
L1 Molded-case
circuit breaker L1
L2 (MCCB) or fuse L2
L3 L3 I/O signal
Magnetic
contactor I/O signal
(MC)
Safety relay or
Regener ative
P P+ MR-J3-D05 safety logic unit
Power factor option Servo system Magnetic C
improving AC C controller or Front axis contactor Regenerative D
D (MC) Servo system
reactor servo amplifier CN1B option
controller or Front axis
V
(FR-BAL) U servo amplifier CN1B
W Power factor U
W
Line noise improving
Rear axis servo amplifier reactor V
filter CN1A or Cap (FR-HAL) Rear servo amplifier
W U
(FR-BSF01) W CN1A or Cap
V Line noise V
U filter
(FR-BSF01) A-axis encoder

B-axis encoder

L21 Battery
L11 unit

L21 Battery unit

L11
B-axis servo motor A-axis servo motor
SW3
ON
A-axis B-axis
Front side

A-axis servo motor servo motor

1

B-axis
2

(2) List of connector and terminal block correspondence

MR-J3W-_B MR-J4W2-_B
Connector Connector Precautions
No. Connector name No. Connector name
No. No.
CN1A CN1A MR-J3W cables can be used as
① SSCNET III cable connector ① SSCNET III cable connector they are.
CN1B CN1B
CN2A CN2A
② encoder connector ② encoder connector
CN2B CN2B
③ USB communication connector CN5 ③ USB communication connector CN5
A new cable needs to be
prepared. Refer to (3) of this
→ section for details.
Analog monitors (MO1 and
④ I/O signal connector CN3 ④ I/O signal connector CN3 MO2) are not supported. When
using MO1 and MO2, please
consider replacing the servo
amplifier with two MR-J4 single-
axis servo amplifiers.
⑤ Main circuit power connector CNP1 ⑤ Main circuit power connector CNP1 MR-J3W connector can be used
as they are.
⑥ Control circuit power connector CNP2 ⑥ Control circuit power connector CNP2
CNP3A Servo motor power output CNP3A
⑦ Servo motor power connector ⑦
CNP3B connector CNP3B
A new battery needs to be
prepared.
For details, refer to "，"MR-
⑧ Battery connector CN4 ⑧ Battery connector CN4
J4W2-_B/MR-J4W3-_B/MR-
J4W2-0303B6 Servo Amplifier
Instruction Manual".
When not using the STO in MR-
J4W2, attach the short-circuit
⑨ STO input signal connector ⑨ STO input signal connector CN8
connector supplied with the
servo amplifier to CN8.

4 - 14
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

(3) Comparison of signals

MR-J3W-_B MR-J4W2-_B
Abbreviation
Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment
CN3-1 LG (Note 5) CN3-1
CN3 CN3-2 MO1 (Note 6) CN3-2 CN3
CN3-3 LA-A CN3-3
1 14 CN3-4 LB-A CN3-4 1 14
2 15 CN3-5 LA-B CN3-5 2 15
LG LG (Note 5) LG
CN3-6 LB-B CN3-6
MO1 MO2 (Note 6) (Note 6)
3 16 CN3-7 DI1-A CN3-7 3 16
4 17 CN3-8 DI2-A CN3-8 4 17
LA-A LAR-A LA-A LAR-A
LB-A LBR-A CN3-9 DI3-A CN3-9 LB-A LBR-A
5 18 CN3-10 EM1 (Note 1) CN3-10 5 18
6 19 CN3-11 ALM-A (Note 2) CN3-11 6 19
LA-B LAR-B LA-B LAR-B
LB-B LBR-B CN3-12 MBR-A CN3-12 LB-B LBR-B
7 20 7 20
CN3-13 (Note 3) CN3-13
8 21 8 21
DI1-A DI1-B CN3-14 LG CN3-14 DI1-A DI1-B
DI2-A DI2-B CN3-15 MO2 (Note 6) CN3-15 DI2-A DI2-B
9 22 9 22
CN3-16 LAR-A CN3-16
10 23 10 23
DI3-A DI3-B CN3-17 LBR-A CN3-17 DI3-A DI3-B
EM2
EM1 DICOM
CN3-18 LAR-B CN3-18 (Note 1) DICOM
11 24 11 24
12 25 CN3-19 LBR-B CN3-19 12 ALM-A 25 ALM-B
ALM-A ALM-B (Note 2) (Note 4)
CN3-20 DI1-B CN3-20
MBR-A MBR-B MBR-A MBR-B
13 26 CN3-21 DI2-B CN3-21 13 26
DOCOM
CN3-22 DI3-B CN3-22 (Note 3) DOCOM
CN3-23 DICOM CN3-23
CN3-24 ALM-B (Note 4) CN3-24
CN3-25 MBR-B CN3-25
CN3-26 DOCOM CN3-26

Note 1. In the initial setting, EM2 is assigned to the CN3-10 pin. Set [Pr. PA04] to "0 0 _ _" when assigning EM1.
2. In the initial setting, CALM is assigned to the CN3-11 pin. Set [Pr. PD09] to "1 _ 0 3" when assigning ALM-A.
3. In the initial setting, MBR-C is assigned to the CN3-13 pin. Set [Pr. PD07] to "_ _ 0 0" when assigning Always off.
4. In the initial setting, CINP is assigned to the CN3-24 pin. Set [Pr. PD08] to "2 _ 0 3" when assigning ALM-B.
5. Because the MR-J4W2-_B servo amplifiers do not support analog monitors (MO1 and MO2), LG for MO1 or MO2 is not
assigned. Use CN3-14 for the control common of the encoder output pulses.
DI1-C is assigned to the CN3-1 pin. Because the signal is for MR-J4W3-_B servo amplifier, it does not function for the MR-
J4W2-_B servo amplifier (Always off).
6. MR-J4W2-_B servo amplifier does not support analog monitors (MO1 and MO2). DI2-C is assigned to the CN3-2 pin, and
DI3-C is assigned to the CN3-15 pin. Because the signal is for MR-J4W3-_B servo amplifier, it does not function for the
MR-J4W2-_B servo amplifier (Always off).

4 - 15
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

(4) Main circuit terminal block

MR-J3W-22B/MR-J3W-44B MR-J4W2-22B/MR-J4W2-44B

CNP1 CNP1
L1 1 L1 1

L2 2 L2 2

L3 3 L3 3

CNP2 CNP2
P+ L11 1 P+ L11 1
C L21 2 C L21 2
D 3 D N- 3
A B A B

CNP3A CNP3A
W U 1 W U 1

V 2 V 2
A B A B

CNP3B CNP3B
W U 1
W U 1

V 2
V 2
A B
A B

PE ( ) PE
Screw Size: M4 Screw Size: M4
Tightening torque: 1.2 [N•m] Tightening torque: 1.2 [N•m]

MR-J3W-77B/MR-J3W-1010B MR-J4W2-77B/MR-J4W2-1010B

CNP1 CNP1
L1 1 L1 1

L2 2 L2 2

L3 3 L3 3

CNP2 CNP2
P+ L11 1 P+ L11 1
C L21 2 C L21 2
D 3 D N- 3
A B A B

CNP3A CNP3A
W U 1 W U 1

V 2 V 2
A B A B

CNP3B CNP3B
W U 1
W U 1

V 2
V 2
A B
A B

PE ( ) Screw Size: M4 PE Screw Size: M4

Tightening torque: 1.2 [N•m] Tightening torque: 1.2 [N•m]

4 - 16
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

3.5.2 48 V DC/24 V DC class

(1) Comparison of connectors

MR-J3W-0303BN6 MR-J4W2-0303B6

Personal Personal
Setup software computer
(SETUP221E) computer MR Configurator2

Main circuit power supply: 48 V DC 48 V DC main circuit power supply

48 V DC 24 V DC 48 V DC 24 V DC
power supply power supply I/O signal power supply power supply I/O signal

+ - - +

Servo system Servo system controller or

controller or Front axis previous servo amplifier
Circuit servo amplifier CN1B Circuit CN1B
protector protector

Rear axis servo amplifier Next servo amplifier CN1A or

CN1A or Cap cap

24 24
0 0 CNP1
PM PM
Relay Relay
A-axis servo motor A-axis servo motor
Main circuit power supply: 24 V DC 24 V DC main circuit power supply

24 V DC 24 V DC
power supply power supply
MR-J3BAT
- +

B-axis servo motor B-axis servo motor

Circuit Circuit
protector protector
MR-BAT6V1SET-A

PM 0 24 PM 0 24

(2) List of connector and terminal block correspondence

MR-J3W-0303BN6 → MR-J4W2-0303B6
Connector Connector Precautions
No. Connector name No. Connector name
No. No.
CN1A CN1A
① SSCNET III cable connector ① SSCNET III cable connector
CN1B CN1B
CN2A CN2A MR-J3W cables can be used
② Encoder connector ② Encoder connector as they are.
CN2B CN2B
USB communication USB communication
③ CN5 ③ CN5
connector connector
MR-J3W cables can be used
as they are.
④ I/O signal connector CN3 ④ I/O signal connector CN3 Refer to (3) in this section for
the connector pin
assignment.
Replace the existing
Main circuit power supply Main circuit power supply connectors with the ones
⑤ CNP1 ⑤
connector connector supplied with the servo
amplifier.

CNP1 Replace the existing

CNP2A connectors with the ones
Servo motor power Servo motor power output supplied with the servo
⑥ ⑥
connector connector amplifier. They are different
CNP2B from the cables and
connector of MR-J3W.
A new battery needs to be
prepared.
For details, refer to "MR-
⑦ Battery connector CN4 ⑦ Battery connector CN4 J4W2-_B/MR-J4W3-_B/MR-
J4W2-0303B6 Servo
Amplifier Instruction
Manual".

4 - 17
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

(3) Comparison of signals

MR-J3W-0303BN6 Signal MR-J4W2-0303B6
Connector pin assignment Connector pin No. abbreviation Connector pin No. Connector pin assignment
CN3-1 LG CN3-1
CN3 CN3-2 MO1 CN3-2 CN3
CN3-3 LA-A CN3-3
1 14 CN3-4 LB-A CN3-4 1 14
2 15 CN3-5 LA-B CN3-5 2 15
LG LG LG LG
CN3-6 LB-B CN3-6
MO1 MO2 MO1 MO2
3 16 CN3-7 DI1-A CN3-7 3 16
4 17 CN3-8 DI2-A CN3-8 4 17
LA-A LAR-A LA-A LAR-A
LB-A LBR-A CN3-9 DI3-A CN3-9 LB-A LBR-A
5 18 CN3-10 EM1 (Note 1) CN3-10 5 18
6 19 CN3-11 ALM-A (Note 2) CN3-11 6 19
LA-B LAR-B LA-B LAR-B
LB-B LBR-B CN3-12 MBR-A CN3-12 LB-B LBR-B
7 20 7 20
CN3-13 (Note 3) CN3-13
8 21 8 21
DI1-A DI1-B CN3-14 LG CN3-14 DI1-A DI1-B
DI2-A DI2-B CN3-15 MO2 CN3-15 DI2-A DI2-B
9 22 9 22
CN3-16 LAR-A CN3-16
10 23 10 23
DI3-A DI3-B CN3-17 LBR-A CN3-17 DI3-A DI3-B
EM1 DICOM
CN3-18 LAR-B CN3-18 EM2 DICOM
11 24 11 24
12 25 CN3-19 LBR-B CN3-19 12 25
ALM-A ALM-B CALM CINP
CN3-20 DI1-B CN3-20
MBR-A MBR-B MBR-A MBR-B
13 26 CN3-21 DI2-B CN3-21 13 26
DOCOM
CN3-22 DI3-B CN3-22 DOCOM
CN3-23 DICOM CN3-23
CN3-24 ALM-B (Note 4) CN3-24
CN3-25 MBR-B CN3-25
CN3-26 DOCOM CN3-26
Note 1. As the initial value, EM2 is assigned to the CN3-10 pin. Set [Pr. PA04] to "0 0 _ _" to assign EM1.
2. As the initial value, CALM is assigned to the CN3-11 pin. Set [Pr. PD09] to "1 _ 0 3" to assign ALM-A.
3. As the initial value, MBR-C is assigned to the CN3-13 pin. Set [Pr. PD07] to "_ _ 0 0" to assign Always off.
4. As the initial value, CINP is assigned to the CN3-24 pin. Set [Pr. PD08] to "2 _ 0 3" to assign ALM-B.

(4) Main circuit terminal block

MR-J3W-0303BN6 MR-J4W2-0303B6

CNP1
CNP1
6 24 0 12
24 4

5 PM 11
0 3

4 U1 W1 10
PM 2

1
3 V1 E1 9

Screw size: M5
2 U2 W2 8
Screw size: M5
Tightening torque: 1.87 [N•m] 1 V2 E2 7 Tightening torque: 1.87 [N•m]

4 - 18
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

3.6 Comparison of Peripheral Equipment

POINT
Refer to "Part 10: Replacement of Optional Peripheral Equipment".

4 - 19
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

3.7 Comparison of Parameters

Never perform extreme adjustments and changes to the parameters, otherwisethe

operation may become unstable.
CAUTION If fixed values are written in the digits of a parameter, do not change these values.
Do not change parameters for manufacturer setting.
Do not enter any setting value other than those specified for each parameter.

POINT
For the parameter converter function, refer to "Part 7: Common Reference
Material".
For details about parameter settings for replacement, Refer to "MR-J4W2-
_B/MR-J4W3-_B/MR-J4W2-0303B6 Servo Amplifier Instruction Manual".

POINT
With MR-J4-_B_ the deceleration to a stop function is enabled by factory
settings. To disable the deceleration to a stop function, set [Pr.PA04] to "0 _ _ _ ".

4 - 20
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

3.7.1 Setting requisite parameters upon replacement

The parameters shown in this section are a minimum number of parameters that need to be set for
simultaneous replacement. Depending on the settings of the currently used servo amplifier, parameters other
than these may need to be set.
Parameter
Name Precautions
No.
In MR-J3W-_B, the maximum torque was set to 300% as the initial value.
However, in MR-J4W2-_B, the maximum torque is set to 350% as the initial
PA01 Control type selection value when using the HG-KR servo motor. Refer to Part 9 "Review on
Replacement of Motor", check the operation status on customer side, and
revise the settings as required.
PA02 Regenerative option selection The setting value must be changed according to the option model.
Function selection A-1 Forced stop deceleration function selection
PA04 To configure the same settings as for MR-J3W-_B, select "Forced stop
Servo forced stop selection
deceleration function disabled (with EM1 used)".
PA08 Gain adjustment mode selection The setting value needs to be changed according to the auto tuning mode.
Auto tuning response setting
Enter this setting value for replacement, referring to "3.7.3 Comparison of
parameter details". It is necessary to make gain adjustment again when
replacing.
PA09 Auto tuning response
For details on how to make gain adjustments, refer to Chapter 6 of "MR-
J4W2-_B/MR-J4W3-_B/MR-J4W2-0303B6 Servo Amplifier Instruction
Manual". The setting value needs be changed based on the standard
machine resonance frequency.
PA10 In-position range The setting needs to be changed depending on the servo motor.
Used to set the encoder pulses (A-phase and B-phase) output by the servo
PA15 Encoder output pulse
amplifier.
PA19 Parameter writing inhibit Change the setting value as necessary.
The unit system is different. (0.1-fold→0.01-fold) Pay attention to setting
PB06 Load to motor inertia ratio
value.
PB07 Model loop gain The unit system is different. (rad/s→0.1 rad/s)
PB08 Position loop gain The unit system is different. (rad/s→0.1 rad/s)
PB13 Machine resonance suppression filter 1
Change the setting value according to the frequency and depth.
PB14 Notch shape selection 1
PB15 Machine resonance suppression filter 2
Change the setting value according to the frequency and depth.
PB16 Notch shape selection 2
Load to motor inertia ratio after gain The unit system is different. (0.1-fold→0.01-fold) Pay attention to setting
PB29
switching value.
PB30 Position loop gain after gain switching It is necessary to convert the ratio to a value to change the setting value.
PB31 Speed loop gain after gain switching It is necessary to convert the ratio to a value to change the setting value.
Speed integral compensation after gain
PB32 It is necessary to convert the ratio to a value to change the setting value.
switching
Select a voltage to be connected to the main circuit power supply with an
MR-J4W2-0303B6 servo amplifier.
[Pr. PC05]: "_ 0 _ _" 48 V DC (Initial value)
"_ 1 _ _" 24 V DC
The setting of this digit in the J3 compatibility mode is the same as the MR-
PC05 Function selection C-2
J3W-0303BN6 servo amplifier. Set it with [Pr. Po04].
[Pr. Po04]: "0 _ _ _" 48 V DC (Initial value)
"1 _ _ _" 24 V DC
The characteristics of the servo motor vary depending on whether the
voltage of the main circuit is 48 V DC or 24 V DC.
PC09 Analog monitor 1 output
Analog monitors (MO1/MO2) support MR-J4W2-0303B6 only. When
PC10 Analog monitor 2 output
MO1/MO2 are used with 200 V of MR-J3W-_B, please consider replacing
PC11 Analog monitor 1 offset
the servo amplifier with 2 MR-J4 single-axis servo amplifiers.
PC12 Analog monitor 2 offset

4 - 21
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

3.7.2 Parameter comparison list

POINT
The parameter whose symbol preceded by * can be validated with the following
conditions.
* : Turn off the power and then on again, or reset the controller after setting the
parameter.
**: Turn off the power and then on again after setting the parameter.
How to set parameters
Each: Set parameters for each axis of A and B.
Common: Set parameters for common axis of A and B. Be sure to set the same
value to all axes.
The same values are set as default for all axes.
Setting an out of range value to each parameter will trigger [AL. 37 Parameter
error].

MR-J3W-_B parameters MR-J4W2-_B parameters

Customer Customer
Factory Factory
No. Symbol Parameter name Setting setting No. Symbol Parameter name Setting setting
setting setting
value value
Each Each 1000h
PA01 **STY Control mode axis 0000h PA01 **STY Operation mode axis
PA02 **REG Regenerative option Common 0000h PA02 **REG Regenerative option Common 0000h
Absolute position detection Each Absolute position detection Each 0000h
PA03 *ABS 0000h PA03 *ABS axis
system axis system
PA04 *AOP1 Function selection A-1 Common 0000h PA04 *AOP1 Function selection A-1 Common 2000h
PA05 This parameter is not used. 0 PA05 For manufacturer setting 10000
PA06 Do not change the value. 1 PA06 1
PA07 1 PA07 1
Each Auto tuning mode Each 0001h
PA08 ATU Auto tuning mode axis 0001h PA08 ATU axis
Each Auto tuning response Each 16
PA09 RSP Auto tuning response axis 12 PA09 RSP axis
Each In-position range Each 1600
PA10 INP In-position range axis 100 PA10 INP axis
PA11 This parameter is not used. 1000.0 PA11 For manufacturer setting 1000.0
PA12 Do not change the value. 1000.0 PA12 1000.0

PA13 0000h PA13 0000h

Rotation direction selection Each 0 Rotation direction Each 0
PA14 *POL axis PA14 *POL selection/travel direction axis
selection
Each Each 4000
PA15 *ENR Encoder output pulses axis 4000 PA15 *ENR Encoder output pulses axis
Each Each 1
PA16 *ENR2 Encoder output pulses 2 axis 0 PA16 *ENR2 Encoder output pulses 2 axis

PA17 This parameter is not used. 0000h PA17 For manufacturer setting 0000h
Do not change the value.
PA18 0000h PA18 0000h
Parameter write inhibit Each Parameter writing inhibit Each 00ABh
PA19 *BLK axis 000Bh PA19 *BLK axis
Adaptive tuning mode Each Adaptive tuning mode Each 0000h
PB01 FILT axis 0000h PB01 FILT axis
(Adaptive filter II) (adaptive filter II)
Vibration suppression Each Vibration suppression control Each 0000h
control tuning mode axis tuning mode (advanced axis
PB02 VRFT 0000h PB02 VRFT
(advanced vibration vibration suppression control
suppression control) II)
This parameter is not used. Torque feedback loop gain Each 18000
PB03 0 PB03 TFBGN axis
Do not change the value.
Feed forward gain Each Feed forward gain Each 0
PB04 FFC axis 0 PB04 FFC axis

4 - 22
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B parameters MR-J4W2-_B parameters

Customer Customer
Factory Factory
No. Symbol Parameter name Setting setting No. Symbol Parameter name Setting setting
setting setting
value value
This parameter is not used.
PB05 500 PB05 For manufacturer setting 500
Do not change the value.
Load to motor inertia
Load to motor inertia Each Each
PB06 GD2 7.0 PB06 GD2 ratio/load to motor mass axis 7.00
moment ratio axis
ratio
Each Each
PB07 PG1 Model loop gain 24 PB07 PG1 Model loop gain axis 15.0
axis
Each Each
PB08 PG2 Position loop gain 37 PB08 PG2 Position loop gain 37.0
axis axis
Each Each
PB09 VG2 Speed loop gain 823 PB09 VG2 Speed loop gain 823
axis axis
Speed integral Each Speed integral Each
PB10 VIC 33.7 PB10 VIC 33.7
compensation axis compensation axis
Speed differential Each Speed differential Each
PB11 VDC 980 PB11 VDC 980
compensation axis compensation axis
This parameter is not used. Overshoot amount Each
PB12 0 PB12 OVA 0
Do not change the value. compensation axis
Machine resonance Each Machine resonance Each
PB13 NH1 4500 PB13 NH1 4500
suppression filter 1 axis suppression filter 1 axis
Each Each
PB14 NHQ1 Notch shape selection 1 0000h PB14 NHQ1 Notch shape selection 1 0000h
axis axis
Machine resonance Each Machine resonance Each
PB15 NH2 4500 PB15 NH2 4500
suppression filter 2 axis suppression filter 2 axis
Each Each
PB16 NHQ2 Notch shape selection 2 0000h PB16 NHQ2 Notch shape selection 2 0000h
axis axis
Automatic setting Shaft resonance Each
PB17 PB17 NHF 0000h
parameter suppression filter axis
Each Each
PB18 LPF Low-pass filter setting 3141 PB18 LPF Low-pass filter setting 3141
axis axis
Vibration suppression
Each Vibration suppression control Each
PB19 VRF1 control vibration frequency 100.0 PB19 VRF11 100.0
axis 1 - Vibration frequency axis
setting
Vibration suppression
Each Vibration suppression control Each
PB20 VRF2 control resonance 100.0 PB20 VRF12 100.0
axis 1 - Resonance frequency axis
frequency setting
This parameter is not used. Vibration suppression control
Each
PB21 Do not change the value. 0.00 PB21 VRF13 1 - Vibration frequency 0.00
axis
damping
Vibration suppression control
Each
PB22 0.00 PB22 VRF14 1 - Resonance frequency 0.00
axis
damping
Each Each
PB23 VFBF Low-pass filter selection 0000h PB23 VFBF Low-pass filter selection 0000h
axis axis
Slight vibration suppression Each Slight vibration suppression Each
PB24 *MVS 0000h PB24 *MVS 0000h
control selection axis control axis
This parameter is not used. Each
PB25 0000h PB25 *BOP1 Function selection B-1 0000h
Do not change the value. axis
Each Each
PB26 *CDP Gain changing selection 0000h PB26 *CDP Gain switching function 0000h
axis axis
Each Each
PB27 CDL Gain changing condition 10 PB27 CDL Gain switching condition 10
axis axis
Gain changing time Each Each
PB28 CDT 1 PB28 CDT Gain switching time constant 1
constant axis axis
Load to motor inertia
Gain changing load to Each Each
PB29 GD2B 7.0 PB29 GD2B ratio/load to motor mass 7.00
motor inertia moment ratio axis axis
ratio after gain switching
Gain changing position loop Each Position loop gain after gain Each
PB30 PG2B 37 PB30 PG2B 0.0
gain axis switching axis
Gain changing speed loop Each Speed loop gain after gain Each
PB31 VG2B 823 PB31 VG2B 0
gain axis switching axis
Speed integral
Gain changing speed Each Each
PB32 VICB 33.7 PB32 VICB compensation after gain 0.0
integral compensation axis axis
switching

4 - 23
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B parameters MR-J4W2-_B parameters

Customer Customer
Factory Factory
No. Symbol Parameter name Setting setting No. Symbol Parameter name Setting setting
setting setting
value value
Gain changing vibration Vibration suppression
suppression control Each control 1 - Vibration Each
PB33 VRF1B 100.0 PB33 VRF11B axis 0.0
vibration frequency setting axis frequency after gain
switching
Gain changing vibration Vibration suppression
suppression control Each control 1 - Resonance Each
PB34 VRF2B 100.0 PB34 VRF12B axis 0.0
resonance frequency axis frequency after gain
setting switching
This parameter is not used. Vibration suppression
Do not change the value. control 1 - Resonance Each
PB35 0.00 PB35 VRF13B 0.0
frequency after gain axis
switching
Vibration suppression
control 1 - Vibration Each
PB36 0.00 PB36 VRF14B 0.0
frequency damping after axis
gain switching
PB37 100 PB37 For manufacturer setting 1600
PB38 0.0 PB38 0.00
PB39 0.0 PB39 0.00
PB40 0.0 PB40 0.00
PB41 1125 PB41 0
PB42 1125 PB42 0
PB43 0004h PB43 0000h
PB44 0.0 PB44 0.00
Each
PB45 0000h PB45 CNHF Command notch filter 0000h
axis
Error excessive alarm level Each Each
PC01 ERZ 0 PC01 ERZ Error excessive alarm level 0
axis axis
Electromagnetic brake Each Electromagnetic brake Each
PC02 MBR 0 PC02 MBR 0
sequence output axis sequence output axis
Encoder output pulses Each Encoder output pulse Each
PC03 *ENRS 0010h PC03 *ENRS 0000h
selection axis selection axis
Each Each
PC04 **COP1 Function selection C-1 0000h PC04 **COP1 Function selection C-1 0000h
axis axis
Each Each
PC05 **COP2 Function selection C-2 0000h PC05 **COP2 Function selection C-2 0000h
axis axis
Each Each
PC06 *COP3 Function selection C-3 0000h PC06 *COP3 Function selection C-3 0000h
axis axis
Each Each
PC07 ZSP Zero speed 50 PC07 ZSP Zero speed 50
axis axis
This parameter is not used. Overspeed alarm detection Each
PC08 0 PC08 OSL 0
Do not change the value. level axis
PC09 MOD1 Analog monitor 1 output Common 0000h PC09 MOD1 Analog monitor 1 output Common 0000h
PC10 MOD2 Analog monitor 2 output Common 0001h PC10 MOD2 Analog monitor 2 output Common 0001h
PC11 MO1 Analog monitor 1 offset Common 0 PC11 MO1 Analog monitor 1 offset Common 0
PC12 MO2 Analog monitor 2 offset Common 0 PC12 MO2 Analog monitor 2 offset Common 0
This parameter is not used. Analog monitor - Feedback
Each
PC13 Do not change the value. 0 PC13 MOSDL position output standard 0
axis
data - Low
Analog monitor - Feedback
Each
PC14 0 PC14 MOSDH position output standard 0
axis
data - High
PC15 SNO Station number selection Common 0 PC15 For manufacturer setting 0
This parameter is not used.
PC16 0000h PC16 0000h
Do not change the value.
Each Each
PC17 **COP4 Function selection C-4 0000h PC17 **COP4 Function selection C-4 0000h
axis axis
PC18 This parameter is not used. 0000h PC18 *COP5 Function selection C-5 Common 0000h
PC19 Do not change the value. 0000h PC19 For manufacturer setting 0000h
PC20 0000h PC20 *COP7 Function selection C-7 Common 0000h
Each Each
PC21 *BPS Alarm history clear 0000h PC21 *BPS Alarm history clear 0000h
axis axis

4 - 24
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B parameters MR-J4W2-_B parameters

Customer Customer
Factory Factory
No. Symbol Parameter name Setting setting No. Symbol Parameter name Setting setting
setting setting
value value
PC22 This parameter is not used. 0000h PC22 For manufacturer setting 0
PC23 Do not change the value. 0000h PC23 0000h
PC24 0000h PC24 RSBR Forced stop deceleration Each 100
time constant axis

PC25 0000h PC25 For manufacturer setting 0

PC26 0000h PC26 0000h
PC27 0000h PC27 **COP9 Function selection C-9 Each 0000h
axis
PC28 0000h PC28 For manufacturer setting 0000h
PC29 0000h PC29 *COPB Function selection C-B Each 0000h
axis
PC30 0000h PC30 For manufacturer setting 0
PC31 0000h PC31 RSUP1 Vertical axis freefall Each 0
prevention compensation axis
amount
PC32 0000h PC32 For manufacturer setting 0000h
PD01 0000h PD01 For manufacturer setting 0000h
PD02 0000h PD02 *DIA2 Input signal automatic on Each 0000h
selection 2 axis

PD03 0020h PD03 For manufacturer setting 0020h

PD04 0021h PD04 0021h
PD05 0022h PD05 0022h
PD06 0000h PD06 0000h
PD07 *D01 Output signal device Each 0005h PD07 *DO1 Output device selection 1 Each 0005h
selection 1 (CN3-12 for A- axis axis
axis and CN3-25 for B-axis)
PD08 This parameter is not used. 0004h PD08 *DO2 Output device selection 2 Common 0004h
Do not change the value.
PD09 *D03 Output signal device Each 0003h PD09 *DO3 Output device selection 3 Common 0003h
selection 3 (CN3-11 for A- axis
axis and CN3-24 for B-axis)
PD10 This parameter is not used. 0000h PD10 For manufacturer setting 0000h
PD11 Do not change the value. 0004h PD11 *DIF Input filter setting (Note) Common 0004h
PD12 0000h PD12 *DOP1 Function selection D-1 Each 0000h
axis
PD13 0000h PD13 For manufacturer setting 0000h
Each Each
PD14 *DOP3 Function selection D-3 0000h PD14 *DOP3 Function selection D-3 axis 0000h
axis
PD15 This parameter is not used. 0000h PD15 For manufacturer setting 0000h
PD16 Do not change the value. 0000h PD16 0000h
PD17 0000h PD17 0000h
PD18 0000h PD18 0000h
PD19 0000h PD19 0000h
PD20 0 PD20 0
PD21 0 PD21 0
PD22 0 PD22 0
PD23 0 PD23 0
PD24 0000h PD24 0000h
PD25 0000h PD25 0000h
PD26 0000h PD26 0000h
PD27 0000h PD27 0000h
PD28 0000h PD28 0000h
PD29 0000h PD29 0000h
PD30 0000h PD30 0
PD31 0000h PD31 0
PD32 0000h PD32 0

Note. Refer to the servo system controller instruction manual for the setting.

4 - 25
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

3.7.3 Comparison of parameter details

POINT
"x" in the "Setting digit" columns means which digit to set a value.

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PA01 Control mode 0000h PA01 Operation mode 0h
Turn off the power and then on again after setting the Select an operation mode.
parameter to validate the parameter value. _ _ _ x:
Select the control mode. For manufacturer setting
This parameter is set as "_ _ 0_" in the initial setting. _ _ x _: 0h
Operation mode selection
0 0 x 0: 0: Standard control mode
Control mode selection Setting other than above will result in [AL. 37 Parameter
0: Rotary servo motor error].
For MR-J4W2-0303B6 servo amplifiers, this digit cannot
be used other than the initial value.
_x__ 0h
For manufacturer setting
x___ 1h
Compatibility mode selection
To change this digit, use an application software "MR
Mode Change". When you change it without the
application, [AL. 3E Operation mode error] will occur.
Set the digit as common setting.
0: J3 compatibility mode
1: J4 mode
PA02 Regenerative option 0000h PA02 Regenerative option 00h
Turn off the power and then on again after setting the Select a regenerative option.
parameter to validate the parameter value. Incorrect setting may cause the regenerative option to
Wrong setting may cause the regenerative option to burn. burn.
If the regenerative option selected is not for use with the If a selected regenerative option is not for use with the
servo amplifier, [AL. 37 Parameter error] occurs. servo amplifier, [AL. 37 Parameter error] occurs.
The MR-RB3B can be used with the servo amplifier For MR-J4W2-0303B6 servo amplifiers, this digit cannot
whose software version is B3 or later. be used other than the initial value.
Set this parameter when using the regenerative option. _ _ x x:
For MR-J4W2-0303BN6 servo amplifiers, this digit cannot Regenerative option selection
be used other than the initial value. 00: Regenerative option is not used. (Built-in
0 0 x x: regenerative resistor is used.)
Selection of regenerative option 0B: MR-RB3N
00: Regenerative option is not used (built-in regenerative 0D: MR-RB14
resistor is used) 0E: MR-RB34
0D: MR-RB14 10: MR-RB3B (available with servo motors for MR-J3)
0E: MR-RB34 _x__ 0h
10: MR-RB3B For manufacturer setting
x___ 0h
For manufacturer setting

4 - 26
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PA03 Absolute position detection system 0000h PA03 Absolute position detection system
Turn off the power and then on again, or reset the Set this parameter when using the absolute position
controller after setting the parameter to validate the detection system. The parameter is not available in the
parameter value. speed control mode and torque control mode.
This parameter cannot be used in the speed control _ _ _ x: 0h
mode. Absolute position detection system selection
Set this parameter when using the absolute position 0: Disabled (used in incremental system)
detection system in the position control mode. 1: Enabled (used in absolute position detection system)
_ _ x _: 0h
0 0 0 x:
For manufacturer setting
Selection of absolute position detection system
_ x _ _: 0h
0: Used in incremental system
For manufacturer setting
1: Used in absolute position detection system
x _ _ _: 0h
For manufacturer setting
PA04 Function selection A-1 0000h PA04 Function selection A-1
Turn off the power and then on again, or reset the Select a forced stop input and forced stop deceleration
controller after setting the parameter to validate the function.
parameter value. _ _ _ x: 0h
The servo forced stop function is avoidable. For manufacturer setting
__x_: 0h
0 x 0 0: For manufacturer setting
Selection of servo forced stop _x__: 0h
0: Valid (Forced stop (EM1) is used.) Servo forced stop selection
1: Invalid (Forced stop (EM1) is not used.) 0: Enabled (The forced stop input EM2 or EM1 is used.)
1: Disabled (The forced stop input EM2 and EM1 are not
When not using the forced stop (EM1) of servo amplifier, used.)
set the selection of servo forced stop to Invalid (_ 1 _ _). Refer to table 4.1 for details.
At this time, the forced stop (EM1) automatically turns on x___: 2h
inside the servo amplifier. Forced stop deceleration function selection
0: Forced stop deceleration function disabled (EM1)
2: Forced stop deceleration function enabled (EM2)
Refer to table 4.1 for details.
Table 4.1 Deceleration method
Setting Deceleration method
EM2/EM1
value EM2 or EM1 is off Alarm occurred
00__ EM1 MBR (Electromagnetic MBR (Electromagnetic
brake interlock) turns brake interlock) turns
off without the forced off without the forced
stop deceleration. stop deceleration.
20__ EM2 MBR (Electromagnetic MBR (Electromagnetic
brake interlock) turns brake interlock) turns
off after the forced off after the forced
stop deceleration. stop deceleration.
01__ Not using MBR (Electromagnetic
EM2 and brake interlock) turns
EM1 off without the forced
stop deceleration.
21__ Not using MBR (Electromagnetic
EM2 and brake interlock) turns
EM1 off after the forced
stop deceleration.

4 - 27
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PA08 Auto tuning mode 0001h PA08 Auto tuning mode
This parameter cannot be used in the torque control Select a gain adjustment mode.
mode. _ _ _ x: 1h
Make gain adjustment using auto tuning. Gain adjustment mode selection
Auto tuning mode ([Pr. PA08])
0: 2 gain adjustment mode 1 (interpolation mode)
Select the gain adjustment mode.
1: Auto tuning mode 1
2: Auto tuning mode 2
0 0 0 x:
3: Manual mode
Gain adjustment mode setting
4: 2 gain adjustment mode 2
0: Interpolation mode (Automatically set parameter No.
Refer to table 4.2 for details.
PB06/PB08/PB09/PB10])
1: Auto tuning mode 1 (Automatically set parameter No. Table 4.2 Gain adjustment mode selection
[Pr. PB06/ PB07/PB08/PB09/PB10]) Setting Gain adjustment
Automatically adjusted parameter
value mode
2: Auto tuning mode 2 (Automatically set parameter No.
___0 2 gain adjustment [Pr. PB06 Load to motor inertia ratio/load
[Pr. PB07/ PB08/PB09/PB10])
mode 1 to motor mass ratio]
3: Manual mode (interpolation [Pr. PB08 Position loop gain]
mode) [Pr. PB09 Speed loop gain]
The parameters have the following names.
[Pr. PB10 Speed integral compensation]
Parameter No. Name ___1 Auto tuning mode 1 [Pr. PB06 Load to motor inertia ratio/load
PB06 Load to motor inertia moment ratio to motor mass ratio]
[Pr. PB07 Model loop gain]
PB07 Model loop gain
[Pr. PB08 Position loop gain]
PB08 Position loop gain [Pr. PB09 Speed loop gain]
PB09 Speed loop gain [Pr. PB10 Speed integral compensation]
___2 Auto tuning mode 2 [Pr. PB07 Model loop gain]
PB10 Speed integral compensation
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
___3 Manual mode
___4 2 gain adjustment [Pr. PB08 Position loop gain]
mode 2 [Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]

__x_: 0h
For manufacturer setting
_x__: 0h
For manufacturer setting
x___: 0h
For manufacturer setting
PA09 Auto tuning response 12 PA09 Auto tuning response 16
If the machine hunts or generates large gear sound, Set a response of the auto tuning.
decrease the set value. To improve performance, e.g.
shorten the settling time, increase the set value. Machine characteristic Machine characteristic
Guideline Guideline
Setting for Setting for machine
Guideline for Guideline for machine resonance
machine Settin machine value Response value Respoznse
Setting resonance frequency
Response resonance g Response resonance frequency [Hz]
value
frequency value frequency
[Hz] [Hz] [Hz]
Low Middle 1 Low 2.7 21 Middle 67.1
1 10.0 17 67.1 response response
response response
2 11.3 18 75.6 2 3.6 22 75.6
3 4.9 23 85.2
3 12.7 19 85.2
4 6.6 24 95.9
4 14.3 20 95.9
5 10.0 25 108.0
5 16.1 21 108.0
6 11.3 26 121.7
6 18.1 22 121.7 7 12.7 27 137.1
7 20.4 23 137.1 8 14.3 28 154.4
8 23.0 24 154.4 9 16.1 29 173.9
9 25.9 25 173.9 10 18.1 30 195.9
10 29.2 26 195.9 11 20.4 31 220.6
12 23.0 32 248.5
11 32.9 27 220.6
13 25.9 33 279.9
12 37.0 28 248.5
14 29.2 34 315.3
13 41.7 29 279.9
15 32.9 35 355.1
14 47.0 30 315.3 16 37.0 36 400.0
15 52.9 31 355.1 17 41.7 37 446.6
Middle High 18 47.0 38 501.2
16 response 59.6 32 response 400.0
19 52.9 39 571.5
20 Middle 59.6 40 High 642.7
response response

4 - 28
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PA10 In-position range 100 PA10 In-position range 1600
This parameter cannot be used in the speed control Set an in-position range per command pulse.
mode and the torque control mode.
Set the range, where in-position (INP-A/INP-B) is output,
in the command pulse unit.

Servo motor droop pulses

Command pulse Command pulse

In-position range [pulse]
Droop pulses

ON
In-position (INP-A/INP-B)
OFF

PA14 Rotation direction selection 0 PA14 Rotation direction selection/travel direction selection 0
Turn off the power and then on again, or reset the Select a rotation direction or travel direction.
controller after setting the parameter to validate the
parameter value. Servo motor rotation direction
Setting
Select servo motor rotation direction relative. Positioning address Positioning address
value
Servo motor rotation direction (Note) increase decrease

When positioning When positioning 0 CCW or positive direction CW or negative direction

address increases address decreases
1 CW or negative direction CCW or positive direction
(Position control) (Position control)
[Pr. PA14]
Command speed in the Command speed in the
setting
positive direction (Speed negative direction
The following shows the servo motor rotation directions.
control) (Speed control)
Command torque in the Command torque in the
positive direction (Torque negative direction
control) (Torque control)
Forward rotation (CCW)
0 CCW CW

1 CW CCW

Note. Torque generation direction for the torque control

Reverse rotation (CW)

Forward rotation (CCW)

Reverse rotation (CW)

4 - 29
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PA15 Encoder output pulses 4000 PA15 Encoder output pulses 4000
Encoder output pulses 2 Set the encoder output pulses from the servo amplifier by
Turn off the power and then on again, or reset the using the number of output pulses per revolution, dividing
controller after setting the parameter to validate the ratio, or electronic gear ratio. (after multiplication by 4)
parameter value. Set a numerator of the electronic gear, for when selecting
Used to set the encoder pulses (A/B-phase) output by "A-phase/B-phase pulse electronic gear setting (_ _ 3 _)"
the servo amplifier. of "Encoder output pulse setting selection" in [Pr. PC03].
Set the value 4 times greater than the A-phase or B- The maximum output frequency is 4.6 Mpulses/s. Set the
phase pulses. parameter within this range.
You can use [Pr. PC03] to choose the output pulse
setting or output division ratio setting.
The number of A/B-phase pulses actually output is 1/4
times greater than the preset number of pulses.
The maximum output frequency is 4.6 Mpulses/s (after
multiplication by 4). Use this parameter within this range.

(1) For output pulse designation

Set "_ _ 0_" in [Pr. PC03].
Set the number of pulses per servo motor revolution.
Output pulse = set value [pulse/rev]
For instance, set "5600" to [Pr. PA15], the actually
output A/B-phase pulses are as indicated below.
5600
A/B-phase output pulses = = 1400 pulses
4
(2) For output division ratio setting
Set "_ _ 1_" in [Pr. PC03].
The number of pulses per servo motor revolution is
divided by the set value.
Resolution per servo motor revolution
output pulse = [pulse/rev]
Set value

For instance, set "8" to [Pr. PA15], the actually

output A/B-phase pulses are as indicated below.
262144 1
A/B-phase output pulses= ・ = 8192 pulses
PA16 8 4 0 PA16 Encoder output pulses 2 1
(3) A/B-phase pulse electronic gear setting Set a denominator of the electronic gear for the A/B-
This parameter is made valid when [Pr. PC03] is set phase pulse output. Set a denominator of the electronic
to "_ _ 3_". gear, for when selecting "A-phase/B-phase pulse
Set the encoder pulses (A/B-phase) output by the electronic gear setting (_ _ 3 _)" of "Encoder output pulse
servo amplifier. setting selection" in [Pr. PC03].
Set the encoder pulses output by the servo amplifier
by [Pr. PA15] and [Pr. PA16].
Travel distance [pulse] of the linear encoder is
multiplied by the set value.
[Pr. PA15]
output pulse = Travel distance of linear encoder × [pulse]
[Pr. PA16]

The number of A/B-phase pulses actually output is

1/4 times greater than the preset number of pulses.
Also, the maximum output frequency is 4.6 Mpulses/s
(after multiplication by 4). Use this parameter within
the range.
When the set value is "0 (factory setting)", it is
internally treated as "1".

4 - 30
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PA19 Parameter write inhibit 000Bh PA19 Parameter writing inhibit 00ABh
Turn off the power and then on again, or reset the Select a reference range and writing range of the
controller after setting the parameter to validate the parameter.
parameter value. In the factory setting, this servo amplifier Refer to the following table for settings.
allows changes to the basic setting parameter, gain/filter Setting parameters ([Pr. PL_ _ ]) cannot be used with
parameter and extension setting parameter settings. With MR-J4W2-0303B6 servo amplifiers.
the setting of [Pr. PA19], write can be disabled to prevent
[Pr. PA19] setting value and reading/writing range
accidental changes.
Setting
The following table indicates the parameters which are PA19 operation PA PB PC PD PE PF PL

enabled for reference and write by the setting of [Pr. Other Reading
PA19]. Operation can be performed for the parameters than
below Writing
marked .
Reading Only 19
000Ah
Special Writing Only 19
Extension Option
[Pr. PA19] Setting Basic setting Gain/filter I/O setting setting
setting operation [Pr. PA _ _] [Pr. PB_ _]
setting
[Pr. PD_ _] [Pr. PS_ _]
setting Reading
[Pr. PC_ _]
(Note)
[Pr. Po_ _] 000Bh
Writing
Reference
0000h
Write Reading
000Ch
000Bh
(factory
Reference Writing
setting) Write
Reading
Reference 000Fh
000Ch
Write Writing
Reference Reading
000Dh
Write
00AAh
Writing
Reference
000Eh 00ABh Reading
Write
(initial
Reference
value) Writing
100Bh [Pr. PA19]
Write
only
Reading
Reference 100Bh
100Ch [Pr. PA19] Writing Only 19
Write
only
Reference Reading
100Dh [Pr. PA19]
100Ch
Write
only Writing Only 19
Reference
Reading
100Eh
Write
[Pr. PA19] 100Fh
only Only 19
Writing
Note. Do not use this parameter when using a rotary Reading
10AAh
servo motor. Writing Only 19

Reading
10ABh
Writing Only 19

PB01 Adaptive tuning mode (Adaptive filter II) 0000h PB01 Adaptive tuning mode (adaptive filter II)
Used to set the mode for the machine resonance Set the adaptive tuning.
suppression filter 1. All axes cannot be simultaneously enabled for this
0 0 0 x: function. Set for each axis to use.
Filter tuning mode _ _ _ x: 0h
0: Invalid Filter tuning mode selection
1: Cannot be set Select the adjustment mode of the machine resonance
2: Manual setting suppression filter 1.
If "_ _ _ 1" is set for this parameter, it is automatically 0: Disabled
rewritten as "_ _ _0" 1: Automatic setting
2: Manual setting
_ _ x _: 0h
For manufacturer setting

_ x _ _: 0h
For manufacturer setting

x _ _ _: 0h
Tuning accuracy selection
0: Standard
1: High accuracy
The frequency is estimated more accurately in the high
accuracy mode compared to the standard mode.
However, the tuning sound may be larger in the high
accuracy mode.
This digit is available with servo amplifier with software
version C5 or later.

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Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PB02 Vibration suppression control tuning mode (advanced 0000h PB02 Vibration suppression control tuning mode (advanced
vibration suppression control) vibration suppression control II)
Used to set the tuning mode for the vibration suppression This is used to set the vibration suppression control
control. tuning.
0 0 0 x: All axes cannot be simultaneously enabled for this
Vibration suppression control tuning mode function. Set for each axis to use.
0: Invalid _ _ _ x: 0h
1: Cannot be set Vibration suppression control 1 tuning mode selection
2: Manual setting Select the tuning mode of the vibration suppression
If "_ _ _ 1" is set for this parameter, it is automatically control 1.
rewritten as "_ _ _0". 0: Disabled
1: Automatic setting
2: Manual setting
__x_: 0h
Vibration suppression control 2 tuning mode selection
Select the tuning mode of the vibration suppression
control 2. To enable the digit, select "3 inertia mode (_ _
_ 1)" of "Vibration suppression mode selection" in [Pr.
PA24 Function selection A-4].
0: Disabled
1: Automatic setting
2: Manual setting
_x__: 0h
For manufacturer setting
x___: 0h
For manufacturer setting
PB03 This parameter is not used. Do not change the value. 0 PB03 Torque feedback loop gain 18000
Set a torque feedback loop gain in the continuous
operation to torque control mode.
Decreasing the setting value will also decrease a
collision load during continuous operation to torque
control mode.
Setting a value less than 6 rad/s will be 6 rad/s.
PB04 Feed forward gain 0 PB04 Feed forward gain 0
This parameter cannot be used in the speed control Set the feed forward gain.
mode. When the setting is 100%, the droop pulses during
Set the feed forward gain. When the setting is 100%, the operation at constant speed are nearly zero. However,
droop pulses during operation at constant speed are sudden acceleration/deceleration will increase the
nearly zero. However, sudden acceleration/deceleration overshoot. As a guideline, when the feed forward gain
will increase the overshoot. As a guideline, when the setting is 100%, set 1 s or more as the acceleration time
feed forward gain setting is 100%, set 1 s or more as the constant up to the rated speed.
acceleration time constant up to the rated speed.
PB06 Load to motor inertia moment ratio 7.0 PB06 Load to motor inertia ratio/load to motor mass ratio 7.00
Used to set the ratio of the load inertia moment to the Set a load to motor inertia ratio or load to motor mass
servo motor shaft inertia moment. When auto tuning ratio. Setting a value considerably different from the
mode 1 and interpolation mode is selected, the result of actual load moment of inertia or load mass may cause an
auto tuning is automatically used. unexpected operation such as an overshoot.
In this case, it varies between 0 and 100.0. The setting of the parameter will be the automatic setting
When [Pr. PA08] is set to "_ _ _ 2" or "_ _ _ 3", this or manual setting depending on the [Pr. PA08] setting.
parameter can be set manually. Refer to the following table for details. When the
parameter is automatic setting, the value will vary
between 0.00 and 100.00.

Pr. PA08 This parameter

_ _ _ 0 (2 gain adjustment mode 1 Automatic setting
(interpolation mode))
_ _ _ 1 (Auto tuning mode 1)
_ _ _ 2 (Auto tuning mode 2) Manual setting
_ _ _ 3 (Manual mode)
_ _ _ 4 (2 gain adjustment mode 2)

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Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PB07 Model loop gain 24 PB07 Model loop gain 15.0
Set the response gain up to the target position. Set the response gain up to the target position.
Increase the gain to improve track ability in response to Increasing the setting value will also increase the
the command. response level to the position command but will be liable
When auto turning mode 1, 2 is selected, the result of to generate vibration and noise.
auto turning is automatically used. For the vibration suppression control tuning mode, the
When [Pr. PA08] is set to "_ _ _ 0" or "_ _ _ 3" , this setting range of [Pr. PB07] is limited. Refer to "MR-J4W2-
parameter can be set manually. _B/MR-J4W3-_B/MR-J4W2-0303B6 Servo Amplifier
Instruction Manual" for details.
The setting of the parameter will be the automatic setting
or manual setting depending on the [Pr. PA08] setting.
Refer to the following table for details.

Pr. PA08 This parameter

_ _ _ 0 (2 gain adjustment mode 1 Manual setting
(interpolation mode))
_ _ _ 1 (Auto tuning mode 1) Automatic setting
_ _ _ 2 (Auto tuning mode 2)
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4 (2 gain adjustment mode 2)

PB08 Position loop gain 37 PB08 Position loop gain 37.0

This parameter cannot be used in the speed control Set a gain of the position loop.
mode. Set this parameter to increase the position response to
Used to set the gain of the position loop. level load disturbance.
Set this parameter to increase the position response to Increasing the setting value will also increase the
level load disturbance. Higher setting increases the response level to the load disturbance but will be liable to
response level but is liable to generate vibration and/or generate vibration and noise.
noise. The setting of the parameter will be the automatic setting
When auto tuning mode 1, 2 and interpolation mode is or manual setting depending on the [Pr. PA08] setting.
selected, the result of auto tuning is automatically used. Refer to the following table for details.
When [Pr. PA08] is set to " _ _ _ 3", this parameter can
Pr. PA08 This parameter
be set manually.
_ _ _ 0 (2 gain adjustment mode 1 Automatic setting
(interpolation mode))
_ _ _ 1 (Auto tuning mode 1)
_ _ _ 2 (Auto tuning mode 2)
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4 (2 gain adjustment mode 2) Automatic setting

PB09 Speed loop gain 823 PB09 Speed loop gain 823
Set this parameter when vibration occurs on machines of Set a gain of the speed loop.
low rigidity or large backlash. Set this parameter when vibration occurs on machines of
Higher setting increases the response level but is liable low rigidity or large backlash. Increasing the setting value
to generate vibration and/or noise. will also increase the response level but will be liable to
When auto tuning mode 1, 2 and interpolation mode is generate vibration and noise.
selected, the result of auto tuning is automatically used. The setting of the parameter will be the automatic setting
When [Pr. PA08] is set to " _ _ _ 3", this parameter can or manual setting depending on the [Pr. PA08] setting.
be set manually. Refer to the table of [Pr. PB08] for details.
PB10 Speed integral compensation 33.7 PB10 Speed integral compensation 33.7
Used to set the integral time constant of the speed loop. Set an integral time constant of the speed loop.
Lower setting increases the response level but is liable to Decreasing the setting value will increase the response
generate vibration and/or noise. level but will be liable to generate vibration and noise.
When auto tuning mode 1, 2 and interpolation mode is The setting of the parameter will be the automatic setting
selected, the result of auto tuning is automatically used. or manual setting depending on the [Pr. PA08] setting.
When [Pr. PA08] is set to " _ _ _ 3", this parameter can Refer to the table of [Pr. PB08] for details.
be set manually.
PB11 Speed differential compensation 980 PB11 Speed differential compensation 980
Used to set the differential compensation. Set a differential compensation.
When [Pr. PB24] is set to "_ _ 3_" , this parameter is To enable the parameter, select "Continuous PID control
made valid. When [Pr. PB24] is set to "_ _ 0_", this enabled (_ _ 3 _)" of "PI-PID switching control selection"
parameter is made valid by instructions of controller. in [Pr. PB24].

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Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PB12 This parameter is not used. Do not change the value. PB12 Overshoot amount compensation 0
Set a dynamic friction torque to rated torque in
percentage unit at servo motor rated speed.
When the response level is low or when the torque is
limited, the efficiency of the parameter may be lower.
PB13 Machine resonance suppression filter 1 4500 PB13 Machine resonance suppression filter 1 4500
Set the notch frequency of the machine resonance Set the notch frequency of the machine resonance
suppression filter 1. suppression filter 1.
When the [Pr. PB01] setting is "_ _ _ 0", the setting of When "Filter tuning mode selection" is set to "Automatic
this parameter is ignored. setting (_ _ _ 1)" in [Pr. PB01], this parameter will be
If a value exceeding "3000" is set for this parameter, it is adjusted automatically by adaptive tuning.
automatically rewritten as "3000". When "Filter tuning mode selection" is set to "Manual
setting (_ _ _ 2)" in [Pr. PB01], the setting value will be
enabled.
PB14 Notch shape selection 1 0000h PB14 Notch shape selection 1
Select the shape of the machine resonance suppression Set the shape of the machine resonance suppression
filter 1. filter 1.
When "Filter tuning mode selection" is set to "Automatic
0 _ x 0: setting (_ _ _ 1)" in [Pr. PB01], this parameter will be
Notch depth selection adjusted automatically by adaptive tuning.
0: -40 dB To enable the setting value, select the manual setting.
1: -14 dB _ _ _ x: 0h
2: -8 dB For manufacturer setting
3: -4 dB
0 x _ 0: __x_: 0h
Notch width Notch depth selection
0: α = 2 0: -40 dB
1: α = 3 1: -14 dB
2: α = 4 2: -8 dB
3: α = 5 3: -4 dB
_x__: 0h
When the [Pr. PB01] setting is "_ _ _ 0" , the setting of Notch width selection
this parameter is ignored. 0: α = 2
1: α = 3
2: α = 4
3: α = 5
x___: 0h
For manufacturer setting
PB15 Machine resonance suppression filter 2 4500 PB15 Machine resonance suppression filter 2 4500
Set the notch frequency of the machine resonance Set the notch frequency of the machine resonance
suppression filter 2. suppression filter 2.
Set [Pr. PB16] (notch shape selection 2) to "_ _ _ 1" to To enable the setting value, select "Enabled (_ _ _ 1)" of
make this parameter valid. "Machine resonance suppression filter 2 selection" in [Pr.
If a value exceeding "3000" is set for this parameter, it is PB16].
automatically rewritten as "3000".
PB16 Notch shape selection 2 0000h PB16 Notch shape selection 2
Select the shape of the machine resonance suppression Set the shape of the machine resonance suppression
filter 2. filter 2.
_ _ _ x: 0h
0 _ _ x: Machine resonance suppression filter 2 selection
Machine resonance suppression filter 2 selection 0: Disabled
0: Invalid 1: Enabled
1: Valid
0_x_: __x_: 0h
Notch depth selection Notch depth selection
0: -40 dB 0: -40 dB
1: -14 dB 1: -14 dB
2: -8 dB 2: -8 dB
3: -4 dB 3: -4 dB
0x__: _x__: 0h
Notch width Notch width selection
0: α = 2 0: α = 2
1: α = 3 1: α = 3
2: α = 4 2: α = 4
3: α = 5 3: α = 5
x___: 0h
For manufacturer setting

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Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PB17 Automatic setting parameter PB17 Shaft resonance suppression filter
The value of this parameter is set according to a set Set a shaft resonance suppression filter.
value of [Pr. PB06] (Load to motor inertia moment ratio). When you select "Automatic setting (_ _ _ 0)" of "Shaft
resonance suppression filter selection" in [Pr. PB23], the
value will be calculated automatically from the servo
motor you use and load to motor inertia ratio. When
"Manual setting (_ _ _ 1)" is selected, the setting written
to the parameter is used.
When "Shaft resonance suppression filter selection" is
"Disabled (_ _ _ 2)" in [Pr. PB23], the setting value of
this parameter will be disabled.
When you select "Enabled (_ _ _ 1)" of "Machine
resonance suppression filter 4 selection" in [Pr. PB49],
the shaft resonance suppression filter is not available.
_ _ x x: 00h
Shaft resonance suppression filter setting frequency
selection.This is used for setting the shaft resonance
suppression filter.Refer to table 4.3 for settings.
Set the value closest to the frequency you need.
_x__: 0h
Notch depth selection
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
x___: 0h
For manufacturer setting
Table 4.3 Shaft resonance suppression filter setting
frequency selection
Setting Setting
Frequency [Hz] Frequency [Hz]
value value
__00 Disabled __10 562
__01 Disabled __11 529
__02 4500 __12 500
__03 3000 __13 473
__04 2250 __14 450
__05 1800 __15 428
__06 1500 __16 409
__07 1285 __17 391
__08 1125 __18 375
__09 1000 __19 360
__0A 900 __1A 346
__0B 818 __1B 333
__0C 750 __1C 321
__0D 692 __1D 310
__0E 642 __1E 300
__0F 600 __1F 290

PB18 Low-pass filter setting 3141 PB18 Low-pass filter setting 3141
Set the low-pass filter. Set the low-pass filter.
Setting [Pr. PB023] (low-pass filter selection) to "_ _ 0 _" The following shows a relation of a required parameter to
automatically changes this parameter. this parameter.
When [Pr. PB023] is set to "_ _ 1 _" , this parameter can [Pr. PB23] [Pr. PB18]
be set manually.
_ _ 0 _ (Initial value) Automatic setting
__1_ Setting value enabled
__2_ Setting value disabled

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Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PB19 Vibration suppression control vibration frequency setting 100.0 PB19 Vibration suppression control 1 - Vibration frequency 100.0
This parameter cannot be used in the speed control Set the vibration frequency for vibration suppression
mode. control 1 to suppress low-frequency machine vibration.
Set the vibration frequency for vibration suppression When "Vibration suppression control 1 tuning mode
control to suppress low-frequency machine vibration, selection" is set to "Automatic setting (_ _ _ 1)" in [Pr.
such as enclosure vibration. PB02], this parameter will be set automatically. When
When [Pr. PB02] is set to "_ _ _ 2", this parameter can be "Manual setting (_ _ _ 2)" is selected, the setting written
set manually. to the parameter is used.
The setting range of this parameter varies, depending on
the value in [Pr. PB07]. If a value out of the range is set,
the vibration suppression control will be disabled.
PB20 Vibration suppression control resonance frequency 100.0 PB20 Vibration suppression control 1 - Resonance frequency 100.0
setting Set the resonance frequency for vibration suppression
This parameter cannot be used in the speed control control 1 to suppress low-frequency machine vibration.
mode. When "Vibration suppression control 1 tuning mode
Set the resonance frequency for vibration suppression selection" is set to "Automatic setting (_ _ _ 1)" in [Pr.
control to suppress low-frequency machine vibration, PB02], this parameter will be set automatically. When
such as enclosure vibration. "Manual setting (_ _ _ 2)" is selected, the setting written
When [Pr. PB02] is set to "_ _ _ 2", this parameter can be to the parameter is used.
set manually. The setting range of this parameter varies, depending on
the value in [Pr. PB07]. If a value out of the range is set,
the vibration suppression control will be disabled.
PB21 This parameter is not used. Do not change the value. 0.00 PB21 Vibration suppression control 1 - Vibration frequency 0.00
damping
Set a damping of the vibration frequency for vibration
suppression control 1 to suppress low-frequency
machine vibration.
When "Vibration suppression control 1 tuning mode
selection" is set to "Automatic setting (_ _ _ 1)" in [Pr.
PB02], this parameter will be set automatically. When
"Manual setting (_ _ _ 2)" is selected, the setting written
to the parameter is used.
PB22 This parameter is not used. Do not change the value. 0.00 PB22 Vibration suppression control 1 - Resonance frequency 0.00
damping
Set a damping of the resonance frequency for vibration
suppression control 1 to suppress low-frequency
machine vibration.
When "Vibration suppression control 1 tuning mode
selection" is set to "Automatic setting (_ _ _ 1)" in [Pr.
PB02], this parameter will be set automatically. When
"Manual setting (_ _ _ 2)" is selected, the setting written
to the parameter is used.
PB23 Low-pass filter selection 0000h PB23 Low-pass filter selection
Select the low-pass filter. Select the shaft resonance suppression filter and low-
pass filter.
0 0 x 0: _ _ _ x: 0h
Low-pass filter selection Shaft resonance suppression filter selection
0: Automatic setting 0: Automatic setting
1: Manual setting ([Pr. PB18] setting) 1: Manual setting
2: Disabled
When automatic setting has been selected, select the When you select "Enabled (_ _ _ 1)" of "Machine
filter that has the band width close to the one calculated resonance suppression filter 4 selection" in [Pr. PB49],
VG2・10 the shaft resonance suppression filter is not available.
with [rad/s]
1 + GD2
__x_: 0h
Low-pass filter selection
0: Automatic setting
1: Manual setting
2: Disabled
_x__: 0h
For manufacturer setting
x___: 0h
For manufacturer setting

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Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PB24 Slight vibration suppression control selection 0000h PB24 Slight vibration suppression control
Select the slight vibration suppression control and PI-PID Select the slight vibration suppression control and PI-PID
change. switching control.
When [Pr. PA08] (Auto tuning mode) is set to "_ _ _ 3", _ _ _ x: 0h
the slight vibration suppression control is enabled. (Slight Slight vibration suppression control selection
vibration suppression control cannot be used in the 0: Disabled
speed control mode.)
1: Enabled
0 0 _ x:
To enable the slight vibration suppression control, select
Slight vibration suppression control selection "Manual mode (_ _ _ 3)" of "Gain adjustment mode
0: Invalid selection" in [Pr. PA08]. Slight vibration suppression
1: Valid control cannot be used in the speed control mode.
00x_: __x_: 0h
PI-PID control switch over selection PI-PID switching control selection
0: PI control is valid. (Switching to PID control is possible 0: PI control enabled
with instructions of controller.) (Switching to PID control is possible with commands
3: PID control is always valid. of servo system controller.)
3: Continuous PID control enabled
If the servo motor at a stop is rotated even for a pulse
due to any external factor, it generates torque to
compensate for a position shift. When the servo motor
shaft is to be locked mechanically after positioning
completion (stop), enabling PID control and completing
positioning simultaneously will suppress the unnecessary
torque generated to compensate for a position shift.
_x__: 0h
For manufacturer setting
x___: 0h
For manufacturer setting
PB25 This parameter is not used. Do not change the value. 0000h PB25 Function selection B-1
Select enabled/disabled of model adaptive control.
This parameter is used by servo amplifier with software
version B4 or later.
_ _ _ x: 0h
Model adaptive control selection
0: Enabled (model adaptive control)
2: Disabled (PID control)
__x_: 0h
For manufacturer setting
_x__: 0h
For manufacturer setting
x___: 0h
For manufacturer setting

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Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PB26 Gain changing selection 0000h PB26 Gain switching function
Select the gain changing condition. Select the gain switching condition.
Set conditions to enable the gain switching values set in
[Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60].
0 0 _ x: _ _ _ x: 0h
Gain changing selection Gain switching selection
Under any of the following conditions, the gains change 0: Disabled
on the basis of the [Pr. PB29 to PB34] settings. 1: Control command from controller is enabled
0: Invalid 2: Command frequency
1: Control instructions from a controller. 3: Droop pulses
2: Command frequency ([Pr. PB27] setting) 4: Servo motor speed/linear servo motor speed
3: Droop pulses value ([Pr. PB27] setting) __x_: 0h
4: Servo motor speed ([Pr. PB27] setting) Gain switching condition selection
00x_: 0: Gain after switching is enabled with gain switching
Gain changing condition condition or more
0: Valid when the control instruction from a controller is 1: Gain after switching is enabled with gain switching
ON condition or less
Valid at equal to or more than the value set in [Pr. _x__: 0h
PB27] Gain switching time constant disabling condition
1: Valid when the control instruction from a controller is selection
OFF 0: Switching time constant enabled
Valid at equal to or less than the value set in [Pr. 1: Switching time constant disabled
PB27] 2: Return time constant disabled
This digit is available with servo amplifier with software
version B4 or later.
x___: 0h
For manufacturer setting
PB27 Gain changing condition 10 PB27 Gain switching condition 10
Used to set the value of gain changing condition Set a value of gain switching (command frequency,
(command frequency, droop pulses, servo motor speed) droop pulses, and servo motor speed/linear servo motor
selected in [Pr. PB26]. The set value unit changes with speed) selected in [Pr. PB26].
the changing condition item. The set value unit differs depending on the switching
condition item.
PB28 Gain changing time constant 1 PB28 Gain switching time constant 1
Used to set the time constant at which the gains will Set the time constant until the gains switch in response
change in response to the conditions set in [Pr. PB26] to the conditions set in [Pr. PB26] and [Pr. PB27].
and [Pr. PB27].
PB29 Gain changing load to motor inertia moment ratio 7.0 PB29 Load to motor inertia ratio/load to motor mass ratio after 7.00
Used to set the load to motor inertia moment ratio when gain switching
gain changing is valid. Set a load to motor inertia ratio/load to motor mass ratio
This parameter is made valid when the auto tuning is for when gain switching is enabled.
invalid ([Pr. PA08]: _ _ _ 3). This parameter is enabled only when you select "Manual
mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].
PB30 Gain changing position loop gain 37 PB30 Position loop gain after gain switching 0.0
This parameter cannot be used in the speed control Set the position loop gain when the gain switching is
mode. enabled.
Set the position loop gain when the gain changing is When you set a value less than 1.0 rad/s, the value will
valid. be the same as [Pr. PB08].
This parameter is made valid when the auto tuning is This parameter is enabled only when you select "Manual
invalid ([Pr. PA08]: _ _ _ 3). mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].
PB31 Gain changing speed loop gain 823 PB31 Speed loop gain after gain switching 0
Set the speed loop gain when the gain changing is valid. Set the speed loop gain when the gain switching is
This parameter is made valid when the auto tuning is enabled.
invalid ([Pr. PA08]: _ _ _ 3). When you set a value less than 20 rad/s, the value will
be the same as [Pr. PB09].
This parameter is enabled only when you select "Manual
mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].

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Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PB32 Gain changing speed integral compensation 33.7 PB32 Speed integral compensation after gain switching 0.0
Set the speed integral compensation when the gain Set the speed integral compensation when the gain
changing is valid. changing is enabled.
This parameter is made valid when the auto tuning is When you set a value less than 0.1 ms, the value will be
invalid ([Pr. PA08]: _ _ _ 3). the same as [Pr. PB10].
This parameter is enabled only when you select "Manual
mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].
PB33 Gain changing vibration suppression control vibration 100.0 PB33 Vibration suppression control 1 - Vibration frequency 0.0
frequency setting after gain switching
This parameter cannot be used in the speed control Set the vibration frequency of the vibration suppression
mode. control 1 for when the gain switching is enabled.
Set the vibration frequency for vibration suppression When you set a value less than 0.1 Hz, the value will be
control when the gain changing is valid. This parameter the same as [Pr. PB19].
is made valid when the [Pr. PB02] setting is "_ _ _ 2" and This parameter is enabled only when the following
the [Pr. PB26] setting is " _ _ _ 1". conditions are fulfilled.
When using the vibration suppression control gain "Gain adjustment mode selection" in [Pr. PA08] is
changing, always execute the changing after the servo "Manual mode (_ _ _ 3)".
motor has stopped. "Vibration suppression control 1 tuning mode
selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Control
command from controller is enabled (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to
switch them after the servo motor stops.
PB34 Gain changing vibration suppression control resonance 100.0 PB34 Vibration suppression control 1 - Resonance frequency 0.0
frequency setting after gain switching
This parameter cannot be used in the speed control Set the resonance frequency for vibration suppression
mode. control 1 when the gain switching is enabled.
Set the resonance frequency for vibration suppression When you set a value less than 0.1 Hz, the value will be
control when the gain changing is valid. This parameter the same as [Pr. PB20].
is made valid when the [Pr. PB02] setting is "_ _ _ 2" and This parameter will be enabled only when the following
the [Pr. PB26] setting is "_ _ _ 1". conditions are fulfilled.
When using the vibration suppression control gain "Gain adjustment mode selection" in [Pr. PA08] is
changing, always execute the changing after the servo "Manual mode (_ _ _ 3)".
motor has stopped. "Vibration suppression control 1 tuning mode
selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Control
command from controller is enabled (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to
switch them after the servo motor stops.
PB35 This parameter is not used. Do not change the value. 0.00 PB35 Vibration suppression control 1 - Vibration frequency 0.00
damping after gain switching
Set a damping of the vibration frequency for vibration
suppression control 1 when the gain switching is
enabled.
This parameter will be enabled only when the following
conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is
"Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode
selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Control
command from controller is enabled (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to
switch them after the servo motor stops.
PB36 This parameter is not used. Do not change the value. 0.00 PB36 Vibration suppression control 1 - Resonance frequency 0.00
damping after gain switching
Set a damping of the resonance frequency for vibration
suppression control 1 when the gain switching is
enabled.
This parameter will be enabled only when the following
conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is
"Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode
selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Control
command from controller is enabled (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to
switch them after the servo motor stops.

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Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PB45 This parameter is not used. Do not change the value. 0000h PB45 Command notch filter
Set the command notch filter.
_ _ x x: 00h
Command notch filter setting frequency selection
Refer to table 4.4 for the relation of setting values to
frequency.
_x__: 0h
Notch depth selection
Refer to table 4.5 for details.
x___: 0h
For manufacturer setting
Table 4.4 Command notch filter setting frequency
selection
Setting Frequency Setting Frequency Setting Frequency
value [Hz] value [Hz] value [Hz]
__00 Disabled __20 70 __40 17.6
__01 2250 __21 66 __41 16.5
__02 1125 __22 62 __42 15.6
__03 750 __23 59 __43 14.8
__04 562 __24 56 __44 14.1
__05 450 __25 53 __45 13.4
__06 375 __26 51 __46 12.8
__07 321 __27 48 __47 12.2
__08 281 __28 46 __48 11.7
__09 250 __29 45 __49 11.3
__0A 225 __2A 43 __4A 10.8
__0B 204 __2B 41 __4B 10.4
__0C 187 __2C 40 __4C 10
__0D 173 __2D 38 __4D 9.7
__0E 160 __2E 37 __4E 9.4
__0F 150 __2F 36 __4F 9.1
__10 140 __30 35.2 __50 8.8
__11 132 __31 33.1 __51 8.3
__12 125 __32 31.3 __52 7.8
__13 118 __33 29.6 __53 7.4
__14 112 __34 28.1 __54 7.0
__15 107 __35 26.8 __55 6.7
__16 102 __36 25.6 __56 6.4
__17 97 __37 24.5 __57 6.1
__18 93 __38 23.4 __58 5.9
__19 90 __39 22.5 __59 5.6
__1A 86 __3A 21.6 __5A 5.4
__1B 83 __3B 20.8 __5B 5.2
__1C 80 __3C 20.1 __5C 5.0
__1D 77 __3D 19.4 __5D 4.9
__1E 75 __3E 18.8 __5E 4.7
__1F 72 __3F 18.2 __5F 4.5

Table 4.5 Notch depth selection

Setting value Depth [dB] Setting value Depth [dB]
_0__ -40.0 _8__ -6.0
_1__ -24.1 _9__ -5.0
_2__ -18.1 _A__ -4.1
_3__ -14.5 _B__ -3.3
_4__ -12.0 _C__ -2.5
_5__ -10.1 _D__ -1.8
_6__ -8.5 _E__ -1.2
_7__ -7.2 _F__ -0.6

PC01 Error excessive alarm level 0 PC01 Error excessive alarm level 0
This parameter cannot be used in the speed control Set an error excessive alarm level.
mode and the torque control mode. Set this per rev. for rotary servo motors and direct drive
Used to set the error excessive alarm level with rotation motors. Setting "0" will be 3 rev. Setting over 200 rev will
amount of servo motor. be clamped with 200 rev.
When "0" is set in this parameter, the alarm level is three
rotations. When a value other than "0" is set, the alarm Note. Setting can be changed in [Pr. PC06].
level is the rotation number of the set value. However,
the alarm level stays at 200 rotations even if a value
exceeding "200" is set.
Note. Setting can be changed in [Pr. PC06].

4 - 40
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PC02 Electromagnetic brake sequence output 0 PC02 Electromagnetic brake sequence output 0
Used to set the delay time (Tb) between electronic brake Set a delay time between MBR (Electromagnetic brake
interlock (MBR-A/MBR-B) and the base drive circuit is interlock) and the base drive circuit is shut-off.
shut-off.
PC03 Encoder output pulse selection 0010h PC03 Encoder output pulse selection
Use to select the encoder output pulse direction and Select an encoder pulse direction and encoder output
encoder output pulse setting. pulse setting.
0 0 _ x: _ _ _ x: 0h
Encoder output pulse phase changing Encoder output pulse phase selection
Changes the phases of A/B-phase encoder pulses 0: Increasing A-phase 90° in CCW or positive direction
output . 1: Increasing A-phase 90° in CW or negative direction

Setting Servo motor rotation direction Servo motor rotation direction

Setting
value CCW CW CCW or positive
value CW or negative direction
direction
A-phase A-phase
0 B-phase B-phase
A-phase A-phase
0 B-phase B-phase
A-phase A-phase
1 B-phase B-phase
A-phase A-phase
1 B-phase B-phase

0 0 x _: __x_: 0h
Encoder output pulse setting selection Encoder output pulse setting selection
0: Output pulse designation 0: Output pulse setting
1: Division ratio setting When "_ 1 0 _" is set to this parameter, [AL. 37
3: A/B-phase pulse elecrtonic gear setting (Set with the Parameter error] will occur.
electronic gear [Pr. PA15] and [Pr. PA16]) 1: Division ratio setting
3: A/B-phase pulse electronic gear setting
_x__: 0h
Selection of the encoders for encoder output pulse
Select an encoder used the encoder output pulses which
the servo amplifier outputs.
0: Servo motor encoder
1: Load-side encoder
When "_ 1 0 _" is set to this parameter, [AL. 37
Parameter error] will occur.
x___: 0h
For manufacturer setting
PC04 Function selection C-1 0000h PC04 Function selection C-1
Select the encoder cable communication system Select the encoder cable communication method
selection. selection.
x 0 0 0: _ _ _ x: 0h
Encoder cable communication system selection For manufacturer setting
0: Two-wire type _ _ x _: 0h
1: Four-wire type For manufacturer setting
Incorrect setting will result in an encoder alarm 1 (16.3).
_ x _ _: 0h
Refer to "MR-J3W-0303BN6 MR-J3W-_B Servo
For manufacturer setting
Amplifier Instruction Manual" for the communication
x _ _ _: 0h
method of the encoder cable.
Encoder cable communication method selection
0: Two-wire type
1: Four-wire type
Incorrect setting will result in [AL. 16 Encoder initial
communication error 1]. or [AL. 20 Encoder initial
communication error 1] will occur. Setting "1" will trigger
[AL. 37] while "Fully closed loop control mode (_ _ 1 _)"
is selected in [Pr. PA01].
For MR-J4W2-0303B6 servo amplifiers, this digit cannot
be used other than the initial value.

4 - 41
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PC05 Function selection C-2 0000h PC05 Function selection C-2
Motor-less operation select. Set the motor-less operation, servo motor main circuit
0 0 0 x: power supply, and [AL. 9B Error excessive warning].
Motor-less operation select. _ _ _ x: 0h
0: Valid Motor-less operation selection
1: Invalid 0: Disabled
1: Enabled
_ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
Main circuit power supply selection
Select a voltage to be connected to the main circuit
power supply with an MR-J4W2-0303B6 servo amplifier.
0: 48 V DC
1: 24 V DC
When using 24 V DC for the main circuit power supply,
set "1" to this digit.
The setting of this digit in the J3 compatibility mode is the
same as the MR-J3W-0303BN6 servo amplifier. Set it
with [Pr. Po04]. For details, refer to "MR-J3W-0303BN6
MR-J3W-_B Servo Amplifier Instruction Manual".
This digit is not available with MR-J4W_-_B 200 W or
more servo amplifiers.
The characteristics of the servo motor vary depending on
whether 48 V DC or 24 V DC is used. For details, refer to "
"HG-MR/HG-KR/HG-SR/HGJR/HG-RR/HG-UR/HG-AK
Servo Motor Instruction Manual (Vol. 3)".
x _ _ _: 0h
[AL. 9B Error excessive warning] selection
0: [AL. 9B Error excessive warning] is disabled.
1: [AL. 9B Error excessive warning] is enabled.
The setting of this digit is used by servo amplifier with
software version B4 or later.
PC06 Function selection C-3 0000h PC06 Function selection C-3
The parameter is not available in the speed control mode Select units for error excessive alarm level setting with
and torque control mode. [Pr. PC01] and for error excessive warning level setting
Select the error excessive alarm level setting for [Pr. with [Pr. PC38]. The parameter is not available in the
PC01]. speed control mode and torque control mode.
_ _ _ x: 0h
x 0 0 0: For manufacturer setting
Error excessive alarm level setting selection __x_: 0h
0: 1 [rev] unit For manufacturer setting
1: 0.1 [rev] unit _x__: 0h
2: 0.01 [rev] unit For manufacturer setting
3: 0.001[rev] unit
x___: 0h
Error excessive alarm/error excessive warning level unit
selection
0: Per rev or mm
1: Per 0.1 rev or 0.1 mm
2: Per 0.01 rev or 0.01 mm
3: Per 0.001 rev or 0.001 mm
PC07 Zero speed 50 PC07 Zero speed 50
Used to set the output range of the zero speed (ZSP- Set an output range of ZSP (Zero speed detection).
A/ZSP-B). ZSP (Zero speed detection) has hysteresis of 20 r/min or
Zero speed (ZSP-A/ZSP-B) detection has hysteresis width 20 mm/s.
of 20 r/min.
PC08 This parameter is not used. Do not change the value. 0 PC08 Overspeed alarm detection level 0
Set an overspeed alarm detection level.
When you set a value more than "servo motor maximum
speed × 120%", the set value will be clamped.
When you set "0", the value of "servo motor maximum
speed × 120%" will be set.

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Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PC09 Analog monitor 1 output 0000h PC09 Analog monitor 1 output 00h
Used to selection the signal provided to the analog Select a signal to output to MO1 (Analog monitor 1).
monitor 1 (MO1) output. Refer to " MR-J4W2-_B/MRJ4W3-_B/MR-J4W2-0303B6
_ 0 0 x: Servo Amplifier Instruction Manual" for detection point of
Analog monitor 1 (MO1) output selection output selection.

0: Servo motor speed ( ±8 V/max. speed) The parameter is available with MR-J4W2-0303B6 servo
amplifiers.
1: Torque (±8 V/max. torque)
_ _ x x:
2: Servo motor speed (+8 V/max. speed)
For manufacturer setting
3: Torque (+8 V /max. torque)
00: Servo motor speed (10 V ± 4 V/max. speed)
4: Current command ( 8V/max. current command)
01: Torque (10 V ± 4 V/max. torque)
5: Speed command ( 8V/max. current command)
02: Servo motor speed (10 V + 4 V/max. speed)
6: Droop pulses ( 10V/100 pulses)
03: Torque (10 V + 4 V/max. torque)
7: Droop pulses ( 10V/1000 pulses)
04: Current command (10 V ± 4 V/max. current command)
8: Droop pulses ( 10V/10000 pulses)
05: Speed command (10 V ± 4 V/max. speed)
9: Droop pulses ( 10V/100000 pulses)
06: Servo motor-side droop pulses
D: Bus voltage ( 8V/400V)
(10 V ± 5 V/100 pulses) (Note)
E: Speed command 2 (8V/max. current command)
07: Servo motor-side droop pulses
(10 V ± 5 V/1000 pulses) (Note)
In the case of MR-J3W-0303BN6 is as follows.
08: Servo motor-side droop pulses
0: Servo motor speed (10 V ± 4 V/max. speed)
(10 V ± 5 V/10000 pulses) (Note)
1: Torque (10 V ± 4 V/max. torque)
09: Servo motor-side droop pulses (10 V ± 5 V/100000
2: Servo motor speed (10 V + 4 V/max. speed) pulses) (Note)
3: Torque (10 V + 4 V/max. torque) 0A: Feedback position (10 V ± 5 V/1 Mpulse) (Note)
4: Current command (10 V ± 4 V/max. current command) 0B: Feedback position (10 V ± 5 V/10 Mpulses) (Note)
5: Speed command (10 V ± 4 V/max. speed) 0C: Feedback position (10 V ± 5 V/100 Mpulses) (Note)
6: Droop pulses (10 V ± 5 V/100 pulses) 0D: Bus voltage (10 V + 5 V/100 V)
7: Droop pulses (10 V ± 5 V/1000 pulses) 0E: Speed command 2 (10 V ± 4 V/max. speed)
8: Droop pulses (10 V ± 5 V/10000 pulses)
9: Droop pulses (10 V ± 5 V/100000 pulses) Note. Encoder pulse unit
D: Bus voltage (10 V + 5 V/400 V)
E: Speed command 2 (10 V ± 4 V/max. speed)
x 0 0 _: _x__: 0h
Analog monitor 1 (MO1) output axis selection For manufacturer setting
0: A-axis x___: 0h
1: B-axis Analog monitor 1 output axis selection
Select an output axis of Analog monitor 1.
0: A-axis
1: B-axis
PC10 Analog monitor 2 output 0001h PC10 Analog monitor 2 output 01h
Used to selection the signal provided to the analog monitor Select a signal to output to MO2 (Analog monitor 2).
2 (MO2) output. Refer to "MR-J4W2-_B/MRJ4W3-_B/MR-J4W2-0303B6
Servo Amplifier Instruction Manual" for detection point of
_ 0 0 x: output selection.
Analog monitor 2 (MO2) output selection The parameter is available with MR-J4W2-0303B6 servo
The settings are the same as those of [Pr. PC09]. amplifiers.
_ _ x x:
Analog monitor 2 output selection
Refer to [Pr. PC09] for settings.
X 0 0 _: _ x _ _: 0h
Analog monitor 2 (MO2) output axis selection For manufacturer setting
The settings are the same as those of [Pr. PC09]. x _ _ _: 0h
Analog monitor 2 output axis selection
The settings are the same as those of [Pr. PC09].
PC11 Analog monitor 1 offset 0 PC11 Analog monitor 1 offset 0
Used to set the offset voltage of the analog monitor 1 Set the offset voltage of MO1 (Analog monitor 1).
(MO1) output. The parameter is available with MR-J4W2-0303B6 servo
amplifiers.

4 - 43
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PC12 Analog monitor 2 offset 0 PC12 Analog monitor 2 offset 0
Used to set the offset voltage of the analog monitor 2 Set the offset voltage of MO2 (Analog monitor 2).
(MO2) output. The parameter is available with MR-J4W2-0303B6 servo
amplifiers.
PC13 This parameter is not used. Do not change this value by 0 PC13 Analog monitor - Feedback position output standard data 0
any means. - Low
Set a monitor output standard position (lower 4 digits) for
the feedback position for when selecting "Feedback
position" for MO1 (Analog monitor 1) and MO2
(Analogmonitor 2).
Monitor output standard position = [Pr. PC14] setting ×
10000 + [Pr. PC13] setting
The parameter is available with MR-J4W2-0303B6 servo
amplifiers.
PC14 This parameter is not used. Do not change this value by 0 PC14 Analog monitor - Feedback position output standard data 0
any means. - High
Set a monitor output standard position (higher 4 digits)
for the feedback position for when selecting "Feedback
position" for MO1 (Analog monitor 1) and MO2
(Analogmonitor 2).
Monitor output standard position = [Pr. PC14] setting ×
10000 + [Pr. PC13] setting
The parameter is available with MR-J4W2-0303B6 servo
amplifiers.
PC15 Station number selection 0000h PC15 For manufacturer setting 0
Used to select the axis to communicate with (SETUP221E).
0: A-axis
1: B-axis
PC17 Function Selection C-4 0000h PC17 Function selection C-4
This parameter cannot be used in the speed control Select a home position setting condition.
mode and the torque control mode. _ _ _ x: 0h
This is used to select a home position setting condition. Selection of home position setting condition
0: Need to pass servo motor Z-phase after power on
0 0 0 x: 1: Not need to pass servo motor Z-phase after power on
Selection of home position setting condition __x_: 0h
0: Need to pass motor Z-phase after the power supply is
When a rotary servo motor is used, the setting does not
switched on. need to be changed.
1: Not need to pass motor Z-phase after the power
_x__: 0h
supply is switched on.
For manufacturer setting
x___: 0h
For manufacturer setting
PC18 This parameter is not used. Do not change the value. 0000h PC18 Function selection C-5
Select an occurring condition of [AL. E9 Main circuit off
warning].
_ _ _ x: 0h
For manufacturer setting
__x_: 0h
For manufacturer setting
_x__: 0h
For manufacturer setting
x___: 0h
[AL. E9 Main circuit off warning] selection
0: Detection with ready-on and servo-on command
1: Detection with servo-on command

4 - 44
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PC20 This parameter is not used. Do not change the value. 0000h PC20 Function selection C-7
Select the detection method of [AL. 10 Undervoltage].
_ _ _ x: 0h
For manufacturer setting
__x_: 0h
For manufacturer setting
_x__: 0h
Undervoltage alarm selection
Select the alarm/alarm and warning for when the bus
voltage drops to the undervoltage alarm level.
0: [AL. 10] regardless of servo motor speed
1: [AL. E9] at servo motor speed 50 r/min (50 mm/s) or
less, [AL. 10] at over 50 r/min (50 mm/s)
x___: 0h
For manufacturer setting
PC21 Alarm history clear 0000h PC21 Alarm history clear
Used to clear the alarm history. Used to clear the alarm history.
_ _ _ x: 0h
0 0 0 x: Alarm history clear selection
Alarm history clear 0: Disabled
0: Invalid 1: Enabled
1: Valid When "Enabled" is set, the alarm history will be cleared
When alarm history clear is made valid, the alarm at the next power-on. Once the alarm history is cleared,
history is cleared at next power-on. the setting becomes disabled automatically.
After the alarm history is cleared, the setting is __x_: 0h
automatically made invalid (reset to 0). For manufacturer setting
_x__: 0h
For manufacturer setting
x___: 0h
For manufacturer setting
PC24 This parameter is not used. Do not change the value. 0000h PC24 Forced stop deceleration time constant 100
Set a deceleration time constant when you use the
forced stop deceleration function.
Set the time per ms from the rated speed to 0 r/min or 0
mm/s. Setting "0" will be 100 ms.

Dynamic brake
Rated speed Forced stop deceleration deceleration

Servo motor speed

(Linear servo motor
speed)

0 r/min
(0 mm/s) [Pr. PC24]

[Precautions]
If the servo motor torque is saturated at the maximum
torque during forced stop deceleration because the set
time is too short, the time to stop will be longer than
the set time constant.
[AL. 50 Overload alarm 1] or [AL. 51 Overload alarm
2] may occur during forced stop deceleration,
depending on the set value.
After an alarm that leads to a forced stop deceleration,
if an alarm that does not lead to a forced stop
deceleration occurs or if the control circuit power
supply is cut, dynamic braking will start regardless of
the deceleration time constant setting.
Set a longer time than deceleration time of the
controller. If a shorter time is set, [AL. 52 Error
excessive] may occur.

4 - 45
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PC27 This parameter is not used. Do not change the value. 0000h PC27 Function selection C-9
This parameter is not available with MR-J4W2-0303B6
servo amplifiers.
_ _ _ x: 0h
Selection of encoder pulse count polarity
0: Encoder pulse increasing direction in the servo motor
CCW or positive direction
1: Encoder pulse decreasing direction in the servo motor
CCW or positive direction
_ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PC29 This parameter is not used. Do not change the value. 0000h PC29 Function selection C-B
Select the POL reflection at torque control.
_ _ _ x: 0h
For manufacturer setting
__x_: 0h
For manufacturer setting
_x__: 0h
For manufacturer setting
x___: 0h
POL reflection selection at torque control
0: Enabled
1: Disabled
PC31 This parameter is not used. Do not change the value. 0000h PC31 Vertical axis freefall prevention compensation amount 0
Set the compensation amount of the vertical axis freefall
prevention function.
Set it per servo motor rotation amount.
When a positive value is set, compensation is performed
to the address increasing direction. When a negative
value is set, compensation is performed to the address
decreasing direction.
The vertical axis freefall prevention function is performed
when all of the following conditions are met.
1) Position control mode
2) The value of the parameter is other than "0".
3) The forced stop deceleration function is enabled.
4) Alarm occurs or EM2 turns off when the (linear) servo
motor speed is zero speed or less.
5) MBR (Electromagnetic brake interlock) was enabled in
[Pr. PD07] to [Pr. PD09], and the base circuit shut-off
delay time was set in [Pr. PC02].

4 - 46
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PD02 This parameter is not used. Do not change the value. 0000h PD02 Input signal automatic on selection 2
_ _ _ x _ _ _ x (BIN): 0h
(HEX) FLS (Upper stroke limit) selection
0: Disabled
1: Enabled
_ _ x _ (BIN) :
RLS (Lower stroke limit) selection
0: Disabled
1: Enabled
_ x _ _ (BIN) :
For manufacturer setting
x _ _ _ (BIN) :
For manufacturer setting
_ _ x _ For manufacturer setting 0h
(HEX)
_ x _ _ For manufacturer setting 0h
(HEX)
x _ _ _ For manufacturer setting 0h
(HEX)
Convert the setting value into hexadecimal as follows.

0 0 0
Initial value
Signal name
BIN HEX
FLS (Upper stroke limit) selection 0
RLS (Lower stroke limit) selection 0
0
0
0
BIN 0: Disabled (Use for an external input signal.)
BIN 1: Automatic on

4 - 47
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PD07 Output signal device selection 1 (CN3-12 for A-axis and 0005h PD07 Output device selection 1
CN3-25 for B-axis) You can assign any output device to pins CN3-12 and
Any input signal can be assigned to the CN3-12 pin for CN3-25. In the initial setting, the following devices are
assigned to the pins.
A-axis and CN3-25 pin for B-axis. In the factory setting,
MBR-A/MBR-B is assigned. CN3-12 pin: MBR-A (Electromagnetic brake interlock for
A-axis)
0 0 x x: CN3-25 pin: MBR-B (Electromagnetic brake interlock for
B-axis)
Select the output device of the CN3-12 pin for Aaxis
and CN3-25 pin for B-axis. _ _ x x: 05h
Device selection
The devices that can be assigned in each control mode Refer to table 4.6 for settings.
are those that have the symbols indicated in the following _ x _ _: 0h
table. For manufacturer setting
x _ _ _: 0h
Setting Device
For manufacturer setting
00 Always OFF
01 For manufacturer setting (Note 3) Table4.6 Selectable output devices
02 RD-A/RD-B Setting
Output device
value
03 ALM-A/ALM-B
__00 Always off
04 INP-A/INP-B (Note 1, 4)
05 MBR-A/MBR-B __02 RD (Ready)
06 For manufacturer setting (Note 3) __03 ALM (Malfunction)
07 TLC-A/TLC-B (Note 4) INP (In-position)
__04
08 WNG-A/WNG-B
__05 MBR (Electromagnetic brake interlock)
09 BWNG-A/BWNG-B
0A SA-A/SA-B (Note 2) __07 TLC (Limiting torque)
0B VLC-A/VLC-B (Note 5) __08 WNG (Warning)
0C ZSP-A/ZSP-B __09 BWNG (Battery warning)
0D For manufacturer setting (Note 3)
__0A SA (Speed reached)
0E For manufacturer setting (Note 3)
__0C ZSP (Zero speed detection)
0F CDPS-A/CDPS-B
10 For manufacturer setting (Note 3) __0F CDPS (Variable gain selection)
11 ABSV-A/ABSV-B (Note 1) __11 ABSV (Absolute position undetermined)
12 to 1F For manufacturer setting (Note 3)
20 to 3F For manufacturer setting (Note 3)
Note 1. Always off in the speed loop mode.
2. Always off in the position control mode and the
torque loop mode.
3. For manufacturer setting. Never change this
setting.
4. Always off in the torque loop mode.
5. Always off in the position control mode and the
torque loop mode.
PD08 This parameter is not used. Do not change the value. 0004h PD08 Output device selection 2
You can assign any output device to the CN3-24 pin for
each axis. CINP (AND in-position) is assigned to the all
axes in the initial setting.
The devices that can be assigned and the setting method
are the same as in [Pr. PD07].
_ _ x x: 04h
Device selection
Refer to table 4.6 in [Pr. PD07] for settings.
_ x _ _: 0h
All-axis output condition selection
0: AND output
When all axes of A and B meet a condition, the device
will be enabled (on or off).
1: OR output
When all axes of A or B meet a condition, the device
will be enabled (on or off).
The digit will be enabled when "All axes (0 _ _ _)" is
selected.
x _ _ _: 0h
Output axis selection
0: All axes
1: A-axis
2: B-axis

4 - 48
Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PD08 This parameter is not used. Do not change the value. 0004h PD08 Output device selection 2
You can assign any output device to the CN3-24 pin for
each axis. CINP (AND in-position) is assigned to the all
axes in the initial setting.
The devices that can be assigned and the setting method
are the same as in [Pr. PD07].
_ _ x x: 04h
Device selection
Refer to table 4.6 in [Pr. PD07] for settings.
_ x _ _: 0h
All-axis output condition selection
0: AND output
When all axes of A and B meet a condition, the device
will be enabled (on or off).
1: OR output
When all axes of A or B meet a condition, the device
will be enabled (on or off).
The digit will be enabled when "All axes (0 _ _ _)" is
selected.
x _ _ _: 0h
Output axis selection
0: All axes
1: A-axis
2: B-axis

PD09 Output signal device selection 3 (CN3-11 for A-axis and 0003h PD09 Output device selection 3
CN3-24 for B-axis) You can assign any output device to the CN3-11 pin for
Any input signal can be assigned to the CN3-11 pin for each axis. CALM (AND malfunction) is assigned to the all
A-axis and CN3-24 pin for B-axis. In the factory setting, axes in the initial setting.
ALM-A/ALM-B is assigned. The devices that can be assigned and the setting method
The devices that can be assigned and the setting method are the same as in [Pr. PD07].
are the same as in [Pr. PD07]. _ _ x x: 03h
Device selection
0 0 x x: Refer to table 4.6 in [Pr. PD07] for settings.
Select the output device of the CN3-11 pin for Aaxis _ x _ _: 0h
and CN3-24 pin for B-axis. All-axis output condition selection
0: AND output
When all axes of A and B meet a condition, the device
will be enabled (on or off).
1: OR output
When each axis of A or B meet a condition, the device
will be enabled (on or off).
The digit will be enabled when "All axes (0 _ _ _)" is
selected.
x _ _ _: 0h
Output axis selection
0: All axes
1: A-axis
2: B-axis

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Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MR-J3W-_B MR-J4W2-_B
Initial Initial
No. Name and function No. Name and function
value value
PD11 This parameter is not used. Do not change the value. 0004h PD11 Input filter setting
Select the input filter.
_ _ _ x: 4h
Input signal filter selection
Refer to the servo system controller instruction manual
for the setting.
If external input signal causes chattering due to noise,
etc., input filter is used to suppress it.
0: None
1: 0.888 [ms]
2: 1.777 [ms]
3: 2.666 [ms]
4: 3.555 [ms]
__x_: 0h
For manufacturer setting
_x__: 0h
For manufacturer setting
x___: 0h
For manufacturer setting
PD12 This parameter is not used. Do not change the value. 0000h PD12 Function selection D-1
___x: 0h
For manufacturer setting
__x_: 0h
For manufacturer setting
_x__: 0h
For manufacturer setting
x___: 0h
Servo motor or linear servo motor thermistor
enabled/disabled selection (Supported by servo
amplifiers with software version A5 or later.)
0: Enabled
1: Disabled
For servo motors or linear servo motor without
thermistor, the setting will be disabled.
PD14 Function selection D-3 0000h PD14 Function selection D-3
Set the ALM-A/ALM-B output signal at warning ___x: 0h
occurrence. For manufacturer setting
__x_: 0h
0 0 x 0: Selection of output device at warning occurrence
Selection of output device at warning occurrence Select WNG (Warning) and ALM (Malfunction) output
Select the warning (WNG-A/WNG-B) and malfunction status at warning occurrence.
(ALM-A/ALM-B) output status at warning occurrence.
Servo amplifier output
Output of Servo amplifier
Setting
Device status (Note 1)
Setting Device status (Note) value
1 1
WNG-A/WNG-B WNG
0 0
0 1 0 1
ALM-A/ALM-B ALM
0 0
Warning occurrence Warning occurrence

1 1
WNG-A/WNG-B WNG
0 0
1 1 1 1
ALM-A/ALM-B ALM
0 0
Warning occurrence Warning occurrence (Note 2)
Note. 0: OFF Note1. 0: OFF
1: ON 1: ON
2. Although ALM is turned off upon occurrence of
the warning, the forced stop deceleration is
performed.
_x__: 0h
For manufacturer setting
x___: 0h
For manufacturer setting

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Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

4. APPLICATION OF FUNCTIONS

POINT
Refer to "Part 8 Common Reference Material" for the application of functions.
J3 compatibility mode
MR-J4W2-_B servo amplifiers have two operation mode: "J4 mode" is for
using all functions with full performance and "J3 compatibility mode" for using
the conventional MR-J3-_B_ servo amplifiers.

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Part 4: Replacement of MR-J3W-_B with MR-J4W2-_B

MEMO

4 - 52
Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

Part 5
Review on Replacement of
MR-J3-DU_ with MR-J4-DU_

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

1. SUMMARY

The following explains the changes when the large capacity of 200 V (30 kW to 37 kW)/400 V (30 kW to 55
kW) of MELSERVO-J3 is replaced with MR-J4-DU_.

2. FUNCTIONS AND CONFIGURATION

2.1 Differences between MR-J3-DU_ and MR-J4-DU_

Compatibility
Item MR-J3-DU_ MR-J4-DU_ Reference material/items
(Note)
Converter unit 200 V class MR-J3-CR55K 200 V class MR-CR55K
400 V class MR-J3-CR55K4 400 V class MR-CR55K4
Drive Unit 200 V class MR-J3-DU30K_ 200 V class MR-J4-DU30K_
2.2 Combinations of the
MR-J3-DU37K_ MR-J4-DU37K_
converter units, drive unit
400 V class MR-J3-DU30K_4 400 V class MR-J4-DU30K_4 and servo motors.
MR-J3-DU37K_4 MR-J4-DU37K_4
MR-J3-DU45K_4 MR-J4-DU45K_4
MR-J3-DU55K_4 MR-J4-DU55K_4
Installation A heat sink is attached outside A heat sink is attached outside 3 Installation
the cabinet. the cabinet.
Protection coordination The termination connector is The termination connector is not
-
connector required (MR-J3-TM). required.
Power consumption Not available Available
display (Use converter unit [Pr. PA08] -
and [Pr. PA15] to set this value.)
SEMI-F47 function Not available Available -
selection (Use converter unit [Pr. PA17]
and [Pr. PA18], and drive unit
[Pr. PA20] and [Pr. PF25] to set
this value.)
Regenerative resistor Some regenerative options cannot be used for MR-J4. - 7.5 Regenerative option
Dynamic brakes Some dynamic brakes cannot be used for MR-J4. - 7.6 External dynamic
brake

Note. : Compatible

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

2.2 Combination of converter unit, drive unit, and servo motor

POINT
MR-J3-_A_/MR-J3-_B_ cannot drive an HG motor. When the servo motor is
replaced with an HG motor, simultaneous replacement withMR-J4-_A_/MR-J4-
_B_ and an HG motor is necessary.
When an "HA-LP motor " shown below is used, simultaneous replacement with
"MR-J4-_A_/MR-J4-_B_ + HG motor is recommended. When an HG motor is
adopted, the capacity of the servo amplifier needs to be changed. (Consider
replacement, referring to "2.7 Comparison of Servo Motor Torque
Characteristics" described in "Part 9: Review on Replacement of Motor".)
Existing device models Replacement models for simultaneous
replacement (example)
Servo motor Servo amplifier Servo motor Servo amplifier
HG-JR25K14
HA-LP25K14 MR-J3-DU30K_4 MR-J4-22K_4
HG-JR25K14R-S_ (Note)
HG-JR22K1M(4)
HA-LP30K2(4) MR-J3-DU30K_(4) HG-JR22K1M(4)R-S_ MR-J4-22K_(4)
(Note)
HG-JR30K1M(4)
HA-LP37K2(4) MR-J3-DU37K_(4) HG-JR30K1M(4)R-S_ MR-J4-DU30K_(4)
(Note)
HG-JR37K1M4
HA-LP45K24 MR-J3-DU45K_4 HG-JR37K1M4R-S_ MR-J4-DU37K_4
(Note)
HG-JR45K1M4
HA-LP55K24 MR-J3-DU55K_4 HG-JR45K1M4R-S_ MR-J4-DU45K_4
(Note)

Note. Only flanges and shaft ends have compatibility in mounting.

Please contact your local sales office regarding the servo motor model and its delivery, since it
is developed upon receipt of order.

(1) MR-J3 series

(a) 200 V class
Servo motor
Converter unit Servo amplifier HA-LP_
1000 r/min 1500 r/min 2000 r/min
MR-J3-DU30K_ 30K1 30K1M 30K2
MR-J3-CR55K
MR-J3-DU37K_ 37K1 37K1M 37K2

(b) 400 V class

Servo motor
Converter unit Servo amplifier HA-LP_
1000 r/min 1500 r/min 2000 r/min
25K14
MR-J3-DU30K_4 30K1M4 30K24
30K14
MR-J3-CR55K4 MR-J3-DU37K_4 37K14 37K1M4 37K24
MR-J3-DU45K_4 45K1M4 45K24
MR-J3-DU55K_4 50K1M4 55K24

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

(2) MR-J4 series

(a) 200 V class
Servo motor
Converter unit Drive unit HG-JR_
1000 r/min series 1500 r/min series
MR-J4-DU30K_ 30K1 30K1M
MR-CR55K
MR-J4-DU37K_ 37K1 37K1M

(b) 400 V class

Servo motor
Converter unit Drive unit HG-JR_
1000 r/min series 1500 r/min series
MR-J4-DU30K_4 30K14 30K1M4
MR-J4-DU37K_4 37K14 37K1M4
MR-CR55K4
MR-J4-DU45K_4 45K1M4
MR-J4-DU55K_4 55K1M4

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

2.3 Configuration including peripheral equipment

(1) MR-J3-DU_

3-phase AC R S T
power supply

No-fuse Personal
breaker (MCCB) Setup software
computer
(SETUP221E)

Converter unit
USB cable
Magnetic
contactor (MC)

Drive unit (Note 3)

Line noise
filter (FR-BLF)

L+
L-
CP
L1 2
P1 (Note 1)
3-phase AC L2 L+
power supply L3
L-
RST L11
(MR-J3CDL05M) L11
L21
L21
Magnetic contactor
operation coil
(I/O signal)
L11
L21
No-fuse
breaker (MCCB) Encoder cable
P2
(MR-J3ENSCBL_M-L/H)
Power factor improving
DC reactor P1

(Note 2)

BU BV BW E U V W

Regenerative option

R C
Servo motor
S P HA-LP series

Note 1. The L+ and L- connection conductors used to connect a converter unit to a drive unit are standard accessories. The converter
unit is attached to the drive unit actually. (Refer to Chapter 3.)
2. The power supply of the servo motor cooling fan differs depending on the capacity of a servo motor. Refer to , "HG-MR/HG-
KR/HG-SR/HG-JR/HG-RR/HG-UR/HG-AK Servo Motor Instruction Manual (Vol. 3)".
3. For MR-J3-DU30KB4 or MR-J3-DU37KB4.

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

(2) MR-J4-DU_
The diagram shows MR-J4-DU30KB4 and MR-J4-DU37KB4. The interface connection of MR-J4-DU_ is the
same as that of MR-J4-_. Refer to each servo amplifier instruction manual.
(Note 2) RS T
Power supply

Personal
Molded-case computer
circuit breaker
(MCCB) MR Configurator2

Converter unit
(Note 4) USB cable
Magnetic (Note 5)
contactor
(MC)

Drive unit
Line noise
filter
(FR-BLF)

L+
CP2 L-
L1 P1 (Note 1)
(Note 3) L2 L+
Servo motor L3
cooling fan L-
power supply L11
Protection
Magnetic L21 coordination L11
R ST
contactor (Note 6) cable
operation
coil L21
(Note 6)
(I/O signal)
L11
L21
Molded-case
circuit breaker
(MCCB) P2
Encoder cable
Power factor
improving DC P1
reactor

BU BV BW E U V W

Regenerative option

R C
Servo motor
S P
Note 1. The bus bars on L+ and L- for connecting the converter unit to the drive unit are standard accessories. In the actual
connection, the converter unit is closely mounted to the drive unit.
2. For the power supply specifications, refer to "Part 8: Common Reference Material".
3. For specifications of the cooling fan power supply, refer to "HG-MR/HG-KR/HG-SR/HG-JR/HG-RR/HG-UR/HG-AK Servo
Motor Instruction Manual (Vol. 3)".
4. An bus voltage may drop, depending on the main circuit voltage and operation pattern, causing a dynamic brake deceleration
during a forced stop deceleration. When dynamic brake deceleration is not required, delay the time to turn off the magnetic
contactor.
5. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 7.3.)
6. The control circuit power supply (L11/L21) can be connected by passing wiring. Refer to section 7.2 for the wire size and the
selection of the overcurrent protection device.

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

3. INSTALLATION

When using heat generating equipment such as the regenerative option, install them with full consideration
of heat generation so that the converter unit and drive unit is not affected.
Install the converter unit and drive unit on a perpendicular wall in the correct vertical direction.

3.1 Installation direction and clearances

The equipment must be installed in the specified direction. Otherwise, it may

cause a malfunction.
CAUTION Maintain specified clearances between the converter unit/drive unit and the inner
surfaces of a control cabinet or other equipment. Otherwise, it may cause a
malfunction.

(1) MR-J3-DU_
(a) Installation
POINT
Make sure to connect a drive unit to the right side of a converter unit as shown in
the diagram.

Cooling fan
100 mm wind direction
80 mm or more
Converter unit Drive unit or more
30 mm 30 mm
or more or more

120 mm or more Air intake

Front view Side view

(b) Mounting dimensional diagram
Approx. W5 [Unit: mm]
Approx. 9.5
300 Approx. 20 W1 Approx. W3 Dimensions
9.5 281 W5 W4 Drive unit model
W1 W2 W3 W4 W5 A
20 260 W3 W2
10
19
10
19

MR-J3-DU30K_
MR-J3-DU37K_
300 260 20 281 9.5 M6
MR-J3-DU45K_4
MR-J3-DU55K_4
MR-J3-DU30K_4
342
360
380
360
342

Converter unit Drive unit 240 120 60 222 9 M5

MR-J3-DU37K_4
punched hole punched hole
Approx. 19
Approx. 10
Approx. 10
Approx. 19

4-M6 screw 4-M6 screw

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

(2) MR-J4-DU_
(a) Installation

POINT
Make sure to connect a drive unit to the right side of a converter unit as shown in
the diagram.

100 mm
or more
converter unit Drive unit 80 mm
30 mm or more Top
30 mm or more
or more

Bottom
120 mm
or more

Front Side

(b) Mounting hole process drawing

Screw
300 W1 Converter unit Variable dimensions [mm]
size
9.5 281 (9.5) W5 W4 (W5) Drive unit
W1 W2 W3 W4 W5 A
20 260 ± 0.5 (20) W3 W2 (W3)
10
19
19
10

MR-J4-DU30K_
MR-J4-DU37K_ 260
300 20 281 9.5 M6
MR-J4-DU45K_4 ± 0.5
MR-J4-DU55K_4
MR-J4-DU30K_4 120
360 ± 0.5

240 60 222 9 M5
360 ± 0.5

converter unit Drive unit

MR-J4-DU37K_4 ± 0.5
342
380

342

Punched Punched
hole hole
(10)
(19)

4-M6 screw 4-A screw

(10)
(19)

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

3.2 Magnetic contactor control connector (CNP1)

Always connect the magnetic contactor wiring connector to the converter unit. If
CAUTION the connector is not connected, an electric shock may occur since CNP1-1 and
L11 are always conducting.

By enabling magnetic contactor drive output, the main circuit power supply can be shut off automatically
when an alarm occurs in the converter unit or the drive unit.
To enable magnetic contactor drive output, set [Pr. PA02] of the converter unit to "_ _ _ 1" (initial value).
[Pr. PA02]

0 0 0 1
Magnetic contactor drive output selection
0: Disabled
1: Enabled

(1) When magnetic contactor drive output is enabled

To control the magnetic contactor, connect the magnetic contactor control connector (CNP1) to the coil
of the magnetic contactor.

Internal connection diagram of CNP1

Converter unit
(Note 2, 3)
MCCB MC
L1
Power
L2
supply
L3
L11
L21
CNP1
MC1 1
MC2 2
(Note 1)

Drive unit Converter unit

malfunction malfunction Emergency stop Operation ready
switch OFF/ON
RA1 RA2
MC

SK

Note 1. A step-down transformer is required when coil voltage of the magnetic contactor
is 200 V class, and the converter unit and the drive unit are 400 V class.
2. The bus voltage decreases depending on the main circuit voltage and operation
pattern, which may cause the forced stop deceleration to shift to the dynamic
brake deceleration. When dynamic brake deceleration is not required, delay the
time to turn off the magnetic contactor.
3. When the voltage between L11 and L21 drops due to an instantaneous power
failure and others, the magnetic contactor is turned off.

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

When the converter unit receives a start command from the drive unit, CNP1-2 and L21 are shorted, and
the control circuit power is supplied to the magnetic contactor. When the control circuit power is
supplied, the magnetic contactor is turned on, and the main circuit power is supplied to the converter
unit.
In the following cases, CNP1-2 and L21 in the converter unit are opened, and the main circuit power
supply is automatically shut off.

(a) An alarm has occurred in the converter unit.

(b) An alarm has occurred in the drive unit.

(c) The EM1 (forced stop) of the converter unit was turned off.

(d) [AL. 95 STO warning] has occurred in the drive unit (J4 series).

(2) When magnetic contactor drive output is disabled

The main circuit power supply is not automatically shut off even when an alarm occurs in the converter
unit or the drive unit. Therefore, configure an external circuit to shut off the main circuit power supply
when detecting an alarm.

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

4. SIGNALS AND WIRING

4.1 Comparison of standard connection diagrams

Insulate the connections of the power supply terminals. Otherwise, an electric

WARNING shock may occur.

Be sure to connect a magnetic contactor between the power supply and the main
circuit power supply (L1/L2/L3) of the power regeneration converter unit, in order
to configure a circuit that shuts off the power supply by the magnetic contactor. If
the magnetic contactor is not connected, a large current keeps flowing and may
cause a fire when the power regeneration converter unit or the drive unit
malfunctions.
Use ALM (Malfunction) to shut the power off. Not doing so may cause a fire when
the power regeneration converter unit malfunctions and causes the AC reactor to
CAUTION overheat.
Connect the drive unit power outputs (U/V/W) to the servo motor power inputs
(U/V/W) directly. Do not connect a magnetic contactor and others between them.
Otherwise, it may cause a malfunction.
Do not connect the servo motor directly to the 3-phase 200 V power supply or the
3-phase 400 V power supply. Otherwise a malfunction may be caused.
During power-on, do not open or close the motor power line. Otherwise, a
malfunction or faulty may occur.

POINT
When using an external dynamic brake, refer to each servo amplifier instruction
manual.

4.1.1 When magnetic contactor drive output is enabled (factory setting)

POINT
The converter unit controls the magnetic contactor.
Connect the converter unit and the drive unit with MR-J3CDL05M protection
coordination cable. (For MR-J3-DU_, always connect a terminal connector (MR-
J3-TM) as well.)
Always turn on or off the control circuit power supplies of the converter unit and
the drive unit simultaneously.

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

(1) 200 V class

(a) MR-J3-DU_A/MR-J4-DU_A
MR-J3-DU_A MR-J4-DU_A
Drive unit Converter unit Optional Emergency stop
malfunction malfunction thermal switch Operation ready
Converter unit Drive unit (Note 6) RA1 RA2 RA3 OFF/ON
TE2-2 TE2-1 External MC

L+ L+ dynamic brake
(Note 5) (Option) SK
NFB MC
L1 L- L-
Servo motor
3-phase
200 to 230 V AC L2 CN40 CN40A
50/60 Hz MR-J3CDL05M Converter unit Drive unit (Note 6, 13)
L3 cable U
CN40B U TE2-2 TE2-1 External
Termination CNP1 dynamic brake
L11 connector V M L+ L+
V MC1 1 (optional)
L21 MR-J3-TM W L-
(Option) W L-
(Note 12) Servo motor
Encoder cable MC2 2 CN40 CN40A
CNP1 CN1
CN2 MR-J3CDL05M
MC1 1 1 DICOM (Note 4)
MCCB cable U
MC U
24 V DC NFB BU Encoder L1
MC2 2 5 DOC OM 3-phase V M
(Note 4) (Note 11) V
BV 200 V AC to L2 W
Power factor improving 6 DICOM Power
supply 240 V AC W
DC reactor (Option) BW L3
Cooling fan CN1 (Note 11) (Note 7) Encoder cable
(Note 2)
2 ALM RA2
(Note 9, 14) (Note 9, 14) CN2
P1 1 DICOM
L11 MCCB
7 EM1 24 V DC
P2 OHS1 OHS2 BU Encoder
(Note 3) L21 5 DOCOM
9 DOC OM Servo (Note 3)
Power factor improving BV
C motor Power
DC reactor (optional) 6 DICOM
thermal (Note 8) supply BW
relay (Note 2) Cooling fan
RA3 2 ALM RA2

24 V DC P1
7 EM1
CN1 P2
P C P C P C
9 DOCOM CN8 (Note 10)
G3 G4 G3 G4 G3 G4 21 DICOM
C Short-circuit connector
Regenerative Regenerative Regenerative
48 ALM RA1 (packed with the drive unit)
option(Note 1) option(Note 1) option(Note 1)
Cooling fan Cooling fan Cooling fan 24 V DC
20 DICOM
R1 S1 R1 S1 R1 S1 P C P C P C CN1
46 DOC O M
24 V DC
G3 G4 G3 G4 G3 G4 46 DOCOM
42 EMG (Note 3) (Note 1) (Note 1) (Note 1)
L11 Regenerative Regenerative Regenerative 48 ALM RA1

15 SON option option option

L21 Cooling fan Cooling fan Cooling fan 42 EM2
Drive Servo motor Operation Plate SD (Note 5)
unit trouble thermal relay -ready R1 S1 R1 S1 R1 S1 Main circuit power supply
24 V DC 15 SON
RA1 RA2 RA3 OFF/ON
RA3
MC 24 V DC
21 DICOM
Converter Emergency stop L11
unit trouble (EMG/EM1) SK
(Note 3) L21

Note 1. For the MR-RB137. For the MR-RB137, three units are used as one set Note 1. This is for MR-RB137. For the MR-RB137, three units are used as one
(permissible wattage: 3900 W). set (permissible regenerative power: 3900 W).
2. When using the Power factor improving DC reactor, disconnect the short 2. P1 and P2 are connected by default. When using the power factor
bar across P1 and P2. improving DC reactor, connect P1 and P2 after removing the short bar
3. Make up a sequence that will concurrently turn off the Emergency stop across them. Refer to "Part 10: section 7.3" for details.
(EMG) of the drive unit and the Forced stop (EM1) of the converter unit, 3. For specifications of the cooling fan power supply, refer to "HG-MR/HG-
and shut off the main circuit power supply by the external sequence. KR/HG-SR/HG-JR/HG-RR/HG-UR/HG-AK Servo Motor Instruction
Manual (Vol. 3)".
4. For specifications of cooling fan power supply, refer to "MR-J3-_A_ Servo 4. Use a magnetic contactor with an operation delay time (interval between
Amplifier Instruction Manual" current being applied to the coil until closure of contacts) of 80 ms or less.
5. Be sure to use a magnetic contactor with an operation delay time of 80 The bus voltage decreases depending on the main circuit voltage and
ms or less. The operation delay time is the time interval between current operation pattern, which may cause the forced stop deceleration to shift
being applied to the coil until closure of contacts. to the dynamic brake deceleration. When dynamic brake deceleration is
6. Use an external dynamic brake for the drive unit. Failure to do so will not required, slow the time to turn off the magnetic contactor.
cause an accident because the servo motor does not stop immediately 5. To prevent an unexpected restart of the drive unit, configure a circuit to
but coasts at an emergency stop and such conditions. Ensure the safety turn off EM2 in the drive unit when the main circuit power is turned off.
in the entire system. 6. Use an external dynamic brake for the drive unit. Failure to do so will
cause an accident because the servo motor does not stop immediately
but coasts at an alarm occurrence for which the servo motor does not
decelerate to stop. Ensure the safety in the entire equipment. For alarms
for which the servo motor does not decelerate to stop and for wiring of
the external dynamic brake, refer to "MR-CV_/MR-CR55K_/MR-J4-
DU_B_(-RJ)/MR-J4-DU_A_(-RJ) Instruction Manual".
7. For the encoder cable, use of the option cable is recommended. For
selecting cables, refer to "HG-MR/HG-KR/HG-SR/HG-JR/HG-RR/HG-
UR/HG-AK Servo Motor Instruction Manual (Vol. 3)".
8. This diagram shows sink I/O interface. For source I/O interface, refer to
"MR-CV_/MR-CR55K_/MR-J4-DU_B_(-RJ)/MR-J4-DU_A_(-RJ)
Instruction Manual".
9. Install an overcurrent protection device (molded-case circuit breaker or
fuse) to protect the branch circuit. (Refer to section 7.3.)
10. When not using the STO function, attach the short-circuit connector
supplied with the drive unit.
11. Do not connect a servo motor of the wrong axis to U, V, W, or CN2 of the
drive unit. Otherwise, a malfunction may occur.
12. For connecting servo motor power wires, refer to "HG-MR/HG-KR/HG-
SR/HG-JR/HG-RR/HG-UR/HG-AK Servo Motor Instruction Manual (Vol.
3)".
13. The external dynamic brake cannot be used for compliance with SEMI-
F47 standard. Do not assign DB. Failure to do so will cause the drive unit
to become servo-off when an instantaneous power failure occurs.
14. The control circuit power supply (L11/L21) can be connected by passing
wiring. For details, refer to "MR-CV_/MR-CR55K_/MR-J4-DU_B_(-
RJ)/MR-J4-DU_A_(-RJ) Instruction Manual".

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

(b) MR-J3-DU_B/MR-J4-DU_B
MR-J3-DU_B MR-J4-DU_B
Drive unit Converter unit Optional Emergency stop Operation ready
malfunction malfunction thermal
Converter unit Drive unit (Note 6) switch OFF/ON
RA1 RA2 RA3
TE2-2 TE2-1 External MC

L+ L+ dynamic brake
(Note 5) (Option) SK
MCCB MC L- L-
L1 Servo motor
3-phase
200 to 230 V AC L 2 CN40 CN40A Resistance regeneration
50/60 Hz MR-J3CDL05M converter unit Drive unit (Note 6, 13)
L3 cable U
CN40B U TE2-2 TE2-1 External
L 11 Termination V M CNP1 dynamic brake
L+ L+
connector V MC1 1 (optional)
L 21 MR-J3-TM W L- L-
(Option) W (Note 12) Servo motor
Encoder cable MC2 2 CN40 CN40A
CNP1 CN1
CN2 MR-J3CDL05M
MC1 1 1 (Note 4)
DICOM
MCCB cable U
24 V DC MCCB MC U
BU Encoder L1 V M
MC2 2 5 DOCOM 3-phase
(Note 4) (Note 11) V
BV 200 V AC to L2 W
Power factor improving 6 DICOM Power W
DC reactor (Option) supply 240 V AC
BW L3 (Note 7) Encoder cable
Cooling fan CN1 (Note 11)
(Note 2) 2 ALM RA2

P1 (Note 9, 14) (Note 9, 14) CN2

L11 1 DICOM
MCCB
7 EM1 24 V DC
P2 OHS1 OHS2 BU Encoder
(Note 3) L21 5 DOCOM
9 Servo (Note 3)
DOCOM
Power factor improving BV
C motor Power
thermal DC reactor (optional) 6 DICOM
supply
(Note 8) BW
relay (Note 2) Cooling fan
RA3 2 ALM RA2

24 V DC P1
CN3 EM1
P2 7
P C P C P C 10 DICOM
9 DOCOM CN8 (Note 10)
G3 G4 G3 G4 G3 G4 C Short-circuit connector
15 ALM RA1
Regenerative Regenerative Regenerative (packed with the drive unit)
option (Note 1) option (Note 1) option (Note 1) 24 V DC
5 DICOM
Cooling fan Cooling fan Cooling fan
R1 S1 R1 S1 R1 S1 3 DOCOM
P C P C P C CN3
20 EM1 10 DICOM
G3 G4 G3 G4 G3 G4
(Note 3) (Note 1) (Note 1) (Note 1)
L11 Plate SD Regenerative Regenerative Regenerative 15 ALM RA1

option option option

L21 24 V DC 24 V DC
Cooling fan Cooling fan Cooling fan 5 DICOM
Drive Servo motor (Note 3)
unit trouble thermal relay Forced stop EM1
RA3 R1 S1 R1 S1 R1 S1
3 DOCOM
RA1 RA2 RA3 RA4 OFF/ON
MC
20 EM2
Converter Controller Operation L11 (Note 5)
unit trouble forced stop SK
-ready Plate SD Main circuit
L21 power supply

Note 1. For the MR-RB137. For the MR-RB137, three units are used as one set Note 1. This is for MR-RB137. For the MR-RB137, three units are used as one
(permissible wattage: 3900 W). set (permissible regenerative power: 3900 W).
2. When using the Power factor improving DC reactor, disconnect the short 2. P1 and P2 are connected by default. When using the power factor
bar across P1 and P2. improving DC reactor, connect P1 and P2 after removing the short bar
3. Make up a sequence that will concurrently turn off the Emergency stop across them. Refer to "Part 10: section 7.3" for details.
(EMG) of the drive unit and the Forced stop (EM1) of the converter unit, 3. For specifications of the cooling fan power supply, refer to "HG-MR/HG-
and shut off the main circuit power supply by the external sequence. KR/HG-SR/HG-JR/HG-RR/HG-UR/HG-AK Servo Motor Instruction
Manual (Vol. 3)".
4. For specifications of cooling fan power supply, refer to "MR-J3-_A_ Servo 4. Use a magnetic contactor with an operation delay time (interval between
Amplifier Instruction Manual" current being applied to the coil until closure of contacts) of 80 ms or less.
5. Be sure to use a magnetic contactor with an operation delay time of 80 The bus voltage decreases depending on the main circuit voltage and
ms or less. The operation delay time is the time interval between current operation pattern, which may cause the forced stop deceleration to shift
being applied to the coil until closure of contacts. to the dynamic brake deceleration. When dynamic brake deceleration is
6. Use an external dynamic brake for the drive unit. Failure to do so will not required, slow the time to turn off the magnetic contactor.
cause an accident because the servo motor does not stop immediately 5. To prevent an unexpected restart of the drive unit, configure a circuit to
but coasts at an emergency stop and such conditions. Ensure the safety turn off EM2 in the drive unit when the main circuit power is turned off.
in the entire system. 6. Use an external dynamic brake for the drive unit. Failure to do so will
cause an accident because the servo motor does not stop immediately
but coasts at an alarm occurrence for which the servo motor does not
decelerate to stop. Ensure the safety in the entire equipment. For alarms
for which the servo motor does not decelerate to stop and for wiring of
the external dynamic brake, refer to "MR-CV_/MR-CR55K_/MR-J4-
DU_B_(-RJ)/MR-J4-DU_A_(-RJ) Instruction Manual".
7. For the encoder cable, use of the option cable is recommended. For
selecting cables, refer to "HG-MR/HG-KR/HG-SR/HG-JR/HG-RR/HG-
UR/HG-AK Servo Motor Instruction Manual (Vol. 3)".
8. This diagram shows sink I/O interface. For source I/O interface, refer to
"MR-CV_/MR-CR55K_/MR-J4-DU_B_(-RJ)/MR-J4-DU_A_(-RJ)
Instruction Manual".
9. Install an overcurrent protection device (molded-case circuit breaker or
fuse) to protect the branch circuit. (Refer to section 7.3.)
10. When not using the STO function, attach the short-circuit connector
supplied with the drive unit.
11. Do not connect a servo motor of the wrong axis to U, V, W, or CN2 of the
drive unit. Otherwise, a malfunction may occur.
12. For connecting servo motor power wires, refer to "HG-MR/HG-KR/HG-
SR/HG-JR/HG-RR/HG-UR/HG-AK Servo Motor Instruction Manual (Vol.
3)".
13. The external dynamic brake cannot be used for compliance with SEMI-
F47 standard. Do not assign DB. Failure to do so will cause the drive unit
to become servo-off when an instantaneous power failure occurs.
14. The control circuit power supply (L11/L21) can be connected by passing
wiring. For details, refer to "MR-CV_/MR-CR55K_/MR-J4-DU_B_(-
RJ)/MR-J4-DU_A_(-RJ) Instruction Manual".

5 - 13
Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

(2) 400 V class

(a) MR-J3-DU_A4/MR-J4-DU_A4
MR-J3-DU_A4 MR-J4-DU_A4
NFB Drive unit Converter unit Optional Emergency stop
malfunction malfunction thermal Operation ready
(Note 5) switch
RA1 RA2 RA3 OFF/ON
Power MC
supply
Converter unit Drive unit SK
TE2-2 TE2-1
L+ L+
(Note 7) Resistance regeneration
L- L- (Note 3) converter unit Drive unit (Note 7, 15)
External Step-down
CN40 CN40A dynamic brake TE2-2 External
transformer CNP1 TE2-1 (Note 15)
(Note 6) MR-J3CDL05M (Option) dynamic brake
L+ L+ (optional)
NFB MC cable MC1 1
L1 Termination CN40B L- L-
3-phase (Note 13) Servo motor
380 to 480 V AC L2 connector Servo motor MC2 2 CN40 CN40A
MR-J3-TM MR-J3CDL05M
50/60 Hz (Option) (Note 5)
L3 U
cable
CN1 U MCCB MC U
L11 U 3-phase L1 (Note 12) M
M V
1 DICOM V V
L21 V 380 V AC to L2
24 V DC W
W 480 V AC W
CNP1 5 DOC OM W L3 (Note 8) Encoder cable
Encoder cable CN1 (Note 12)
(Note 10, 16) (Note 10, 16) CN2
MC1 1 6 DICOM CN2 L11 1 DICOM
MCCB
Encoder BU 24 V DC BU
MC2 2 2 ALM RA2
L21 Encoder
5 DOCOM
BV (Note 4)
Power factor improving Power factor improving Power BV
7 EM1 6
DC reactor (Option) BW DC reactor (optional) DICOM
(Note 9) supply
(Note 3) Cooling fan BW
9 DOC OM (Note 2) Cooling fan
P1 RA3 2 ALM RA2

(Note 2) 24 V DC P1
P2 7 EM1
OHS1 OHS2 P2
C Servo CN8 (Note 11)
9 DOCOM
motor C Short-circuit connector
thermal
(packed with the drive unit)
relay

P C P C P C CN1
P C P C P C
24 V DC
G3 G4 G3 G4 G3 G4 CN1 46 DOCOM
G3 G4 G3 G4 G3 G4
Regenerative Regenerative Regenerative (Note 1) (Note 1)
21 DICOM (Note 1)
option(Note 1) option(Note 1) option(Note 1) Regenerative Regenerative Regenerative 48 ALM RA1
option option option
Cooling fan Cooling fan Cooling fan 48 ALM RA1
Cooling fan Cooling fan Cooling fan 42 EM2
R400S400 R400S400 R400S400 24 V DC R400 S400 R400 S400 R400 S400
(Note 6)
20 DICOM
15 SON
Main circuit power supply

46 DOC O M 24 V DC
21 DICOM
L11 L11
42 EMG (Note 3)
(Note 4) L21 L21
Stepdown
transformer Drive Servo motor Operation 15 SON
unit trouble thermal relay -ready
RA1 RA2 RA3 OFF/ON Plate SD
MC

Converter Emergency stop 24 V DC

(EMG/EM1) SK RA3
unit trouble
(Note 3)

Note 1. For the MR-RB138-4. For the MR-RB138-4, three units are used as one Note 1. This is for MR-RB13V-4. For the MR-RB13V-4, three units are used as
set (permissible wattage: 3900 W). one set (permissible regenerative power: 3900 W).
2. When using the Power factor improving DC reactor, disconnect the short 2. P1 and P2 are connected by default. When using the power factor
bar across P1 and P2. improving DC reactor, connect P1 and P2 after removing the short bar
3. Make up a sequence that will concurrently turn off the Emergency stop across them. Refer to "Part 10: section 7.3" for details.
(EMG) of the drive unit and the Forced stop (EM1) of the converter unit, 3. A step-down transformer is required when the coil voltage of the magnetic
and shut off the main circuit power supply by the external sequence. contactor is 200 V class.
4. Stepdown transformer is required for coil voltage of magnetic contactor 4. For specifications of the cooling fan power supply, refer to "HG-MR/HG-
more than 200V class. KR/HG-SR/HG-JR/HG-RR/HG-UR/HG-AK Servo Motor Instruction Manual
(Vol. 3)".
5. For specifications of cooling fan power supply, refer to "MR-J3-_A_ Servo 5. Use a magnetic contactor with an operation delay time (interval between
Amplifier Instruction Manual". current being applied to the coil until closure of contacts) of 80 ms or less.
6. Be sure to use a magnetic contactor with an operation delay time of 80 ms The bus voltage decreases depending on the main circuit voltage and
or operation pattern, which may cause the forced stop deceleration to shift to
less. The operation delay time is the time interval between current being the dynamic brake deceleration. When dynamic brake deceleration is not
applied to the coil until closure of contacts. required, slow the time to turn off the magnetic contactor.
7. Use an external dynamic brake for the drive unit. Failure to do so will
cause an accident because the servo motor does not stop immediately 6. To prevent an unexpected restart of the drive unit, configure a circuit to
but coasts at an emergency stop and such conditions. Ensure the safety turn off EM2 in the drive unit when the main circuitpower is turned off.
in the entire system. 7. Use an external dynamic brake for the drive unit. Failure to do so will
cause an accident because the servo motor does not stop immediately but
coasts at an alarm occurrence for which the servo motor does not
decelerate to stop. Ensure the safety in the entire equipment. For alarms
for which the servo motor does not decelerate to stop and for wiring of the
external dynamic brake, refer to "MR-CV_/MR-CR55K_/MR-J4-DU_B_(-
RJ)/MR-J4-DU_A_(-RJ) Instruction Manual".
8. For the encoder cable, use of the option cable is recommended. For
selecting cables, refer to "HG-MR/HG-KR/HG-SR/HG-JR/HG-RR/HG-
UR/HG-AK Servo Motor Instruction Manual (Vol. 3)".
9. This diagram shows sink I/O interface. For source I/O interface, refer to
"MR-CV_/MR-CR55K_/MR-J4-DU_B_(-RJ)/MR-J4-DU_A_(-RJ) Instruction
Manual".
10. Install an overcurrent protection device (molded-case circuit breaker or
fuse) to protect the branch circuit. (Refer to section 7.3.)
11. When not using the STO function, attach the short-circuit connector
supplied with the drive unit.
12. Do not connect the servo motor of a wrong axis to U, V, W, or CN2 of the
drive unit. Otherwise, a malfunction may occur.
13. For connecting servo motor power wires, refer to "HG-MR/HG-KR/HG-
SR/HG-JR/HG-RR/HG-UR/HG-AK Servo Motor Instruction Manual (Vol.
3)".
14. For the MR-J4-DU30K_4 and MR-J4-DU37K_4, the terminal block is TE2.
15. The external dynamic brake cannot be used for compliance with SEMI-
F47 standard. Do not assign DB. Failure to do so will cause the drive unit
to become servo-off when an instantaneous power failure occurs.
16. The control circuit power supply (L11/L21) can be connected by passing
wiring. For details, refer to "MR-CV_/MR-CR55K_/MR-J4-DU_B_(-
RJ)/MR-J4-DU_A_(-RJ) Instruction Manual".

5 - 14
Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

(b) MR-J3-DU_B4/MR-J4-DU_B4
MR-J3-DU_B4 MR-J4-DU_B4
MCCB
(Note 5)
Power Drive unit Converter unit Optional
supply Emergency stop
malfunction malfunction thermal Operation ready
switch
RA1 RA2 RA3 OFF/ON
MC

SK
Converter unit Drive unit (Note 7)
TE2-2 TE2-1 External
dynamic brake Resistance regeneration
(Note 6) L+ L+ (Note 3) (Note 7, 15)
(optional) converter unit Drive unit
MCCB MC L- L- Step-down
L1 transformer TE2-2 External
3-phase Servo motor CNP1 TE2-1 (Note 14)
dynamic brake
380 to 480 V AC CN40 CN40A L+ L+ (optional)
L2
50/60 Hz MR-J3CDL05M MC1 1
L- L-
L3 cable U (Note 13) Servo motor
CN40B U MC2 2
Termination M CN40 CN40A
L 11 V
V (Note 5) MR-J3CDL05M
connector
L 21 W cable U
MR-J3-TM W MCCB MC U
(Option) Encoder cable 3-phase L1 (Note 12) V M
CNP1 CN1 V
CN2 380 V AC to L2
MC1 1 1 W
DICOM 480 V AC W
24 V AC L3 (Note 8) Encoder cable
Encoder BU CN1 (Note 12)
MC2 2 5 DOCOM
(Note 10, 16) (Note 10, 16) CN2
BV L11 1 DICOM
Power factor improving 6 DICOM MCCB
DC reactor (Option) BW 24 V DC BU
L21 Encoder
(Note 2) Cooling fan 5 DOCOM
2 ALM RA2 (Note 4)
P1 Power factor improving Power BV
DC reactor (optional) 6 DICOM
supply
7 EM1 (Note 9) BW
P2 OHS1 OHS2 (Note 2) Cooling fan
(Note 3) RA3 2 ALM RA2
9 DOCOM Servo
24 V DC P1
C motor
thermal 7 EM1
P2
relay
9 DOCOM CN8 (Note 11)
CN3 C Short-circuit connector
(packed with the drive unit)
P C P C P C 10 DICOM

G3 G4 G3 G4 G3 G4 15 ALM RA1
(Note 1) (Note 1) (Note 1)
Regenerative Regenerative Regenerative
24 V DC P C P C P C CN3
option option option 5 DICOM
Cooling fan Cooling fan Cooling fan G3 G4 G3 G4 G3 G4 10 DICOM
3 DOCOM (Note 1) (Note 1) (Note 1)
R400 S400 R400 S400 R400 S400 Regenerative Regenerative Regenerative 15 ALM RA1
option option option
20 EM1 Cooling fan Cooling fan 24 V DC
Cooling fan 5 DICOM
(Note 3)
L 11 Plate SD R400 S400 R400 S400 R400 S400
3 DOCOM
(Note 4) L 21 24 V DC
Stepdown
transformer Drive Servo motor 20 EM2
(Note 3) RA3
(Note 6)
unit trouble thermal relay Forced stop EM1) L11
Plate SD Main circuit
RA1 RA2 RA3 RA4 OFF/ON L21 power supply
MC

Converter Controller Operation SK

unit trouble forced stop -ready

Note 1. For the MR-RB138-4. For the MR-RB138-4, three units are used as one Note 1. This is for MR-RB13V-4. For the MR-RB13V-4, three units are used as
set (permissible wattage: 3900 W). one set (permissible regenerative power: 3900 W).
2. When using the Power factor improving DC reactor, disconnect the short 2. P1 and P2 are connected by default. When using the power factor
bar across P1 and P2. improving DC reactor, connect P1 and P2 after removing the short bar
3. Make up a sequence that will concurrently turn off the Emergency stop across them. Refer to "Part 10: section 7.3" for details.
(EM1) of the drive unit and the Forced stop (EM1) of the converter unit, 3. A step-down transformer is required when the coil voltage of the magnetic
and shut off the main circuit power supply by the external sequence. contactor is 200 V class.
4. Stepdown transformer is required for coil voltage of magnetic contactor 4. For specifications of the cooling fan power supply, refer to "HG-MR/HG-
more than 200V class. KR/HG-SR/HG-JR/HG-RR/HG-UR/HG-AK Servo Motor Instruction Manual
(Vol. 3)".
5. For specifications of cooling fan power supply, refer to "MR-J3-_A_ Servo 5. Use a magnetic contactor with an operation delay time (interval between
Amplifier Instruction Manual". current being applied to the coil until closure of contacts) of 80 ms or less.
6. Be sure to use a magnetic contactor with an operation delay time of 80 ms The bus voltage decreases depending on the main circuit voltage and
or operation pattern, which may cause the forced stop deceleration to shift to
less. The operation delay time is the time interval between current being the dynamic brake deceleration. When dynamic brake deceleration is not
applied to the coil until closure of contacts. required, slow the time to turn off the magnetic contactor.
7. Use an external dynamic brake for the drive unit. Failure to do so will
cause an accident because the servo motor does not stop immediately 6. To prevent an unexpected restart of the drive unit, configure a circuit to
but coasts at an emergency stop and such conditions. Ensure the safety turn off EM2 in the drive unit when the main circuit power is turned off.
in the entire system. 7. Use an external dynamic brake for the drive unit. Failure to do so will
cause an accident because the servo motor does not stop immediately but
coasts at an alarm occurrence for which the servo motor does not
decelerate to stop. Ensure the safety in the entire equipment. For alarms
for which the servo motor does not decelerate to stop and for wiring of the
external dynamic brake, refer to "MR-CV_/MR-CR55K_/MR-J4-DU_B_(-
RJ)/MR-J4-DU_A_(-RJ) Instruction Manual".
8. For the encoder cable, use of the option cable is recommended. For
selecting cables, refer to "HG-MR/HG-KR/HG-SR/HG-JR/HG-RR/HG-
UR/HG-AK Servo Motor Instruction Manual (Vol. 3)".
9. This diagram shows sink I/O interface. For source I/O interface, refer to
"MR-CV_/MR-CR55K_/MR-J4-DU_B_(-RJ)/MR-J4-DU_A_(-RJ) Instruction
Manual".
10. Install an overcurrent protection device (molded-case circuit breaker or
fuse) to protect the branch circuit. (Refer to section 7.3.)
11. When not using the STO function, attach the short-circuit connector
supplied with the drive unit.
12. Do not connect the servo motor of a wrong axis to U, V, W, or CN2 of the
drive unit. Otherwise, a malfunction may occur.
13. For connecting servo motor power wires, refer to "HG-MR/HG-KR/HG-
SR/HG-JR/HG-RR/HG-UR/HG-AK Servo Motor Instruction Manual (Vol.
3)".
14. For the MR-J4-DU30K_4 and MR-J4-DU37K_4, the terminal block is TE2.
15. The external dynamic brake cannot be used for compliance with SEMI-F47
standard. Do not assign DB. Failure to do so will cause the drive unit to
become servo-off when an instantaneous power failure occurs.
16. The control circuit power supply (L11/L21) can be connected by passing
wiring. For details, refer to "MR-CV_/MR-CR55K_/MR-J4-DU_B_(-
RJ)/MR-J4-DU_A_(-RJ) Instruction Manual".

5 - 15
Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

4.1.2 When magnetic contactor control connector (CNP1) is made invalid

POINT
●When making CNP1 invalid, set "0000" in [Pr. PA02]. (Refer to Part: 5).
●Always connect a protection coordination cable (MR-J3CDL05M). (For MR-J3-
DU_, always connect a terminal connector (MR-J3-TM) as well.) When they are
not connected properly, the servo-on may not be turned on.
●Always turn on or off the control circuit power supplies of the converter unit and the
drive unit simultaneously.

5 - 16
Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

(1) 200 V class

(a) MR-J3-DU_A/MR-J4-DU_A
MR-J3-DU_A MR-J4-DU_A

Drive unit Converter unit Optional Operation ready

Emergency stop
malfunction malfunction thermal
Converter unit Drive unit (Note 7) switch OFF
RA1 RA2 RA3 ON
MC
TE2-2 TE2-1 External
L L dynamic brake MC
(Note 6) SK
(Option)
MCCB MC
L1 L L
3-phase Servo motor
L2 CN40 CN40A Resistance regeneration
200 to 230VAC (Note 7, 14)
MR-J3CDL05M converter unit Drive unit
50/60Hz cable
L3 U TE2-2 External
CN40B U TE2-1
Termination M (Note 5) L+ dynamic brake
L11 connector V L+ (optional)
V MCCB MC
L21 MR-J3-TM W L1 L- L-
(Option) W 3-phase (Note 13) Servo motor
Encoder cable 200 V AC to L2 CN40 CN40A
(Note 4) CNP1 CN1
CN2 240 V AC MR-J3CDL05M
MC1 1 1 DICOM L3 U
cable U
24 V DC MCCB BU Encoder L11 M
MC2 2 5 DOCOM V
(Note 12) V
(Note 5) BV L21
Power factor improving Power W
6 DICOM (Note 10, 15) (Note 10, 15) W
DC reactor (Option) supply BW (Note 8) Encoder cable
Cooling fan (Note 3) CNP1 CN1 (Note 12)
(Note 2) 2 ALM RA2

P1 CN2
MC1 1 1 DICOM
7 EM1 MCCB
P2 24 V DC BU
OHS1 OHS2 MC2 2 5 DOCOM Encoder
(Note 3) (Note 4)
9 DOCOM Servo BV
C motor Power factor improving Power
6 DICOM
thermal DC reactor (optional) (Note 9) supply BW
(Note 2) Cooling fan
relay RA3 2 ALM RA2

24 V DC P1
7 EM1
P2
P C P C P C CN1
9 DOCOM CN8 (Note 11)
G3 G4 G3 G4 G3 G4 21 DICOM C Short-circuit connector
Regenerative Regenerative Regenerative (packed with the drive unit)
option(Note 1) option(Note 1) option(Note 1) 48 ALM RA1

Cooling fan Cooling fan Cooling fan 24 V DC

20 DICOM
R1 S1 R1 S1 R1 S1 P C P C P C CN1
46 DOCOM
24 V DC
G3 G4 G3 G4 G3 G4 46 DOCOM
42 EMG (No te 3)
(Note 1) (Note 1) (Note 1)
L11 Regenerative Regenerative Regenerative 48 ALM RA1

15 SON option option option

L21 Cooling fan Cooling fan Cooling fan 42 EM2
Drive Servo motor Operation Plate SD (Note 5)
unit trouble thermal relay -ready R1 S1 R1 S1 R1 S1 Main circuit power supply
24 V DC 15 SON
RA1 RA2 RA3 OFF ON
RA3
MC 24 V DC
21 DICOM
Converter Emergency stop MC L11
unit trouble (EMG/EM1) SK
(Note 3) L21

Note 1. For the MR-RB137. For the MR-RB137, three units are used as one set Note 1. This is for MR-RB137. For the MR-RB137, three units are used as one set
(permissible wattage: 3900 W). (permissible regenerative power: 3900 W).
2. When using the Power factor improving DC reactor, disconnect the short 2. P1 and P2 are connected by default. When using the power factor
bar across P1 and P2. improving DC reactor, connect P1 and P2 after removing
3. Make up a sequence that will concurrently turn off the Emergency stop the short bar across them. Refer to "Part 10: section 7.3" for details.
(EMG) of the drive unit and the Forced stop (EM1) of the converter unit, 3. Always connect the magnetic contactor wiring connector to CNP1 of the
and shut off the main circuit power supply by the external sequence. converter unit. If the connector is not connected,
4. Keep the wiring connector for the magnetic contactor connected to CNP1 Aan electric shock may occur.
of the converter unit. Unconnected status may cause an electric shock. 4. For specifications of the cooling fan power supply, refer to "HG-MR/HG-
KR/HG-SR/HG-JR/HG-RR/HG-UR/HG-AK Servo Motor Instruction
Manual (Vol. 3)".
5. For specifications of cooling fan power supply, refer to "MR-J3-_A_ Servo
amplifier instruction manual". 5. Use a magnetic contactor with an operation delay time (interval between
6. Be sure to use a magnetic contactor with an operation delay time of 80 current being applied to the coil until closure of contacts) of 80 ms or less.
ms or less. The operation delay time is the time interval between current The bus voltage decreases depending on the main circuit voltage and
being applied to the coil until closure of contacts. operation pattern, which may cause the forced stop deceleration to shift to
7. Use an external dynamic brake for the drive unit. Failure to do so will the dynamic brake deceleration. When dynamic brake deceleration is not
cause an accident because the servo motor does not stop immediately required, slow the time to turn off the magnetic contactor.
but coasts at an emergency stop and such conditions. Ensure the safety 6. To prevent an unexpected restart of the drive unit, configure a circuit to
in the entire system. turn off EM2 in the drive unit when the main circuit power is turned off.
7. Use an external dynamic brake for the drive unit. Failure to do so will
cause an accident because the servo motor does not stop immediately
but coasts at an alarm occurrence for which the servo motor does not
decelerate to stop. Ensure the safety in the entire equipment. For alarms
for which the servo motor does not decelerate to stop and for wiring of the
external dynamic brake, refer to "MR-CV_/MR-CR55K_/MR-J4-DU_B_(-
RJ)/MR-J4-DU_A_(-RJ) Instruction Manual".
8. For the encoder cable, use of the option cable is recommended. For
selecting cables, refer to "HG-MR/HG-KR/HG-SR/HG-JR/HG-RR/HG-
UR/HG-AK Servo Motor Instruction Manual (Vol. 3)".
9. This diagram shows sink I/O interface. For source I/O interface, refer to
"MR-CV_/MR-CR55K_/MR-J4-DU_B_(-RJ)/MR-J4-DU_A_(-RJ)
Instruction Manual".
10. Install an overcurrent protection device (molded-case circuit breaker or
fuse) to protect the branch circuit. (Refer to section 7.3.)
11. When not using the STO function, attach the short-circuit connector
supplied with the drive unit.
12. Do not connect the servo motor of a wrong axis to U, V, W, or CN2 of the
drive unit. Otherwise, a malfunction may occur.
13. For connecting servo motor power wires, refer to "HG-MR/HG-KR/HG-
SR/HG-JR/HG-RR/HG-UR/HG-AK Servo Motor Instruction Manual (Vol.
3)".
14. The external dynamic brake cannot be used for compliance with SEMI-
F47 standard. Do not assign DB. Failure to do so will cause the drive unit
to become servo-off when an instantaneous power failure occurs.
15. The control circuit power supply (L11/L21) can be connected by passing
wiring. For details, refer to "MR-CV_/MR-CR55K_/MR-J4-DU_B_(-
RJ)/MR-J4-DU_A_(-RJ) Instruction Manual".

5 - 17
Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

(b) MR-J3-DU_B/MR-J4-DU_B
MR-J3-DU_B MR-J4-DU_B

Converter unit Drive unit (Note 7) Drive unit Converter unit Optional Emergency stop Operation ready
TE2-2 TE2-1 External malfunction malfunction thermal
switch OFF
L+ L+ dynamic brake RA1 RA2 RA3 ON
(Note 6) (optional) MC
MCCB MC
L- L- MC
L1 Servo motor SK
3-phase
200 to 230 V AC L2 CN40 CN40A
50/60 Hz MR-J3CDL05M
L3 cable U
CN40B U Converter unit (Note 7, 14)
Termination M Drive unit
L 11 V
connector V TE2-2 TE2-1 External
L 21 MR-J3-TM W (Note 5) L+ dynamic brake
(Option) W L+ (optional)
Encoder cable MCCB MC
(Note 4) CNP1 CN1 3-phase L1 L- L-
CN2 (Note 13) Servo motor
MC1 1 1 DICOM 200 V AC to L2 CN40 CN40A
24 V DC MCCB 240 V AC MR-J3CDL05M
BU Encoder L3
MC2 2 5 DOCOM cable U
(Note 5) BV U
Power factor improving 6 DICOM Power L11 V M
DC reactor (Option) supply BW (Note 12) V
(Note 2) Cooling fan L21 W
2 ALM RA2
(Note 10, 15) (Note 10, 15) W
P1 (Note 8) Encoder cable
(Note 3) CNP1 CN1 (Note 12)
7 EM1
P2 OHS1 OHS2 CN2
(Note 3) MC1 1 1 DICOM
9 DOCOM Servo 24 V DC
MCCB
C motor BU Encoder
MC2 2 5 DOCOM
thermal (Note 4)
relay Power factor improving BV
6 DICOM Power
DC reactor (optional) (Note 9) supply BW
CN3 (Note 2) Cooling fan
RA3 2 ALM RA2

P C P C P C P1
10 DICOM 24 V DC
7 EM1
G3 G4 G3 G4 G3 G4 P2
15 ALM RA1
CN8
Regenerative Regenerative Regenerative 9 DOCOM (Note 11)
option (Note 1) option (Note 1) option (Note 1) 24 V DC C
5 DICOM Short-circuit connector
Cooling fan Cooling fan Cooling fan (packed with the drive unit)
R1 S1 R1 S1 R1 S1 3 DOCOM

20 EM1
P C P C P C CN3
(Note 3)
L 11 Plate SD 10 DICOM
G3 G4 G3 G4 G3 G4
L 21 (Note 1) (Note 1) (Note 1)
24 V DC Regenerative Regenerative Regenerative 15 ALM RA1
(Note 3) Operation
Drive unit Servo motor Forced stop RA3 option option option
trouble thermal relay -ready Cooling fan Cooling fan Cooling fan 24 V DC
(EM1) OFF 5 DICOM
RA1 RA2 RA3 RA4 ON
MC R1 S1 R1 S1 R1 S1
3 DOCOM
Converter Controller MC
SK
unit trouble forced stop 20 EM2
L11 (Note 6)
Plate SD Main circuit
L21 power supply

Note 1. For the MR-RB137. For the MR-RB137, three units are used as one set Note 1. This is for MR-RB137. For the MR-RB137, three units are used as one set
(permissible wattage: 3900 W). (permissible regenerative power: 3900 W).
2. When using the Power factor improving DC reactor, disconnect the short 2. P1 and P2 are connected by default. When using the power factor
bar across P1 and P2. improving DC reactor, connect P1 and P2 after removing the short bar
3. Make up a sequence that turns off the drive unit forced stop (EM1) and across them. Refer to "Part: 10 section 7.3" for details.
the converter unit forced stop (EM1) at the same time. 3. Always connect the magnetic contactor wiring connector to CNP1 of the
4. Keep the wiring connector for the magnetic contactor connected to CNP1 converter unit. If the connector is not connected, an electric shock may
of the converter unit. Unconnected status may cause an electric shock. occur.
5. For specifications of the cooling fan power supply, refer to "MR-J3-_B_ 4. For specifications of the cooling fan power supply, refer to "HG-MR/HG-
Servo Amplifier Instruction Manual". KR/HG-SR/HG-JR/HG-RR/HG-UR/HG-AK Servo Motor Instruction
Manual (Vol. 3)".
6. Use a magnetic contactor with an operation delay time (interval between 5. Use a magnetic contactor with an operation delay time (interval between
current being applied to the coil until closure of contacts) of 80 ms or current being applied to the coil until closure of contacts) of 80 ms or less.
less. The bus voltage decreases depending on the main circuit voltage and
7. Use an external dynamic brake for the drive unit. Failure to do so will operation pattern, which may cause the forced stop deceleration to shift to
cause an accident because the servo motor does not stop immediately the dynamic brake deceleration. When dynamic brake deceleration is not
but coasts at an emergency stop and such conditions. required, slow the time to turn off the magnetic contactor.
Ensure the safety in the entire system.
6. To prevent an unexpected restart of the drive unit, configure a circuit to
turn off EM2 in the drive unit when the main circuit power is turned off.
7. Use an external dynamic brake for the drive unit. Failure to do so will
cause an accident because the servo motor does not
stop immediately but coasts at an alarm occurrence for which the servo
motor does not decelerate to stop. Ensure the safety
in the entire equipment. For alarms for which the servo motor does not
decelerate to stop, refer to chapter 6. For wiring of the
external dynamic brake, refer to "MR-CV_/MR-CR55K_/MR-J4-DU_B_(-
RJ)/MR-J4-DU_A_(-RJ) Instruction Manual".
8. For the encoder cable, use of the option cable is recommended. For
selecting cables, refer to "HG-MR/HG-KR/HG-SR/HG-JR/HG-RR/HG-
UR/HG-AK Servo Motor Instruction Manual (Vol. 3)".
9. This diagram shows sink I/O interface. For source I/O interface, refer to
"MR-CV_/MR-CR55K_/MR-J4-DU_B_(-RJ)/MR-J4-DU_A_(-RJ)
Instruction Manual".
10. Install an overcurrent protection device (molded-case circuit breaker or
fuse) to protect the branch circuit. (Refer to section 7.3.)
11. When not using the STO function, attach the short-circuit connector
supplied with the drive unit.
12. Do not connect the servo motor of a wrong axis to U, V, W, or CN2 of the
drive unit. Otherwise, a malfunction may occur.
13. For connecting servo motor power wires, refer to "HG-MR/HG-KR/HG-
SR/HG-JR/HG-RR/HG-UR/HG-AK Servo Motor Instruction Manual (Vol.
3)".
14. The external dynamic brake cannot be used for compliance with SEMI-
F47 standard. Do not assign DB. Failure to do so will cause the drive unit
to become servo-off when an instantaneous power failure occurs.
15. The control circuit power supply (L11/L21) can be connected by passing
wiring. For details, refer to "MR-CV_/MR-CR55K_/MR-J4-DU_B_(-
RJ)/MR-J4-DU_A_(-RJ) Instruction Manual".

5 - 18
Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

(2) 400 V class

(a) MR-J3-DU_A4/MR-J4-DU_A4
MR-J3-DU_A4 MR-J4-DU_A4
Drive unit Converter unit Optional Operation ready
MCCB Emergency stop
malfunction malfunction thermal switch
(Note 6) RA1 RA2 RA3 OFF ON
Power MC
supply
MC
Converter unit Drive unit SK
TE2-2 TE2-1
L+ L+
(Note 8) (Note 3)
L- L- Converter unit Drive unit (Note 8, 16)
External Step-down
CN40 CN40 dynamic brake transformer TE2-2 TE2-1 (Note 15) External
(Note 7) MR-J3CDL05M (Option) (Note 6) L+ dynamic brake
L+ (optional)
MCCB MC cable MCCB MC
L1 CN40 L1 L- L-
3-phase Termination 3-phase
connector Servo motor (Note 14) Servo motor
380 to 480 V AC L2 380 V AC to L2 CN40 CN40A
50/60 Hz MR-J3-TM
L3 (Option) 480 V AC MR-J3CDL05M
L3 U
U cable U
L11 CN1 U L11 V M
DICOM V M (Note 13) V
L21 1 V
24 V DC L21 W
W (Note 11, 17) (Note 11, 17) W
(Note 5) CNP1 5 DOCOM W (Note 9) Encoder cable
(Note 4) CNP1 CN1 (Note 13)
MC1 1 6 DICOM CN2
MC1 1 1 DICOM CN2
Encoder cable MCCB
MC2 2 2 ALM RA2 Encoder BU 24 V DC BU Encoder
MC2 2 5 DOCOM
Power factor improving BV (Note 5)
7 EM1 Power BV
DC reactor (Option) Power factor improving 6
(Note 3) Cooling fan BW DICOM
supply
9 DOCOM DC reactor (optional) (Note 10) BW
P1 (Note 2) Cooling fan
RA3 2 ALM RA2
(Note 2) P1
P2 24 V DC
OHS1 OHS2 7 EM1
C Servo P2
motor 9 DOCOM CN8 (Note 12)
thermal C
relay Short-circuit connector
(packed with the drive unit)

P C P C P C
P C P C P C CN1
G3 G4 G3 G4 G3 G4 CN1 24 V DC
Regenerative Regenerative Regenerative G3 G4 G3 G4 G3 G4 46 DOCOM
21 DICOM
option (Note 1) option (Note 1) option (Note 1) (Note 1) (Note 1) (Note 1)
Cooling fan Cooling fan Cooling fan Regenerative Regenerative Regenerative 48 ALM RA1
48 ALM RA1
option option option
R400S400 R400S400 R400S400 24 V DC Cooling fan Cooling fan Cooling fan 42 EM2
20 DICOM
(Note 7)
R400 S400 R400 S400 R400 S400 Main circuit power supply
46 DOCOM 15 SON
L11 24 V DC
42 EMG (Note 3) 21 DICOM
(Note 4) L21 L11
Stepdowen Drive Servo motor Operation 15 SON
transformer unit trouble thermal relay -ready L21
RA1 RA2 RA3 OFF ON Plate SD
MC

Converter Emergency stop MC 24 V DC

(EMG/EM1) SK
unit trouble RA3
(Note 3)

Note 1. For the MR-RB138-4. For the MR-RB138-4, three units are used as one set Note 1. This is for MR-RB13V-4. For the MR-RB13V-4, three units are used as one set
(permissible wattage: 3900 W). (permissible regenerative power: 3900 W).
2. When using the Power factor improving DC reactor, disconnect the short bar 2. P1 and P2 are connected by default. When using the power factor improving
across P1 and P2. DC reactor, connect P1 and P2 after removing the short bar across them. Refer
3. Make up a sequence that will concurrently turn off the Emergency stop to "Part: 10 section 7.3" for details.
(EMG) of the drive unit and the Forced stop (EM1) of the converter unit, and 3. A step-down transformer is required when the coil voltage of the magnetic
shut off the main circuit power supply by the external sequence. contactor is 200 V class.
4. Stepdown transformer is required for coil voltage of magnetic contactor more 4. Always connect the magnetic contactor wiring connector to CNP1 of the
than 200V class. converter unit. If the connector is not connected, an electric shock may occur.
5. Keep the wiring connector for the magnetic contactor connected to CNP1 of
the converter unit. Unconnected status may cause an electric shock. 5. For specifications of the cooling fan power supply, refer to "HG-MR/HG-KR/HG-
6. For specifications of cooling fan power supply, refer to "MR-J3-_A_ Servo SR/HG-JR/HG-RR/HG-UR/HG-AK Servo Motor Instruction Manual (Vol. 3)".
Amplifier Instruction Manual". 6. Use a magnetic contactor with an operation delay time (interval between current
7. Be sure to use a magnetic contactor with an operation delay time of 80 ms or being applied to the coil until closure of contacts) of 80 ms or less.
less. The operation delay time is the time interval between current being The bus voltage decreases depending on the main circuit voltage and operation
applied to the coil until closure of contacts. pattern, which may cause the forced stop deceleration to shift to the dynamic
8. Use an external dynamic brake for the drive unit. Failure to do so will but cause brake deceleration. When dynamic brake deceleration is not required, slow the
an accident because the servo motor does not stop immediately coasts at an time to turn off the magnetic contactor.
emergency stop and such conditions. Ensure the safety in the entire system. 7. To prevent an unexpected restart of the drive unit, configure a circuit to turn off
EM2 in the drive unit when the main circuit power is turned off.
8. Use an external dynamic brake for the drive unit. Failure to do so will cause an
accident because the servo motor does not stop immediately but coasts at an
alarm occurrence for which the servo motor does not decelerate to stop. Ensure
the safety in the entire equipment. For alarms for which the servo motor does
not decelerate to stop, refer to chapter 6. For wiring of the external dynamic
brake, refer to "MR-CV_/MR-CR55K_/MR-J4-DU_B_(-RJ)/MR-J4-DU_A_(-RJ)
Instruction Manual".
9. For the encoder cable, use of the option cable is recommended. For selecting
cables, refer to "HG-MR/HG-KR/HG-SR/HG-JR/HG-RR/HG-UR/HG-AK Servo
Motor Instruction Manual (Vol. 3)".
10. This diagram shows sink I/O interface. For source I/O interface, refer to "MR-
CV_/MR-CR55K_/MR-J4-DU_B_(-RJ)/MR-J4-DU_A_(-RJ) Instruction Manual".
11. Install an overcurrent protection device (molded-case circuit breaker or fuse) to
protect the branch circuit. (Refer to section 7.3.)
12. When not using the STO function, attach the short-circuit connector supplied
with the drive unit.
13. Do not connect the servo motor of a wrong axis to U, V, W, or CN2 of the drive
unit. Otherwise, a malfunction may occur.
14. For connecting servo motor power wires, refer to "HG-MR/HG-KR/HG-SR/HG-
JR/HG-RR/HG-UR/HG-AK Servo Motor Instruction Manual (Vol. 3)".
15. For the MR-J4-DU30K_4 and MR-J4-DU37K_4, the terminal block is TE2.
16. The external dynamic brake cannot be used for compliance with SEMI-F47
standard. Do not assign DB. Failure to do so will cause the drive unit to become
servo-off when an instantaneous power failure occurs.
17. The control circuit power supply (L11/L21) can be connected by passing wiring.
For details, refer to "MR-CV_/MR-CR55K_/MR-J4-DU_B_(-RJ)/MR-J4-DU_A_(-
RJ) Instruction Manual".

5 - 19
Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

(b) MR-J3-DU_B4/MR-J4-DU_B4
MR-J3-DU_B4 MR-J4-DU_B4
MCCB
(Note 6)
Power Drive unit Converter unit Optional Operation ready
supply Emergency stop
malfunction malfunction thermal switch
RA1 RA2 RA3 OFF ON
MC

MC
SK
Converter unit Drive unit (Note 8)
TE2-2 TE2-1 External
L+ dynamic brake (Note 3)
(Note 7) L+ (optional) Converter unit Drive unit (Note 8, 16)
MCCB MC
Step-down
L1 L- L- transformer TE2-2 TE2-1 (Note 15) External
3-phase Servo motor (Note 6) dynamic brake
CN40 CN40A L+ L+
380 to 480 V AC L2 MCCB MC (optional)
50/60 Hz MR-J3CDL05M L1 L- L-
L3 cable U 3-phase (Note 14) Servo motor
CN40B U 380 V AC to L2 CN40 CN40A
L 11 Termination V M
480 V AC
connector V MR-J3CDL05M
L3 U
L 21 MR-J3-TM W cable U
(Option) W
L11 V M
(Note 5) CNP1 CN1 Encoder cable (Note 13) V
CN2 L21 W
MC1 1 1 DICOM (Note 11, 17) (Note 11, 17) W
Encoder BU (Note 9) Encoder cable
MC2 2 5 DOCOM
(Note 4) CNP1 CN1 (Note 13)
BV MC1 1 1 DICOM CN2
Power factor improving 6 DICOM MCCB
DC reactor (Option) BW 24 V DC BU
MC2 2 5 Encoder
(Note 2) 2 ALM RA2 Cooling fan DOCOM
(Note 5)
P1 Power BV
Power factor improving 6 DICOM
7 EM1 DC reactor (optional) (Note 10) supply BW
P2 OHS1 OHS2 Cooling fan
(Note 3) RA3 (Note 2) 2 ALM RA2
9 DOCOM Servo P1
C motor 24 V DC
thermal 7 EM1
P2
relay
9 DOCOM CN8 (Note 12)
CN3 C Short-circuit connector
P C P C P C (packed with the drive unit)
10 DICOM
G3 G4 G3 G4 G3 G4
15 ALM RA1
Regenerative Regenerative Regenerative
option (Note 1) option (Note 1) option (Note 1) 24 V DC P C P C P C CN3
5 DICOM
Cooling fan Cooling fan Cooling fan G3 G4 G3 G4 G3 G4 10 DICOM

R400 S400 R400 S400 R400 S400

3 DOCOM (Note 1) (Note 1) (Note 1)
Regenerative Regenerative Regenerative 15 ALM RA1

20 EM1 option option option

Cooling fan Cooling fan Cooling fan 24 V DC
(Note 3) 5 DICOM
L 11 Plate SD R400 S400 R400 S400 R400 S400
3 DOCOM
L 21
(Note 4) (Note 3) 24 V DC
Stepdown
Drive unit Servo motor Forced stop Operation RA3 20 EM2
transformer
trouble thermal relay (EM1) -ready L11
OFF (Note 7)
RA1 RA2 RA3 RA4 ON Plate SD Main circuit
MC L21 power supply
Converter Controller MC
SK
unit trouble forced stop

Note 1. For the MR-RB138-4. For the MR-RB138-4, three units are used as one Note 1. This is for MR-RB13V-4. For the MR-RB13V-4, three units are used as
set (permissible wattage: 3900 W). one set (permissible regenerative power: 3900 W).
2. When using the Power factor improving DC reactor, disconnect the short 2. P1 and P2 are connected by default. When using the power factor
bar across P1 and P2. improving DC reactor, connect P1 and P2 after removing the short bar
3. Make up a sequence that turns off the drive unit forced stop (EM1) and across them. Refer to "Part: 10 section 7.3" for details.
the converter unit forced stop (EM1) at the same time. 3. A step-down transformer is required when the coil voltage of the magnetic
4. Stepdown transformer is required for coil voltage of magnetic contactor contactor is 200 V class.
more than 200 V class. 4. Always connect the magnetic contactor wiring connector to CNP1 of the
5. Keep the wiring connector for the magnetic contactor connected to CNP1 converter unit. If the connector is not connected, an electric shock may
of the converter unit. Unconnected status may cause an electric shock. occur.
6. For specifications of cooling fan power supply, refer to "MR-J3-_B_ Servo 5. For specifications of the cooling fan power supply, refer to "HG-MR/HG-
Amplifier Instruction Manual". KR/HG-SR/HG-JR/HG-RR/HG-UR/HG-AK Servo Motor Instruction Manual
(Vol. 3)".
7. Be sure to use a magnetic contactor with an operation delay time of 80 6. Use a magnetic contactor with an operation delay time (interval between
ms or less. The operation delay time is the time interval between current current being applied to the coil until closure of contacts) of 80 ms or less.
being applied to the coil until closure of contacts. The bus voltage decreases depending on the main circuit voltage and
8. Use an external dynamic brake for the drive unit. Failure to do so will but operation pattern, which may cause the forced stop deceleration to shift to
cause an accident because the servo motor does not stop immediately the dynamic brake deceleration. When dynamic brake deceleration is not
coasts at an emergency stop and such conditions. Ensure the safety in required, slow the time to turn off the magnetic contactor.
the entire system. 7. To prevent an unexpected restart of the drive unit, configure a circuit to
turn off EM2 in the drive unit when the main circuit power is turned off.
8. Use an external dynamic brake for the drive unit. Failure to do so will
cause an accident because the servo motor does not stop immediately but
coasts at an alarm occurrence for which the servo motor does not
decelerate to stop. Ensure the safety in the entire equipment. For alarms
for which the servo motor does not decelerate to stop, refer to chapter 6.
For wiring of the external dynamic brake, refer to "MR-CV_/MR-
CR55K_/MR-J4-DU_B_(-RJ)/MR-J4-DU_A_(-RJ) Instruction Manual".
9. For the encoder cable, use of the option cable is recommended. For
selecting cables, refer to "HG-MR/HG-KR/HG-SR/HG-JR/HG-RR/HG-
UR/HG-AK Servo Motor Instruction Manual (Vol. 3)".
10. This diagram shows sink I/O interface. For source I/O interface, refer to
"MR-CV_/MR-CR55K_/MR-J4-DU_B_(-RJ)/MR-J4-DU_A_(-RJ) Instruction
Manual".
11. Install an overcurrent protection device (molded-case circuit breaker or
fuse) to protect the branch circuit. (Refer to section 7.3.)
12. When not using the STO function, attach the short-circuit connector
supplied with the drive unit.
13. Do not connect the servo motor of a wrong axis to U, V, W, or CN2 of the
drive unit. Otherwise, a malfunction may occur.
14. For connecting servo motor power wires, refer to "HG-MR/HG-KR/HG-
SR/HG-JR/HG-RR/HG-UR/HG-AK Servo Motor Instruction Manual (Vol.
3)"".
15. For the MR-J4-DU30K_4 and MR-J4-DU37K_4, the terminal block is TE2.
16. The external dynamic brake cannot be used for compliance with SEMI-
F47 standard. Do not assign DB. Failure to do so will cause the drive unit
to become servo-off when an instantaneous power failure occurs.
17. The control circuit power supply (L11/L21) can be connected by passing
wiring. For details, refer to section 7.2.

5 - 20
Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

4.2 Power-on sequence

(1) MR-J3-DU_ A
(a) Power-on procedure
1) Make sure to wire the power supply as shown in above section 4.1 using the magnetic contactor
with the main circuit power supply (3-phase: L1, L2, L3). Configure up an external sequence to
switch off the magnetic contactor as soon as an alarm occurs.

2) In the case where control function of the magnetic contactor for the converter unit is enabled, turn
on control circuit power supply (L11 and L21) for the converter unit and the drive unit at the same
time. After the converter unit and the drive unit are activated, main circuit power supply
automatically turns on. When controlling the magnetic contactor by the external sequence, turn
on the control circuit power supply (L11 and L21) for the converter unit and the drive unit
concurrently with the main circuit power supply or before switching on the main circuit power
supply. However, by switching on the main circuit power supply, the warning disappears and the
drive unit will operate properly.

Servo motor speed 0 r/min

Drive unit control ON

power supply OFF

Converter unit control ON

power supply OFF

Main circuit ON
power supply OFF (Note 4)
(3 s) Tb
ON
Base circuit
OFF

Electromagnetic (Note 1) ON
brake interlock (MBR) OFF
(95 ms)
ON
Servo-on (SON)
OFF
(Note 2)

Position command 0 r/min

(Note 3)

Note 1. When setting up an electromagnetic brake at customer's side, make up a sequence which will operate the
electromagnetic brake as follow using the electromagnetic brake interlock (MBR).
ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated
2. Give a position command after the external electromagnetic brake is released.
3. For the position control mode.
4. "Tb" is a delay time from when the electromagnetic brake interlock (MBR) is turned off until when the
base circuit is shut off at servo off. Set Tb using [Pr. PC16].

5 - 21
Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

(2) MR-J4-DU_A_
(a) Power-on procedure
1) Always use a magnetic contactor for the main circuit power supply wiring (L1/L2/L3) as shown in
above section 4.1. Configure an external sequence to switch off the magnetic contactor as soon
as an alarm occurs.

2) When enabling magnetic contactor drive output, turn on the control circuit power supplies
(L11/L21) of the converter unit and the drive unit simultaneously. The main circuit power supply is
automatically turned on after the converter unit and drive unit are started.
When using an external sequence to control the magnetic contactor, turn on the control circuit
power supplies (L11/L21) of the converter unit and drive unit simultaneously with the main circuit
power supply or before turning on the main circuit power supply. If the main circuit power supply
is not on, the display shows the corresponding warning. However, by switching on the main circuit
power supply, the warning disappears and the drive unit will operate properly.

(b) Timing chart

Servo motor
speed 0 r/min

Drive unit ON
Control circuit
power supply OFF
Resistance regeneration
converter unit ON
Control circuit
power supply OFF

Main circuit ON
power supply OFF (Note 4)
(3 s) Tb
ON
Base circuit
OFF
MBR (Note 1) ON
(Electromagnetic
brake interlock) OFF
(95 ms)
ON
SON (servo-on)
OFF
(Note 2)

Position command
0 r/min
(Note 3)

Note 1. When setting up an electromagnetic brake at customer's side, make up a sequence which will operate
the electromagnetic brake as follow using MBR.
ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
2. Give a position command after the external electromagnetic brake is released.
3. This is in position control mode.
4. In [Pr. PC16 Electromagnetic brake sequence output], set a delay time (Tb) from MBR off to base circuit
shut-off at a servo-off.

5 - 22
Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

(3) MR-J3-DU_B
(a) Power-on procedure
1) Always wire the power supply as shown in above section 4.1 using the magnetic contactor with
the main circuit power supply (3-phase: L1, L2, L3). Configure up an external sequence to switch
off the magnetic contactor as soon as an alarm occurs.

2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power
supply or before switching on the main circuit power supply. If the main circuit power supply is not
on, the display shows the corresponding warning. However, by switching on the main circuit
power supply, the warning disappears and the drive unit will operate properly.

a) When control function of magnetic contactor is enabled and the status remains at ready on
The main circuit power is not shut off with servo off.

Servo motor 0 r/min

speed

Drive unit ON
Control circuit
power supply
OFF

Converter unit ON
Control circuit
power supply OFF

Main circuit ON
power supply OFF (Note 4)
(3 s) Tb
ON
Base circuit
OFF
Electromagnetic
brake interlock (Note 1) ON
(MBR)
OFF
(95 ms)
Servo-on command ON
(from servo system
controller) OFF

ON
Ready-on command
(from controller) OFF
(Note 2)

Position command
(Note 3) 0 r/min

Note 1. When setting up an electromagnetic brake at customer's side, make up a sequence which will
operate the electromagnetic brake as follow using the electromagnetic brake interlock (MBR).
ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated
2. Give a position command after the external electromagnetic brake is released.
3. For the position control mode.
4. "Tb" is a delay time from when the electromagnetic brake interlock (MBR) is turned off until when
the base circuit is shut off at servo off. Set Tb using [Pr. PC02].

5 - 23
Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

b) When control function of magnetic contactor is enabled and the status returns to ready-off
The magnetic contactor of the converter unit turns off with servo-off, and the main circuit power
supply shuts off.

Servo motor 0 r/min

speed

Drive unit ON
Control circuit
power supply OFF

Converter unit ON
Control circuit
power supply OFF

ON
Main circuit
power supply OFF
(3 s)
ON
Base circuit OFF

Electromagnetic (Note 1) ON
brake interlock
(MBR) OFF
(3 s)
Servo-on command ON
(from servo system OFF
controller)
ON
Ready-on command OFF
(from controller) (Note 2)

Position command
(Note 3) 0 r/min

Note 1. When setting up an electromagnetic brake at customer's side, make up a sequence which will
operate the electromagnetic brake as follow using the electromagnetic brake interlock (MBR).
ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated
2. Give a position command after the external electromagnetic brake is released.
3. For the position control mode.

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

c) When using an external sequence to control the magnetic contactor

When an alarm occurs, turn off the magnetic contactor using the external sequence, and shut
off the main circuit power supply.

Servo motor 0 r/min

speed

Drive unit ON
Control circuit
power supply OFF

ON
Converter unit
Control circuit OFF
power supply
ON
Main circuit
power supply OFF (Note 4, 5)
(3 s) Tb
ON
Base circuit OFF

Electromagnetic (Note 1) ON
brake interlock OFF
(MBR) (95 ms)
ON
Servo-on command
(from servo system OFF
controller)
ON
Ready-on command
(from controller) OFF (Note 2)

Position command
(Note 3) 0 r/min

Note 1. When setting up an electromagnetic brake at customer's side, make up a sequence which will
operate the electromagnetic brake as follow using the electromagnetic brake interlock (MBR).
ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated
2. Give a position command after the external electromagnetic brake is released.
3. For the position control mode.
4. "Tb" is a delay time from when the electromagnetic brake interlock (MBR) is turned off until when
the base circuit is shut off at servo off. Set Tb using [Pr. PC02].
5. The base circuit remains ready-on status at servo-off. When the status is ready-off, the base circuit
and the servo-on command turn off at the same time. (Tb = 0)

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

(4) MR-J4-DU_B_
(a) Power-on procedure
1) Always use a magnetic contactor for the main circuit power supply wiring (L1/L2/L3) as shownin
above section 4.1. Configure an external sequence to switch off the magnetic contactor as soon
as an alarm occurs.

2) Turn on the control circuit power supplies (L11/L21) of the converter unit and drive unit
simultaneously with the main circuit power supply or before turning on the main circuit power
supply. If the main circuit power supply is not on, the display shows the corresponding warning.
However, by switching on the main circuit power supply, the warning disappears and the drive
unit will operate properly.

(b) Timing chart

1) When magnetic contactor drive output is enabled and the status remains at ready-on
The main circuit power is not shut off with servo-off.

Servo motor
speed 0 r/min

Drive unit ON
Control circuit
power supply OFF

Converter unit ON
Control circuit
power supply OFF

Main circuit ON
power supply OFF (Note 4)
(3 s) Tb
ON
Base circuit
OFF
MBR (Note 1) ON
(Electromagnetic
brake interlock) OFF
(95 ms)
Servo-on command ON
(from servo system
controller) OFF
(Note 2)

Position command
0 r/min
(Note 3)

Note 1. When setting up an electromagnetic brake at customer's side, make up a sequence which will operate
the electromagnetic brake as follow using MBR.
ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
2. Give a position command after the external electromagnetic brake is released.
3. This is in position control mode.
4. In [Pr. PC02 Electromagnetic brake sequence output], set a delay time (Tb) from MBR off to base circuit
shut-off at a servo-off.

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

2) When magnetic contactor drive output is enabled and the status returns to ready-off
The magnetic contactor of the resistance regeneration converter unit is turned off with ready-off,
and the main circuit power supply is shut off.

Servo motor
speed 0 r/min

Drive unit ON
Control circuit
power supply OFF

Converter unit ON
Control circuit
power supply OFF

Main circuit ON
power supply OFF
(3 s)
ON
Base circuit
OFF
MBR (Note 1) ON
(Electromagnetic
brake interlock) OFF
(3 s)
Servo-on command ON
(from servo system
controller) OFF
(Note 2)

Position command
(Note 3) 0 r/min

Note 1. When setting up an electromagnetic brake at customer's side, make up a sequence which will operate
the electromagnetic brake as follow using MBR.
ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
2. Give a position command after the external electromagnetic brake is released.
3. This is in position control mode.

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

3) When magnetic contactor drive output is disabled

When an alarm occurs, turn off the magnetic contactor using the external sequence, and shut off
the main circuit power supply.

Servo motor
speed 0 r/min

Drive unit ON
Control circuit
power supply OFF

Converter unit ON
Control circuit
power supply OFF

Main circuit ON
power supply OFF (Note 4, 5)
(3 s) Tb
ON
Base circuit
OFF
MBR (Note 1) ON
(Electromagnetic
brake interlock) OFF
(95 ms)
Servo-on command ON
(from servo system
controller) OFF
(Note 2)

Position command
(Note 3) 0 r/min

Note 1. When setting up an electromagnetic brake at customer's side, make up a sequence which will operate
the electromagnetic brake as follow using MBR.
ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
2. Give a position command after the external electromagnetic brake is released.
3. This is in position control mode.
4. In [Pr. PC02 Electromagnetic brake sequence output], set a delay time (Tb) from MBR off to base circuit
shut-off at a servo-off.
5. The base circuit remains ready-on status at servo-off. When the status is ready-off, the base circuit and
the servo-on command turn off at the same time. (Tb = 0)

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

4.3 List of corresponding connectors and terminal blocks

(1) Converter unit

(a) Connector comparison table
For details on signals, refer to each servo amplifier instruction manual.
MR-J3-CR55K/MR-J3-CR55K4 MR-CR55K/MR-CR55K4
CN6 Do not connect anything CN6 Do not connect anything
including. including.

CN40 Connect to CN40A CN40 Connect to CN40A

of the drive unit. of the drive unit.
CN3 Do not connect anything CN3 Do not connect anything
including. including.
TE2-1 TE2-1
TE2-2 TE2-2
TE3 TE3

PE TE1-2 PE PE TE1-2 PE
TE1-1 TE1-1
CN1 CN1
Signal Signal
Connector pin No. abbreviation Connector pin No. abbreviation
CN1-1 DICOM CN1-1 DICOM
5 5
9 CN1-2 ALM 9 CN1-2 ALM
DOCOM DOCOM
DOCOM DOCOM
4 CN1-3 4 CN1-3
8 8
WNG 3 CN1-4 WNG 3 CN1-4
7 7
CN1-5 DOCOM CN1-5 DOCOM
EM1 2 EM1 2
6 ALM CN1-6 DICOM 6 ALM CN1-6 DICOM
DICOM DICOM
1 CN1-7 EM1 1 CN1-7 EM1
DICOM DICOM
CN1-8 WNG CN1-8 WNG
CN1-9 DOCOM CN1-9 DOCOM

CNP1 CNP1

Signal Signal
Connector pin No. abbreviation Connector pin No. abbreviation
1 1
MC1 CNP1-1 MC1 MC1 CNP1-1 MC1

2 CNP1-2 MC2 2 CNP1-2 MC2

MC2 MC2

(b) List of corresponding connectors and terminal blocks

MR-J3-CR55K/MR-J3-CR55K4 MR-CR55K/MR-CR55K4
No. Connector name Connector No. No. Connector name Connector No.
① Protection coordination connector CN40 ① Protection coordination connector CN40
② I/O signal connector CN1 ② I/O signal connector CN1
③ Magnetic contactor control connector CNP1 ③ Magnetic contactor control connector CNP1
④ Control circuit terminal block TE3 → ④ Control circuit terminal TE3
TE2-1 TE2-1
⑤ L+/L- terminal ⑤ L+/L- terminal
TE2-2 TE2-2
⑥ Regenerative option/Power factor ⑥ Regenerative option/Power factor
TE1-2 TE1-2
improving DC reactor improving DC reactor
⑦ Main circuit terminal block TE1-1 ⑦ Main circuit terminal block TE1-1

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

(2) Drive unit (General-Purpose interface)

(a) Connector comparison table
For details on signals, refer to each servo amplifier instruction manual.
MR-J3-DU_A_ MR-J4-DU_A_

(b) List of corresponding connectors and terminal blocks

MR-J3-DU_A_ MR-J4-DU_A_
Connector Connector Precautions
No. Connector name No. Connector name
No. No.
① I/O signal connector CN1 ① I/O signal connector CN1
When connected to
an HG-JR motor, the
② Encoder connector CN2 ② Encoder connector CN2
encoder cable needs
to be changed.
RS-422 communication RS-422 communication
③ CN3 ③ CN3
connector connector
Use the dedicated
④ Battery connector CN4 ④ Battery connector CN4 battery of each
series.
⑤ USB communication connector CN5 ⑤ USB communication connector CN5
⑥ Analog monitor connector CN6 ⑥ Analog monitor connector CN6
→ When not using the
STO function, attach
the short-circuit
⑦ ⑦ STO input signal connector CN8 connector supplied
with the drive unit to
CN8 (STO I/O signal
connector).
Protection coordination
⑧ Converter unit connectors CN40A ⑧ CN40A
connector
⑨ Converter unit connectors CN40B ⑨
Servo motor power supply Servo motor power output The structure of the
⑩ TE1 ⑩ TE1
terminals terminal main circuit terminal
⑪ L+/L- terminals TE2-1/TE2 ⑪ L+/L- terminal TE2-1 block varies
depending on the
capacity. Refer to
⑫ Control circuit terminal L11/L21 TE3 ⑫ Control circuit terminal L11/L21 TE3 "Part 8 Common
Reference Material".

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

(c) Comparison of signals

Signal abbreviations in parentheses are for MR-J4-DU_A_.
1) CN1
This is the signal symbol in the positioning mode. For other signal names, refer to "MR-CV_/MR-
CR55K_/MR-J4-DU_B_(-RJ)/MR-J4-DU_A_(-RJ) Instruction Manual".
MR-J3-_A_ Signal MR-J4-_A_
Connector pin assignment Connector pin No. abbreviation Connector pin No. Connector pin assignment
CN1-1 P15R CN1-1
CN1-2 CN1-2
CN1-3 LG CN1-3
CN1-4 LA CN1-4
CN1-5 LAR CN1-5
CN1-6 LB CN1-6
CN1-7 LBR CN1-7
CN1-8 LZ CN1-8
CN1-9 LZR CN1-9
CN1-10 PP CN1-10
CN1-11 PG CN1-11
1 26 CN1-12 OPC CN1-12
1 26
2 P15R 27 CN1-13 CN1-13 2 P15R 27
TLA CN1-14 CN1-14 TLA
3 28 3 28
4 29 CN1-15 SON CN1-15
LG LG 4 LG 29 LG
LA CN1-16 CN1-16
5 30 LA 5 30
6 CN1-17 PC CN1-17
LAR 31 LG 6 LAR 31 LG
CN1-18 TL CN1-18
LB 7 32 LB 7 32
CN1-19 RES CN1-19
8 LBR 33 8 LBR 33
CN1-20 DICOM CN1-20
LZ 9 OP 34 LZ 9 OP 34
CN1-21 DICOM CN1-21
10 LZR 35 LG 10 LZR 35 LG
CN1-22 INP CN1-22
PP 11 NP 36 PP 11 NP 36
CN1-23 ZSP CN1-23
12 PG 37 NG 12 PG 37 NG
CN1-24 INP CN1-24
OPC 13 38 OPC 13 PP2 38
CN1-25 TLC CN1-25
14 39 CN1-26 CN1-26
14 39 NP2
15 40 CN1-27 TLA CN1-27 15 40
16 SON 41 CN1-28 LG CN1-28 16 SON 41
17 CR 42 CN1-29 CN1-29 17 CR 42
18 PC 43 EMG CN1-30 LG CN1-30 18 PC 43 EM2
TL 19 LSP 44 CN1-31 CN1-31 TL 19 LSP 44
20 RES 45 LSN CN1-32 CN1-32 20 RES 45 LSN
DICOM
21 LOP 46 CN1-33 OP CN1-33 DICOM
21 LOP 46
22 DICOM 47 DOCOM CN1-34 LG CN1-34 22 DICOM 47 DOCOM

INP 23 DOCOM 48 CN1-35 NP CN1-35 INP 23 DOCOM 48

24 ZSP 49 ALM CN1-36 NG CN1-36 24 ZSP 49 ALM
INP 25 RD 50 CN1-37 (PP2) CN1-37 INP 25 RD 50
TLC CN1-38 (NP2) CN1-38 TLC
CN1-39 CN1-39
CN1-40 CN1-40
CN1-41 CR CN1-41
EMG
CN1-42 CN1-42
(EM2)
CN1-43 LSP CN1-43
CN1-44 LSN CN1-44
CN1-45 LOP CN1-45
CN1-46 DOCOM CN1-46
CN1-47 DOCOM CN1-47
CN1-48 ALM CN1-48
CN1-49 RD CN1-49
CN1-50 CN1-50

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

2) CN2
MR-J3-DU_A_ Signal MR-J4-DU_A_
Connector pin assignment Connector pin No. abbreviation Connector pin No. Connector pin assignment
CN2-1 P5 CN2-1
CN2-2 LG CN2-2
CN2-3 MR CN2-3
CN2-4 MRR CN2-4
2 6 10 2 6 10
LG 4 8 CN2-5 (THM1) CN2-5 LG 4 THM2 8
MRR MDR CN2-6 (THM2) CN2-6 MRR MXR
1 5 9 MD 1 5 9
P5 3 7 BAT CN2-7 CN2-7 P5 3 THM1 7 BAT
MR MD (MX) MR MX
MDR
CN2-8 CN2-8
(MXR)
CN2-9 BAT CN2-9
CN2-10 CN2-10

3) CN3
MR-J3-DU_A_ Signal MR-J4-DU_A_
Connector pin assignment Connector pin No. abbreviation Connector pin No. Connector pin assignment

CN3-1 LG CN3-1
8 8

CN3-2 P5D CN3-2 7

7
LG LG
6 CN3-3 RDP CN3-3 6
RDN RDN
5 5
CN3-4 SDN CN3-4
SDP SDP
4 4
SDN CN3-5 SDP CN3-5 SDN
3 3
RDP CN3-6 RDN CN3-6 RDP
2 2
P5D P5D
1 CN3-7 LG CN3-7 1
LG LG
CN3-8 TRE CN3-8

4) CN6
MR-J3-DU_A_ Signal MR-J4-DU_A_
Connector pin assignment Connector pin No. abbreviation Connector pin No. Connector pin assignment

3 CN6-3 MO1 CN6-3 3

MO1 MO1

2 2
MO2 CN6-2 MO2 CN6-2 MO2

1 1
LG CN6-1 LG CN6-1
LG

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

5) CN8
When not using the STO function, attach the short-circuit connector supplied with the drive unit to
CN8 (STO I/O signal connector).
MR-J3-DU_A_ Signal MR-J4-DU_A_
Connector pin assignment Connector pin No. abbreviation Connector pin No. Connector pin assignment

CN8-1
2 1
CN8-2

STOCOM CN8-3 4 3
STO1 STOCOM
STO1 CN8-4
6 5
STO2 CN8-5 TOFB1 STO2

TOFB1 CN8-6 8 7
TOFCOM TOFB2
TOFB2 CN8-7

TOFCOM CN8-8

6) CN40A
MR-J3-DU_A_ Signal MR-J4-DU_A_
Connector pin assignment Connector pin No. abbreviation Connector pin No. Connector pin assignment
CN40A-1 ACD2 CN40A-1
CN40A-2 ACD3 CN40A-2
1 11 CN40A-3 PAL CN40A-3 1 11
2 12 CN40A-4 ACD1 CN40A-4 2 12
ACD2 ACD2* ACD2 ACD2*
CN40A-5 LG CN40A-5
ACD3 ACD3* ACD3 ACD3*
3 13 CN40A-6 GOF CN40A-6 3 13
4 14 CN40A-7 PMC CN40A-7 4 14
PAL PAL* PAL PAL*
ACD1 ACD1*
CN40A-8 PSD CN40A-8 ACD1 ACD1*
5 15 CN40A-9 LG CN40A-9 5 15
6 16 CN40A-10 PRD CN40A-10 6 16
LG LG LG LG
GOF GOF* CN40A-11 ACD2* CN40A-11 GOF GOF*
7 17 7 17
CN40A-12 ACD3* CN40A-12
8 18 8 18
PMC PMC* CN40A-13 PAL* CN40A-13 PMC PMC*
PSD PSD* CN40A-14 ACD1* CN40A-14 PSD PSD*
9 19 9 19
CN40A-15 LG CN40A-15
10 20 LG 10 20 LG
LG CN40A-16 GOF* CN40A-16 LG
PRD PRD* CN40A-17 PMC* CN40A-17 PRD PRD*

CN40A-18 PSD* CN40A-18

CN40A-19 LG CN40A-19
CN40A-20 PRD* CN40A-20

7) CN40B
When MR-J4-DU_A is used, the terminal connector (MR-J3-TM) does not need to be connected
to CN40B. (This product does not have a connector for the terminal connector.)

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

(3) Drive unit (SSCNET interface)

(a) Connector comparison table
For details on signals, refer to each servo amplifier instruction manual.
MR-J3-DU_B_ MR-J4-DU_B_

(b) List of connector and terminal block correspondence

MR-J3-DU_B_ MR-J4-DU_B_
Connector Connector Precautions
No. Connector name No. Connector name
No. No.
① SSCNET III cable connector CN1A ① SSCNET III cable connector CN1A
② SSCNET III cable connector CN1B ② SSCNET III cable connector CN1B
CN2 When connected
to an HG-JR
③ Encoder connector ③ Encoder connector CN2 motor, the encoder
cable needs to be
changed.
④ I/O signal connector CN3 ④ I/O signal connector CN3
Use the dedicated
⑤ Battery connector CN4 ⑤ Battery connector CN4 battery of each
series.
⑥ USB communication connector CN5 ⑥ USB communication connector CN5
When not using
→ the STO function,
attach the short-
circuit connector
⑦ ⑦ STO input signal connector CN8
supplied with the
drive unit to CN8
(STO I/O signal
connector).
⑧ Converter unit connectors CN40A ⑧ Protection coordination connector CN40A
⑨ Converter unit connectors CN40B ⑨
Servo motor power supply Servo motor power output The structure of
⑩ TE1 ⑩ TE1
terminals terminal the main circuit
⑪ L+/L- terminals TE2-1/TE2 ⑪ L+/L- terminal TE2-1 terminal block
varies depending
on the capacity.
Refer to "Part 8
⑫ Control circuit terminal L11/L21 TE3 ⑫ Control circuit terminal L11/L21 TE3 Common
Reference
Material"

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

(c) Comparison of signals

Signal abbreviations in parentheses are for MR-J4-DU_B_.
1) CN2
MR-J3-DU_B_ Signal MR-J4-DU_B_
Connector pin assignment Connector pin No. abbreviation Connector pin No. Connector pin assignment
CN2-1 P5 CN2-1
CN2-2 LG CN2-2
CN2-3 MR CN2-3
CN2-4 MRR CN2-4
2 6 10 2 6 10
LG 4 8 CN2-5 (THM1) CN2-5 LG 4 THM2 8
MRR MDR CN2-6 (THM2) CN2-6 MRR MXR
1 5 9 MD 1 5 9
P5 3 7 BAT CN2-7 CN2-7 P5 3 THM1 7 BAT
MR MD (MX) MR MX
MDR
CN2-8 CN2-8
(MXR)
CN2-9 BAT CN2-9
CN2-10 CN2-10

2) CN3
MR-J3-DU_B_ Signal MR-J4-DU_B_
Connector pin assignment Connector pin No. abbreviation Connector pin No. Connector pin assignment
CN3-1 LG CN3-1
CN3-2 DI1 CN3-2
1 11 CN3-3 DOCOM CN3-3
1 11
2 12 CN3-4 MO1 CN3-4
LG LG 2 12
CN3-5 DICOM CN3-5 LG LG
DI1 DI2 CN3-6 LA CN3-6 DI1 DI2
3 13 3 13
4 14 CN3-7 LB CN3-7 4 14
DOCOM MBR DOCOM MBR
CN3-8 LZ CN3-8
MO1 MO2 CN3-9 INP CN3-9 (Note 1) MO1 MO2
5 15 5 15
6 16 CN3-10 DICOM CN3-10 6 16
DICOM ALM DICOM ALM
CN3-11 LG CN3-11
LA LAR LA LAR
7 17 CN3-12 DI2 CN3-12 7 17
8 18 CN3-13 MBR CN3-13 (Note 1) 8 18
LB LBR LB LBR
CN3-14 MO2 CN3-14
LZ LZR LZ LZR
9 19 CN3-15 ALM CN3-15 (Note 1) 9 19
10 20 CN3-16 LAR CN3-16 10 20
INP DI3 INP DI3
CN3-17 LBR CN3-17 EM2
DICOM EM1 DICOM
CN3-18 LZR CN3-18
CN3-19 DI3 CN3-19
EM1
CN3-20 CN3-20 (Note 2)
(EM2)

Note 1. Set with [Pr. PD07] to [PD09] for use.

2. The factory setting for MR-J4-_B_ is EM2.

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

3) CN8
When not using the STO function, attach the short-circuit connector supplied with the drive unit to
CN8 (STO I/O signal connector).
MR-J3-DU_B_ Signal MR-J4-DU_B_
Connector pin assignment Connector pin No. abbreviation Connector pin No. Connector pin assignment

CN8-1
2 1
CN8-2

STOCOM CN8-3 4 3
STO1 STOCOM
STO1 CN8-4
6 5
STO2 CN8-5 TOFB1 STO2

TOFB1 CN8-6 8 7
TOFCOM TOFB2
TOFB2 CN8-7

TOFCOM CN8-8

4) CN40A
MR-J3-DU_B_ Signal MR-J4-DU_B_
Connector pin assignment Connector pin No. abbreviation Connector pin No. Connector pin assignment
CN40A-1 ACD2 CN40A-1
CN40A-2 ACD3 CN40A-2
1 11 CN40A-3 PAL CN40A-3 1 11
2 12 CN40A-4 ACD1 CN40A-4 2 12
ACD2 ACD2* ACD2 ACD2*
CN40A-5 LG CN40A-5
ACD3 ACD3* ACD3 ACD3*
3 13 CN40A-6 GOF CN40A-6 3 13
4 14 CN40A-7 PMC CN40A-7 4 14
PAL PAL* PAL PAL*
ACD1 ACD1*
CN40A-8 PSD CN40A-8 ACD1 ACD1*
5 15 CN40A-9 LG CN40A-9 5 15
6 16 CN40A-10 PRD CN40A-10 6 16
LG LG LG LG
GOF GOF* CN40A-11 ACD2* CN40A-11 GOF GOF*
7 17 7 17
CN40A-12 ACD3* CN40A-12
8 18 8 18
PMC PMC* CN40A-13 PAL* CN40A-13 PMC PMC*
PSD PSD* CN40A-14 ACD1* CN40A-14 PSD PSD*
9 19 9 19
CN40A-15 LG CN40A-15
10 20 LG 10 20 LG
LG CN40A-16 GOF* CN40A-16 LG
PRD PRD* CN40A-17 PMC* CN40A-17 PRD PRD*

CN40A-18 PSD* CN40A-18

CN40A-19 LG CN40A-19
CN40A-20 PRD* CN40A-20

5) CN40B
When MR-J4-DU_B is used, the terminal connector (MR-J3-TM) does not need to be connected
to CN40B. (This product does not have a connector for the terminal connector.)

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5. PARAMETER

Never make a drastic adjustment or change to the parameter values as doing so

will make the operation unstable.
Do not change the parameter settings as described below. Doing so may cause
CAUTION an unexpected condition, such as failing to start up the drive unit.
Changing the values of the parameters for manufacturer setting
Setting a value out of the range
Changing the fixed values in the digits of a parameter

POINT
For the parameter converter function, refer to "Part 8: Common Reference
Material".
To enable a parameter whose abbreviation is preceded by *, turn the power OFF
and then ON after setting the parameter.
For details about parameter settings for replacement, refer to "MR-J4-_A_(-
RJ)/MR-J4-03A6(-RJ) Servo Amplifier Instruction Manual" and "MR-J4-_B_(-RJ)
Servo Amplifier Instruction Manual"
With the drive unit, the deceleration to a stop function is enabled in the factory
setting. To disable the deceleration to a stop function, set [Pr. PA04] to "0 _ _ _".

5.1 Converter unit

5.1.1 Converter unit parameter comparison list

MR-J3-CR55K/MR-J3-CR55K4 MR-CR55K/MR-CR55K4
Abbrev Initial Customer Abbrev Initial Customer
No. iation Parameter name value
setting No. iation Parameter name value
setting
value value
PA01 *REG Regenerative option 0000h PA01 *REG Regenerative option 0000h
Magnetic contactor drive output Magnetic contactor drive output
PA02 *MCC 0001h PA02 *MCC 0001h
selection selection
PA03 For manufacturer setting 0001h PA03 For manufacturer setting 0001h
PA04 0 PA04 0
PA05 100 PA05 100
PA06 0 PA06 0
PA07 100 PA07 100
PA08 *DMD Status display selection 0000h PA08 *DMD Status display selection 0000h
PA09 *BPS Alarm history clear 0000h PA09 *BPS Alarm history clear 0000h
PA10 For manufacturer setting 0 PA10 For manufacturer setting 0
PA11 0000h PA11 0000h
PA12 *DIF Input filter setting 0002h PA12 *DIF Input filter setting 0002h
PA13 For manufacturer setting 0000h PA13 For manufacturer setting 0000h
PA14 0000h PA14 0000h
PA15 0000h PA15 AOP3 Function selection A-3 0000h
PA16 0000h PA16 For manufacturer setting 0000h
PA17 0000h PA17 *AOP5 Function selection A-5 0001h
SEMI-F47 function - Instantaneous
PA18 0000h PA18 CVAT 200
power failure detection time
PA19 0000h PA19 For manufacturer setting 0000h

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

5.1.2 Converter unit comparison of parameter details

POINT
Set a value to each "x" in the "Setting digit" columns.

MR-J3-CR55K/MR-J3-CR55K4 MR-CR55K/MR-CR55K4
Initial Initial
No. Name and function No. Name and function
value value
PA01 Regenerative option 0000h PA01 Regenerative option 00h
Used to select the regenerative option Select a regenerative option.
0 0 x x: _ _ x x:
Select the regenerative option Incorrect setting will trigger [AL. 37 Parameter error].
00: No used 00: Regenerative option is not used
01: MR-RB139 When using the FR-BU2-(H) brake unit, select the
02: MR-RB137 (3 pcs.) value.
11: MR-RB136-4 01: MR-RB139
12: MR-RB138-4 (3 pcs.) 02: MR-RB137 (3 pcs.)
"01" and "02" are the set values for the MR-J3-CR55K 13: MR-RB137-4
only, and "11" and "12" are those for the MR-J3- 14: MR-RB13V-4 (3 pcs.)
CR55K4 only. _ x _ _: 0h
Incorrect setting will trigger [AL. 37 Parameter error]. For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PA02 Magnetic contactor drive output selection 0001h PA02 Magnetic contactor drive output selection 1h
Used to select the output of the magnetic contactor Select the magnetic contactor drive output.
drive power supply. ___x
0 0 0 x: 0: Disabled
Used to select the output of the magnetic contactor 1: Enabled
drive power supply. _ _ x _: 0h
0: Disabled For manufacturer setting
1: Enabled
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PA08 Status display selection 0000h PA08 Status display selection 0h
Select a status display shown at power-on. _ _ _ x:
0 0 0 x: Select a status display shown at power-on.
Status display of converter unit display section at power- 0: Status
on. 1: Bus voltage
0: Status 2: Effective load ratio
1: Bus voltage 3: Peak load ratio
2: Effective load ratio 4: Regenerative load ratio
3: Peak load ratio 5: Unit power consumption 1
4: Regenerative load ratio 6: Unit total power consumption 1
7: Unit total power consumption 2
_ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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MR-J3-CR55K/MR-J3-CR55K4 MR-CR55K/MR-CR55K4
Initial Initial
No. Name and function No. Name and function
value value
PA09 Alarm history clear 0000h PA09 Alarm history clear 0h
Used to clear the alarm history. Used to clear the alarm history.
0 0 0 x: _ _ _ x:
Alarm history clear 0: Disabled
0: Invalid 1: Enabled
1: Valid When you select "Enabled", the alarm history will be
When alarm history clear is made valid, the alarm cleared at next power-on. After the alarm history is
history is cleared at next power-on. cleared, the setting is automatically disabled.
After the alarm history is cleared, the setting is _ _ x _: 0h
automatically made invalid (reset to 0). For manufacturer setting
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PA12 Input filter setting 0002h PA12 Input filter setting 2h
Select the input filter. Select the input filter.
0 0 0 x: _ _ _ x:
Input signal filter If external input signal causes chattering due to noise,
If external input signal causes chattering due to noise, etc., input filter is used to suppress it.
etc., input 0: None
filter is used to suppress it. 1: 1.777 [ms]
0: None 2: 3.555 [ms]
1: 1.777 [ms] 3: 5.333 [ms]
2: 3.555 [ms] _ _ x _: 0h
3: 5.333 [ms] For manufacturer setting
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PA15 For manufacturer setting 0000h PA15 Function selection A-3 0h
Do not change this value by any means. _ _ _ x:
Selection of unit power consumption display unit
0: increment of 1 kW
1: increment of 0.1 kW
_ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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MR-J3-CR55K/MR-J3-CR55K4 MR-CR55K/MR-CR55K4
Initial Initial
No. Name and function No. Name and function
value value
PA17 For manufacturer setting 0000h PA17 Function selection A-5 1h
Do not change this value by any means. The [Pr. PA17 SEMI-F47 function selection] and [Pr.
PA18 SEMI-F47 function - Instantaneous power failure
detection time] settings of the converter unit must be
the same as [Pr. PA20 SEMI-F47 function selection]
and [Pr. PF25 SEMI-F47 function - Instantaneous
power failure detection time] settings of the drive unit.
_ _ _ x:
[AL. 10 Undervoltage] detection method selection
Set this parameter when [AL. 10] occurs due to
distorted power supply voltage waveform.
0: [AL. 10] not occurrence
1: [AL. 10] occurrence
_ _ x _: 0h
SEMI-F47 function selection
0: Disabled
1: Enabled
Selecting "1" enables to avoid triggering [AL. 10
Undervoltage] using the electrical energy charged in
the capacitor in case that an instantaneous power
failure occurs during operation. In [Pr. PA18 SEMI-F47
function - Instantaneous power failure detection time],
set the time until the occurrence of [AL. 10
Undervoltage].
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PA18 For manufacturer setting 0000h PA18 SEMI-F47 function - Instanta-neous power failure 200 [ms]
Do not change this value by any means. detection time
The [Pr. PA17 SEMI-F47 function selection] and [Pr.
PA18 SEMI-F47 function - Instantaneous power failure
detection time] settings of the converter unit must be
the same as [Pr. PA20 SEMI-F47 function selection]
and [Pr. PF25 SEMI-F47 function - Instantaneous
power failure detection time] settings of the drive unit.
Set the time until the occurrence of [AL. 10
Undervoltage].
To disable the parameter setting value, select
"Disabled (_ _ 0 _)" of "SEMI-F47 function selection" in
[Pr. PA17].

Setting range: 30 to 200

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5.2 Drive unit

POINT
Manufacturer setting parameters are not described here.
Set a value to each "x" in the "Setting digit" columns.
An incorrect setting may cause the regenerative option to burn out.
When a regenerative option that is not available to use on a servo amplifier is
selected, a [AL.37 parameter error] occurs.
For a drive unit of 30 kW or more, be sure to set this parameter to "_ _ 0 0" since
selecting the regenerative option and brake unit is carried out by [Pr. PA01] of the
MR-J3-CR55K(4) converter unit.

5.2.1 Drive unit comparison of parameter details

(1) General-Purpose interface 200 V/400 V class

Here are described settings of drive unit specific parameters. Settings of the other parameters are the
same as MR-J4-_A_(-RJ). Refer to "Part 2: section 3.5".
MR-J3-DU_A_ MR-J4-DU_A_
Initial Initial
No. Name and function No. Name and function
value value
PA02 Regenerative option 0000h PA02 Regenerative option 00h
Set this parameter when using the regenerative option, _ _ x x:
brake unit, power regenerative converter, or power Select a regenerative option.
regenerative common converter. For the drive unit, select the regenerative option with the
0 0 x x: converter unit.
Selection of regenerative option Selecting other than "_ _ 0 0" or "_ _ 0 1" will trigger [AL.
00: Regenerative option is not used, or when you use a 37 Parameter error].
regenerative option, set the regenerative option with
the converter unit. 00: Regenerative option is not used, or when you use a
When using the drive unit with the converter unit, set regenerative option, set the regenerative option with
this value regardless of whether or not the the converter unit.
regenerative option and brake unit are used.) When using the drive unit with the converter unit, set
this value regardless of whether or not the
regenerative option and brake unit are used.)

_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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(2) SSCNET interface 200 V/400 V class

POINT
When you connect the amplifier to a servo system controller, servo parameter
values of the servo system controller will be written to each parameter.
Setting may not be made to some parameters and their ranges depending on
the servo system controller model, drive unit software version, and MR
Configurator2 software version. For details, refer to the servo system controller
user's manual.

Here are described settings of drive unit specific parameters. Settings of the other parameters are the
same as MR-J4-_B_. Refer to "Part 3: section 3.6".
MR-J3-DU_B_ MR-J4-DU_B_
Initial Initial
No. Name and function No. Name and function
value value
PA02 Regenerative option 0000h PA02 Regenerative option 0h
Set this parameter when using the regenerative option, Select a regenerative option.
brake unit, power regeneration converter, or power For the drive unit, select the regenerative option with the
regeneration common converter. converter unit.
0 0 x x: Selecting other than "_ _ 0 0" or "_ _ 0 1" will trigger [AL.
Selection of regenerative option 37 Parameter error].
00: Regenerative option is not used, or when you use a _ _ x x:
regenerative option, set the regenerative option with Regenerative option selection
the converter unit. 00: Regenerative option is not used, or when you use a
When using the drive unit with the converter unit, set regenerative option, set the regenerative option with
this value regardless of whether or not the the converter unit.
regenerative option and brake unit are used.) When using the drive unit with the converter unit, set
this value regardless of whether or not the
regenerative option and brake unit are used.)
_ x _ _: 0h
Converter unit selection
0: MR-CR_
7: MR-CV_
Setting a value other than "0" or "7" will trigger [AL. 37].
x _ _ _: 0h
Enable or disable the protection coordination mode.
0: Protection coordination mode enabled
4: Protection coordination mode disabled (stand-alone
drive)
Set "4" for the drive unit which is not connected to the
MR-CV_ with the protection coordination cable.
To disable the protection coordination mode, set
"Protection coordination mode function between
converter and drive unit selection" of [Pr. PF03] to
"Enabled (_ 1 _ _)", and then this parameter to
"Protection coordination mode disabled (4 _ _ _)".

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6. CHARACTERISTICS

6.1 Overload protection characteristics

An electronic thermal relay is built in the converter unit and drive unit to protect the servo motor, converter
unit and drive unit from overloads.
[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve
shown in fig. 5.1, 5.2 and 5.3. [AL. 51 Overload 2] occurs if the maximum current is applied continuously for
several seconds due to machine collision, etc. Use the equipment on the left-side area of the graph.
For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque
of the machine should be kept at 70% or lower of the motor's rated torque.
The MR-J3-DU_ and MR-J4-DU_ servo amplifiers have servo motor overload protective function.

(1) For the MR-J3-DU_

10000 10000

1000 1000
Operation time [s]
Operation time [s]

Operating Operating
100 100

Servo-lock
10 10

1 1
0 100 (Note 2) 200 250 0 100 (Note 2) 200 250

Load ratio [%] Load ratio [%] (Note 1)

Converter unit Drive unit

Note 1. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo
motor stop status (servo-lock status) or in a 30 r/min or less low-speed operation status, the drive unit may malfunction
regardless of the electronic thermal protection.
2. Load ratio 100% indicates the rated output of each converter unit and drive unit. Refer to "MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ)
Servo Amplifier Instruction Manual" , "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" and "MR-CV_/MR-CR55K_/MR-J4-
DU_B_(-RJ)/MR-J4-DU_A_(-RJ) Instruction Manual".

Fig. 5.1 Overload protection characteristics

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(2) For the MR-J4-DU_

The following table shows combinations of each servo motor and graph of overload protection
characteristics.

Rotary servo motor

Graph
HG-SR HG-JR
702 503 Characteristics A
7024 703
701M
5034
7034
11K1M Characteristics B
903
9034
12K14
11K1M4
15K1M4
37K14
12K1
37K1
15K1M
801
15K1
20K1
25K1
30K1
22K1M
30K1M
37K1M
8014
15K14
20K14
25K14
30K14
22K1M4
30K1M4
37K1M4
45K1M4
601 Characteristics A
6014
701M4
55K1M4 Characteristics B

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The following graphs show overload protection characteristics.

1000 10000

1000

100

Operation time [s]

Operation time [s]

Operating
Servo-lock Operating 100

10 Servo-lock
10

1 1
0 50 100 150 200 250 300 350 400 0 50 100 150 200 250 300
(Note 2) (Note 2)
Load ratio [%] (Note 1, 3) Load ratio [%] (Note 1)

Characteristics A Characteristics B
Note 1. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo
motor stop status (servo-lock status) or in a 50 r/min or less low-speed operation status, the drive unit may malfunction
regardless of the electronic thermal protection.
2. Load ratio 100% indicates the rated output of the drive unit. Refer to "MR-CV_/MR-CR55K_/MR-J4-DU_B_(-RJ)/MR-J4-
DU_A_(-RJ) Instruction Manual".
3. The operation time at the load ratio of 300% to 400% applies when the maximum torque is increased to 400% of rated torque.
For the combination of a servo amplifier and servo motor with which the maximum torque can be increased, refer to “Part 1:
3.2.2(3) Servo amplifier and servo motor combination for the MR-J4 series”.

Fig. 5.2 Overload protection characteristics.

(3) For the MR-CR_ converter unit

10000

1000
Operation time [s]

Operating

100

10

1
0 50 100 150 200 250 300
Load ratio [%] (Note)

Note. Load ratio 100% indicates the rated output of the converter unit. Refer to "MR-
CV_/MR-CR55K_/MR-J4-DU_B_(-RJ)/MR-J4-DU_A_(-RJ) Instruction Manual".

Fig. 5.3 Overload protection characteristics

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6.2 Power supply capacity and generated loss

(1) Generated heat of the converter unit/drive unit

Table 5.1 and 5.2 indicates the generated loss and power supply capacity under rated load per
combination of the converter unit and drive unit. When the servo motors are run at less than the rated
speed, the power supply equipment capacity is lower than the value in the table but the heat generated
does not change.
Since the servo motor requires 2 times to 2.5 times greater instantaneous power for acceleration, use
the power supply which ensures that the voltage lies within the permissible voltage fluctuation at the
main circuit power supply terminals (L1/L2/L3) of the converter unit. The power supply equipment
capacity changes with the power supply impedance. The actually generated heat falls within the ranges
at rated output and at servo-off according to the frequencies of use during operation. When designing an
enclosed cabinet, use the values in the table, considering the worst operating conditions. The generated
heat in table 5.1 and 5.2 does not include heat produced during regeneration.

(a) MR-J3-DU_

Table 5.1 Power supply capacity and generated heat per servo amplifier at rated output
Power supply capacity [kVA] Drive unit-generated heart [W] (Note)
At rated output Area
Power factor
Power factor [Generated heat required
improving
Converter unit Drive unit Servo motor improving DC in the cabinet for heat
DC At rated torque At zero torque
reactor is when cooled dissipation
reactor is not
used outside the [m2]
used cabinet]
HA-LP30K1
MR-J3-DU30K_ HA-LP30K1M 48 40 1550 (1100 + 450) 470 31.0
HA-LP30K2
MR-J3-CR55K
HA-LP37K1
MR-J3-DU37K_ HA-LP37K1M 59 49 1830 (1280 + 550) 550 36.6
HA-LP37K2
HA-LP25K14 40 35 1080 (850 + 230) 330 21.6
HA-LP30K14
MR-J3-DU30K_4
HA-LP30K1M4 48 40 1290 (1010 + 280) 390 60 (30 + 30) 25.8
HA-LP30K24
HA-LP37K14
MR-J3-CR55K4 MR-J3-DU37K_4 HA-LP37K1M4 59 49 1542 (1200 + 342) 470 30.8
HA-LP37K24
HA-LP45K1M4
MR-J3-DU45K_4 71 59 1810 (1370 + 440) 550 36.2
HA-LP45K24
HA-LP50K1M4 80 67 2120 (1650 + 470) 640 42.4
MR-J3-DU55K_4
HA-LP55K24 87 72 2150 (1650 + 500) 650 43.0

Note. The heat generated by the drive unit is indicated in the left term within the parentheses, and the heat generated by the converter
unit in the right term.

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(b) MR-J4-DU_

Table 5.2 Power supply capacity and generated heat per servo motor at rated output
Power supply capacity
Drive unit-generated heat [W] (Note)
[kVA]
Area
At rated output
required
Power factor Power factor [Generated heat
Converter unit Drive unit Servo motor for heat
improving improving in the cabinet
At rated output With servo-off dissipation
DC reactor DC reactor when cooled
[m2]
is not used is used outside the
cabinet]
HG-JR30K1
MR-J4-DU30K_ 48 40 1350 (900 + 450) 470 27.0
HG-JR30K1M
MR-CR55K
HG-JR37K1
MR-J4-DU37K_ 59 49 1550 (1000 + 550) 550 31.0
HG-JR37K1M
HG-JR30K14
MR-J4-DU30K_4 48 40 1070 (790 + 280) 390 21.4
HG-JR30K1M4
60 (30 + 30)
HG-JR37K14
MR-J4-DU37K_4 59 49 1252 (910 + 342) 470 25.1
MR-CR55K4 HG-JR37K1M4
MR-J4-DU45K_4 HG-JR45K1M4 71 59 1580 (1110 + 470) 550 31.6
MR-J4-DU55K_4 HG-JR55K1M4 87 72 1940 (1440 + 500) 650 38.8

Note. The heat generated by the drive unit is indicated in the left term within the parentheses, and the heat generated by the converter
unit in the right term.

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6.3 Inrush currents at power-on of main circuit/control circuit

POINT
The inrush current values can change depending on frequency of turning on/off
the power and ambient temperature.

Since large inrush currents flow in the power supplies, always use molded-case circuit breakers and
magnetic contactors. (Refer to section 7.3.)
When circuit protectors are used, it is recommended that the inertia delay type, which is not tripped by an
inrush current, be used.

(1) MR-J3 series

The following table indicates the inrush currents (reference data) that will flow when the maximum
permissible voltage (200 V class: 253 VAC, 400 V class: 528 VAC) is applied at the power supply
capacity of 2500 kVA and the wiring length of 1 m.
Inrush currents (A0-P)
Converter unit Drive unit
Main circuit power supply (L1/L2/L3) Control circuit power supply (L11/L21)
MR-J3-DU30K_ 163 A 18 A
MR-J3-CR55K
MR-J3-DU37K_ (Attenuated to approx. 20 A in 180 ms) (Attenuated to approx. 0 A in 100 ms)
MR-J3-DU30K_4
MR-J3-DU37K_4 339 A 19 A
MR-J3-CR55K4
MR-J3-DU45K_4 (Attenuated to approx. 20 A in 70 ms) (Attenuated to approx. 0 A in 60 ms)
MR-J3-DU55K_4

(2) MR-J4 series

The following table indicates the inrush currents (reference data) that will flow when the maximum
permissible voltage (200 V class: 240 V AC, 400 V class: 480 V AC) is applied at the power supply
capacity of 2500 kVA and the wiring length of 1 m.
Inrush currents (A0-P)
Converter unit Drive unit
Main circuit power supply (L1/L2/L3) Control circuit power supply (L11/L21)
MR-J4-DU30K_ 154 A 31 A
MR-CR55K
MR-J4-DU37K_ (Attenuated to approx. 20 A in 150 ms) (Attenuated to approx. 2 A in 60 ms)
MR-J4-DU30K_4
MR-J4-DU37K_4 305 A 27 A
MR-CR55K4
MR-J4-DU45K_4 (Attenuated to approx. 20 A in 70 ms) (Attenuated to approx. 2 A in 45 ms)
MR-J4-DU55K_4

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7. OPTIONS AND PERIPHERAL EQUIPMENT

7.1 Comparison table of cable option combinations

Cable option combinations

Compatibility
Application MR-J3-DU_ MR-J4-DU_ Note
(Note 4)
MR-ENECBL_M-H-MTH When connected to an
MR-J3ENSCBL_M-_
Cable length: HG-JR motor, the
Encoder cable Cable length: ×
2 m/5 m/10 m/20 m/30 m/40 m/50 encoder cable needs
2 m/5 m/10 m/20 m/30 m to be changed.
m
When connected to an
Encoder connector HG-JR motor, the
MR-J3SCNS MR-ENECNS ×
set encoder cable needs
to be changed.
MR-J3BUS_M
Cable length: 0.15 to 3 m
SSCNET optical MR-J3BUS_M-A Use the same
○
communication cable Cable length: 5 to 20 m combination.
MR-J3BUS_M-B
Cable length: 30 to 50 m
General-purpose
interface Use the same
MR-J3CN1 ○
I/O signal CN1 combination.
connector set
SSCNET interface
Use the same
I/O signal CN3 MR-CCN1 ○
combination.
connector set
CN5 communication Use the same
MR-J3USBCBL3M ○
cable combination.
Battery for junction Use the dedicated
MR-J3BTCBL03M MR-BT6VCBL03M (Note 1)
battery cable battery f each series.
Use the same
Monitor cable MR-J3CN6CBL1M ○
combination.
Protection Use the same
MR-J3CDL05M ○
coordination cable combination.
CN40/CN40A Use the same
MR-J2CN1-A ○
connector set combination.
Termination
MR-J3-TM ○ Not required
connector
Magnetic contactor Socket: GFKC 2.5/2-
○
wiring connector STF-7.62
(Note 2)
Connector 17JE23090-
Digital I/O connector ○
02(D8A)K11-CG
When not using the
STO function, attach
the short-circuit
STO cable MR-D05UDL3M-B (Note 3) connector supplied
with the drive unit to
CN8 (STO I/O signal
connector).
RS-422/RS-232C Use the same
DSV-CABV ○
conversion cable combination.
Note 1. Use the dedicated battery of each series.
2. Supplied with converter unit.
3. MR-D05UDL3M-B is in production.
4. ○ : Compatible，△ : Compatible with condition，× : Not compatible

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7.1.1 MR-J3CDL05M (0.5 m) Protection coordination cable

Connect protection coordination cables correctly if they are fabricated.Otherwise,

CAUTION the system may perform unexpected operation.

POINT
MR-J3CDL05M is for the MR-CR_ converter unit.
MR-J3CDL05M cannot be used with the MR-CV_ power regeneration converter
unit.

(1) Applications of the protection coordination cable

The cable is used to connect a converter unit to a drive unit.

(2) Internal wiring diagram

MR-J3CDL05M
10120-3000PE (Connector) PCR-S20FS + (Connector)
10320-52F0-008 (Shell kit) PCR-LS20LA1 (Case)

9 1 ACD2
19 11 ACD2*
10 2 ACD3
20 12 ACD3*
7 3 PAL
17 13 PAL*
8 4 ACD1
18 14 ACD1*
5 5 LG
15 15 LG
Converter unit side 6 6 GOF Drive unit side
16 16 GOF*
3 7 PMC
13 17 PMC*
4 8 PSD
14 18 PSD*
1 9 LG
11 19 LG
2 10 PRD
12 20 PRD*

Plate Plate SD

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(3) When fabricating a cable

Prepare MR-J2CN1-A connector set, the recommended wires, and fabricate the cable according to the
wiring diagram in (2) in this section.
Characteristics of one core Cable
Core
Length Number Conductor Insulator OD
Model size Structure Wire model
[m] of cores resistance OD d [mm] [mm]
[mm2] [Wires/mm]
[Ω/km] (Note 1) (Note 2)
20
UL 20276 AWG#28
MR-J3CDL05M 0.5 0.08 (10 7/0.127 222 or less 0.38 6.1
10pair (cream)
pairs)

Note 1. The following shows the detail of d.

d

Conductor Insulator

2. Standard OD. Maximum OD is about 10% greater.

7.2 Selection example of wires

POINT
To comply with the IEC/EN/UL/CSA standard, use the wires refer to "MR-J4-
_A_(-RJ)/MR-J4-03A6(-RJ) Servo Amplifier Instruction Manual" , "MR-J4-_B_(-
RJ) Servo Amplifier Instruction Manual" and "MR-CV_/MR-CR55K_/MR-J4-
DU_B_(-RJ)/MR-J4-DU_A_(-RJ) Instruction Manual". To comply with other
standards, use a wire that is complied with each standard.
Selection conditions of wire size are as follows.
Construction condition: Single wire set in midair
Wire length: 30 m or less (J3 series)
50 m or less (J4 series)

7.2.1 MR-J3 series, power supply wire size

For the power supply wire, use a 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire).
The following diagram shows the wires used for wiring. Use the wires or equivalent given in this section.

3) Converter unit Drive unit 3) Motor power supply lead Servo motor

Power factor P1 U U
improving
DC reactor P2 V V
Motor
1) W W
4) Regenerative option lead
Regenerative option

C
1) Main circuit power Encoder cable
Power supply
supply lead Encoder
L1
6) Thermal relay
L2
L3 OHS1 Thermal
relay
OHS2
L11 L11
Power supply Cooling fan
L21 L21 5) Cooling fan
lead
BU
2) Control power supply lead
BV
BW

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(1) When using the 600V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire)
Selection example of wire size when using HIV wires is indicated below.

Wire size selection example 2 (HIV wire)

Wires [mm2] (Note 1, 3)
Drive unit
Converter unit 1) 2) 3) 4) 5) 6)
(Note 2)
L1/L2/L3/ L11/L21 U/V/W/P1/P2/ P2/C BU/BV/BW OHS1/OHS2
MR-J3-DU30K_ 38 (AWG2): c 60 (AWG2/0): d
MR-J3-CR55K 2 (AWG14)
MR-J3-DU37K_ 60 (AWG2/0): d 60 (AWG2/0): d
MR-J3-DU30K_4 22 (AWG4): b 22 (AWG4): e
2 (AWG14) 5.5 (AWG10): a 1.25 (AWG16)
MR-J3-DU37K_4 22 (AWG4): b 22 (AWG4): e
MR-J3-CR55K4 1.25 (AWG16)
MR-J3-DU45K_4 38 (AWG2): c 38 (AWG2): c
MR-J3-DU55K_4 38 (AWG2): c 38 (AWG2): c

Note 1. Alphabets in the table indicate crimping tools. For crimp terminals and applicable tools, refer to (2) in this section.
2. To connect these models to a terminal block, be sure to use the screws that come with the terminal block.
3. Wires are selected based on the highest rated current among combining servo motors.

(2) Selection example of crimp terminals

The following shows the selection example of crimp terminals for terminal blocks of the drive unit and
converter unit when you use wires mentioned in (1) in this section.
Drive unit/converter unit-side crimp terminal
Symbol Crimp terminal Applicable tool
Manufacturer
(Note 2) Body Head Dice
a FVD5.5-10 YNT-1210S
YF-1 DH-123
b FVD22-10 YNE-38
E-4 DH-113
YPT-60-21
c TD-124
R38-10 YF-1
(Note 1) YET-60-1 TD-112
E-4
YPT-60-21 JST
d TD-125
R60-10 YF-1 (J.S.T. Mfg. Co., Ltd.)
(Note 1) YET-60-1 TD-113
E-4
YF-1 DH-123
e FVD22-8 YNE-38
E-4 DH-113
YPT-60-21
f TD-124
R38-8 YF-1
(Note 1) YET-60-1 TD-112
E-4
Note 1. Coat the crimping part with an insulation tube.
2. Some crimp terminals may not be mounted. Make sure to use the recommended crimp
terminal or one equivalent to it.

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7.2.2 MR-J4 series, power supply wire size

The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.

4) Converter unit Drive unit 4) Motor power supply lead Servo motor

Power factor P1 U U
improving
DC reactor P2 V V
Motor
1) W W
3) Regenerative option lead
Regenerative option

C
1) Main circuit power Encoder cable
Power supply supply lead Encoder
L1
L2
L3

L11 L11
L21 L21

2) Control circuit power

supply lead

(1) Example of selecting the wire sizes

Use the 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire) for wiring. The following
shows the wire size selection example.

Wire size selection example (HIV wire)

Recommended wire
Wire [mm2] (Note 1, 3)
Converter unit Drive unit 4)
1) 2) 3)
(Note 2) (Note 2) U/V/W
L1/L2/L3/ L11/L21 P2/C
P1/P2/
MR-J4-DU30K_ 38 (AWG2): c 60 (AWG2/0): d
MR-CR55K
MR-J4-DU37K_ 60 (AWG2/0): d 60 (AWG2/0): d
1.25 to 2
MR-J4-DU30K_4 22 (AWG4): e 22 (AWG4): e
(AWG 16 to 14): g 5.5 (AWG10): a
MR-J4-DU37K_4 22 (AWG4): e 38 (AWG 2): f
MR-CR55K4 (Note 4)
MR-J4-DU45K_4 38 (AWG2): c 38 (AWG2): c
MR-J4-DU55K_4 38 (AWG2): c 38 (AWG2): c

Note 1. Alphabets in the table indicate crimping tools. For crimp terminals and applicable tools, refer to (2) in this section.
2. To connect these models to a terminal block, be sure to use the screws that come with the terminal block.
3. Wires are selected based on the highest rated current among combining servo motors.
4. Be sure to use the size of 2 mm2 when corresponding to the IEC/EN/UL/CSA standard.

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(2) Selection example of crimp terminals

The following shows the selection example of crimp terminals for terminal blocks of the drive unit and
converter unit when you use wires mentioned in (1) in this section.
Drive unit/converter unit-side crimp terminal
Symbol Crimp terminal Applicable tool
Manufacturer
(Note 2) Body Head Dice
a FVD5.5-10 YNT-1210S
YF-1 DH-123
b FVD22-10 YNE-38
E-4 DH-113
YPT-60-21
c TD-124
R38-10 YF-1
(Note 1) YET-60-1 TD-112
E-4
YPT-60-21
d TD-125 JST
R60-10 YF-1
(Note 1) YET-60-1 TD-113 (J.S.T. Mfg. Co., Ltd.)
E-4
YF-1 DH-123
e FVD22-8 YNE-38
E-4 DH-113
YPT-60-21
f TD-124
R38-8 YF-1
(Note 1) YET-60-1 TD-112
E-4
g FVD2-4 YNT-1614

Note 1. Coat the crimping part with an insulation tube.

2. Installation of a crimp terminal may be impossible depending on the size, so make sure to use the
recommended crimp terminal or one equivalent to it.

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7.3 Selection of Molded-case circuit breakers, fuses, magnetic contactors (example)

To prevent the converter unit and the drive unit from smoke and a fire, select a
molded-case circuit breaker which shuts off with high speed.
Always use one molded-case circuit breaker and one magnetic contactor with one
CAUTION converter unit.
Since recommended products vary between MR-J3-DU and MR-J4-DU_, use the
recommended products of MR-J4-DU_.

7.3.1 MR-J3-DU_ Molded-case circuit breakers, fuses, magnetic contactors (recommended)

(1) For main circuit power supply

When using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this
section.
Molded-case circuit breaker Fuse
Frame, rated current Magnetic
Converter unit Drive unit Power factor Power factor Voltage AC Current Voltage contactor
Class
improving DC reactor improving DC reactor [V] [A] AC [V] (Note)
is not used is used
MR-J3-DU30K_ 400 A frame 250 A 225 A frame 225 A 500 S-N150
MR-J3-CR55K 240 300
MR-J3-DU37K_ 400 A frame 300 A 400 A frame 300 A 600 S-N180
MR-J3-DU30K_4 225 A frame 125 A 225 A frame 125 A 250 S-N95
T
MR-J3-DU37K_4 225 A frame 150 A 225 A frame 150 A 300 S-N125
MR-J3-CR55K4 600Y/347 600
MR-J3-DU45K_4 225 A frame 175 A 225 A frame 175 A 400 S-N150
MR-J3-DU55K_4 400 A frame 225 A 225 A frame 225 A 450 S-N180

Note. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts)
of 80 ms or less.

7.3.2 MR-J4-DU_ Molded-case circuit breakers, fuses, magnetic contactors (recommended)

(1) For main circuit power supply

When using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this
section.
Molded-case circuit breaker (Note 1) Fuse
Frame, rated current Magnetic
Converter unit Drive unit Power factor Power factor Voltage AC Current Voltage contactor
Class
improving DC reactor improving DC reactor [V] [A] AC [V] (Note 2)
is not used is used
MR-J4-DU30K_ 225 A frame 175 A 225 A frame 150 A 300 S-N150
MR-CR55K 240 300
MR-J4-DU37K_ 225 A frame 225 A 225 A frame 175 A 400 S-N180
MR-J4-DU30K_4 100 A frame 100 A 100 A frame 80 A 175 S-N65
T
MR-J4-DU37K_4 125 A frame 125 A 100 A frame 100 A 200 S-N80
MR-CR55K4 480 600
MR-J4-DU45K_4 225 A frame 150 A 125 A frame 125 A 300 S-N95
MR-J4-DU55K_4 225 A frame 175 A 225 A frame 150 A 300 S-N150

Note 1. For compliance with the IEC/EN/UL/CSA standard, refer to "MR-CV_/MR-CR55K_/MR-J4-DU_B_(-RJ)/MR-J4-DU_A_(-RJ)

Instruction Manual".
2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less.

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(2) For control circuit power supply

When the wiring for the control circuit power supply (L11/L21) is thinner than that for the main circuit
power supply (L1/L2/L3), install an overcurrent protection device (molded-case circuit breaker or fuse) to
protect the branch circuit.

(a) Converter unit

Molded-case circuit breaker (Note) Fuse (Class T) Fuse (Class K5)
Converter unit
Frame, rated current Voltage AC [V] Current [A] Voltage AC [V] Current [A] Voltage AC [V]
MR-CR55K 30 A frame 5 A 240 1 300 1 250
MR-CR55K4 30 A frame 5 A 480 1 600 1 600

Note. When having the converter unit comply with the IEC/EN/UL/CSA standard, refer to "MR-CV_/MR-CR55K_/MR-J4-
DU_B_(-RJ)/MR-J4-DU_A_(-RJ) Instruction Manual".

(b) Drive unit

Molded-case circuit breaker (Note) Fuse (Class T) Fuse (Class K5)
Drive unit
Frame, rated current Voltage AC [V] Current [A] Voltage AC [V] Current [A] Voltage AC [V]
MR-J4-DU30K_
30 A frame 5 A 240 1 300 1 250
MR-J4-DU37K_
MR-J4-DU30K_4
MR-J4-DU37K_4
30 A frame 5 A 480 1 600 1 600
MR-J4-DU45K_4
MR-J4-DU55K_4

Note. When having the drive unit comply with the IEC/EN/UL/CSA standard, refer to "MR-CV_/MR-CR55K_/MR-J4-DU_B_(-
RJ)/MR-J4-DU_A_(-RJ) Instruction Manual".

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7.4 FR-BU2-(H) brake unit

POINT
EM2 of the drive unit is the signal having the same contents as EM1 of the drive
unit in torque control mode. (J4 series)
Use a 200 V class brake unit and a resistor unit with a 200 V class converter
unit, and a 400 V class brake unit and a resistor unit with a 400 V class
converter unit. Combination of different voltage class units cannot be used.
When a brake unit and a resistor unit are installed horizontally or diagonally, the
heat dissipation effect diminishes. Install them on a flat surface vertically.
The temperature of the resistor unit case will be higher than the ambient
temperature by 100 ˚C or over. Keep cables and flammable materials away from
the case.
Ambient temperature condition of the brake unit is between -10 °C and 50 °C.
Note that the condition is different from the ambient temperature condition of the
converter unit (between 0 °C and 55 °C).
Configure the circuit to shut down the power-supply with the alarm output of the
brake unit and the resistor unit under abnormal condition.
Use the brake unit with a combination indicated in section 7.4.1.
Brake unit and regenerative options (Regenerative resistor) cannot be used
simultaneously.
When using the brake unit, set the parameters as follows.
Parameter Setting value
__00
[Pr. PA01] of the converter unit
(Initial value)
__00
MR-J3-DU_ drive unit of the [Pr. PA02]
(Initial value)
MR-J4-DU_ drive unit of the [Pr. PA02] __01

Connect the brake unit to the bus of the converter unit (L+ and L- of TE2-1) for use. As compared to the MR-
RB regenerative option, the brake unit can return larger power. Use the brake unit when the regenerative
option cannot provide sufficient regenerative capability.
When using the brake unit, always refer to "FR-BU2 Brake Unit Instruction Manual".

7.4.1 Selection

Use a combination of converter unit, brake unit and resistor unit listed below.
Permissible
Number of Resultant
continuous
Brake unit Resistor unit connected resistance Converter unit
power
units [Ω]
[kW]
FR-BR-55K 2 (parallel) 7.82 1 MR-J3-CR55K
200 V class FR-BU2-55K
MT-BR5-55K 2 (parallel) 11.0 1 MR-CR55K
FR-BU2-H55K FR-BR-H55K 2 (parallel) 7.82 4 MR-J3-CR55K4
400 V class
FR-BU2-H75K MT-BR5-H75K 2 (parallel) 15.0 3.25 MR-CR55K4

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7.4.2 Brake unit parameter setting

Normally, changing the FR-BU2-(H) parameter is not required. Whether a parameter can be changed or not
is listed below.
Parameter Change
possible/ Remark
No. Name
impossible
0 Brake mode switchover Impossible Do not change the parameter.
1 Monitor display data selection Possible Refer to "FR-BU2 Brake Unit Instruction
Manual".
2 Input terminal function selection 1 Impossible Do not change the parameter.
3 Input terminal function selection 2
77 Parameter write selection
Cumulative energization time
78
carrying-over times
CLr Parameter clear
ECL Alarm history clear
C1 For manufacturer setting

7.4.3 Connection example

POINT
Connecting PR terminal of the brake unit to L+ terminal of the converter unit
results in a brake unit malfunction. Always connect the PR terminal of the brake
unit to the PR terminal of the resistor unit.

(1) Combination with FR-BR-(H) resistor unit

POINT
To use brake units with a parallel connection, use two sets of FR-BU2-(H) brake
unit. Combination with other brake unit results in alarm occurrence or
malfunction.
Always connect the terminals for master/slave (MSG to MSG, SD to SD)
between the two brake units.
Do not connect as follows.
Converter unit Brake unit Converter unit Brake unit

L+ P/+ L+ P/+
L- N/- L- N/-

Brake unit Brake unit

P/+ P/+
N/- N/-

Connecting two cables Passing wiring

to L+ and L- terminals

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(a) When magnetic contactor drive output is enabled

Drive unit Converter unit
malfunction malfunction Emergency stop Operation ready
RA1 RA2 switch OFF/ON
MC

SK

Converter unit Drive unit

(Note 5) TE2-2
CNP1 L+ L+
MC1 1 L- L-

MC2 2
P1
(Note 3)
(Note 2) P2
MCCB MC CN1
L1
(Note 1) 1 DICOM
Power L2 (Note 14)
supply 24 V DC
L3 5 DOCOM CN3
L11 6 DICOM 15 ALM RA1

L21 2 ALM RA2 10 DICOM

(Note 8) (Note 8) 24 V DC
7 EM1 5 DICOM

TE2-1 9 DOCOM 3 DOCOM

L+
(Note 9) 20 EM2
L-
(Note 13)
Plate SD Main circuit
L11 power supply

L21

FR-BR-(H)
(Note 6) TH1
P
TH2
PR

FR-BU2-(H)

(Note 12) PR MSG

P/+ (Note 11) SD
(Note 4) A
N/-
B
C
BUE
(Note 10) (Note 7)
SD
Terminal
block
FR-BR-(H)
(Note 6) TH1
P
TH2
PR

FR-BU2-(H)

PR MSG
P/+ (Note 11) SD
(Note 4) A
N/-
B
C
BUE
(Note 10) (Note 7)
SD

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Note 1. For the power supply specifications, refer to "Part 8: Common Reference Material".
2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may
cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not
required, slow the time to turn off the magnetic contactor.
3. P1 and P2 are connected by default. When using the power factor improving DC reactor, connect P1 and P2 after removing
the short bar across them. Refer to "Part 10: Chapter 7" for details.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in the
converter unit and brake unit malfunction.
5. For 400 V class, a step-down transformer is required.
6. Contact rating: 1b contact, 110 V AC, 5 A/220 V AC, 3 A
Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting.
7. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A
Normal condition: B-C is conducting./A-C is not conducting. Abnormal condition: B-C is not conducting./A-C is conducting.
8. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 7.3.)
9. Do not connect more than one cable to each L+ and L- terminals of TE2-1 of the converter unit.
10. Always connect BUE and SD terminals. (factory-wired)
11. Connect MSG and SD terminals of the brake unit to a correct destination. Incorrect connection destination results in the
converter unit and brake unit malfunction.
12. For connecting L+ and L- terminals of TE2-1 of the converter unit to the terminal block, use the cable indicated in (4) in this
section.
13. Configure a circuit to turn off EM2 in the drive unit when the main circuit power is turned off to prevent an unexpected restart of
the drive unit.
14. The wiring is for MR-J4-DU_B_(-RJ). The connection for the interface of MR-J4-DU_(-RJ) is the same as in the case of MR-
J4-_(-RJ). Refer to each servo amplifier instruction manual.

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(b) When magnetic contactor drive output is disabled

Drive unit Converter unit Operation ready
malfunction malfunction Emergency stop
RA1 RA2 switch OFF ON
MC

MC
SK

Converter unit Drive unit

TE2-2
L+ L+
(Note 5)
L- L-
(Note 2)
MCCB MC
L1
(Note 1) P1
Power L2 (Note 3)
supply P2
L3 CN1
L11 1 DICOM
(Note 14)
L21 24 V DC
5 DOCOM CN3
(Note 8) (Note 8)
CNP1 6 DICOM 15 ALM RA1

MC1 1 2 ALM RA2 10 DICOM

24 V DC
MC2 2 7 EM1 5 DICOM

TE2-1 9 DOCOM 3 DOCOM

L+
L- (Note 9) 20 EM2
(Note 13)
Plate SD Main circuit
L11 power supply

L21

FR-BR-(H)
(Note 6) TH1
P
TH2
PR

FR-BU2-(H)

(Note 12) PR MSG

(Note 11)
P/+ SD
(Note 4) A
N/-
B
C
BUE
(Note 10) (Note 7)
SD
Terminal
block
FR-BR-(H)
(Note 6) TH1
P
TH2
PR

FR-BU2-(H)

PR MSG
(Note 11)
P/+ SD
(Note 4) A
N/-
B
C
BUE
(Note 10) (Note 7)
SD

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Note 1. For the power supply specifications, refer to "Part 8: Common Reference Material".
2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may
cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not
required, slow the time to turn off the magnetic contactor.
3. P1 and P2 are connected by default. When using the power factor improving DC reactor, connect P1 and P2 after removing
the short bar across them. Refer to "Part 10: Chapter 7" for details.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in the
converter unit and brake unit malfunction.
5. For 400 V class, a step-down transformer is required.
6. Contact rating: 1b contact, 110 V AC, 5 A/220 V AC, 3 A
Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting.
7. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A
Normal condition: B-C is conducting./A-C is not conducting. Abnormal condition: B-C is not conducting./A-C is conducting.
8. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 7.3.)
9. Do not connect more than one cable to each L+ and L- terminals of TE2-1 of the converter unit.
10. Always connect BUE and SD terminals. (factory-wired)
11. Connect MSG and SD terminals of the brake unit to a correct destination. Incorrect connection destination results in the
converter unit and brake unit malfunction.
12. For connecting L+ and L- terminals of TE2-1 of the converter unit to the terminal block, use the cable indicated in (4) in this
section.
13. Configure a circuit to turn off EM2 in the drive unit when the main circuit power is turned off to prevent an unexpected restart of
the drive unit.
14. The wiring is for MR-J4-DU_B_(-RJ). The connection for the interface of MR-J4-DU_(-RJ) is the same as in the case of MR-
J4-_(-RJ). Refer to each servo amplifier instruction manual.

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(2) Combination with MT-BR5-(H) resistor unit

(a) When connecting a brake unit to a converter unit
1) When magnetic contactor drive output is enabled

Drive unit converter unit

malfunction malfunction Emergency stop Operation ready
switch RA3
RA1 RA2 OFF/ON
MC

SK

Converter unit Drive unit

(Note 5)
CNP1 TE2-2
L+ L+
MC1 1
L- L-
MC2 2
(Note 2) P1
MCCB MC (Note 3)
L1 P2
(Note 1)
Power CN1
L2
supply 1 DICOM
L3 (Note 12)
24 V DC
L11 5 DOCOM CN3
L21 6 DICOM 15 ALM RA1

(Note 8) (Note 8)
2 ALM RA2 10 DICOM
24 V DC
7 EM1 5 DICOM

TE2-1 9 DOCOM 3 DOCOM

L+
L- (Note 9) 20 EM2
(Note 11)
Plate SD Main circuit
L11 power supply

L21
SK
MT-BR5-(H)
(Note 6) TH1
P RA3
TH2
PR

FR-BU2-(H)

PR MSG
P/+ SD
(Note 4) A
N/-
B
C
BUE
(Note 10) (Note 7)
SD

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Note 1. For the power supply specifications, refer to "Part 8: Common Reference Material".
2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may
cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not
required, slow the time to turn off the magnetic contactor.
3. P1 and P2 are connected by default. When using the power factor improving DC reactor, connect P1 and P2 after removing
the short bar across them. Refer to "Part 10: Chapter 7" for details.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in the
converter unit and brake unit malfunction.
5. For 400 V class, a step-down transformer is required.
6. Contact rating: 1a contact, 110 V AC, 5 A/220 V AC, 3 A
Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting.
7. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A
Normal condition: B-C is conducting./A-C is not conducting. Abnormal condition: B-C is not conducting./A-C is conducting.
8. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 7.3.)
9. Do not connect more than one cable to each L+ and L- terminals of TE2-1 of the converter unit.
10. Always connect BUE and SD terminals. (factory-wired)
11. Configure a circuit to turn off EM2 in the drive unit when the main circuit power is turned off to prevent an unexpected restart of
the drive unit.
12. The wiring is for MR-J4-DU_B_(-RJ). The connection for the interface of MR-J4-DU_(-RJ) is the same as in the case of MR-
J4-_(-RJ). Refer to each servo amplifier instruction manual.

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2) When magnetic contactor drive output is disabled

Drive unit Converter unit Operation ready

malfunction malfunction Emergency stop
RA1 RA2 switch OFF ON RA3
MC

MC
SK

Converter unit Drive unit

TE2-2
(Note 5) L+ L+
L- L-
(Note 2)
MCCB MC
L1
(Note 1) P1
Power L2 (Note 3)
supply P2
L3 CN1
L11 1 DICOM
(Note 12)
L21 24 V DC
5 DOCOM CN3
(Note 8) (Note 8)
CNP1 6 DICOM 15 ALM RA1

MC1 1 2 ALM RA2 10 DICOM

24 V DC
MC2 2 7 EM1 5 DICOM

TE2-1 9 DOCOM 3 DOCOM

L+
L- (Note 9) 20 EM2
(Note 11)
Plate SD Main circuit
L11 power supply

L21
SK
MT-BR5-(H)
(Note 6) TH1
P RA3
TH2
PR

FR-BU2-(H)

PR MSG
P/+ SD
(Note 4) A
N/-
B
C
BUE
(Note 10) (Note 7)
SD

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Note 1. For the power supply specifications, refer to "Part 8: Common Reference Material".
2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may
cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not
required, slow the time to turn off the magnetic contactor.
3. P1 and P2 are connected by default. When using the power factor improving DC reactor, connect P1 and P2 after removing
the short bar across them. Refer to "Part 10: Chapter 7" for details.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in the
converter unit and brake unit malfunction.
5. For 400 V class, a step-down transformer is required.
6. Contact rating: 1a contact, 110 V AC, 5 A/220 V AC, 3 A
Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting.
7. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A
Normal condition: B-C is conducting./A-C is not conducting. Abnormal condition: B-C is not conducting./A-C is conducting.
8. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 7.3.)
9. Do not connect more than one cable to each L+ and L- terminals of TE2-1 of the converter unit.
10. Always connect BUE and SD terminals. (factory-wired)
11. Configure a circuit to turn off EM2 in the drive unit when the main circuit power is turned off to prevent an unexpected restart of
the drive unit.
12. The wiring is for MR-J4-DU_B_(-RJ). The connection for the interface of MR-J4-DU_(-RJ) is the same as in the case of MR-
J4-_(-RJ). Refer to each servo amplifier instruction manual.

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(b) When connecting two brake units to a converter unit

POINT
To use brake units with a parallel connection, use two sets of FR-BU2-(H) brake
unit. Combination with other brake unit results in alarm occurrence or
malfunction.
Always connect the terminals for master/slave (MSG to MSG, SD to SD)
between the two brake units.
Do not connect as follows.
Converter unit Brake unit Converter unit Brake unit

L+ P/+ L+ P/+
L- N/- L- N/-

Brake unit Brake unit

P/+ P/+
N/- N/-

Connecting two cables to L+ and L- Passing wiring

terminals

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1) When magnetic contactor drive output is enabled

Drive unit Converter unit

malfunction malfunction Emergency stop Operation ready
switch RA3 RA4
RA1 RA2 OFF/ON
MC

SK

Converter unit Drive unit

(Note 5)
CNP1 TE2-2
L+ L+
MC1 1
L- L-
MC2 2

(Note 2) P1
MCCB MC (Note 3)
L1 P2
(Note 1) CN1
Power L2
supply 1 DICOM
L3 (Note 14)
24 V DC
L11 5 DOCOM CN3

L21 6 DICOM 15 ALM RA1

(Note 8) (Note 8)
2 ALM RA2 10 DICOM
24 V DC
7 EM1 5 DICOM

TE2-1 9 DOCOM 3 DOCOM

L+
L- (Note 9) 20 EM2
(Note 13)
Plate SD Main circuit
L11 power supply

L21
SK
MT-BR5-(H)
(Note 6) TH1
P RA3
TH2
PR

FR-BU2-(H)

(Note 12) PR MSG

(Note 11)
P/+ SD
(Note 4) A
N/-
B
C
BUE
(Note 10) (Note 7)
SD
Terminal
block SK
MT-BR5-(H)
(Note 6) TH1
P RA4
TH2
PR

FR-BU2-(H)

PR MSG
(Note 11)
P/+ SD
(Note 4) A
N/-
B
C
BUE
(Note 10) (Note 7)
SD

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Note 1. For the power supply specifications, refer to "Part 8: Common Reference Material".
2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may
cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not
required, slow the time to turn off the magnetic contactor.
3. P1 and P2 are connected by default. When using the power factor improving DC reactor, connect P1 and P2 after removing
the short bar across them. Refer to "Part 10: Chapter 7" for details.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in the
converter unit and brake unit malfunction.
5. For 400 V class, a step-down transformer is required.
6. Contact rating: 1a contact, 110 V AC, 5 A/220 V AC, 3 A
Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting.
7. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A
Normal condition: B-C is conducting./A-C is not conducting. Abnormal condition: B-C is not conducting./A-C is conducting.
8. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 7.3.)
9. Do not connect more than one cable to each L+ and L- terminals of TE2-1 of the converter unit.
10. Always connect BUE and SD terminals. (factory-wired)
11. Connect MSG and SD terminals of the brake unit to a correct destination. Incorrect connection destination results in the
converter unit and brake unit malfunction.
12. For connecting L+ and L- terminals of the converter unit to the terminal block, use the cable indicated in (4) in this section.
13. Configure a circuit to turn off EM2 in the drive unit when the main circuit power is turned off to prevent an unexpected restart of
the drive unit.
14. The wiring is for MR-J4-DU_B_(-RJ). The connection for the interface of MR-J4-DU_(-RJ) is the same as in the case of MR-
J4-_(-RJ). Refer to each servo amplifier instruction manual.

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2) When magnetic contactor drive output is disabled

Drive unit Converter unit Operation ready

malfunction malfunction Emergency stop
RA1 RA2 switch OFF ON RA3 RA4
MC

MC
SK

Converter unit Drive unit

TE2-2
L+ L+
(Note 5)
L- L-
(Note 2)
MCCB MC
L1
(Note 1) P1
Power L2 (Note 3)
supply P2
L3 CN1
L11 1 DICOM
(Note 14)
L21 24 V DC
5 DOCOM CN3
(Note 8) (Note 8)
CNP1 6 DICOM 15 ALM RA1

MC1 1 2 ALM RA2 10 DICOM

24 V DC
MC2 2 7 EM1 5 DICOM

TE2-1 9 DOCOM 3 DOCOM

L+
20 EM2
L- (Note 9)
(Note 13)
Plate SD Main circuit
L11 power supply

L21
SK
MT-BR5-(H)
(Note 6) TH1
P RA3
TH2
PR

FR-BU2-(H)

(Note 12) PR MSG

(Note 11)
P/+ SD
(Note 4) A
N/-
B
C
BUE
(Note 10) (Note 7)
SD
Terminal
block SK
MT-BR5-(H)
(Note 6) TH1
P RA4
TH2
PR

FR-BU2-(H)

PR MSG
(Note 11)
P/+ SD
(Note 4) A
N/-
B
C
BUE
(Note 10) (Note 7)
SD

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Note 1. For the power supply specifications, refer to "Part 8: Common Reference Material".
2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may
cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not
required, slow the time to turn off the magnetic contactor.
3. P1 and P2 are connected by default. When using the power factor improving DC reactor, connect P1 and P2 after removing
the short bar across them. Refer to "Part 10: Chapter 7" for details.
4. Connect P/+ and N/- terminals of the brake unit to a correct destination. Incorrect connection destination results in the
converter unit and brake unit malfunction.
5. For 400 V class, a step-down transformer is required.
6. Contact rating: 1a contact, 110 V AC, 5 A/220 V AC, 3 A
Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting.
7. Contact rating: 230 V AC, 0.3 A/30 V DC, 0.3 A
Normal condition: B-C is conducting./A-C is not conducting. Abnormal condition: B-C is not conducting./A-C is conducting.
8. Install an overcurrent protection device (molded-case circuit breaker, fuse, or others) to protect the branch circuit. (Refer to
section 7.3.)
9. Do not connect more than one cable to each L+ and L- terminals of TE2-1 of the converter unit.
10. Always connect BUE and SD terminals. (factory-wired)
11. Connect MSG and SD terminals of the brake unit to a correct destination. Incorrect connection destination results in the
converter unit and brake unit malfunction.
12. For connecting L+ and L- terminals of the converter unit to the terminal block, use the cable indicated in (4) in this section.
13. Configure a circuit to turn off EM2 in the drive unit when the main circuit power is turned off to prevent an unexpected restart of
the drive unit.
14. The wiring is for MR-J4-DU_B_(-RJ). The connection for the interface of MR-J4-DU_(-RJ) is the same as in the case of MR-
J4-_(-RJ). Refer to each servo amplifier instruction manual.

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(3) Connection instructions

Keep the wires between the converter unit and the brake unit, and between the resistor unit and the
brake unit as short as possible. For wires longer than 5 m, twist the wires five times or more per meter.
The wires should not exceed 10 m even when the wires are twisted. If wires exceeding 5 m without
twisted or exceeding 10 m with or without twisted are used, the brake unit may malfunction.
Converter unit Converter unit

Brake unit Resistor unit Brake unit Resistor unit

L+ P/+ P P L+ Twist P/+ P Twist P

L- N/- PR PR L- N/- PR PR

5 m or less 5 m or less 10 m or less 10 m or less

(4) Wires
(a) Wires for the brake unit
For the brake unit, HIV wire (600 V Grade heat-resistant polyvinyl chloride insulated wire) is
recommended.

1) Main circuit terminal

Crimp terminal Wire size
Main circuit Tightening
N/-, P/+, PR,
Brake unit terminal N/-, P/+, torque
screw size HIV wire
PR, [N•m] AWG
[mm2]
N/- P/+ PR 200 V class FR-BU2-55K M6 14-6 4.4 14 6
FR-BU2-H55K M5 5.5-5 2.5 5.5 10
400 V class
Terminal block FR-BU2-H75K M6 14-6 4.4 14 6

2) Control circuit terminal

POINT
Under tightening can cause a cable disconnection or malfunction. Over
tightening can cause a short circuit or malfunction due to damage to the screw
or the brake unit.

RES SD MSG MSG SD SD Insulator Core

PC BUE SD
A B C
Jumper
6 mm
Terminal block
Wire the stripped cable after twisting to prevent the cable
from becoming loose. In addition, do not solder it.
Screw size: M3
Tightening torque: 0.5 N•m to 0.6 N•m
Wire size: 0.3 mm2 to 0.75 mm2
Screw driver: Small flat-blade screwdriver
(Tip thickness: 0.4 mm/Tip width 2.5 mm)

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(b) Cables for connecting the converter unit and a distribution terminal block when connecting two sets
of the brake unit
Wire size
Brake unit
HIV wire [mm2] AWG
200 V class FR-BU2-55K 38 2
FR-BU2-H55K 14 6
400 V class
FR-BU2-H75K 38 2

(5) Crimp terminals for L+ and L- terminals of TE2-1 of converter unit

(a) Recommended crimp terminals

POINT
Some crimp terminals may not be mounted depending on their sizes. Make sure
to use the recommended ones or equivalent ones.

Number of
Applicable tool
Converter unit Brake unit connected Crimp terminal (Manufacturer)
(Note 1)
units
200 V class MR-CR55K FR-BU2-55K 2 38-S6 a
(JST (J.S.T. Mfg. Co., Ltd.))
(Note 2)
R38-6S
(NICHIFU (NICHIFU CO.,
LTD.))
(Note 2)
400 V class MR-CR55K4 FR-BU2-H55K 2 FVD14-6 b
(JST (J.S.T. Mfg. Co., Ltd.))
FR-BU2-H75K 2 38-S6 a
(JST (J.S.T. Mfg. Co., Ltd.))
(Note 2)
R38-6S
(NICHIFU (NICHIFU CO.,
LTD.)) (Note 2)

Note 1. Symbols in the applicable tool field indicate applicable tools in (5) (b) in this section.
2. Coat the crimping part with an insulation tube.

(b) Applicable tool

Converter unit-side crimp terminal
Symbol Applicable tool
Crimp terminal Manufacturer
Body Head Dice
YPT-60-21
TD-124 JST
38-S6 YF-1
YET-60-1 TD-112 (J.S.T. Mfg. Co., Ltd.)
a E-4
NOP60 NICHIFU
R38-6S
NOM60 (NICHIFU CO., LTD.)
YF-1 DH-112 JST
b FDV14-6 YNE-38
E-4 DH-122 (J.S.T. Mfg. Co., Ltd.)

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7.4.4 Dimensions

(1) FR-BU2-(H) brake unit

FR-BU2-55K/FR-BU2-H55K/FR-BU2-H75K

[Unit: mm]

2-φ5 hole
(Screw size: M4)

5
118
128
Rating
plate

5
5
6 158 6 18.5 52 72
170 142.5

(2) FR-BR-(H) resistor unit

[Unit: mm]

Approx.
H2
2-φC

D1
(Note)
H3 ± 1

H1 ± 3
H±5
(Note)
Control circuit terminal

Main circuit terminal

C C
Approx.
H2

Approx. 35 W1 ± 1 Approx. 35

Two eyebolts are attached.

(Refer to the following diagram.)
D±5

Approx.

Eyebolt
40

204
33

W±5

Note. Ventilation ports are provided on both sides and the top. The bottom is open.

Approximate
Resistor unit W W1 H H1 H2 H3 D D1 C
mass [kg]
200 V class FR-BR-55K 480 410 700 620 40 670 450 3.2 12 70
400 V class FR-BR-H55K 480 410 700 620 20 670 450 3.2 12 70

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Part 5: Review on Replacement of MR-J3-DU_ with MR-J4-DU_

(3) MT-BR5-(H) resistor unit

[Unit: mm]
Approximate
Resistor unit Resistance
mass [kg]

85
200 V MT-BR5-55K 2.0 Ω 50
NP class
400 V
MT-BR5-H75K 6.5 Ω 70
class
800

M4
M6
30
40
85

193 189
37 60 10 21

480
510
75 300 75
4φ15 mounting hole 7.5 450 7.5

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7.5 Regenerative option

Do not use the converter unit and drive unit with the regenerative options other
CAUTION than the combinations specified below. Otherwise, it may cause a fire.

7.5.1 Combination and regenerative power

(1) MR-J3 series

The regenerative power values in the table are the regenerative power of the resistor and are not the
rated power.
Regenerative power [W]
MR-RB137 MR-RB138-4
Converter unit Drive unit MR-RB139 Three MR-RB137 MR-RB136-4 Three MR-RB138-4
(1.3 Ω) (1.3 Ω) in parallel (5 Ω) (5 Ω) in parallel
(Note 1) (Note 2)
MR-J3-DU30K_
MR-J3-CR55K 1300 3900
MR-J3-DU37K_
MR-J3-DU30K_4
MR-J3-DU37K_4
MR-J3-CR55K4 1300 3900
MR-J3-DU45K_4
MR-J3-DU55K_4

Note 1. The composite resistor value of three options is 1.3 Ω. The resistor value of one option is 4 Ω.
2. The composite resistor value of three options is 5 Ω. The resistor value of one option is 15 Ω.

(2) MR-J4 series

The regenerative power values in the table are the regenerative power of the resistor and are not the
rated power.
The combinations of the regenerative option which differ from those for the J3 series are shown with the
gray background.
Regenerative power [W]
Three MR-RB137 Three MR-RB13V-4
Converter unit Drive unit MR-RB139 MR-RB137-4
(1.3 Ω) in parallel (4 Ω) in parallel
(1.3 Ω) (4 Ω)
(Note 1) (Note 2)
MR-J4-DU30K_
MR-CR55K 1300 3900
MR-J4-DU37K_
MR-J4-DU30K_4
MR-J4-DU37K_4
MR-CR55K4 1300 3900
MR-J4-DU45K_4
MR-J4-DU55K_4

Note 1. The resultant resistance of three options is 1.3 Ω.

2. The resultant resistance of three options is 4 Ω.

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7.6 External dynamic brake

Use an external dynamic brake for this drive unit. Failure to do so will cause an
accident because the servo motor does not stop immediately but coasts at an
alarm occurrence for which the servo motor does not decelerate to stop. Ensure
the safety in the entire equipment. For alarms for which the servo motor does not
CAUTION decelerate to stop, refer to chapter 6.
The external dynamic brake cannot be used for compliance with SEMI-F47
standard. Do not assign DB. Doing so will cause the drive unit to become servo-
off when an instantaneous power failure occurs.

POINT
For drive units, EM2 has the same function as EM1 in the torque control mode.
Configure a sequence which switches off the magnetic contactor of the external
dynamic brake after (or as soon as) SON (Servo-on) has been turned off at a
power failure or a malfunction.
For the external braking time taken when the dynamic brake is operated, refer to
each servo amplifier instruction manual.
The external dynamic brake is rated for a short duration. Do not use it very
frequently.
The specifications of the input power supply for external dynamic brake are the
same as those of the converter unit control circuit power supply.
When an alarm, [AL. E6 Servo forced stop warning], or [AL. E7 Controller forced
stop warning] occurs, or the power is turned off, the external dynamic brake will
operate. Do not use external dynamic brake to stop in a normal operation as it is
the function to stop in emergency.
For a machine operating at the recommended load to motor inertia ratio or less,
the estimated number of usage times of the external dynamic brake is 1000
times while the machine decelerates from the rated speed to a stop once in 10
minutes.
Be sure to enable EM1 (Forced stop 1) after servo motor stops when using EM1
frequently in other than emergency.

7.6.1 MR-J3 series

The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs or the
protective circuit is activated. When using the external dynamic brake, assign the dynamic brake interlock
(DB) to any of CN3-9, CN3-13, and CN3-15 pins in [Pr. PD07 to PD09].

Converter unit Drive unit Dynamic brake

MR-J3-DU30K_
MR-J3-CR55K DBU-37K
MR-J3-DU37K_
MR-J3-DU30K_4
MR-J3-DU37K_4
MR-J3-CR55K4 DBU-55K-4
MR-J3-DU45K_4
MR-J3-DU55K_4

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7.6.2 MR-J4 series

The external dynamic brake is designed to bring the servo motor to a sudden stop when a power failure
occurs or the protective circuit is activated. For MR-J4-DU_A_ drive unit, assign DB to any of CN1-22 to
CN1-25, CN1-49, CN1-13 and CN1-14 pins in [Pr. PD23] to [Pr. PD26], [Pr. PD28] and [Pr. PD47]. For MR-
J4-DU_B_ drive unit, assign DB to any of CN3-9, CN3-13, and CN3-15 pins in [Pr. PD07] to [Pr. PD09].

Converter unit Drive unit External dynamic brake

MR-J4-DU30K_
MR-CR-55K DBU-37K-R1
MR-J4-DU37K_
MR-J4-DU30K_4
MR-J4-DU37K_4
MR-CR55K4 DBU-55K-4-R5
MR-J4-DU45K_4
MR-J4-DU55K_4

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

Part 6
Review on Replacement of
MR-J3-_T_(DIO command/
Serial communication
operation)
with MR-J4-_A_-RJ

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication

operation) with MR-J4-_A_-RJ

POINT
MR-D01 may not be required depending on how MR-J3-_T_ has been used (DIO
command/Serial communication operation) and how MR-J3-D01 has been used
(number of point tables, device selection status of external input and output
signals, and position command data input method). For details, refer to "Section
3.1 Function Comparison Table" and "Section 3.3 Comparison of Standard
Connection Diagrams".
MR-J3-D01 and MR-D01 have the same functions and performance. MR-J3-D01
can be used with MR-J4-_A_-RJ.

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1. SUMMARY

This document describes the changes that are applied to when replacing a system using the MR-J3-_T_(DIO
command/Serial communication operation) with a system using the MR-J4-_A_-RJ.

2. CASE STUDY ON REPLACEMENT OF MR-J3-_T_(DIO command/Serial communication operation)

2.1 Review on Replacement Method

POINT
MR-J3-_T_(DIO command/Serial communication operation) cannot drive an HG
motor. When the servo motor is replaced withan HG motor, simultaneous
replacement with MR-J4-_A_-RJ and an HG motor isnecessary.

(1) MR-J3-_T_ + MR-J3-D01 (DIO command)

MELSEC iQ-R series

MELSEC iQ-F series
MELSEC-Q series
MELSEC-L series
MELSEC-F series

MR-J3-_T_ and MR-J3-D01

HF-_P/HC-_P/HA-_P motor

YES NO
Servo amplifier and Servo motor
Simultaneous replacement?

Simultaneous replacement with MR-J4-_A_-RJ and an HG motor Separate repair of a servo amplifier is available. (Note)
Although heavier burdens including a longer construction period For the available servo motors, refer to
need to be borne, once replaced the system can be operated for a "Part 8: Common Reference Material".
long period of time. (Refer to Section 2.2 (1).)

Note. Separate repair means replacement.

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(2) MR-J3-_T_ (Serial communication operation)

Controller

RS-422 communication

MR-J3-_T_

HF-_P/HC-_P/HA-_P motor

YES NO
Servo amplifier and Servo motor
Simultaneous replacement?

Simultaneous replacement with MR-J4-_A_-RJ and an HG motor Separate repair of a servo amplifier is available. (Note)
Although heavier burdens including a longer construction period For the available servo motors, refer to
need to be borne, once replaced the system can be operated for a "Part 8: Common Reference Material".
long period of time. (Refer to Section 2.2 (1).)

Note. Separate repair means replacement.

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2.2 Replacement Method

(1) Simultaneous replacement with MR-J4-_A_ and an HG motor

The currently used connectors or cables need to be replaced. The parameters of the existing system can
be transferred with the parameter converter function of MR Configurator2. (Refer to "Part 8: Common
Reference Material".)

For DIO command

[Existing system] [System after simultaneous replacement]

Controller Controller

MR-J3-_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01

HF-_P/HC-_P /HA-_P motor HG motor

For Serial communication operation

[Existing system] [System after simultaneous replacement]

Controller Controller

RS-422 RS-422
communication communication

MR-J3-_T_ MR-J4-_A_-RJ

HF-_P/HC-_P /HA-_P motor HG motor

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(2) Separate repair of servo amplifiers and servo motors

POINT
MR-J3-_T_(DIO command/Serial communication operation) cannot drive an HG
motor. When the servo motor is replaced withan HG motor, simultaneous
replacement with MR-J4-_A_-RJ and an HG motor isnecessary.
If the existing system is any of the combinations in the following table, it is
recommended to replace both the servo amplifier and servo motor with an MR-
J4-_A_-RJ and HG motor at the same time. When an HG motor is adopted, the
capacity of the servo amplifier needs to be changed. (Consider replacement,
referring to "torque characteristics" described in "Part 9: Replacement of Motor".)
The low inertia "HG-JR motor" is recommended for the replacement of "HC-LP
motor". To use a servo motor other than the motors listed in following table,
check the compatibility with the equipment because the motor inertia, etc. is
different.
Replacement models for simultaneous
Existing device models
replacement (example)
Servo motor Servo amplifier Servo motor Servo amplifier
HC-RP103(B)G5 1/_ MR-J3-200T HG-SR102(B)G5 1/_ MR-J4-100A-RJ
HC-RP203(B)G5 1/_ MR-J3-350T HG-SR202(B)G5 1/_ MR-J4-200A-RJ
HC-RP353(B)G5 1/_ MR-J3-500T HG-SR352(B)G5 1/_ MR-J4-350A-RJ
HC-RP103(B)G7 1/_ MR-J3-200T HG-SR102(B)G7 1/_ MR-J4-100A-RJ
HC-RP203(B)G7 1/_ MR-J3-350T HG-SR202(B)G7 1/_ MR-J4-200A-RJ
HC-RP353(B)G7 1/_ MR-J3-500T HG-SR352(B)G7 1/_ MR-J4-350A-RJ
HC-LP52(B) MR-J3-60T HG-JR73(B) MR-J4-70A-RJ
HC-LP102(B) MR-J3-100T HG-JR153(B) MR-J4-200A-RJ
HC-LP152(B) MR-J3-200T HG-JR353(B) MR-J4-350A-RJ

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(a) For replacement of servo amplifier

Allows the J3 series servo motors to drive in MR-J4-_A_-RJ. Refer to "Part 8: Common Reference
Material" for target servo motors.

DIO command Serial communication operation

Controller Controller

RS-422
communication

MR-J4-_A_-RJ and MR-D01

MR-J4-_A_-RJ

HF-_P/HC-_P/HA-_P motor HF-_P/HC-_P/HA-_P motor

(b) For replacement of servo motor

MR-J3-_T_(DIO command/Serial communication operation) cannot drive an HG motor. When the
servo motor is replaced withan HG motor, simultaneous replacement with MR-J4-_A_-RJ and an HG
motor isnecessary.

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

3. DIFFERENCES BETWEEN MR-J3-_T_(DIO command/Serial communication operation) and MR-J4-_A_-

RJ

3.1 Function Comparison Table

POINT
Functions with difference are shown with shading.
When MR-J3-_T_ on which MR-J3-D01 has been mounted is replaced, MR-D01
may not be required to be mounted on MR-J4-_A_-RJ depending on the number
of point tables, input device selection status, and position command data input
method.

(1) 200 Vclass

Item MR-J3-_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01
1 Capacity range 0.1 to 22 kW/200 V 0.1 to 22 kW/200 V
Built-in (0.2 to 7 kW) Built-in (0.2 to 7 kW)
2 Internal regenerative resistor
External (11 to 22 kW) External (11 to 22 kW)
Built-in (0.1 to 7 kW)
Built-in (0.1 to 7 kW)
3 Dynamic brake External (11 to 22 kW)
External (11 to 22 kW)
Coasting distance may differ. (Note 1)
4 Control circuit power 1-phase 200 V AC to 230 V AC 1-phase 200 V AC to 240 V AC
1-phase
1-phase
200 V AC to 240 V AC (0.1 kW to 2 kW) (Note
200 V AC to 230 V AC (0.1 kW to 0.75 kW)
5 Main circuit power 2)
3-phase
3-phase
200 V AC to 230 V AC (0.1 kW to 22 kW)
200 V AC to 240 V AC (0.1 kW to 22 kW)
6 24 V DC power External supply required External supply required
Real-time auto tuning: 32 steps Real-time auto tuning: 40 steps
7 Auto Tuning
Advanced gain search One-touch tuning
8 Positioning mode Point table method Point table method
Automatic operation mode Automatic operation mode
・Automatic operation with a point table ・Automatic operation with a point table
・Automatic operation by BCD (3 digits 2) ・Automatic operation by BCD (3 digits 2)
input with the MR-DS60 6-digit digital switch input with the MR-DS60 6-digit digital switch
・Automatic operation by BCD (3 digits 2) ・Automatic operation by BCD (3 digits 2)
input with the programmable controllers input with the programmable controllers
Manual operation mode Manual operation mode
・JOG operation ・JOG operation
・Manual pulse generator operation ・Manual pulse generator operation
Home position return mode Home position return mode
・Dog type home position return ・Dog type home position return
・Count type home position return ・Count type home position return
・Data set type home position return ・Data set type home position return
・Stopper type home position return ・Stopper type home position return
・Home position ignorance (servo-on position ・Home position ignorance (servo-on position
as home position) as home position)
9 Point table method
・Dog type rear end reference home position ・Dog type rear end reference home position
return return
・Count type front end reference home ・Count type front end reference home
position return position return
・Dog cradle type home position return ・Dog cradle type home position return
・Dog type last Z-phase reference home ・Dog type last Z-phase reference home
position return position return
・Dog type front end reference home position ・Dog type front end reference home position
return type return type
・Dogless Z-phase reference home position ・Dogless Z-phase reference home position
return type return type
・Automatic retract function used for the home ・Automatic retract function used for the home
position return position return
・Automatic positioning to home position ・Automatic positioning to home position
function function
Roll feed mode using the roll feed display Roll feed mode using the roll feed display
function function

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

Item MR-J3-_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01

Manual pulse generator (only for MR-HDP01) Manual pulse generator (only for MR-HDP01)
Open collector Open collector
10 Pulse input Pulse resolution: 1000 pulses/rev Pulse resolution: 1000 pulses/rev
Maximum speed: Instantaneous maximum Maximum speed: Instantaneous maximum
600 r/min, normal 200 r/min 600 r/min, normal 200 r/min
A/B/Z-phase pulse (differential line driver) A/B/Z-phase pulse (differential line driver)
11 Encoder pulse output
Z-phase pulse (open-collector)
12 DIO interface input/output: sink/source input/output: sink/source
[MR-J3-D01 only] [MR-J4-_A_-RJ]
(Input) 2ch (Input) 2ch
Analog torque limit, Override Analog torque limit, Override
(Output) 12-bit or equivalent × 2ch (Output) 10-bit or equivalent × 2ch
[MR-D01]
(Input) 2ch
13 Analog input/output Analog torque limit, Override
(Output) 12-bit or equivalent × 2ch
[MR-J4-_A_-RJ and MR-D01]
The analog inputs (analog torque limit and
override) of MR-J4-_A_-RJ and MR-D01 are
mutually exclusive functions. They cannot be
used together.
Setup software (SETUP221E) MR Configurator2
14 Parameter setting method
MR Configurator2 Push button
Setup software communication
15 USB USB
function
Servo motor HF-_P series (18-bit ABS) HG series (22-bit ABS)
16
(Encoder resolution) HA-_P series (18-bit ABS)
HF-KP 350% HG-KR 350%
HF-MP 300% HG-MR 300%
17 Motor maximum torque HF-SP 300% HG-SR 300%
HF-JP 300% HG-JR 300%
HA-LP 250% HG-JR 300%
18 LED display 7-segment 3-digit 7-segment 5-digit
Advanced vibration Provided (Advanced vibration suppression
19 Provided
suppression control control II)
20 Adaptive filter II Provided Provided
21 Notch filter Provided (2 pcs) Provided (5 pcs)
22 Tough drive Unprovided Provided
23 Drive recorder Unprovided Provided
24 Forced stop EM1 (DB stop) EM1 (DB stop)/EM2 (deceleration to a stop)

Note 1. For the coasting distance, refer to "1.2.3 Dynamic brake: coasting distance" in "Part 7 Common Reference Material".
2. If using a 1-phase 200 V AC to 240 V AC power supply with a 1 kW/2 kW servo amplifier, operate the servo amplifier at 75%
or less of the effective load ratio.

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

(2) 400 V class

Item MR-J3-_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01
1 Capacity range 0.6 to 22 kW/400 V 0.6 to 22 kW/400 V
Built-in (0.6 kW to 7 kW) Built-in (0.6 kW to 7 kW)
2 Internal regenerative resistor
External (11 kW to 22 kW) External (11 kW to 22 kW)
Built-in (0.6 kW to 7 kW)
Built-in (0.6 kW to 7 kW)
3 Dynamic brake External (11 kW to 22 kW)
External (11 kW to 22 kW)
Coasting distance may differ. (Note)
4 Control circuit power 1-phase 380 V AC to 480 V AC 1-phase 380 V AC to 480 V AC
5 Main circuit power 3-phase 380 V AC to 480 V AC 3-phase 380 V AC to 480 V AC
6 24 V DC power External supply required External supply required
Real-time auto tuning: 32 steps Real-time auto tuning: 40 steps
7 Auto Tuning
Advanced gain search One-touch tuning
8 Positioning mode Point table method Point table method
Automatic operation mode Automatic operation mode
・Automatic operation with a point table ・Automatic operation with a point table
・Automatic operation by BCD (3 digits 2) ・Automatic operation by BCD (3 digits 2)
input with the MR-DS60 6-digit digital switch input with the MR-DS60 6-digit digital switch
・Automatic operation by BCD (3 digits 2) ・Automatic operation by BCD (3 digits 2)
input with the programmable controllers input with the programmable controllers
Manual operation mode Manual operation mode
・JOG operation ・JOG operation
・Manual pulse generator operation ・Manual pulse generator operation
Home position return mode Home position return mode
・Dog type home position return ・Dog type home position return
・Count type home position return ・Count type home position return
・Data set type home position return ・Data set type home position return
・Stopper type home position return ・Stopper type home position return
・Home position ignorance (servo-on position ・Home position ignorance (servo-on position
as home position) as home position)
9 Point table method ・Dog type rear end reference home position ・Dog type rear end reference home position
return return
・Count type front end reference home ・Count type front end reference home
position return position return
・Dog cradle type home position return ・Dog cradle type home position return
・Dog type last Z-phase reference home ・Dog type last Z-phase reference home
position return position return
・Dog type front end reference home position ・Dog type front end reference home position
return type return type
・Dogless Z-phase reference home position ・Dogless Z-phase reference home position
return type return type
・Automatic retract function used for the home ・Automatic retract function used for the home
position return position return
・Automatic positioning to home position ・Automatic positioning to home position
function function
Roll feed mode using the roll feed display Roll feed mode using the roll feed display
function function
Manual pulse generator (only for MR-HDP01) Manual pulse generator (only for MR-HDP01)
Open collector Open collector
10 Pulse input Pulse resolution: 1000 pulses/rev Pulse resolution: 1000 pulses/rev
Maximum speed: Instantaneous maximum Maximum speed: Instantaneous maximum
600 r/min, normal 200 r/min 600 r/min, normal 200 r/min
A/B/Z-phase pulse (differential line driver) A/B/Z-phase pulse (differential line driver)
11 Encoder pulse output
Z-phase pulse (open-collector)
12 DIO interface input/output: sink/source input/output: sink/source

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

Item MR-J3-_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01

[MR-J3-D01] [MR-J4-_A_-RJ]
(Input) 2ch (Input) 2ch
Analog torque limit, Override Analog torque limit, Override
(Output) 12-bit or equivalent × 2ch (Output) 10-bit or equivalent × 2ch
[MR-D01]
(Input) 2ch
13 Analog input/output Analog torque limit, Override
(Output) 12-bit or equivalent × 2ch
[MR-J4-_A_-RJ and MR-D01]
The analog inputs (analog torque limit and
override) of MR-J4-_A_-RJ and MR-D01 are
mutually exclusive functions. They cannot be
used together.
Setup software (SETUP221E) MR Configurator2
14 Parameter setting method
MR Configurator2 Push button
Setup software communication USB USB
15
function
Servo motor HF-_P series (18-bit ABS) HG series (22-bit ABS)
16
(Encoder resolution) HA-_P series (18-bit ABS)
HF-SP 300% HG-SR 300%
17 Motor maximum torque HF-JP 300% HG-JR 300%
HA-LP 250% HG-JR 300%
18 LED display 7-segment 3-digit 7-segment 5-digit
Advanced vibration Provided (Advanced vibration suppression
19 Provided
suppression control control II)
20 Adaptive filter II Provided Provided
21 Notch filter Provided (2 pcs) Provided (5 pcs)
22 Tough drive Unprovided Provided
23 Drive recorder Unprovided Provided
24 Forced stop EM1 (DB stop) EM1 (DB stop)/EM2 (deceleration to a stop)

Note. For the coasting distance, refer to "1.2.3 Dynamic brake: coasting distance" in "Part 8 Common Reference Material".

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

(3) 100 V class

Item MR-J3-_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01
1 Capacity range 0.1 ro 0.4 kW/100 V 0.1 to 0.4 kW/100 V
None (0.1 kW) None (0.1 kW)
2 Internal regenerative resistor
Built-in (0.2, 0.4 kW) Built-in (0.2, 0.4 kW)
Built-in (0.1 to 0.4 kW) Built-in (0.1 to 0.4 kW)
3 Dynamic brake
Coasting distance may differ. (Note)
4 Control circuit power 1-phase 100 V AC to 120 V AC 1-phase 100 V AC to 120 V AC
5 Main circuit power 1-phase 100 V AC to 120 V AC (0.1 to 0.4 kW) 1-phase 100 V AC to 120 V AC (0.1 to 0.4 kW)
6 24 V DC power External supply required External supply required
Real-time auto tuning: 32 steps Real-time auto tuning: 40 steps
7 Auto Tuning
Advanced gain search One-touch tuning
8 Positioning mode Point table method Point table method
Automatic operation mode Automatic operation mode
・Automatic operation with a point table ・Automatic operation with a point table
・Automatic operation by BCD (3 digits 2) ・Automatic operation by BCD (3 digits 2)
input with the MR-DS60 6-digit digital switch input with the MR-DS60 6-digit digital switch
・Automatic operation by BCD (3 digits 2) ・Automatic operation by BCD (3 digits 2)
input with the programmable controllers input with the programmable controllers
Manual operation mode Manual operation mode
・JOG operation– ・JOG operation
・Manual pulse generator operation ・Manual pulse generator operation
Home position return mode Home position return mode
・Dog type home position return ・Dog type home position return
・Count type home position return ・Count type home position return
・Data set type home position return ・Data set type home position return
・Stopper type home position return ・Stopper type home position return
・Home position ignorance (servo-on position ・Home position ignorance (servo-on position
as home position) as home position)
9 Point table method ・Dog type rear end reference home position ・Dog type rear end reference home position
return return
・Count type front end reference home ・Count type front end reference home
position return position return
・Dog cradle type home position return ・Dog cradle type home position return
・Dog type last Z-phase reference home ・Dog type last Z-phase reference home
position return position return
・Dog type front end reference home position ・Dog type front end reference home position
return type return type
・Dogless Z-phase reference home position ・Dogless Z-phase reference home position
return type return type
・Automatic retract function used for the home ・Automatic retract function used for the home
position return position return
・Automatic positioning to home position ・Automatic positioning to home position
function function
Roll feed mode using the roll feed display Roll feed mode using the roll feed display
function function
Manual pulse generator (only for MR-HDP01) Manual pulse generator (only for MR-HDP01)
Open collector Open collector
10 Pulse input Pulse resolution: 1000 pulses/rev Pulse resolution: 1000 pulses/rev
Maximum speed: Instantaneous maximum Maximum speed: Instantaneous maximum
600 r/min, normal 200 r/min 600 r/min, normal 200 r/min
A/B/Z-phase pulse (differential line driver) A/B/Z-phase pulse (differential line driver)
11 Encoder pulse output
Z-phase pulse (open-collector)
12 DIO interface input/output: sink/source input/output: sink/source

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

Item MR-J3-_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01

[MR-J3-D01] [MR-J4-_A_-RJ]
(Input) 2ch (Input) 2ch
Analog torque limit, Override Analog torque limit, Override
(Output) 12-bit or equivalent × 2ch (Output) 10-bit or equivalent × 2ch
[MR-D01]
(Input) 2ch
13 Analog input/output Analog torque limit, Override
(Output) 12-bit or equivalent × 2ch
[MR-J4-_A_-RJ and MR-D01]
The analog inputs (analog torque limit and
override) of MR-J4-_A_-RJ and MR-D01 are
mutually exclusive functions. They cannot be
used together.
Setup software (SETUP221E) MR Configurator2
14 Parameter setting method
MR Configurator2 Push button
Setup software USB USB
15
communication function
Servo motor HF-_P series (18-bit ABS) HG series (22-bit ABS)
16
(Encoder resolution) HA-_P series (18-bit ABS)
HF-KP 350% HG-KR 350%
17 Motor maximum torque
HF-MP 300% HG-MR 300%
18 LED display 7-segment 3-digit 7-segment 5-digit
Advanced vibration Provided (Advanced vibration suppression
19 Provided
suppression control control II)
20 Adaptive filter II Provided Provided
21 Notch filter Provided (2 pcs) Provided (5 pcs)
22 Tough drive Unprovided Provided
23 Drive recorder Unprovided Provided
24 Forced stop EM1 (DB stop) EM1 (DB stop)/EM2 (deceleration to a stop)

Note. For the coasting distance, refer to "1.2.3 Dynamic brake: coasting distance" in "Part 8 Common Reference Material".

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

(4) Extension I/O unit

POINT
The extension I/O units, MR-J3-D01 and MR-D01 have the same functions and
performance.
Therefore, the existing MR-J3-D01 can be used as it is.

Extension I/O unit

MR-J3-D01 MR-D01
Item
Function Additional digital input/output, additional analog input/output, external digital display connection
Photocoupler insulation, 24 V DC (external supply)
Digital input
source/sink compatible, internal limited resistance 5.6 kΩ
16 points Photocoupler insulation, open-collector 24 V DC (external supply)
Digital output
source/sink compatible, Permissible current: 40 mA or less, Inrush current: 100 mA or less
Analog input 2 channel input voltage: -10 V DC to +10 V DC, internal resistor: 12 kΩ Resolution: 12 bits
Analog output 2 channel input voltage: -12 V DC to +12 V DC, internal resistor: 1 mA Resolution: 12 bits
+15 V output for analog input Available as analog input signal power supply
signal Output voltage: 15 V Permissible current: 30 mA
-12 V output for analog input Available as analog input signal power supply
signal Output voltage: -12 V Permissible current: 30 mA
Mass 140 g

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

3.1.1 DIO command/Serial communication operation specifications

Item Description
Servo amplifier model MR-J3-_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01 (Note 2)
Operational
Command method

Point table number input

Positioning with specification of point table No. (255 points)

specifications
Absolute Set in the point table. Set in the point table.
value Setting range of feed length per point: -999999 to 999999 Setting range of feed length per point: -999999 to
command [×10STM μm] 999999 [×10STM μm]
Position method ※STM set values: 0 to 3 ※STM set values: 0 to 3
command
Incremental Set in the point table. Set in the point table.
input
value Setting range of feed length per point: 0 to 999999 Setting range of feed length per point: 0 to 999999
command [×10STM μm] [×10STM μm]
method ※STM set values: 0 to 3 ※STM set values: 0 to 3
Set the acceleration/deceleration time constants in the Set the acceleration/deceleration time constants in the
point table. point table.
Speed command input
Set the S-pattern acceleration/deceleration time Set the S-pattern acceleration/deceleration time
constants with [Pr. PC13]. constants with [Pr. PC03].
System Signed absolute value command method/incremental value command method
Signed 6-digit BCD digital switch or contact input Signed 6-digit BCD digital switch or contact input
Position command data input

Absolute value

1-point feed length setting range: -999999 to 999999 Setting range of feed length: -999999 to 999999 [×10STM
[×10STM μm] μm]
command
method

※STM set values: 0 to 3 ※STM set values: 0 to 3

Position command input

value command

BCD
Incremental

input
method

(Note 1)

The motor speed and acceleration/deceleration time of The motor speed and acceleration/deceleration time of
Speed
the point table No.1 to 15 is selected by contact input. the point table No.1 to 15 is selected by contact input.
command
Set the S-pattern acceleration/deceleration time Set the S-pattern acceleration/deceleration time
input
constants with [Pr. PC13]. constants with [Pr. PC03].
System Signed absolute value command method/incremental value command method
Setting of position command data with RS-422 Setting of position command data with RS-422
Absolute value

communication communication
value command command

1-point feed length setting range: -999999 to 999999 Setting range of feed length per point: -999999 to
method
Position command input

[×10STM μm] 999999 [×10STM μm]

※STM set values: 0 to 3 ※STM set values: 0 to 3
Setting of position command data with RS-422 Setting of position command data with RS-422
RS-422 communication communication
Incremental

communi 1-point feed length setting range: 0 to 999999 [×10STM Setting range of feed length per point: 0 to 999999
method

cation μm] [×10STM μm]

※STM set values: 0 to 3 ※STM set values: 0 to 3
The motor speed and acceleration/deceleration time is The motor speed and acceleration/deceleration time is
Speed
set via RS-422 communication. set via RS-422 communication.
command
Set the S-pattern acceleration/deceleration time Set the S-pattern acceleration/deceleration time
input
constants with [Pr. PC13]. constants with [Pr. PC03].
System Signed absolute value command method/incremental value command method
Point table No. input method/position data input method
Operation mode

Point table
Operates each positioning based on position command and speed command.
Automatic Varying-speed operation (2 to 255 speeds)/automatic Varying-speed operation (2 to 255 speeds)/automatic
operation Automatic continuous positioning operation (2 to 255 points) continuous positioning operation (2 to 255 points)/
mode continuous automatic continuous operation to a point table
operation selected at startup/automatic continuous operation
to the point table No. 1
Executes a contact input or an inching operation with the Executes a contact input or an inching operation with the
JOG
RS-422 communication function based on speed RS-422 communication function based on speed
Manual operation
command set with parameters. command set with parameters.
operation
Manual pulse
mode Manual feeding is executed with a manual pulse generator.
generator
Command pulse multiplication: select from ×1, ×10, and ×100 with a parameter.
operation
Returns to home position upon Z-phase pulse after passing through the proximity dog.
Home position
Dog type home position address settable/home position shift amount settable/home position return direction selectable/
return mode
automatic retract on dog back to home position/automatic stroke retract function

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

Item Description
Servo amplifier model MR-J3-_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01 (Note 2)
Returns to home position upon the encoder pulse count after touching the proximity dog.
Operation mode

Count type Home position return direction selectable/home position shift amount settable/home position address settable/
automatic retract on dog back to home position/automatic stroke retract function
Returns to home position without dog.
Data set type
Sets any position as a home position using manual operation, etc./home position address settable
Returns to home position upon hitting the stroke end.
Stopper type
Home position return direction selectable/home position address settable
Home
position
ignorance
Sets a home position where SON (Servo-on) signal turns on.
(servo-on
Home position address settable
position as
home
position)
Dog type Returns to home position based on the rear end of the proximity dog.
rear end Home position return direction selectable/home position shift amount settable/home position address settable/
Home position reference automatic retract on dog back to home position/automatic stroke retract function
return mode Count type Returns to home position based on the front end of the proximity dog.
front end Home position return direction selectable/home position shift amount settable/home position address settable/
reference automatic retract on dog back to home position/automatic stroke retract function
Returns to home position upon the first Z-phase pulse based on the front end of the proximity dog.
Dog cradle
Home position return direction selectable/home position shift amount settable/home position address settable/
type
automatic retract on dog back to home position/automatic stroke retract function
Returns to home position upon the Z-phase pulse right before the proximity dog based on the front end of the
Dog type last
proximity dog.
Z-phase
Home position return direction selectable/home position shift amount settable/home position address settable/
reference
automatic retract on dog back to home position/automatic stroke retract function
Dog type Returns to home position to the front end of the dog based on the front end of the proximity dog.
front end Home position return direction selectable/home position shift amount settable/home position address settable/
reference automatic retract on dog back to home position/automatic stroke retract function
Dogless Z-
Returns to home position to the Z-phase pulse with respect to the first Z-phase pulse.
phase
Home position return direction selectable/home position shift amount settable/home position address settable
reference
Automatic positioning to home
High-speed automatic positioning to a defined home position
position function
Absolute position detection/backlash compensation/overtravel prevention with external limit switch
Other functions
(LSP/LSN)/software stroke limit/mark detection function/override

Note 1. BCD input is available only for when MR-D01 has been mounted.
2. MR-D01 may not be required depending on how MR-J3-_T_ and MR-J3-D01 are used.

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

3.1.2 Function list

The following table lists the functions of MR-J3-_T_ and MR-J4-_A_-RJ servo amplifier. For details of the
functions, refer to each servo amplifier instruction manual.

POINT
Functions with difference are shown with shading.

MR-J3-_T_
Function MR-J4-_A_-RJ
(DIO command/Serial communication operation)
Select the required ones from among 31 preset Set 1 to 255 point tables in advance, and select
point tables and perform operation in accordance any point table to perform operation in
Positioning by automatic
with the set values. To select point tables, use accordance with the set values. To select point
operation
external input signals (when using MR-J3-D01) or tables, use external input signals or
communication function. communication function.
Servo motor speed can be varied continuously Servo motor speed can be varied continuously
Varied speed operation until the preset moving distance is reached. (Max. until the preset moving distance is reached. (Max.
set speeds: 255 speeds) set speeds: 255 speeds)
By merely choosing one point table and starting By merely choosing one point table and starting
Automatic continuous operation, positioning can be executed operation, positioning can be executed
positioning operation continuously in accordance with several point continuously in accordance with several point
tables. tables.
Dog type/count type/data setting type/stopper Dog type/count type/data setting type/stopper
type/home position ignorance/dog type rear end type/home position ignorance/dog type rear end
reference/count type front end reference/dog reference/count type front end reference/dog
Home position return
cradle type/dog type last Z-phase reference/dog cradle type/dog type last Z-phase reference/dog
type Z-phase reference/dogless Z-phase type Z-phase reference/dogless Z-phase
reference reference
High-resolution encoder of 262144 pulses/rev is High-resolution encoder of 4194304 pulses/rev is
High-resolution encoder used as a servo motor encoder. used as the encoder of the rotary servo motor
compatible with the MELSERVO-J4 series.
By merely setting the home position once, home Home position return is required only once, and
Absolute position detection
position return need not be done at each power not required at every power on.
system
on.
You can switch between gains during rotation and You can switch gains during rotation/stop, and
Gain changing function gains during stop or use an input device to can use input devices to switch gains during
change gains during operation. operation.
<Advanced vibration suppression control> <Advanced vibration suppression control II>
Advanced vibration
This function suppresses vibration at the arm end This function suppresses vibration at the arm end
suppression control
or residual vibration. or residual vibration.
Servo amplifier detects mechanical resonance Servo amplifier detects mechanical resonance
Adaptive filter II and sets filter characteristics automatically to and sets filter characteristics automatically to
suppress mechanical vibration. suppress mechanical vibration.
Suppresses high-frequency resonance which Suppresses high-frequency resonance which
Low-pass filter
occurs as servo system response is increased. occurs as servo system response is increased.
Analyzes the frequency characteristic of the Analyzes the frequency characteristic of the
mechanical system by simply connecting a Setup mechanical system by simply connecting an MR
software (SETUP221E) installed personal Configurator2 installed personal computer and
Machine analyzer function
computer and servo amplifier. servo amplifier.
Setup software (SETUP221E) is necessary for MR Configurator2 is necessary for this function.
this function.
<Robust disturbance compensation> <Robust filter>
This function provides better disturbance This function provides better disturbance
response in case low response level that load to response in case low response level that load
Robust disturbance
motor inertia ratio is high for such as roll send to motor inertia ratio is high for such as roll
compensation
axes. send axes.
Setup software (SETUP221E) is necessary for
this function.
Slight vibration suppression Suppresses vibration of 1 pulse produced at a Suppresses vibration of ±1 pulse generated at a
control servo motor stop. [Pr. PB24] servo motor stop. [Pr. PB24]

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MR-J3-_T_
Function MR-J4-_A_-RJ
(DIO command/Serial communication operation)
The electronic gear is used to make adjustment Position commands can be multiplied by 1/864 to
so that the servo amplifier setting matches the 33935. Select "J3 electronic gear setting value
machine moving distance. Also, changing the compatibility mode" with [Pr. PA21]. [Pr. PA06]/
Electronic gear electronic gear value allows the machine to be [Pr. PA07]
moved at any multiplication ratio to the moving
distance using the servo amplifier.
[Pr. PA06]/[Pr. PA07]
Automatically adjusts the gain to optimum value if Automatically adjusts the gain to optimum value if
Auto tuning
load applied to the servo motor shaft varies. load applied to the servo motor shaft varies.
S-pattern Acceleration/deceleration can be made smoothly. This enables to start/stop the servo motor
acceleration/deceleration time [Pr. PC13] smoothly.
constant
Used when the built-in regenerative resistor of the Used when the built-in regenerative resistor of the
servo amplifier does not have sufficient servo amplifier does not have sufficient
Regenerative option
regenerative capability for the regenerative power regenerative capability for the regenerative power
generated. generated.
Used when the regenerative option cannot Used when the regenerative option cannot
provide enough regenerative power. provide enough regenerative power.
Brake unit
Can be used with the servo amplifier of 5kW or Can be used with the servo amplifier of 5kW or
more. more.
Used when the regenerative option cannot Used when the regenerative option cannot
provide enough regenerative power. provide enough regenerative power.
Regeneration converter
Can be used with the servo amplifier of 5kW or Can be used with the servo amplifier of 5kW or
more. more.
Alarm history clear Alarm history is cleared. [Pr. PC18] Alarm history is cleared. [Pr. PC18]
Input devices such as servo-on (SON) can be ST1 (Forward rotation start), ST2 (Reverse
assigned to certain pins of the CN6 connector rotation start), SON (Servoon), and other input
(MR-J3-_T_) and the CN10 connector (MR-J3- device can be assigned to any pins of the CN1
I/O signal selection (Device
D01). connector of MR-J4-_A_-RJ.
setting)
[Pr. PD06] to [Pr. PD08], [Pr. Po02] to [Pr. Po07] [Pr. PD04]/[Pr. PD06]/[Pr. PD08]/[Pr. PD10]/
[Pr. PD12]/[Pr. PD14]/[Pr. PD18]/[Pr. PD20]/
[Pr. PD22]/[Pr. PD44]/[Pr. PD46]
Output devices such as Malfunction (ALM) and The output devices including MBR
Dynamic brake interlock (DB) can be assigned to (Electromagnetic brake interlock) can be assigned
Output signal selection
certain pins of the CN6 connector (MR-J3-_T_) to certain pins of the CN1 connector of MR-J4-
(device settings)
and the CN10 connector (MR-J3-D01). _A_-RJ.
[Pr. PD09] to [Pr. PD11], [Pr. Po08]/[Pr. Po09] [Pr. PD23] to [Pr. PD26]/[Pr. PD28]/[Pr. PD47]
Servo motor torque can be limited to any value. Servo motor torque can be limited to any value.
Torque limit
[Pr. PA11]/[Pr. PA12]
Limits the servo motor speed with analog inputs Limits the servo motor speed with analog inputs
from MR-J3-D01. from MR-J4-_A_-RJ. (However, the analog inputs
A value can be changed from 0% to 200% for a of MR-J4-_A_-RJ and MR-D01 are mutually
Override (Speed limit)
set speed. exclusive.)
A value can be changed from 0% to 200% for a
set speed.
Output signal can be forced on/off independently Output signal can be forced on/off independently
Output signal (DO) forced of the servo status. of the servo status.
output Use this function for output signal wiring check, Use this function for checking output signal wiring,
etc. etc.
JOG operation positioning operation DO forced Jog operation/positioning operation/motor-less
output. operation/DO forced output/program
In the test operation mode, a parameter unit or operation/single-step feed
Test operation mode
Setup software (SETUP221E) is required. However, MR Configurator2 is necessary for
positioning operation, program operation, and
single-step feed.
The servo motor travel region can be limited using Limits travel intervals using LSP (Forward rotation
Limit switch the forward rotation stroke end (LSP)/reverse stroke end) and LSN
rotation stroke end (LSN). (Reverse rotation stroke end).
The travel region is limited using parameters in Limits travel intervals by address using
terms of address. parameters.
Software limit
The function similar to that of a limit switch is Enables the same function with the limit switch by
limited by parameter. setting parameters.

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MR-J3-_T_
Function MR-J4-_A_-RJ
(DIO command/Serial communication operation)
Serial communication function of RS-422, this You can operate servo driving, parameter
servo amplifier enables servo operation, change, monitor function, etc. using RS-422
parameter change, monitor function, etc. communication (Mitsubishi Electric general-
Serial communication
purpose AC servo protocol).
Select "equivalent to MR-J3-T" with [Pr. PT01].
Refer to section 4.1 for details.
When MR-J3-D01 is mounted, position command When MR-D01 is mounted, position command
BCD input
input data can be input in 3-digit BCD format. input data can be input in 3-digit BCD format.

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

3.2 Configuration including auxiliary equipment

(1) MR-J3-_T_ and MR-J3-D01 (DIO command)

The diagram shows MR-J3-100T or less, for 3-phase or 1-phase 200 V to 230 V AC

RST
(Note 3)
Personal
Power supply Setup software computer
(SETUP221E)
CN3
Molded-case circuit
breaker (MCCB) CN5

Servo amplifier

Magnetic CN 20 Analog output

contactor signal
(MC)

(Note 2)

Line noise
CN10
filter I/O signal
(FR-BSF01)

U
V I/O signal
L1 CN6
W
L2
L3 CN2

CN4
(Note 2)
Power factor P1
improving DC
reactor
P2
(FR-BEL)
P C
Servo motor
Regenerative
option
(Note 1)
Battery
MR-J3BAT

Note 1. The battery (option) is used for the absolute position detection system in the position control mode.
2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1 and P2.
3. 1-phase 200 V to 230 V AC power supply may be used with the servo amplifier of MR-J3-70T or less.
For 1-phase 200 V to 230 V AC, connect the power supply to L1/L2 and leave L3 open. Refer to "section 3.1 Function
Comparison Table (3)" for the power supply.

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(2) MR-J3-_T_ (Serial communication operation)

The diagram shows MR-J3-100T or less, for 3-phase or 1-phase 200 V to 230 V AC

RST
(Note 3)
Power supply
Setup software Personal
computer
(SETUP221E)

Molded-case circuit
breaker (MCCB)

Servo amplifier

Magnetic
contactor
(MC)

(Note 2) CN5
CN3
Line noise
filter
(FR-BSF01)
CN1

U CN6
V I/O signal
L1 W
L2
L3 CN2

(Note 2) CN4
Power factor
improving DC
reactor P1 (Note 1)
(FR-BEL) Battery
P2 MR-J3BAT
P C

Regenerative option Servo motor

Note 1. The battery (option) is used for the absolute position detection system in the position control mode.
2. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using power factor improving DC reactor, short P1 and P2.
3. 1-phase 200 V to 230 V AC power supply may be used with the servo amplifier of MR-J3-70T or less.
For 1-phase 200 V to 230 V AC, connect the power supply to L1/L2 and leave L3 open. Refer to "section 3.1 Function
Comparison Table (3)" for the power supply.

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

(3) MR-J4-_A_-RJ + MR-D01

The following figure shows the interface of when MR-D01 is connected to MR-J4-20A-RJ.

Personal
computer
MR Configurator2
RS T CN5
(Note 2)
Power
supply
Molded-case
circuit breaker
(MCCB) CN6
Analog monitor

CN20
(Note 3) Analog output signal
Magnetic
contactor
(MC)
CN3 To RS-422 communication
(Note 1) controller, parameter unit, etc.

CN8 To safety relay or

MR-J3-D05 safety
Line noise logic unit
filter
(FR-BSF01)
D (Note 4) CN1

Junction terminal
U block
L1
V
L2 CN10
W I/O signal
L3

Power factor P3 CN2

improving DC
reactor Servo motor
(FR-HEL) P4
CN2L
P+
Regenerative CN4
Battery
option
C
L11

L21

Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4.
2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-200A-RJ or less. For 1-phase
200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For power supply specifications, refer to
section 1.3 of "MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ) Servo Amplifier Instruction Manual".
3. Depending on the main circuit voltage and operation pattern, a bus voltage may drop, causing dynamic brake deceleration
during forced stop deceleration. When dynamic brake deceleration is not required, delay the time to turn off the magnetic
contactor.
4. Always connect between P+ and D terminals. When using the regenerative option, refer to section 11.2 of "MR-J4-_A_(-
RJ)/MR-J4-03A6(-RJ) Servo Amplifier Instruction Manual".

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(4) MR-J4-_A_-RJ
The following illustration is an example of MR-J4-20A-RJ.

RS T
(Note 2)
Power supply
Personal
Molded-case computer
circuit breaker MR Configurator2
(MCCB) CN5

(Note 3)
Magnetic CN6
contactor Analog monitor
(MC)
CN3 To RS-422 communication
(Note 1) controller, parameter unit, etc.

CN8 To safety relay or

MR-J3-D05 safety
Line noise filter logic unit
(FR-BSF01)

D (Note 4)

CN1 Manual pulse generator

U
L1
V
L2
L3 W
Junction terminal block
Power factor P3 CN2
improving DC
reactor Servo motor
P4
(FR-HEL) CN2L
P+ CN4
Regenerative Battery
option
C
L11

L21

Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
When not using the power factor improving DC reactor, short P3 and P4.
2. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-200A-RJ or less. For 1-phase
200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For power supply specifications, refer to
section 1.3 of "MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ) Servo Amplifier Instruction Manual".
3. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop
deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn
off the magnetic contactor.
4. Always connect between P+ and D terminals. When using the regenerative option, refer to section 11.2 of "MR-J4-_A_(-
RJ)/MR-J4-03A6(-RJ) Servo Amplifier Instruction Manual".

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3.3 Comparison of Standard Connection Diagrams

(1) MR-J3-_T_ and MR-J3-D01/MR-J4-_A_-RJ and MR-D01 (DIO command)

(a) Point table method
MR-J3-_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01

Servo amplifier
(Note 2) (Note 7)
MR-J3-_T CN6 CN1 24 V DC (Note 4)
24 V DC (Note 4, 11 ) CN6 14 RD RA1
Read y 46 DOCOM

DICOM 5 15 Trouble (Note 6) 47

ALM RA2
(Note 9) DOCOM (Note 2)
DOCOM 17 10 m or less
(Note 3, 5) Forced stop
16 ZP RA3 Home position (Note 13) (Note 7) 48 ALM RA1 Malfunction (Note 6)
Proximity dog EMG 1
(Note 9) return completion Main circuit power supply CN1
Forward rotation stroke end DOG 2 (Note 3, 5) Forced stop 2 EM2 42 22 CPO RA2 Rough match
(Note 5) 10 m or less
Reverse rotation stroke end LSP 3 Servo-on SON 15 Home position
23 ZP RA3
return completion
LSN 4 13 LZ Encoder Z-phase pulse Operation mode selection 1 MD0 16
10 m or less 26 LZR (differential line driver) Forward rotation start ST1 17 25 MEND RA4 Travel completion (Note 16)
(Note 8) 11 LA Encoder A-phase pulse Reverse rotation start ST2 18 24 INP RA5 In-position
24 (differential line driver) Proximity dog DOG 45
(Note 7) Personal LAR
(Note 14) 49 RD RA6 Ready
compu ter 12 LB Encoder B-phase pulse Forward rotation stroke end LSP 43
Setup software (Note 5)
(SETUP221E) 25 LBR (differential line driver) Reverse rotation stroke end LSN 44 13 (Note 15)
MR-J3USBCBL3M CN5
(Option) 23 LG Control common Point table No. selection 1 DI0 19 14 (Note 15)
10 m or less
＋ Plate SD Point table No. selection 2 DI1 41
Point table No. selection 3 DI2 10 8 LZ Encoder Z-phase pulse
(Note 1) (Note 17, 18) 9 LZR (differential line driver)
Point table No. selection 4 DI3 35
DICOM 20 4 LA Encoder A-phase pulse
24 V DC (Note 4) 5 LAR (differential line driver)
DICOM 21
MR-J3-D01 OPC 12 6 LB Encoder B-phase pulse
CN10 (Note 2) Upper limit 7 LBR (differential line driver)
24 V DC (Note 10, 11 ) 14 DICOMD setting P15R 1
CN10 (Note 11, 21) Analog override Control common
DICOMD 13 ±10 V/0% to 200% VC 2
22 ACD0 RA4 34 LG Control common
DOCOMD 37 LG 28
Upper limit 33 OP Encoder Z-phase pulse
Point table No. selection 1 DI0 1 23 ACD1 RA5
Alarm code (Note 8, 22) Analog torque limit setting (open-collector)
TLA 27 Plate SD
+10 V/maximum torque
Point table No. selection 2 DI1 2 24 ACD2 RA6
2 m or less
Point table No. selection 3 DI2 3 SD Plate
25 ACD3 2 m or less
Point table No. selection 4 DI3 4 RA7
Personal
(Note 9) computer
Point table No. selection 5 DI4 5 38 MCD00 MR Configurator2 (Note 7)
RA8
(Note 10)
Point table No. selection 6 DI5 6 USB cable CN5 CN6
Analog monitor 1
Point table No. selection 7 DI6 7 39 MCD01 RA9 (option) 3 MO1
± 10 V DC
+ 1 LG
Point table No. selection 8 DI7 8 40 MCD02 RA10 ± 10 V DC
(Note 9) 2 MO2
Servo-on SON 21 Analog monitor 2
Reset RES 26 41 MCD03 RA11
CN8 2 m or less
(Note 9) M code
External torque limit selection TL 27 (Note 12)
42 MCD10 RA12
Short-circuit connector (Note 1)
Internal torque limit selection TL1 28 (packed with the servo amplifier)
Manua l pulse generator multiplication 1 TP0 29 43 MCD11 RA13

Manual pulse genera tor multiplication 2 TP1 30 44 MCD12 RA14

Override selection OVR 31

Automatic/manual selection MD0 32 45 MCD13 RA15

Temporary stop/Restart TSTP 33 46 PUS RA16

Temporary stop
Proportion control PC 34 MR-D01
Forward rotation start ST1 35 47 MEND RA17
Movement finish
24 V DC (Note 19, 20) CN10
Reverse rotation start ST2 36 48 CN10 24 V DC (Note 19, 20)
10 m or less
CPO RA18
Rough match DICOMD 13
(Note 2)
CN20 49 INP RA19 In-position DICOMD 14 37 DOCOMD
Upper limit setting Point table No. selection 1 DI0 1
P15R 13 22 ACD0
Override 10 m or less RA7

VC 2 Point table No. selection 2 DI1 2

±10 V/0 ~ 200%
N12R 15 CN20 Point table No. selection 3 DI2 3 23 ACD1 RA8 Alarm
Lower limit setting code
4 MO1 Analog monitor 1 Point table No. selection 4 DI3 4
Upper limit setting 24 ACD2 RA9

1 LG Point table No. selection 5 DI4 5

Analog torque limit TLA 12 14 MO2 Analog monitor 2 Point table No. selection 6 DI5 6 25 ACD3 RA10

+ 10 V/max. torque
LG 9 Point table No. selection 7 DI6 7
38 MCD00 RA11

SD Plate Plate SD Point table No. selection 8 DI7 8

2 m or less 2 m or less
18 39 MCD01 RA12

19
40 MCD02 RA13

(Note 24) Servo-on SON 21 41 MCD03 RA14

M code
Reset RES 26
42 MCD10 RA15

External torque limit selection TL 27

Internal torque limit selection TL1 28 43 MCD11 RA16

Manual pulse generator multiplication 1 TP0 29

44 MCD12 RA17

Manual pulse generator multiplication 2 TP1 30

Override selection OVR 31 45 MCD13 RA18

Operation mode selection 1 MD0 32 During a temporary

46 PUS RA19
stop
Temporary stop/restart TSTP 33
Proportional control PC 34 47 MEND RA20
Travel completion
Forward rotation start ST1 35
48 CPO RA21
Rough match
Reverse rotation start ST2 36
10 m or less In-position
49 INP RA22

CN20
Upper limit P15R 13 10 m or less
(Note 21) Analog override setting OVC 2
±10 V/0% to 200% CN20
Lower limit N12R 15 Analog monitor 1
setting 4 OMO1
± 10 V DC
1 LG
Upper limit ± 10 V DC
(Note 22, 23) Analog torque limit setting 14 OMO2
OTLA 12 Analog monitor 2
+10 V/maximum torque
LG 9
Plate SD
SD Plate 2 m or less
2 m or less

Note 1. To prevent an electric shock, always connect the protective earth Note 1. To prevent an electric shock, always connect the protective earth
(PE) terminal (terminal marked ) of the servo amplifier to the (PE) terminal (marked ) of the servo amplifier to the protective
protective earth (PE) of the control box. earth (PE) of the cabinet.
2. Connect the diode in the correct direction. If it is connected 2. Connect the diode in the correct direction. If it is connected reversely,
reversely, the servo amplifier or the MR-J3-D01 will be faulty and the servo amplifier will malfunction and will not output signals,
will not output signals, disabling the forced stop (EMG) and other disabling EM2 (Forced stop 2) and other protective circuits.
protective circuits. 3. The forced stop switch (normally closed contact) must be installed.
3. The forced stop switch (normally closed contact) must be installed. 4. Supply 24 V DC ± 10% to interfaces from outside. The total current
4. Supply 24 V DC 10% 150 mA current for interfaces of the servo capacity of these power supplies must be 500 mA or lower. 500 mA
amplifier from the outside. 150 mA is the value applicable when is the value applicable when all I/O signals are used. The current
all I/O signals are used. The current capacity can be decreased by capacity can be decreased by reducing the number of I/O points.
reducing the number of I/O points. Refer to section 3.8.2 (1) of " Refer to section 3.9.2 (1) of "MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ)
MR-J3-_T/MR-J3-D01 Servo Amplifier Instruction Manual" that Servo Amplifier Instruction Manual" that gives the current value
gives the current value necessary for the interface. necessary for the interface. A 24 V DC power supply can be used for
both input signal and output signal.
5. When starting operation, always turn on forced stop (EMG) and 5. When starting operation, always turn on EM2 (Forced stop 2), LSP
Forward/Reverse rotation stroke end (LSP/LSN). (Normally closed (Forward rotation stroke end) and LSN (Reverse rotation stroke end).
contacts) (Normally closed contact)
6. Trouble (ALM) turns on in normal alarm-free condition. 6. ALM (Malfunction) turns on in normal alarm-free condition. (Normally
7. Use MRZJW3-SETUP 211E. closed contact)

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MR-J3-_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01

8. Personal computers or parameter modules can also be connected 7. The pins with the same signal name are connected in the servo
via the CN3 connector, enabling RS-422 communication. amplifier.
Note that using the USB communication function (CN5 connector) 8. TLA will be available when TL (External torque limit selection) is
prevents the RS-422 communication function (CN3 connector) from enabled with [Pr. PD04], [Pr. PD06], [Pr. PD08], [Pr. PD10], [Pr.
being used, and vice versa. They cannot be used together. PD12], [Pr. PD14], [Pr. PD18], [Pr. PD20], [Pr. PD22], [Pr. PD44],
Personal computer RS-232C/RS-422 conversion cable and [Pr. PD46]. (Refer to section 3.6.1 (5) of "MR-J4-_A_(-RJ)/MR-
Recommended product: Interface cable
J4-03A6(-RJ) Servo Amplifier Instruction Manual".)
DSV-CABV
(Diatrend) 9. Use SW1DNC MRC2-_. (Refer to "MR-J4-_A_(-RJ)/MR-J4-03A6(-
RJ) Servo Amplifier Instruction Manual" section 11.7.)
Servo amplifier 10. Controllers or parameter units can also be connected via the CN3
To RS-232C connector
connector with the RS-422 communication. Note that using the USB
CN3 communication function (CN5 connector) prevents the RS-422
or
MR-PRU03 communication function (CN3 connector) from being used, and vice
parameter module versa. They cannot be used together.

EIA568-compliant cable (10BASE-T cable, etc.)

RS-422
compatible controller
Servo amplifier

CN3
or
9. For the sink I/O interface. For the source I/O interface, refer to MR-PRU03
section 3.8.2 (1) of "MR-J3-_T/MR-J3-D01 Servo Amplifier parameter unit
Instruction Manual" PRU03

10. Supply 24 V DC 10% 800 mA current for interfaces of the servo 10BASE-T cable, etc. (EIA568-compliant)
amplifier from the outside. 800 mA is the value applicable when all
I/O signals are used. The current capacity can be decreased by
reducing the number of I/O points. Refer to section 3.8.2 (1) of "MR-
J3-_T/MR-J3-D01 Servo Amplifier Instruction Manual" that gives the
current value necessary for the interface.
11. The 24 V DC for I/O signal can be supplied to the servo amplifier 11. Use an external power supply when inputting a negative voltage.
and MR-J3-D01 with one 24VDC power supply. In this case, use 12. When not using the STO function, attach the short-circuit connector
the power supply capacity corresponding to the points of the I/O came with a servo amplifier.
signal to be used.
13. Configure a circuit to turn off EM2 when the main circuit power is
turned off to prevent an unexpected restart of the servo amplifier.
14. The devices can be changed with [Pr. PD04], [Pr. PD06], [Pr.
PD08], [Pr. PD10], [Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr. PD20],
[Pr. PD22], [Pr. PD44], and [Pr. PD46].
15. Output devices are not assigned by default. Assign the output
devices with [Pr. PD47] as necessary.
16. Recommended device assignments are shown. The devices can be
changed by [Pr. PD23] to [Pr. PD26], and [Pr. PD28].
17. DI2 and DI3 are assigned to the CN1-10 and CN1-35 pins by
default. When connecting a manual pulse generator, change them
with [Pr. PD44] and [Pr. PD46]. Refer to section 9.1 of "MR-J4-_A_-
RJ(Positioning mode) Servo Amplifier Instruction Manual" for details
of the manual pulse generator.
18. Supply + of 24 DC V to OPC (Power input for open-collector sink
interface) when input devices are assigned to the CN1-10 pin and
the CN-35 pin. They cannot be used with source input interface. For
the positioning mode, input devices (DI2 and DI3) are assigned with
the initial values.
19. Supply 24 V DC ± 10% to interfaces of the MR-D01 from outside.
The total current capacity of these power supplies must be 800 mA
or lower. 800 mA is the value applicable when all I/O signals are
used. The current capacity can be decreased by reducing the
number of I/O points. For the current required for the interface, refer
to section 3.8.2 (1) of "MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ) Servo
Amplifier Instruction Manual".
20. As the 24 V DC for the input/output signals, one 24 V DC power
supply can be used to supply to the servo amplifier and MRD01.
In this case, select an appropriate power supply capacity depending
on the number of points of the input/output signals to be used.
21. The CN1-2 pin and CN20-2 pin are exclusive. The CN1-2 pin is set
by default. Select this item with [Pr. Po11].
22. The CN1-27 pin and CN20-12 pin are exclusive. The CN1-27 pin is
set by default. Select this item with [Pr. Po11].
23. OTLA will be available when TL (External torque limit selection) is
enabled with [Pr. Po02] to [Pr. Po07]. (Refer to section 11.5.3 (6) of "
MR-J4-_A_-RJ/MR-J4-03A6-RJ Servo Amplifier Instruction Manual
(Positioning mode)".
24. The devices can be changed by [Pr. Po02] to [Pr. Po07]. When
BCD input positioning operation is not used, MR-D01 is
unnecessary.

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(b) Point table method in the BCD input positioning operation

POINT
For notes, refer to (1) (a) of this section.

1) When using a digital switch

MR-J3-_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01
Servo amplifier
(Note 7)
CN1 24 V DC (Note 4)
MR-J3-_T CN6 (Note 2) 46 DOCOM

24 V DC (Note 4, 11) CN6 14 RD RA1 Ready 47 DOCOM (Note 2)

10 m or less
DICOM 5 15 ALM Trouble (Note 6) (Note 13) (Note 7) 48 ALM RA1 Malfunction (Note 6)
RA2
(Note 9) Main circuit power supply
(Note 3, 5) Forced stop DOCOM 17 CN1
16 ZP RA3 Home position (Note 3, 5) Forced stop 2 EM2 42 22 CPO RA2 Rough match
Proximity dog EMG 1
(Note 9) return completion Home position
(Note 5) Forward rotation stroke end DOG 2 Servo-on SON 15 23 ZP RA3
return completion
Reverse rotation stroke end LSP 3 10 m or less Operation mode selection 1 MD0 16
Forward rotation start ST1 17 25 MEND RA4 Travel completion (Note 16)
LSN 4 13 LZ Encoder Z-phase pulse
10 m or less 26 LZR (differential line driver) Reverse rotation start ST2 18 24 INP RA5 In-position
11 LA Proximity dog DOG 45
Encoder A-phase pulse (Note 14)
(Note 8) (differential line driver) Forward rotation stroke end LSP 43 49 RD RA6 Ready
24 LAR (Note 5)
(Note 7) Personal Reverse rotation stroke end LSN 44 13 (Note 15)
computer 12 LB Encoder B-phase pulse
Setup software Position data input 1 DI0 19 14 (Note 15)
25 LBR (differential line driver) 10 m or less
(SETUP221E) Position data input 2 DI1 41
MR-J3USBCBL3M CN5
(Option) 23 LG Control common
Position data input 3 DI2 10 8 LZ Encoder Z-phase pulse
Plate SD (Note 17, 18) (differential line driver)
＋ Position data input 4 DI3 35 9 LZR
(Note 1) DICOM 20 4 LA Encoder A-phase pulse
24 V DC (Note 4) DICOM 21 5 LAR (differential line driver)
OPC 12 6 LB Encoder B-phase pulse
Upper limit P15R 1 LBR (differential line driver)
setting 7
MR-J3-D01 (Note 11, 21) Analog override VC 2 Control common
CN20 CN20 ±10 V/0% to 200%
Upper limit setting LG 28 34 LG Control common
P15R 13 4 MO1 Analog monitor 1 Upper limit
setting 33 OP Encoder Z-phase pulse
Override VC 2 1 LG (open-collector)
(Note 8, 22) Analog torque limit TLA 27 Plate SD
±10 V/0 to 200% +10 V/maximum torque
Lower limit setting N12R 15 14 MO2 Analog monitor 2
SD Plate 2 m or less
Upper limit setting 2 m or less
Plate SD Personal
Analog torque limit 2 m or less (Note 9)
TLA 12 computer
+10 V/max. torque MR Configurator2 (Note 10) (Note 7)
LG 9 CN10 USB cable CN6
CN5
SD Plate (Note 2) (option) Analog monitor 1
14 DICOMD 3 MO1
2 m or less ± 10 V DC
+ 1 LG
46 PUS RA8 Temporary stop ± 10 V DC
2 MO2
Analog monitor 2
47 MEND RA9 Movement finish
(Note 9) CN8 2 m or less
48 CPO RA10 Rough match (Note 12)
Short-circuit connector (Note 1)
49 INP RA11 In-position (packed with the servo amplifier)

MR-D01
10 m or less
CN20 CN20
Upper limit Analog monitor 1
setting P15R 13 4 OMO1
(Note 21) Analog override ± 10 V DC
±10 V/0% to 200% OVC 2 1 LG
± 10 V DC
Lower limit N12R 15 14 OMO2
setting Analog monitor 2
Upper limit
Plate SD
MR-J3-D01 (Note 22, 23) Analog torque limit setting 2 m or less
+10 V/maximum torque OTLA 12
LG 9 CN10 24 V DC (Note 19, 20)
(Note 2)
DC 24 V DC (Note 10, 11) CN10 CN10 SD Plate 37 DOCOMD
2 m or less
DICOMD 13
(Note 2)
14 DOCOMD 46 PUS RA7 During a temporary stop
DOCOMD 37
22 ACD0 47 MEND RA8 Travel completion
Servo-on SON 21 RA4

Reset RES 26 48 CPO RA9

Rough match
23 ACD1 RA5
Alarm code
External torque limit selection TL 27 49 INP RA10 In-position
Internal torque limit selection TL1 28 24 ACD2 RA6
10 m or less
Manual pulse generator multiplication 1 TP0 29 25 ACD3 RA7

Manual pulse generator multiplication 2 TP1 30

Override selection OVR 31
(Note 9)
Automatic/manual selection MD0 32 MR-D01
Temporary stop/Restart TSTP 33
Proportion control PC 34
24 V DC (Note 19, 20) CN10 CN10 24 V DC (Note 19, 20)
Forward rotation start ST1 35
DICOMD 13
(Note 2)
Reverse rotation start ST2 36 37 DOCOMD
DICOMD 14
Speed selection 1 SP0 18
Servo-on SON 21 22 ACD0 RA11

Speed selection 2 SP1 19

Reset RES 26 Alarm
Speed selection 3 SP2 20 23 ACD1 RA12
code
10 m or less
External torque limit selection TL 27
Internal torque limit selection TL1 28 24 ACD2 RA13

20 m or less TP0 29
Manual pulse generator multiplication 1 25 ACD3 RA14

MR-DS60 MR-DS60 Manual pulse generator multiplication 2 TP1 30

MR-DSCBL_
Override selection OVR 31
CON2 CON1 CON2 CON1 MR-DSCBL_M-G (Note 24)
Operation mode selection 1 MD0 32
9A 9A 9A 9A PRQ1 44
Temporary stop/restart TSTP 33
9B 9B 9B 9B PRQ2 45
6A 6A 6A 6A POS00 1
Proportional control PC 34
6B 6B 6B 6B POS01 2 Forward rotation start ST1 35
7A 7A 7A 7A POS02 3 Reverse rotation start ST2 36
7B 7B 7B 7B POS03 4 Speed selection 1 SPD1 18
4A 4A 4A 4A POS10 5 Speed selection 2 SPD2 19
4B 4B 4B 4B POS11 6 Speed selection 3 SPD3 20
5A 5A 5A 5A POS12 7 10 m or less
5B 5B 5B 5B POS13 8
2A 2A 2A 2A POS20 9 20 m or less
2B 2B 2B 2B POS21 10 MR-DS60 MR-DS60
3A 3A 3A 3A POS22 11
CON2 CON1 MR-DSCBL_ CON2 CON1 MR-DSCBL_M-G
3B 3B 3B 3B POS23 12
1A 1A 1A 1A POSP 15
9A 9A 9A 9A PRQ1 44
1B 1B 1B 1B POSN 16 9B 9B 9B 9B PRQ2 45
SD Plate 6A 6A 6A 6A POS00 1
6B 6B 6B 6B POS01 2
COM2
COM1
COM2
COM1
DCM1
DCM2

DCM1
DCM2

7A 7A 7A 7A POS02 3
7B 7B 7B 7B POS03 4
Digital switch
changing switch 4A 4A 4A 4A POS10 5
Do not connect when using 4B 4B 4B 4B POS11 6
multiple digital switches. 5A 5A 5A 5A POS12 7
5B 5B 5B 5B POS13 8
2A 2A 2A 2A POS20 9
2B 2B 2B 2B POS21 10
3A 3A 3A 3A POS22 11
Up to 10 digital switches can be
mounted. 3B 3B 3B 3B POS23 12
1A 1A 1A 1A POSP 15
1B 1B 1B 1B POSN 16
SD Plate
COM2
COM1
COM2
COM1
DCM1
DCM2

DCM1
DCM2

Digital switch
select switch
Do not connect them when using a
plurality of digital switches.

Up to 10 digital switches
can be installed.

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

2) When using a programmable controllers

MR-J3-_T_ + MR-J3-D01 MR-J4-_A_-RJ + MR-D01
Servo amplifier
MR-J3-_T CN6 (Note 2) (Note 7)
CN1 24 V DC (Note 4)
24 V DC (Note 4, 11) CN6 14 RD RA1 Ready
46 DOCOM
DICOM 5 15 ALM RA2 Trouble (Note 6) (Note 9) 47 DOCOM
DOCOM 17 (Note 2)
Home position 10 m or less
(Note 3, 5) Forced stop EMG 1 16 ZP RA3

return completion (Note 13) (Note 7) 48 ALM RA1 Malfunction (Note 6)

(Note 9) Proximity dog DOG 2 Main circuit power supply CN1
(Note 5) Forward rotation stroke end LSP 3 10 m or less 22 CPO RA2 Rough match
(Note 3, 5) Forced stop 2 EM2 42
Reverse rotation stroke end LSN 4 13 LZ Encoder Z-phase pulse Servo-on SON 15 Home position
23 ZP RA3
return completion
10 m or less 26 LZR (differential line driver)
Operation mode selection 1 MD0 16
(Note 8) 11 LA Encoder A-phase pulse Forward rotation start ST1 17 25 MEND RA4 Travel completion (Note 16)
24 LAR (differential line driver)
(Note 7) Reverse rotation start ST2 18 24 INP RA5 In-position
Personal 12 LB Encoder B-phase pulse
Setup software computer Proximity dog DOG 45
25 LBR (differential line driver) (Note 14) 49 RD Ready
(SETUP221E) MR-J3USBCBL3M Forward rotation stroke end LSP 43
RA6

CN5 23 LG Control common (Note 5)

(Option) Reverse rotation stroke end LSN 44 13 (Note 15)

＋ Plate SD Position data input 1 DI0 19 14 (Note 15)

10 m or less
(Note 1) Position data input 2 DI1 41
Position data input 3 DI2 10 8 LZ Encoder Z-phase pulse
(Note 17, 18) (differential line driver)
Position data input 4 DI3 35 9 LZR
DICOM 20 4 LA Encoder A-phase pulse
MR-J3-D01 24 V DC (Note 4) DICOM 21 5 LAR (differential line driver)
CN20 CN20
Upper limit setting OPC 12 6 LB Encoder B-phase pulse
P15R 13 4 MO1 Analog monitor 1
Override 7 LBR (differential line driver)
VC 2 1 LG Upper limit P15R 1
±10 V/0 to 200% (Note 11, 21) Analog override setting Control common
N12R 15 14 MO2 Analog monitor 2 ±10 V/0% to 200% VC 2
Lower limit setting 34 LG Control common
LG 28
Upper limit setting 33 OP Encoder Z-phase pulse
Plate SD Upper limit
2 m or less (Note 8, 22) Analog torque limit setting (open-collector)
Analog torque limit TLA 12 +10 V/maximum torque TLA 27 Plate SD
+10 V/max. torque
LG 9 2 m or less
CN10 SD Plate
SD Plate (Note 2)
14 DICOMD 2 m or less
2 m or less Personal
44 PRQ1 RA8 Position data request 1 (Note 9) computer
MR Configurator2 (Note 10) (Note 7)
45 PRQ2 RA9 Position data request 2 USB cable CN5 CN6
(option) Analog monitor 1
3 MO1
46 PUS RA10 Temporary stop ± 10 V DC
+ 1 LG
(Note 9) ± 10 V DC
47 MEND RA11
Movement finish 2 MO2
Analog monitor 2
48 CPO RA12 Rough match CN8 2 m or less
(Note 12)
49 INP RA13
In-position Short-circuit connector (Note 1)
(packed with the servo amplifier)
10 m or less
MR-D01
CN20 CN20
Analog monitor 1
Upper limit P15R 13 4 OMO1
(Note 21) Analog override setting ± 10 V DC
±10 V/0% to 200% OVC 2 1 LG
± 10 V DC
Lower limit N12R 15 14 OMO2
setting Analog monitor 2
MR-J3-D01
Upper limit Plate SD
(Note 22, 23) Analog torque limit setting 2 m or less
+10 V/maximum torque OTLA 12
QX40 input unit CN10 CN10
(Note 2) LG 9 24 V DC (Note 19, 20)
X00 PRQ1 44 CN10
14 DICOMD SD Plate (Note 2)
X01 PRQ2 45 2 m or less 37 DOCOMD

X02 22 ACD0 RA4

44 PRQ1 RA7 Position data request 1
･･･ 23 ACD1 RA5 Alarm code 45 PRQ2 RA8 Position data request 2
X0F
COM 24 ACD2 RA6
46 PUS RA9
During a temporary stop

25 ACD3 RA7 47 MEND RA10

Travel completion
QY40P output unit
48 CPO RA11
Rough match
Y00 POS00 1
Y01 POS01 2 49 INP RA12
In-position
Y02 POS02 3 10 m or less
Y03 POS03 4
Y04 POS10 5
Y05 POS11 6
Y06 POS12 7 MR-D01
Y07 POS13 8
Y08 POS20 9
CN10 CN10 24 V DC (Note 19, 20)
Y09 POS21 10
X00 PRQ1 44 (Note 2)
Y0A POS22 11 37 DICOMD
Y0B POS23 12 X01 PRQ2 45
Y0C X02 22 ACD0 RA13
POSP 15 Alarm
RX40C7 input module
Y0D POSN 16 23 ACD1 RA14 code
Y0E STRB 17 X0F
Y0F COM 24 ACD2 RA15

12/24VDC
25 ACD3 RA16

COM
Y00 POS00 1
Q62P input unit
Y01 POS01 2
+24 DICOMD 13
Y02 POS02 3
24G DOCOMD 37
Y03 POS03 4
FG
Y04 POS10 5
Y05 POS11 6
Servo-on SON 21 Y06 POS12 7
Reset RES 26 Y07 POS13 8
External torque limit selection TL 27 Y08 POS20 9
RY40NT5P output module
Internal torque limit selection TL1 28 Y09 POS21 10
Manual pulse generator multiplication 1 TP0 29 Y0A POS22 11
Manual pulse generator multiplication 2 TP1 30 Y0B POS23 12
Override selection OVR 31 Y0C POSP 15
(Note 9) Automatic/manual selection MD0 32 Y0D POSN 16
Temporary stop/Restart TSTP 33 Y0E STRB 17
Proportion control PC 34 Y0F
Forward rotation start ST1 35 12/24VDC
Reverse rotation start ST2 36
COM
Speed selection 1 SP0 18
Speed selection 2 SP1 19
Speed selection 3 24 V DC (Note 19, 20)
SP2 20
DICOMD 13
DOCOMD 37

Servo-on SON 21
Reset RES 26
External torque limit selection TL 27
Internal torque limit selection TL1 28
Manual pulse generator multiplication 1 TP0 29
Manual pulse generator multiplication 2 TP1 30
Override selection OVR 31
(Note 24) Automatic/manual selection MD0 32
Temporary stop/restart TSTP 33
Proportional control PC 34
Forward rotation start ST1 35
Reverse rotation start ST2 36
Speed selection 1 SP0 18
Speed selection 2 SP1 19
Speed selection 3 SP2 20

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

(2) MR-J3-_T_/MR-J4-_A_-RJ (Serial communication operation)

MR-J3-_T_ MR-J4-_A_-RJ
Servo amplifier
(Note 7)
MR-J3-_T CN6 (Note 2) CN1 24 V DC (Note 4, 14)
46 DOCOM
24 V DC (Note 4, 10) CN6 14 RD RA1 Ready
5 47 DOCOM (Note 2)
DICOM 15 ALM RA2 Malfunction (Note 6) (Note 9) 10 m or shorter
DOCOM 17 (Note 13) (Note 7) 48 ALM RA1 Malfunction (Note 6)
16 ZP Home position Main circuit CN1
(Note 3,5) Forced stop EMG 1
RA3
return completion power supply
(Note 3, 5) Forced stop 2 EM2 42 22 CPO RA2 Rough match
Proximity dog DOG 2
(Note 9) (Note 5) Forward rotation 10 m or less Servo-on SON 15 Home position
stroke end LSP 3 23 ZP RA3
return completion
Reverse rotation Operation mode selection 1 MD0 16
stroke end LSN 4 13 LZ Encoder Z-phase pulse 25 MEND RA4 Travel completion (Note 17)
(differential line driver) Forward rotation start ST1 17
10 m or less 26 LZR
Reverse rotation start ST2 18 24 INP RA5 In-position
(Note 8) 11 LA Encoder A-phase pulse
(differential line driver) Proximity dog DOG 45
24 LAR (Note 15) 49 RD RA6 Ready
(Note 7) Forward rotation stroke end LSP 43
Personal (Note 5)
Setup software computer 12 LB Encoder B-phase pulse Reverse rotation stroke end LSN 44 13 (Note 16)
(SETUP221E) 25 LBR (differential line driver) 14 (Note 16)
CN5 Point table No. selection 1 DI0 19 10 m or shorter
MR-J3USBCBL3M 23 LG Control common Point table No. selection 2
(Option) DI1 41
Plate SD Point table No. selection 3 8 LZ Encoder Z-phase pulse
+ (Note 18, 19) DI2 10
Point table No. selection 4 9 LZR (differential line driver)
(Note 1) DI3 35
4 LA Encoder A-phase pulse
DICOM 20
5 LAR (differential line driver)
24 V DC (Note 4, 14) DICOM 21
6 LB Encoder B-phase pulse
OPC 12
(Note 11) Analog override Upper limit 7 LBR (differential line driver)
setting P15R 1
±10 V/0% to 200% Control common
VC 2
34 LG Control common
Upper limit LG 28 33 OP Encoder Z-phase pulse
(Note 8) Analog torque limit
setting Plate SD (open-collector)
+10 V/maximum torque
TLA 27
2 m or shorter
SD Plate
2 m or shorter
Personal
(Note 9) computer
MR Configurator2 (Note 10) (Note 7)
USB cable CN5 CN6
(option) Analog monitor 1
3 MO1
± 10 V DC
+ 1 LG
± 10 V DC
2 MO2
Analog monitor 2
CN8 2 m or shorter
(Note 12)
Short-circuit connector (Note 1)
(Packed with the servo amplifier)

Note 1. To prevent an electric shock, always connect the protective earth Note 1. To prevent an electric shock, always connect the protective earth
(PE) terminal (terminal marked ) of the servo amplifier to the (PE) terminal (marked ) of the servo amplifier to the protective
protective earth (PE) of the control box. earth (PE) of the cabinet.
2. Connect the diode in the correct direction. If it is connected 2. Connect the diode in the correct direction. If it is connected
reversely, the servo amplifier or the MR-J3-D01 will be faulty and reversely, the servo amplifier will malfunction and will not output
will not output signals, disabling the forced stop (EMG) and other
signals, disabling EM2 (Forced stop 2) and other protective circuits.
protective circuits.
3. The forced stop switch (normally closed contact) must be installed. 3. The forced stop switch (normally closed contact) must be installed.
4. Supply 24VDC 10% 150 mA current for interfaces of the servo 4. Supply 24 V DC ± 10% to interfaces from outside. The total current
amplifier from the outside. 150 mA is the value applicable when capacity is up to 500 mA. 500 mA is the value applicable when all
all I/O signals are used. The current capacity can be decreased by I/O signals are used. The current capacity can be decreased by
reducing the number of I/O points. Refer to section 3.8.2 (1) of "MR- reducing the number of I/O points. Refer to section 3.9.2 (1) of "
J3-_T/MR-J3-D01 Servo Amplifier Instruction Manual" that gives the
MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ) Servo Amplifier Instruction
current value necessary for the interface."MR-J3-_T/MR-J3-D01
Manual " that gives the current value necessary for the interface. A
5. When starting operation, always turn on forced stop (EMG) and 24 V DC power supply can be used for both input signal and output
Forward/Reverse rotation stroke end (LSP/LSN). (Normally closed
signal.
contacts)
5. When starting operation, always turn on EM2 (Forced stop 2), LSP
6. Trouble (ALM) turns on in normal alarm-free condition. (Forward rotation stroke end) and LSN (Reverse rotation stroke
7. Use MRZJW3-SETUP 211E. end) (normally closed contact).
8. Personal computers or parameter modules can also be connected 6. ALM (Malfunction) turns on in normal alarm-free condition (normally
via the CN3 connector, enabling RS-422 communication. closed contact).
Note that using the USB communication function (CN5 connector) 7. The pins with the same signal name are connected in the servo
prevents the RS-422 communication function (CN3 connector) from amplifier.
being used, and vice versa. They cannot be used together.
8. TLA will be available when TL (External torque limit selection) is
Personal computer RS-232C/RS-422 conversion cable enabled with [Pr. PD04], [Pr. PD06], [Pr. PD08], [Pr. PD10], [Pr.
Recommended product: Interface cable PD12], [Pr. PD14], [Pr. PD18], [Pr. PD20], [Pr. PD22], [Pr. PD44],
DSV-CABV and [Pr. PD46]. (Refer to section 3.6.1 (5) of "MR-J4-_A_(-RJ)/MR-
(Diatrend) J4-03A6(-RJ) Servo Amplifier Instruction Manual".)
9. Use SW1DNC-MRC2-_. (Refer to section 11.7 of "MR-J4-_A_(-
Servo amplifier RJ)/MR-J4-03A6(-RJ) Servo Amplifier Instruction Manual".)
To RS-232C connector
10. Controllers or parameter units can also be connected via the CN3
CN3
or connector with the RS-422/RS-485 communication. Note that using
MR-PRU03 the USB communication function (CN5 connector) prevents the RS-
parameter module
422 communication function (CN3 connector) from being used, and
vice versa. They cannot be used together.
EIA568-compliant cable (10BASE-T cable, etc.)

RS-422
compatible controller
Servo amplifier

9. For the sink I/O interface. For the source I/O interface, refer to CN3
or
section 3.8.3 of "MR-J3-_T/MR-J3-D01 Servo Amplifier Instruction MR-PRU03
Manual". parameter unit
10. In this case, select a power supply capacity suitable for the number PRU03

of input and output signals used. One 24 V DC power supply can be

10BASE-T cable, etc. (EIA568-compliant)
used for the input and output signals and the servo amplifier.

11. Use an external power supply when inputting a negative voltage.

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

MR-J3-_T_ MR-J4-_A_-RJ
12. When not using the STO function, attach the short-circuit connector
came with a servo amplifier.
13. Configure a circuit to turn off EM2 when the main circuit power is
turned off to prevent an unexpected restart of the servo amplifier.
14. This diagram shows sink I/O interface.
15. The device can be changed with [Pr. PD04], [Pr. PD06], [Pr. PD08],
[Pr. PD10], [Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr. PD20], [Pr.
PD22], [Pr. PD44], and [Pr. PD46].
16. These output devices are not assigned by default. Assign the output
device with [Pr. PD47] as necessary.
17. These devices are recommended assignments. The device can be
changed by [Pr. PD23] to [Pr. PD26], and [Pr. PD28].
18. DI2 and DI3 are assigned to the CN1-10 and CN1-35 pins by
default. When connecting a manual pulse generator, change them
with [Pr. PD44] and [Pr. PD46]. Refer to section 9.1 of "MR-J4-_A_-
RJ/MR-J4-03A6-RJ Servo Amplifier Instruction Manual (Positioning
mode)" for details of the manual pulse generator.
19. Supply + of 24 V DC to OPC (Power input for open-collector sink
interface) when input devices are assigned to the CN1-10 pin and
the CN1-35 pin. They are not used with source input interface. For
the positioning mode, input devices (DI2 and DI3) are assigned by
default.

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

3.4 List of Corresponding Connectors and Terminal Blocks

(1) Connector comparison table

The following shows examples of connections with the peripheral equipment. For details of signals, refer
to each servo amplifier instruction manual.
MR-J3_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01
The following figure shows the interface of when MR-J3-D01 is The following figure shows the interface of when MR-D01 is
connected to MR-J3-100T. connected to MR-J4-20A-RJ.
Personal
computer
MR Configurator2
(Note 3) Setup software Personal
Power (SETUP221E) computer (Note 2)
supply Power
Molded-case supply
circuit breaker Molded-case
(MCCB) circuit breaker
(MCCB)
Analog monitor

Servo amplifier

Magnetic Analog output signa

(Note 3)
contactor Magnetic
(MC) contactor
(MC) To RS-422 communication
(Note 2) Analog output (Note 1)
signal controller, parameter unit, etc.

Line noise
Line noise filter To safety relay or
filter I/O signal MR-J3-D05 safety
(FR-BSF01)
(FR-BSF01) logic unit
D (Note 4)

L1 I/O signal
U
L2 L1 Junction terminal block
L3 V
L2
U VW
L3 W
U V W
I/O signal
(Note 2)
Power factor P3
Power factor P1 improving DC
improving DC
reactor reactor
(FR-HEL) P2 (FR-HEL) P4
Servo motor
P+
P C Regenerative
option
Regenerative Servo motor C
option (Note 1)
L11
Battery
MR-J3BAT
L21

Note 1. The battery (option) is used for the absolute position detection Note 1. The power factor improving AC reactor can also be used. In this
system in the position control mode. case, the power factor improving DC reactor cannot be used.
2. The AC reactor can also be used. In this case, the DC reactor When not using the power factor improving DC reactor, short P3
cannot be used. When not using DC reactor, short P1and P2. and P4.
3. Refer to section 1.2 of "MR-J3-_T/MR-J3-D01 Servo Amplifier 2. A 1-phase 200 V AC to 240 V AC power supply may be used with
Instruction Manual" for the power supply specification. the servo amplifier of MR-J4-70A-RJ or less. For 1-phase 200 V
AC to 240 V AC, connect the power supply to L1 and L3. Leave L2
open. For power supply specifications, refer to section 1.3 of "MR-
J4-_A_(-RJ)/MR-J4-03A6(-RJ) Servo Amplifier Instruction Manual".
3. Depending on the main circuit voltage and operation pattern, a bus
voltage may drop, causing dynamic brake deceleration during
forced stop deceleration. When dynamic brake deceleration is not
required, delay the time to turn off the magnetic contactor.
4. Always connect between P+ and D terminals. When using the
regenerative option, refer to section 11.2 of "MR-J4-_A_(-RJ)/MR-
J4-03A6(-RJ) Servo Amplifier Instruction Manual".

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

(2) List of connector and terminal block correspondence

MR-J3-_T_ and MR-J3-D01 MR-J4-_A_-RJ and MR-D01
Precautions
No. Connector name Connector No. No. Connector name Connector No.
① I/O signal connector CN6 ① I/O signal connector CN1 Newly required.
The cable needs to be
changed when using 15 kW
or more HG-JR 1000 r/min
② Encoder connector CN2 ② Encoder connector CN2 series or 22 kW or more
HG-JR 1500 r/min series is
used.
(CN2L is not used.)
RS-422 communication RS-422 communication
③ CN3 ③ CN3
connector connector
USB communication → USB communication
④ CN5 ④ CN5
connector connector
⑤ Analog input connector CN20 ⑤ Analog input connector CN20
Main circuit power supply Main circuit power supply
⑥ CNP1 ⑥ CNP1
connector connector Switch to the power
⑦ Control circuit connector CNP2 ⑦ Control circuit connector CNP2 connector (enclosed with
Servo motor power output Servo motor power output the servo amplifier).
⑧ CNP3 ⑧ CNP3
connector connector
⑨ Battery connector CN4 ⑨ Battery connector CN4 Prepare a new battery.
⑩ I/O signal connector CN10 ⑩ I/O signal connector CN10
⑪ Analog monitor connector CN6 Newly required.

Note. When not using the STO function in MR-J4-_A_-RJ, attach the short-circuit connector supplied with the servo amplifier to CN8
(STO input signal connector).
When MR-J3-_T_ is used with MR-J3-D01, CN1 (CC-Link connector) is not used. Do not connect anything including.
Do not connect anything to the CN30 connector (for manufacturer setting) of MR-J3-D01 and MR-D01.
The structure of the main circuit terminal block varies depending on the capacity. Refer to "Part 8 Common Reference Material".

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

(3) Comparison of signals

(a) Servo amplifier
Signal abbreviations in parentheses are for MR-J4-_A_-RJ.
MR-J3-_T_ MR-J4-_A_-RJ
Abbreviation
Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment
EMG
CN6-1 CN1-42 (Note1)
CN6 (EM2) CN1
CN6-2 DOG CN1-45
1 14 CN6-3 LSP CN1-43
1 26
2 15 CN6-4 LSN CN1-44
EMG RD 2 P15R 27
CN1-20 VC TLA
DOG ALM CN6-5 DICOM 3 28
3 16 CN1-21
4 LG 29 LG
4 17 CN6-6 PP CN1-10 (Note 2)
LSP LA 5 30
ZP CN6-7
LSN DOCOM
6 LAR 31 LG
5 18 CN6-8 LB 7 32
6 19 CN6-9 8 LBR 33
DICOM OPC
CN6-10 LZ 9 OP 34
PP NP
7 20 CN6-11 LA CN1-4 10 LZR 35 LG
8 21 CN6-12 LB CN1-6 (Note 2)
11 (Note 2) 36
CN1-8 12 PG 37 NG
CN6-13 LZ
9 22 CN6-14 CN1-49 OPC 13 38
RD
10 23 14 39
CN6-15 ALM CN1-48
15 40
LG CN6-16 ZP CN1-23 (Note 3)
11 24 16 SON 41
CN1-46
12 25 CN6-17 DOCOM MD0 17 DI1 42
LA LAR CN1-47
18 ST1 43 EM2
LB LBR CN6-18 OPC CN1-12 (Note 2)
13 26 ST2 19 LSP 44
CN6-19 NP CN1-35 (Note 2)
20 DI0 45 LSN
LZ LZR CN6-20 DICOM
21 DOG 46
CN6-21 22 DICOM 47 DOCOM
CN6-22 CPO 23 DOCOM 48
CN1-3 24 ZP 49 ALM
CN1-28 INP 25 RD 50
CN6-23 LG
CN1-30 MEND
CN1-34
CN6-24 LAR CN1-5
CN6-25 LBR CN1-7
CN6-26 LZR CN1-9

Note 1. In the initial setting, EM2 is assigned to the CN1-42 pin. To configure the same settings as for MR-J3-_T_, select "Forced stop
deceleration function disabled (with EM1 used)". To use EM1, set [Pr. PA04] to "0 _ _ _".
2. Input devices are not assigned to the CN1-10 pin and the CN1-35 pin by default. To assign PP and NP, set [Pr. PD44] and [Pr.
PD46] to "0 0_ _". In addition, supply + of 24 V DC to the CN1-12 pin.
3. To enable the CN1-23 pin, set [Pr. PD24] to "_ _ 2 4".

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

(b) CN6 (MR-J4-_A_-RJ only)

MR-J3-_T_ Signal MR-J4-_A_-RJ
Connector pin assignment Connector pin No. abbreviation Connector pin No. Connector pin assignment
CN6
LG CN6-1
3
MO1

MO2 CN6-2 2
MO2

1
MO1 CN6-3 LG

(c) CN3
MR-J3-_T_ Signal MR-J4-_A_-RJ
Connector pin assignment Connector pin No. abbreviation Connector pin No. Connector pin assignment
CN3 CN3-1 LG CN3-1 CN3

8 8
NC CN3-2 P5D CN3-2
7 7
LG LG
CN3-3 RDP CN3-3
6 6
RDN RDN
5 CN3-4 SDN CN3-4 5
SDP SDP
4 CN3-5 SDP CN3-5 4
SDN SDN
3 3
RDP CN3-6 RDN CN3-6 RDP
2 2
P5D CN3-7 LG CN3-7 P5D
1 1
LG LG
CN3-8 NC (-) CN3-8

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

(d) Extension I/O unit.

1) CN10: Point table method
MR-J3-D01 Signal MR- D01
Connector pin assignment Connector pin No. abbreviation Connector pin No. Connector pin assignment
CN10-1 DI0 CN10-1
CN10-2 DI1 CN10-2
CN10-3 DI2 CN10-3
CN10-4 DI3 CN10-4
CN10-5 DI4 CN10-5
CN10 CN10-6 DI5 CN10-6 CN10
CN10-7 DI6 CN10-7
CN10-8 DI7 CN10-8
CN10-9 CN10-9
50 25 50 25
CN10-10 CN10-10
SD 49 ACD3 24 SD 49 ACD3 24
CN10-11 CN10-11
48 INP 23 ACD2 48 INP 23 ACD2
47 ACD1 22 CN10-12 CN10-12 47 ACD1 22
CPO CPO
46 MEND 21 ACD0 CN10-13 DICOMD CN10-13 46 MEND 21 ACD0
PUS 45 SON 20 CN10-14 DICOMD CN10-14 PUS 45 SON 20
44 MCD13 19 CN10-15 CN10-15 44 MCD13 19
43 18 43 18
MCD12 CN10-16 CN10-16 MCD12
42 MCD11 17 42 MCD11 17
CN10-17 CN10-17
MCD10 41 16 MCD10 41 16
CN10-18 CN10-18
40 MCD03 15 40 MCD03 15
MCD02 39 14 CN10-19 CN10-19 MCD02 39 14
38 MCD01 13 DICOMD CN10-20 CN10-20 38 MCD01 13 DICOMD

MCD00 37 DICOMD 12 CN10-21 SON CN10-21 MCD00 37 DICOMD 12

36 DOCOMD
11 CN10-22 ACD0 CN10-22 36 DOCOMD 11
ST2 35 10 ST2 35 10
CN10-23 ACD1 CN10-23
34 ST1 9 34 ST1 9
33 8 CN10-24 ACD2 CN10-24 33 8
PC PC
32 TSTP 7 DI7 CN10-25 ACD3 CN10-25 32 TSTP 7 DI7
MD0 31 DI6 6 CN10-26 RES CN10-26 MD0 31 DI6 6
30 OVR 5 DI5 CN10-27 TL CN10-27 30 OVR 5 DI5
TP1 29 DI4 4 CN10-28 TL1 CN10-28 TP1 29 DI4 4
28 TP0 3 DI3 28 TP0 3 DI3
CN10-29 TP0 CN10-29
TL1 27 DI2 2 TL1 27 DI2 2
TL DI1
CN10-30 TP1 CN10-30 TL DI1
26 1 26 1
RES DI0 CN10-31 OVR CN10-31 RES DI0
CN10-32 MD0 CN10-32
CN10-33 TSTP CN10-33
CN10-34 PC CN10-34
CN10-35 ST1 CN10-35
CN10-36 ST2 CN10-36
CN10-37 DOCOMD CN10-37
CN10-38 MCD00 CN10-38
CN10-39 MCD01 CN10-39
CN10-40 MCD02 CN10-40
CN10-41 MCD03 CN10-41
CN10-42 MCD10 CN10-42
CN10-43 MCD11 CN10-43
CN10-44 MCD12 CN10-44
CN10-45 MCD13 CN10-45
CN10-46 PUS CN10-46
CN10-47 MEND CN10-47
CN10-48 CPO CN10-48
CN10-49 INP CN10-49
CN10-50 SD CN10-50

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

2) CN10: Point table method in the BCD input positioning operation

Signal abbreviations in parentheses are for MR-J4-_A_-RJ.
MR-J3-D01 Signal MR- D01
Connector pin assignment Connector pin No. abbreviation Connector pin No. Connector pin assignment
CN10-1 POS00 CN10-1
CN10-2 POS01 CN10-2
CN10-3 POS02 CN10-3
CN10-4 POS03 CN10-4
CN10-5 POS10 CN10-5
CN10 CN10-6 POS11 CN10-6 CN10
CN10-7 POS12 CN10-7
CN10-8 POS13 CN10-8
CN10-9 POS20 CN10-9
50 25 50 25
CN10-10 POS21 CN10-10
SD 49 ACD3 24 SD 49 ACD3 24
CN10-11 POS22 CN10-11
48 INP 23 ACD2 48 INP 23 ACD2
47 ACD1 22 CN10-12 POS23 CN10-12 47 ACD1 22
CPO CPO
46 MEND 21 ACD0 CN10-13 DICOMD CN10-13 46 MEND 21 ACD0
PUS 45 SON 20 CN10-14 DICOMD CN10-14 PUS 45 SON 20
44 PRQ2 19 SP2 CN10-15 POSP CN10-15 44 PRQ2 19 SPD3
PRQ1 43 SP1 18 CN10-16 POSN CN10-16 PRQ1 43 SPD2 18
42 17 SP0 42 17 SPD1
CN10-17 STRB CN10-17
41 STRB 16 41 STRB 16
SP0
40 15 POSN CN10-18 CN10-18 40 15 POSN
39 POSP 14 (SPD1) 39 POSP 14
38 13 DICOMD SP1 38 13 DICOMD

37 12
CN10-19 CN10-19 37 12
DICOMD (SPD2) DICOMD
36 DOCOMD 11 POS23 36 DOCOMD 11 POS23
SP2
ST2 35 POS22 10 CN10-20 CN10-20 ST2 35 POS22 10
(SPD3)
34 ST1 9 POS21 34 ST1 9 POS21
33 POS20 8 CN10-21 SON CN10-21 33 POS20 8
PC PC
32 TSTP 7 POS13 CN10-22 ACD0 CN10-22 32 TSTP 7 POS13
MD0 31 POS12 6 CN10-23 ACD1 CN10-23 MD0 31 POS12 6
30 OVR 5 POS11 CN10-24 ACD2 CN10-24 30 OVR 5 POS11
TP1 29 POS10 4 CN10-25 ACD3 CN10-25 TP1 29 POS10 4
28 TP0 3 POS03 28 TP0 3 POS03
CN10-26 RES CN10-26
TL1 27 POS02 2 TL1 27 POS02 2
TL
CN10-27 TL CN10-27 TL
26 1 POS01 26 1 POS01
RES POS00
CN10-28 TL1 CN10-28 RES POS00
CN10-29 TP0 CN10-29
CN10-30 TP1 CN10-30
CN10-31 OVR CN10-31
CN10-32 MD0 CN10-32
CN10-33 TSTP CN10-33
CN10-34 PC CN10-34
CN10-35 ST1 CN10-35
CN10-36 ST2 CN10-36
CN10-37 DOCOMD CN10-37
CN10-38 CN10-38
CN10-39 CN10-39
CN10-40 CN10-40
CN10-41 CN10-41
CN10-42 CN10-42
CN10-43 CN10-43
CN10-44 PRQ1 CN10-44
CN10-45 PRQ2 CN10-45
CN10-46 PUS CN10-46
CN10-47 MEND CN10-47
CN10-48 CPO CN10-48
CN10-49 INP CN10-49
CN10-50 SD CN10-50

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

3) CN20
Signal abbreviations in parentheses are for MR-D01.
MR-J3-D01 Signal MR- D01
Connector pin assignment Connector pin No. abbreviation Connector pin No. Connector pin assignment
CN20-1 LG CN20-1
CN20 VC CN20
CN20-2 CN20-2 (Note 1)
(OVC)
CN20-3 CN20-3
20 10 M01 20 10
CN20-4 CN20-4
19 9 (OM01) 19 9
CN20-5 CN20-5
LG LG
18 8 CN20-6 CN20-6 18 8
17 7 CN20-7 CN20-7 17 7
CN20-8 CN20-8
16 6 CN20-9 LG CN20-9 16 6
15 5 CN20-10 CN20-10 15 5

N12R CN20-11 LG CN20-11 N12R

14 4 TLA 14 4
13 3 CN20-12 CN20-12 (Note 2) 13 3
MO2 MO1 (OTLA) OMO2 OMO1
P15R CN20-13 P15R CN20-13 P15R
12 2 12 2
M02
11 1 CN20-14 CN20-14 11 1
TLA VC (OM02) OTLA OVC
LG LG CN20-15 N12R CN20-15 LG LG
CN20-16 CN20-16
CN20-17 CN20-17
CN20-18 CN20-18
CN20-19 CN20-19
CN20-20 CN20-20
Note 1. To use this signal, set [Pr. Po11] to "_ _ 1 _" and enable the CN20-2 pin. When MR-D01 has not been connected, setting "1"
will trigger [AL. 37 Parameter error].
2. To use this signal, set [Pr. Po11] to "_ _ 1 _" and enable the CN20-12 pin. When MR-D01 has not been connected, setting "1"
will trigger [AL. 37].

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

3.5 Comparison of Peripheral Equipment

POINT
Refer to "Part 10: Replacement of Optional Peripheral Equipment".

3.5.1 MR-J3-_T_/MR-J4-_A_-RJ

The following tables show the items that are newly required when MR-J3-_T_ is replaced with MR-J4-_A_-
RJ.
Prepare the items newly to use MR-J4-_A_-RJ. Refer to "MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ) Servo Amplifier
Instruction Manual" for details.

(1) Junction terminal block for connecting I/O signal connectors/Junction terminal block cable/Junction
terminal block connector set
Item MR-J3-_T_ MR-J4-_A_-RJ
Junction terminal block MR-TB26A MR-TB50
Junction terminal block MR-TBNATBL_M MR-J2M-CN1TBL_M
cable
Junction terminal block MR-J2CMP2 MR-J3CN1
connector set

(2) Monitor cable

Item MR-J3-_T_ MR-J4-_A_-RJ
Monitor cable MR-J3CN6CBL1M

3.5.2 Extension I/O unit

Cable for connecting extension I/O units/Comparison of connector sets

Compatibility
Item MR-J3-D01 MR-D01 Remarks
(Note)
Always use the junction terminal block MR-TB50
MR-TB50 with the junction terminal block cable MR-J2M-
CN1TBL_M as a set.
Junction terminal block The junction terminal block PS7DW-20V14B-F is
not an option from us. For using the junction
PS7DW-20V14B-F
terminal block, our option MR-J2HBUS_M is
necessary.
Junction terminal block cable MR-J2HBUS_M
MR-J3CN1
Connector set
MR-CCN1
MR-DSCBL_M-G
Digital switch cable
MR-DSCBL_

Note. : Compatible

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

3.6 Comparison of Parameters

Never perform extreme adjustments and changes to the parameters, otherwise

the operation may become unstable.
CAUTION If fixed values are written in the digits of a parameter, do not change these values.
Do not change parameters for manufacturer setting.
Do not enter any setting value other than those specified for each parameter.

POINT
For the parameter converter function, refer to "Part 8: Common Reference
Material".
To enable a parameter whose abbreviation is preceded by *, turn the power OFF
and then ON after setting the parameter.
For details about parameter settings for replacement, refer to the "MR-J4-_A_-
RJ/MR-J4-03A6-RJ Servo Amplifier Instruction Manual (Positioning mode)".
With MR-J4-_A_-RJ, the deceleration to a stop function is enabled by factory
settings. To disable the deceleration to a stop function, set [Pr. PA04] to "0 _ _
_".
To enable read/write the positioning control parameters ([Pr. PT_ _ ]), set [Pr.
PA19 Parameter writing inhibit] to "0 0 A B".

3.6.1 Setting requisite parameters upon replacement

The parameters shown in this section are a minimum number of parameters that need to be set for
simultaneous replacement. Depending on the settings of the currently used amplifier, parameters other than
these may need to be set.
MR-J3-_T_
MR-J4-_A_-RJ
(DIO command/Serial communication operation) Precautions
No. Name No. Name
PA01 Control mode PT01 Command mode selection
PA01 Operation mode
PA02 Regenerative option PA02 Regenerative option
PA03 Absolute position detection system PA03 Absolute position detection system
PA04 Function selection A-1 PT02 Function selection T-1
PA04 Function selection A-1
PA05 Feeding function selection PT03 Feeding function selection
PC29 Function selectionC-8
PA06 Electronic gear numerator PA06 Electronic gear numerator
(Command input pulse multiplication (Command input pulse multiplication
numerator) numerator) For details, refer to "section 3.6.3
PA07 Electronic gear denominator PA07 Electronic gear denominator Comparison of parameter details".
(Command pulse multiplying factor (Command pulse multiplying factor
denominator) denominator)
PA08 Auto tuning PA08 Auto tuning mode
PA09 Auto tuning response PA09 Auto tuning response
PA10 In-position range PA10 In-position range
PA11 Forward torque limit PA11 Forward rotation torque limit
PA12 Reverse torque limit PA12 Reverse rotation torque limit
Rotation direction selection Servo motor rotation direction
PA14 PA14
selection/travel direction selection
PA15 Encoder output pulses PA15 Encoder output pulses
PA19 Parameter write inhibit PA19 Parameter writing inhibit To enable read/write the positioning
control parameters ([Pr. PT_ _ ]), set [Pr.
PA19 Parameter writing inhibit] to "0 0 A
B".

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

MR-J3-_T_
MR-J4-_A_-RJ
(DIO command/Serial communication operation) Precautions
No. Name No. Name
PB06 Load to motor inertia ratio PB06 Load to motor inertia ratio The unit system is different.
(0.1 times → 0.01 times)
Check the setting value.
PB07 Model loop gain PB07 Model loop gain The unit system is different.
(0.1 times → 0.01 times)
Check the setting value.
PB08 Position loop gain PB08 Position loop gain The unit system is different.
(rad/s → 0.1 rad/s)
Check the setting value.
PB12 For manufacturer setting PB12 Overshoot amount compensation
For details, refer to "section 3.6.3
PB17 Automatic setting parameter PB17 Shaft resonance suppression filter
Comparison of parameter details".
PB23 Low-pass filter PB23 Low-pass filter setting
PB29 Gain changing ratio of load inertia moment to PB29 Load to motor inertia ratio/load to motor The unit system is different.
servo motor inertia moment mass ratio after gain switching (0.1 times → 0.01 times)
Check the setting value.
PB30 Gain changing position loop gain PB30 Position loop gain after gain switching The unit system is different.
(rad/s → 0.1 rad/s)
The initial value is different.
Check the setting value.
PB31 Gain changing speed loop gain PB31 Speed loop gain after gain switching The initial value is different.
Check the setting value.
PB32 Gain changing speed integral compensation PB32 Speed integral compensation after gain The initial value is different.
switching Check the setting value.
PB33 Gain changing vibration suppression control PB33 Vibration suppression control 1 - Vibration The initial value is different.
vibration frequency setting frequency after gain switching Check the setting value.
PB34 Gain changing vibration suppression control PB34 Vibration suppression control 1 - Resonance The initial value is different.
resonance frequency setting frequency after gain switching Check the setting value.
PC02 Home position return type PT04 Home position return type For details, refer to "section 3.6.3
PC03 Home position return direction Comparison of parameter details".
The initial value is different.
PC04 Home position return speed PT05 Home position return speed
Check the setting value.
PC05 Creep speed PT06 Creep speed
PC06 Home position shift distance PT07 Home position shift distance
PC07 Home position return position data PT08 Home position return position data
PC08 Moving distance after proximity dog PT09 Travel distance after proximity dog
PC09 Stopper type home position return stopper PT10 Stopper type home position return stopper
time time
For details, refer to "section 3.6.3
PC10 Stopper type home position return torque PT11 Stopper type home position return torque Comparison of parameter details".
limit value limit value
PC11 Rough match output range PT12 Rough match output range
PC12 Jog speed PT13 JOG operation
PC13 S-pattern acceleration/deceleration time PC03 S-pattern acceleration/deceleration time
constant constant
PC14 Backlash compensation PT14 Backlash compensation
PC16 Electromagnetic brake sequence output PC16 Electromagnetic brake sequence output The initial value is different.
Check the setting value.
PC21 RS-422 communication function selection PC21 RS-422 communication function selection
PC24 Function selection C-3 PC24 Function selection C-3
PC27 Function selection C-6 PC27 Function selection C-6
PC28 Function selection C-7 PT26 Function selection T-2
PC31 Software limit + PT15 Software limit + (Lower 3 digits)
PC32 PT16 Software limit + (Upper 3 digits)
PC33 Software limit - PT17 Software limit - (Lower 3 digits)
PC34 PT18 Software limit - (Upper 3 digits) For details, refer to "section 3.6.3
PC36 Status display selection PC36 Status display selection Comparison of parameter details".
PC37 Position range output address + PT19 Position range output address + (Lower 3
PC38 PT20 digits)
Position range output address + (Upper 3
digits)
PC39 Position range output address - PT21 Position range output address - (Lower 3
PC40 PT22 digits)
Position range output address - (Upper 3
digits)

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

MR-J3-_T_
MR-J4-_A_-RJ
(DIO command/Serial communication operation) Precautions
No. Name No. Name
PD01 Input signal automatic ON selection 1 PD01 Input signal automatic on selection 1
For details, refer to "section 3.6.3
PD03 Input signal automatic ON selection 3 PD41 Input signal automatic on selection 3
Comparison of parameter details".
PD04 Input signal automatic ON selection 4 PD42 Input signal automatic on selection 4
PD06 Input signal device selection 2 (CN6-2) PD04 Input device selection 1H (CN1-15)
PD07 Input signal device selection 3 (CN6-3) PD06 Input device selection 2H (CN1-16)
PD08 Input signal device selection 4 (CN6-4) PD08 Input device selection 3H (CN1-17)
PD10 Input device selection4H (CN1-18)
PD12 Input device selection 5H (CN1-19) Assign the input devices assigned to the
CN6-2 pin, the CN6-3 pin, and the CN6-4
PD14 Input device selection 6H (CN1-41)
pin of MR-J3-_T_ to any pins of MR-J4-
PD18 Input device selection 8H (CN1-43) _A_-RJ.
PD20 Input device selection 9H (CN1-44)
PD22 Input device selection 10H (CN1-45)
PD44 Input device selection 11H (CN1-10/CN1-37)
PD46 Input device selection 12H (CN1-35/CN1-38)
PD09 Output signal device selection 1 (CN6-14) PD23 Output device selection 1 (CN1-22)
PD10 Output signal device selection 2 (CN6-15) PD24 Output device selection 2 (CN1-23) Assign the output devices assigned to the
PD11 Output signal device selection 3 (CN6-16) PD25 Output device selection 3 (CN1-24) CN6-14 pin, the CN6-15 pin, and the CN6-
PD26 Output device selection 4 (CN1-25) 16 pin of MR-J3-_T_ to any pins of MR-J4-
PD28 Output device selection 6 (CN1-49) _A_-RJ.

PD47 Output device selection 7 (CN1-13/CN1-14)

PD16 Input polarity selection PT29 Function selection T-3
PD19 Response level setting PD29 Input filter setting
For details, refer to "section 3.6.3
PD20 Function selection D-1 PD30 Function selection D-1
Comparison of parameter details".
PD22 Function selection D-3 PD32 Function selection D-3
PD24 Function selection D-5 PD34 Function selection D-5
Po02 MR-J3-D01 input signal device selection 1 Po02 MR-D01 input device selection 1
(CN10-21/CN10-26)
Po03 MR-J3-D01 input signal device selection 2 Po03 MR-D01 input device selection 2
(CN10-27/CN10-28)
Po04 MR-J3-D01 input signal device selection 3 Po04 MR-D01 input device selection 3
(CN10-29/CN10-30)
Po05 MR-J3-D01 input signal device selection 4 Po05 MR-D01 input device selection 4
(CN10-31/CN10-32)
Po06 MR-J3-D01 input signal device selection 5 Po06 MR-D01 input device selection 5 Same as MR-J3-_T_
(CN10-33/CN10-34)
Po07 MR-J3-D01 input signal device selection 6 Po07 MR-D01 input device selection 6
(CN10-35/CN10-36)
Po08 MR-J3-D01 output signal device selection 1 Po08 MR-D01 output device selection 1
(CN10-46/CN10-47)
Po09 MR-J3-D01 output signal device selection 2 Po09 MR-D01 output device selection 2
(CN10-48/CN10-49)
Po10 Function selection O-1 Po10 Function selection O-1
Po11 For manufacturer setting Po11 Function selection O-2 Refer to "MR-J4-_A_-RJ/MR-J4-03A6-RJ
Servo Amplifier Instruction Manual
(Positioning Mode)".
Po12 Function selection O-3 Po12 Function selection O-3 Same as MR-J3-_T_
Po13 MR-J3-D01 analog monitor output 1 Po13 MR-D01 analog monitor 1 output selection For details, refer to "section 3.6.3
Comparison of parameter details".
Po14 MR-J3-D01 analog monitor output 2 Po14 MR-D01 analog monitor 2 output selection
Po15 MR-J3-D01 analog monitor 1 offset Po15 MR-D01 analog monitor 1 offset
Po16 MR-J3-D01 analog monitor 2 offset Po16 MR-D01 analog monitor 2 offset Depends on hardware. The setting values
Po21 MR-J3-D01 override offset Po21 MR-D01 override offset must be changed.
Po22 MR-J3-D01 analog torque limit offset Po22 MR-D01 analog torque limit offset
Po27 For manufacturer setting Po27 MR-D01 input device selection7 Refer to "MR-J4-_A_-RJ/MR-J4-03A6-RJ
Po28 For manufacturer setting Po28 MR-D01 input device selection8 Servo Amplifier Instruction Manual
(Positioning Mode)".

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

3.6.2 Parameter comparison list

MR-J3-_T_ parameters MR-J4-_A_-RJ parameters
Customer Customer
Initial setting Initial
No. Abbreviation Parameter name No. Abbreviation Parameter name value setting
value value value
PA01 *STY Control mode 0000h PT01 *CTY Command mode selection 0000h
PA01 *STY Operation mode 1000h
PA02 *REG Regenerative option 0000h PA02 *REG Regenerative option 0000h
PA03 *ABS Absolute position detection 0000h PA03 *ABS Absolute position detection 0000h
system system
PA04 *AOP1 Function selection A-1 0000h PT02 *TOP1 Function selection T-1 0000h
PA04 *AOP1 Function selection A-1 2000h
PA05 *FTY Feeding function selection 0000h PT03 *FTY Feeding function selection 0000h
PC29 *COP8 Function selection C-8 0000h
PA06 CMX Electronic gear 1 PA06 CMX Electronic gear numerator 1
numerator(command pulse (command pulse multiplication
multiplication numerator) numerator)
PA07 CDV Electronic gear denominator 1 PA07 CDV Electronic gear denominator 1
(command pulse multiplication (command pulse multiplication
denominator) denominator)
PA08 ATU Auto tuning 0001h PA08 ATU Auto tuning mode 0001h
PA09 RSP Auto tuning response 12 PA09 RSP Auto tuning response 16
PA10 INP In-position range 100 PA10 INP In-position range 100
PA11 TLP Forward torque limit 100.0 PA11 TLP Forward rotation torque limit 100.0
PA12 TLN Reverse torque limit 100.0 PA12 TLN Reverse rotation torque limit 100.0
PA14 *POL Rotation direction selection 0 PA14 *POL Servo motor rotation direction 0
selection/travel direction selection
PA15 *ENR Encoder output pulses 4000 PA15 *ENR Encoder output pulses 4000
PA19 *BLK Parameter write inhibit 000Ch PA19 *BLK Parameter writing inhibit 00AAh
PB01 FILT Adaptive tuning mode (Adaptive 0000h PB01 FILT Adaptive tuning mode (adaptive 0000h
filter II) filter II)
PB02 VRFT Vibration suppression control filter 0000h PB02 VRFT Vibration suppression control 0000h
tuning mode (Advanced vibration tuning mode (advanced vibration
suppression control) suppression control II)
PB04 FFC Feed forward gain 0 PB04 FFC Feed forward gain 0
PB06 GD2 Ratio of load inertia moment to 7.0 PB06 GD2 Load to motor inertia ratio/load to 7.00
servo motor inertia moment motor mass ratio
PB07 PG1 Model loop gain 24 PB07 PG1 Model loop gain (Note) 15.0
PB08 PG2 Position loop gain 37 PB08 PG2 Position loop gain (Note) 37.0
PB09 VG2 Speed loop gain 823 PB09 VG2 Speed loop gain (Note) 823
PB10 VIC Speed integral compensation 33.7 PB10 VIC Speed integral compensation 33.7
(Note)
PB11 VDC Speed differential compensation 980 PB11 VDC Speed differential compensation 980
(Note)
PB12 For manufacturer setting 0 PB12 OVA Overshoot amount compensation 0
PB13 NH1 Machine resonance suppression 4500 PB13 NH1 Machine resonance suppression 4500
filter 1 filter 1
PB14 NHQ1 Notch form selection 1 0000h PB14 NHQ1 Notch shape selection 1 0000h
PB15 NH2 Machine resonance suppression 4500 PB15 NH2 Machine resonance suppression 4500
filter 2 filter 2
PB16 NHQ2 Notch form selection 2 0000h PB16 NHQ2 Notch shape selection 2 0000h
PB17 Automatic setting parameter PB17 NHF Shaft resonance suppression filter 0000h
PB18 LPF Low-pass filter 3141 PB18 LPF Low-pass filter setting 3141
PB19 VRF1 Vibration suppression control 100.0 PB19 VRF11 Vibration suppression control 1 - 100.0
vibration frequency setting Vibration frequency
PB20 VRF2 Vibration suppression control 100.0 PB20 VRF12 Vibration suppression control 1 - 100.0
resonance frequency setting Resonance frequency
PB23 VFBF Low-pass filter selection 0000h PB23 VFBF Low-pass filter selection 0000h
PB24 *MVS Slight vibration suppression 0000h PB24 *MVS Slight vibration suppression 0000h
control selection control

Note. Parameters related to gain adjustment are different from those for the MR-J3-_T_ servo amplifier. For gain adjustment, refer to
"MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ) Servo Amplifier Instruction Manual".

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MR-J3-_T_ parameters MR-J4-_A_-RJ parameters

Customer Customer
Initial setting Initial
No. Abbreviation Parameter name No. Abbreviation Parameter name value setting
value value value
PB26 *CDP Gain changing selection 0000h PB26 *CDP Gain switching function 0000h
PB27 CDL Gain changing condition 10 PB27 CDL Gain switching condition 10
PB28 CDT Gain changing time constant 1 PB28 CDT Gain switching time constant 1
PB29 GD2B Gain changing ratio of load inertia 7.0 PB29 GD2B Load to motor inertia ratio/load to 7.00
moment to servo motor inertia motor mass ratio after gain
moment switching
PB30 PG2B Gain changing position loop gain 37 PB30 PG2B Position loop gain after gain 0.0
switching
PB31 VG2B Gain changing speed loop gain 823 PB31 VG2B Speed loop gain after gain 0
switching
PB32 VICB Gain changing speed integral 33.7 PB32 VICB Speed integral compensation 0.0
compensation after gain switching
PB33 VRF1B Gain changing vibration 100.0 PB33 VRF1B Vibration suppression control 1 - 0.0
suppression control vibration Vibration frequency after gain
frequency setting switching
PB34 VRF2B Gain changing vibration 100.0 PB34 VRF2B Vibration suppression control 1 - 0.0
suppression control resonance Resonance frequency after gain
frequency setting switching
PC02 *ZTY Home position return type 0000h PT04 *ZTY Home position return type 0010h
PC03 *ZDIR Home position return direction 0001h PT04 *ZTY Home position return type 0010h
PC04 ZRF Home position return speed 500 PT05 ZRF Home position return speed 100
PC05 CRF Creep speed 10 PT06 CRF Creep speed 10
PC06 ZST Home position shift distance 0 PT07 ZST Home position shift distance 0
PC07 *ZPS Home position return position data 0 PT08 *ZPS Home position return position data 0
PC08 DCT Moving distance after proximity 1000 PT09 DCT Travel distance after proximity dog
1000
dog
PC09 ZTM Stopper type home position return 100 PT10 ZTM Stopper type home position return
100
stopper time stopper time
PC10 ZTT Stopper type home position return 15.0 PT11 ZTT Stopper type home position return
15.0
torque limit value torque limit value
PC11 CRP Rough match output range 0 PT12 CRP Rough match output range 0
PC12 JOG Jog speed 100 PT13 JOG JOG operation 100
PC13 *STC S-pattern 0 PC03 STC S-pattern 0
acceleration/deceleration time acceleration/deceleration time
constant constant
PC14 *BKC Backlash compensation 0 PT14 *BKC Backlash compensation 0
PC16 MBR Electromagnetic brake sequence 100 PC16 MBR Electromagnetic brake sequence 0
output output
PC17 ZSP Zero speed 50 PC17 ZSP Zero speed 50
PC18 *BPS Alarm history clear 0000h PC18 *BPS Alarm history clear 0000h
PC19 *ENRS Encoder output pulse selection 0000h PC19 *ENRS Encoder output pulse selection 0000h
PC20 *SNO Station number setting 0 PC20 *SNO Station No. setting 0
PC21 *SOP RS-422 communication function 0000h PC21 *SOP RS-422 communication function 0000h
selection selection
PC22 *COP1 Function selection C-1 0000h PC22 *COP1 Function selection C-1 0000h
PC24 *COP3 Function selection C-3 0000h PC24 *COP3 Function selection C-3 0000h
PC26 *COP5 Function selection C-5 0000h PC26 *COP5 Function selection C-5 0000h
PC27 *COP6 Function selection C-6 0000h PC27 *COP6 Function selection C-6 0000h
PC28 *COP7 Function selection C-7 0000h PT26 *TOP2 Function selection T-2 0000h
PC31 LMPL Software limit+ 0 PT15 LMPL Software limit+ 0
PC32 LMPH PT16 LMPH
PC33 LMNL Software limit- 0 PT17 LMNL Software limit- 0
PC34 LMNH PT18 LMNH
PC35 TL2 Internal torque limit 2 100.0 PC35 TL2 Internal torque limit 2 100.0
PC36 *DMD Status display selection 0000h PC36 *DMD Status display selection 0000h
PC37 *LPPL Position range output address+ 0 PT19 *LPPL Position range output address + 0
PC38 *LPPH PT20 *LPPH
PC39 *LNPL Position range output address - 0 PT21 *LNPL Position range output address- 0
PC40 *LNPH PT22 *LNPH

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MR-J3-_T_ parameters MR-J4-_A_-RJ parameters

Customer Customer
Initial setting Initial
No. Abbreviation Parameter name No. Abbreviation Parameter name value setting
value value value
PD01 *DIA1 Input signal automatic ON selection Input signal automatic on
0000h PD01 *DIA1 0000h
1 selection 1
PD03 *DIA3 Input signal automatic ON selection Input signal automatic on
0000h PD41 *DIA3 0000h
3 selection 3
PD04 *DIA4 Input signal automatic ON selection Input signal automatic on
0000h PD42 *DIA4 0000h
4 selection 4
PD06 *DI2 Input signal device selection 2
002Bh PD22 *DI10H Input device selection 10H 2B23h
(CN6-2)
PD07 *DI3 Input signal device selection 3
000Ah PD18 *DI8H Input device selection 8H 0A00h
(CN6-3)
PD08 *DI4 Input signal device selection 4
000Bh PD20 *DI9H Input device selection 9H 0B00h
(CN6-4)
PD09 *DO1 Output signal device selection 1
0002h PD28 *DO6 Output device selection 6 0002h
(CN6-14)
PD10 *DO2 Output signal device selection 2
0003h
(CN6-15)
PD11 *DO3 Output signal device selection 3
0024h PD24 *DO2 Output device selection 2 000Ch
(CN6-16)
PD16 *DIAB Input polarity selection 0000h PT29 *TOP3 Function selection T-3 0000h
PD19 *DIF Response level setting 0002h PD29 *DIF Input filter setting 0004h
PD20 *DOP1 Function selection D-1 0010h PD30 *DOP1 Function selection D-1 0000h
PD22 *DOP3 Function selection D-3 0000h PD32 *DOP3 Function selection D-3 0000h
PT26 *TOP2 Function selection T-2 0000h
PD24 *DOP5 Function selection D-5 0000h PD34 *DOP5 Function selection D-5 0000h
Po02 *ODI1 MR-J3-D01 input signal device 0302h MR-D01 input device selection 1 0302h
Po02 *ODI1
selection 1 (CN10-21, 26) (CN10-21, 26)
Po03 *ODI2 MR-J3-D01 input signal device 0905h MR-D01 input device selection 2 0905h
Po03 *ODI2
selection 2 (CN10-27, 28) (CN10-27, 28)
Po04 *ODI3 MR-J3-D01 input signal device 2524h MR-D01 input device selection 3 2524h
Po04 *ODI3
selection 3 (CN10-29, 30) (CN10-29, 30)
Po05 *ODI4 MR-J3-D01 input signal device 2026h MR-D01 input device selection 4 2026h
Po05 *ODI4
selection 4 (CN10-31, 32) (CN10-31, 32)
Po06 *ODI5 MR-J3-D01 input signal device 0427h Po06 *ODI5 MR-D01 input device selection 5 0427h
selection 5 (CN10-33, 34) (CN10-33, 34)
Po07 *ODI6 MR-J3-D01 input signal device 0807h Po07 *ODI6 MR-D01 input device selection 6 0807h
selection 6 (CN10-35, 36) (CN10-35, 36)
Po08 *ODO1 MR-J3-D01 output signal device 2726h Po08 *ODO1 MR-D01 output device selection 1 2726h
selection 1 (CN10-46, 47) (CN10-46, 47)
Po09 *ODO2 MR-J3-D01 output signal device 0423h Po09 *ODO2 MR-D01 output device selection 1 0423h
selection 2 (CN10-48, 49) (CN10-48, 49)
Po10 *OOP1 Function selection O-1 2101h Po10 *OOP1 Function selection O-1 2101h
Po12 *OOP3 Function selection O-3 0000h Po12 *OOP3 Function selection O-3 0000h
Po13 MOD1 MR-J3-D01 analog monitor output Po13 *OMOD1 MR-D01 analog monitor 1 output
0000h 0000h
1 selection
Po14 MOD2 MR-J3-D01 analog monitor output Po14 *OMOD2 MR-D01 analog monitor 2 output
0001h 0001h
2 selection
Po15 MO1 MR-J3-D01 analog monitor 1 offset 0 Po15 OMO1 MR-D01 analog monitor 1 offset 0
Po16 MO2 MR-J3-D01 analog monitor 2 offset 0 Po16 OMO2 MR-D01 analog monitor 2 offset 0
Po21 VCO MR-J3-D01 override offset 0 Po21 OVCO MR-D01 override offset 0
Po22 TLO MR-J3-D01 analog torque limit 0 Po22 OTLO Analog torque limit offset 0
offset

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

3.6.3 Comparison of parameter details

POINT
Setting a value out of the setting range in each parameter will trigger [AL. 37
Parameter error].

MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PA01 Control mode 0000h PT01 Command mode selection
This parameter is made valid when power is switched off, _ _ _ x: 0h
then on after setting, or when the controller reset has Positioning command method selection
been performed. 0: Absolute value command method
A HF-KP servo motor with a decelerator and servo 1: Incremental value command method
motors except the HF-KP series do not support the 350
_ _ x _: 0h
maximum torque setting. Making the 350 maximum
For manufacturer setting
torque setting valid when using these servo motors
causes the [AL. 37 parameter error]. _ x _ _: 0h
Position data unit
The maximum torque of the HF-KP series servo motors
manufactured in June 2009 or later can be increased up 0: mm
to 350%. Making the 350% maximum torque setting valid x _ _ _: 0h
when using these servo motors manufactured in May RS-422 communication - Previous model equivalent
2009 or earlier causes [AL. 37]. selection
Select the 350% maximum torque setting and command 0: Disabled (MR-J4 standard)
system for the HF-KP series servo motor. By making the 1: Enabled (equivalent to MR-J3-T)
350% maximum torque setting valid, the maximum For the communication command of the Mitsubishi
torque of the HF-KP series servo motor can be increased general-purpose AC servo protocol, the status display
from 300% to 350%. To operate at the maximum torque and read/write commands of input/output devices can be
of 350%, operate within the range of overload protection used with the data Nos. and bit assignment of the same
characteristic. If operated beyond the overload protection as previous models.
characteristic range, [AL. 46 Servo motor overheat], [AL. When this digit is "1" or "2", MR Configurator2 cannot be
50 Overload 1] or [AL. 51 Overload 2] may occur. used with the USB communication.
0 _ 0 x: PA01 Operation mode
Selection of command system _ _ _ x: 0h
0: Absolute value command system Control mode selection
1: Incremental value command system Select a control mode.
0 x 0 _: 0 to 5: Not used for positioning mode.
350% maximum torque setting of HF-KP series servo 6: Positioning mode (point table method)
motor _ _ x _: 0h
0: Disabled Operation mode selection
3: Enabled 0: Standard control mode
This digit is available with servo amplifier with software The following settings will trigger [AL. 37 Parameter
version A8 or later. error].
A value is set other than "0", "1", "4", and "6" to this
digit.
"1" or "4" is set to this digit when "Position data unit" is
set to [degree] in [Pr. PT01].
_ x _ _: 0h
For manufacturer setting
x _ _ _: 1h
For manufacturer setting

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PA02 Regenerative option 0000h PA02 Regenerative option 00h
This parameter is made valid when power is switched off, Select a regenerative option.
then on after setting. Incorrect setting may cause the regenerative option to
Wrong setting may cause the regenerative option to burn. burn.
If the regenerative option selected is not for use with the If a selected regenerative option is not for use with the
servo amplifier, [AL. 37 parameter error] occurs. servo amplifier, [AL. 37 Parameter error] occurs.
Set this parameter when using the regenerative option,
brake unit, power regeneration converter, or power 00: Regenerative option is not used.
regeneration common converter. For the servo amplifiers of 100 W, a regenerative
resistor is not used.
0 0 x x: For servo amplifier of 0.2 kW to 7 kW, built-in
Selection of regenerative option regenerative resistor is used.
00: Regenerative option is not used Supplied regenerative resistors or regenerative
・For the servo amplifiers of 100 W, a regenerative option is used with the servo amplifier of 11 kW to
resistor is not used. 22 kW.
・For servo amplifier of 0.2 kW to 7 kW, built-in 01: FR-RC-(H)/FR-CV-(H)/FR-BU2-(H)
regenerative resistor is used. When you use FR-RC-(H) or FR-CV-(H), select
・Supplied regenerative resistors or regenerative option "Mode 2 (_ _ _ 1)" of "Undervoltage alarm detection
is used with the servo amplifier of 11 kW to 22 kW. mode selection" in [Pr. PC27].
01: FR-BU2-(H)/FR-RC-(H)/FR-CV-(H) 02: MR-RB032
02: MR-RB032 03: MR-RB12
03: MR-RB12 04: MR-RB32
04: MR-RB32 05: MR-RB30
05: MR-RB30 06: MR-RB50 (Cooling fan is required.)
06: MR-RB50 (Cooling fan is required) 08: MR-RB31
08: MR-RB31 09: MR-RB51 (Cooling fan is required.)
09: MR-RB51 (Cooling fan is required) 0B: MR-RB3N
80: MR-RB1H-4 0C: MR-RB5N (Cooling fan is required.)
81: MR-RB3M-4 (Cooling fan is required) 80: MR-RB1H-4
82: MR-RB3G-4 (Cooling fan is required) 81: MR-RB3M-4 (Cooling fan is required.)
83: MR-RB5G-4 (Cooling fan is required) 82: MR-RB3G-4 (Cooling fan is required.)
84: MR-RB34-4 (Cooling fan is required) 83: MR-RB5G-4 (Cooling fan is required.)
85: MR-RB54-4 (Cooling fan is required) 84: MR-RB34-4 (Cooling fan is required.)
FA: When the supplied regenerative resistors or the 85: MR-RB54-4 (Cooling fan is required.)
regenerative option is cooled by the cooling fan to 91: MR-RB3U-4 (Cooling fan is required.)
increase the ability with the servo amplifier of 11 kW 92: MR-RB5U-4 (Cooling fan is required.)
to 22 kW. FA: When the supplied regenerative resistors or the
regenerative option is cooled by the cooling fan to
increase the ability with the servo amplifier of 11 kW
to 22 kW.
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PA03 Absolute position detection system 0000h PA03 Absolute position detection system
This parameter is made valid when power is switched off, _ _ _ x: 0h
then on after setting, or when the controller reset has Absolute position detection system selection
been performed. Set this digit when using the absolute position detection
Set this parameter when using the absolute position system.
detection system. 0: Disabled (incremental system)
0 0 0 x: 1:Enabled (absolute position detection system)
Selection of absolute position detection system 2: Not used for positioning mode.
0: Used in incremental system Setting a value other than "0" and "1" will trigger [AL. 37
1: Used in absolute position detection system Parameter error].

_ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PA04 Function selection A-1 0000h PT02 Function selection T-1
This parameter is made valid when power is switched off, _ _ _ x: 0h
then on after setting, or when the controller reset has Follow-up of SON (Servo-on) off/EM2 (Forced stop 2) off
been performed. with absolute value command method in incremental
If this parameter is made valid, the home position is not system
lost in the servo-off or forced stop state, and the 0: Disabled (Home position is erased at servo-off or EM2
operation can be resumed when the servo-on (SON) or off.)
forced stop (EMG) is deactivated. 1: Enabled (Home position is not erased even if servo-
0 0 0 x: off, EM2 off, or alarm occurrence which can be
Servo-on (SON) -off, forced stop (EMG) –off follow-up for canceled with reset. The operation can be continued.)
absolute value command in incremental system
0: Disabled _ _ x _: 0h
1: Enabled For manufacturer setting
Normally, when this servo amplifier is used in the _ x _ _: 0h
absolute value command method of the incremental For manufacturer setting
system, placing it in a servo off or forced stop status will x _ _ _: 0h
erase the home position. Point table writing inhibit
When "1" is set in this parameter, the home position will 0: Allow
not be erased if the servo amplifier is placed in a servo-
1: Inhibit
off or forced stop status.
PA04 Function selection A-1
The operation can be resumed when the servo-on
_ _ _ x: 0h
(SON) or forced stop (EMG) is deactivated.
For manufacturer setting
_ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
For manufacturer setting
x _ _ _: 2h
Forced stop deceleration function selection
0: Forced stop deceleration function disabled (EM1)
2: Forced stop deceleration function enabled (EM2)
Refer to table 6.1 for details.
Table 6.1 Deceleration method

Setting Deceleration method

EM2/EM1
value EM2 or EM1 is off Alarm occurred
0___ EM1 MBR (Electromagnetic MBR (Electromagnetic
brake interlock) turns off brake interlock) turns off
without the forced stop without the forced stop
deceleration. deceleration.
2___ EM2 MBR (Electromagnetic MBR (Electromagnetic
brake interlock) turns off brake interlock) turns off
after the forced stop after the forced stop
deceleration. deceleration.

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PA05 Feeding function selection 0000h PT03 Feeding function selection
This parameter is made valid when power is switched off, _ _ _ x: 0h
then on after setting, or when the controller reset has Feed length multiplication [STM]
been performed. 0: × 1
Select the feed length multiplication and the manual pulse 1: × 10
generator input multiplication.
2: × 100
0 _ _ x: 3: × 1000
Feed length Position data input range [mm]
_ _ x _: 0h
Setting multiplication Feed unit
Absolute value Incremental value Manual pulse generator multiplication
value factor (STM) [ m]
[times] command system command system 0: × 1
0 1 1 -999.999 to +999.999 0 to +999.999 1: × 10
1 10 10 -9999.99 to +9999.99 0 to +9999.99 2: × 100
2 100 100 -99999.9 to +99999.9 0 to +99999.9 _ x _ _: 0h
3 1000 1000 -999999 to +999999 0 to +999999 For manufacturer setting

0 _ x _: x _ _ _: 0h
Manual pulse generator multiplication factor For manufacturer setting
0: 1 time PC29 Function selection C-8
1: 10 times _ _ _ x: 0h
2: 100 times For manufacturer setting
0 x_ _: _ _ x _: 0h
Servo motor speed setting unit selection Speed command input unit selection
0: 1 r/min unit Select the setting units of [Pr. PC05] to [Pr. PC11], [Pr.
1: 0.1 r/min unit PT05], [Pr. PT06], and [Pr. PT13].
Setting "1" will display "servo motor speed" in units of 0.1 0: 1 r/min Unit
r/min. 1: 0.1 r/min Unit
This digit is available with servo amplifier with software Setting "1" will display "servo motor speed" in units of 0.1
version A4 or later. r/min.
When displaying data recorded with the drive recorder
function, do not change this digit before and after the
recording. Doing so will display the data incorrectly
because the setting unit differs between when the data
was recorded and when the recorded data is displayed.
This digit is available with servo amplifier with software
version B3 or later.
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PA06 Electronic gear numerator (command pulse multiplication 1 PA06 Electronic gear numerator (command pulse multiplication 1
PA07 numerator) 1 numerator)
Electronic gear denominator (command pulse et an electronic gear numerator.
multiplication denominator) To enable the parameter values in the positioning mode,
cycle the power after setting.
CAUTION False setting will result in unexpected To enable the parameter, select "Electronic gear (0 _ _
fast rotation, causing injury. _)", "J3 electronic gear setting value compatibility mode
(2 _ _ _)", or "J2S electronic gear setting value
This parameter is made valid when power is switched off, compatibility mode (3 _ _ _)" of "Electronic gear
then on after setting, or when the controller reset has selection" in [Pr. PA21].
been performed. Set the electronic gear within the following range. Setting
The range of the electronic gear setting is out of the range will trigger [AL. 37 Parameter error].
1 CMX
< < 2000 . If you set any value outside this
10 CDV
Pr. PA21 Electronic gear setting range
range, [AL. 37 parameter error] occurs.
0___ 1/865 < CMX/CDV < 271471
Setting "0" in [Pr. PA06] automatically sets the encoder
resolution pulse. 2___ 1/13825 < CMX/CDV < 16967
(1) Concept of electronic gear 3___ 1/27649 < CMX/CDV < 8484
Use the electronic gear ([Pr. PA06]/[Pr. PA07]) to
make adjustment so that the servo amplifier setting Setting range: 1 to 16777215
matches the moving distance of the machine. Also, by
PA07 Electronic gear denominator (command pulse 1
changing the electronic gear value, the machine can
multiplication denominator)
be moved at any multiplication ratio to the moving
Set an electronic gear denominator.
distance on the servo amplifier.
To enable the parameter values in the positioning mode,
cycle the power after setting.
CMX [Pr. PA06]
= To enable the parameter, select "Electronic gear (0 _ _
CDV [Pr. PA07]
_)", "J3 electronic gear setting value compatibility mode
Servo motor (2 _ _ _)", or "J2S electronic gear setting value
distance

compatibility mode (3 _ _ _)" of "Electronic gear

Moving

CMX + Deviation M
CDV - counter
selection" in [Pr. PA21].
Encoder feedback pulses Set the electronic gear within the range of [Pr. PA06].
Electronic gear
[Pr. PA06]/[Pr. PA07] Encoder Setting out of the range will trigger [AL. 37 Parameter
error].

Setting range: 1 to 16777215

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PA08 Auto tuning mode 0001h PA08 Auto tuning mode
Make gain adjustment using auto tuning. _ _ _ x: 1h
Select the gain adjustment mode. Gain adjustment mode selection
0 0 0 x: Select the gain adjustment mode.
Gain adjustment mode setting 0: 2 gain adjustment mode 1 (interpolation mode)
0: Interpolation mode (Automatically set parameter No. 1: Auto tuning mode 1
[Pr. PB06]/[Pr. PB08]/[Pr. PB09]/[Pr. PB10]) 2: Auto tuning mode 2
1: Auto tuning mode 1 (Automatically set parameter No. 3: Manual mode
[Pr. PB06]/[Pr. PB07]/[Pr. PB08]/[Pr. PB09]/[Pr. PB10]) 4: 2 gain adjustment mode 2
2: Auto tuning mode 2 (Automatically set parameter No. Refer to table 6.2 for details.
[Pr. PB07]/[Pr. PB08]/[Pr. PB09]/[Pr. PB10]) _ _ x _: 0h
For manufacturer setting
The parameters have the following names. _ x _ _: 0h
No. Name For manufacturer setting

PB06 Ratio of load inertia moment to servo motor x _ _ _: 0h

inertia moment For manufacturer setting
PB07 Model loop gain Table 6.2 Gain adjustment mode selection
PB08 Position loop gain Setting
Gain adjustment mode Automatically adjusted parameter
PB09 Speed loop gain value
PB10 Speed integral compensation ___0 2 gain adjustment [Pr. PB06 Load to motor inertia ratio]
mode 1 (interpolation [Pr. PB08 Position loop gain]
mode)
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
___1 Auto tuning mode 1 [Pr. PB06 Load to motor inertia ratio]
[Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
___2 Auto tuning mode 2 [Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
___3 Manual mode
___4 2 gain adjustment [Pr. PB08 Position loop gain]
mode 2 [Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]

PA09 Auto tuning response 12 PA09 Auto tuning response 16

If the machine hunts or generates large gear sound, Set the auto tuning response.
decrease the set value. To improve performance, e.g.
Machine characteristic Machine characteristic
shorten the settling time, increase the set value.
Setting Guideline for Setting Guideline for
value Response machine value Response machine
resonance resonance
Guideline for Guideline for frequency [Hz] frequency [Hz]
machine machine 1 Low 2.7 21 Middle 67.1
Setting Response Setting Response response response
resonance resonance
frequency [Hz] frequency [Hz] 2 3.6 22 75.6
Low Middle 3 4.9 23 85.2
1 10.0 17 67.1
response response
4 6.6 24 95.9
2 11.3 18 75.6
5 10.0 25 108.0
3 12.7 19 85.2 11.3 121.7
6 26
4 14.3 20 95.9 7 12.7 27 137.1
5 16.1 21 108.0 8 14.3 28 154.4
6 18.1 22 121.7 9 16.1 29 173.9

7 20.4 23 137.1 10 18.1 30 195.9

11 20.4 31 220.6
8 23.0 24 154.4
12 23.0 32 248.5
9 25.9 25 173.9
13 25.9 33 279.9
10 29.2 26 195.9
14 29.2 34 315.3
11 32.9 27 220.6
15 32.9 35 355.1
12 37.0 28 248.5 16 37.0 36 400.0
13 41.7 29 279.9 17 41.7 37 446.6
14 47.0 30 315.3 18 47.0 38 501.2
15 52.9 31 355.1 19 52.9 39 571.5
Middle High 20 Middle 59.6 40 High 642.7
16 59.6 32 400.0 response response
response response

Setting range: 1 to 40

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PA10 In-position range 100 PA10 INP In-position range 100
Set the range, where In position (INP) and Movement Set an in-position range per command.
finish (MEND) are output, in the command pulse unit To change it to the servo motor encoder pulse unit, set
before calculation of the electronic gear. With the setting [Pr. PC24].
of [Pr. PC24], the range can be changed to the encoder Pr. PA01 In-position setting range
output pulse unit.
_ _ _ 6 (positioning mode The range where MEND
(point table method)) (Travel completion), PED
Servo motor Droop pulse
(Position end) and INP
Command pulse Command pulse
(In-position) are inputted.
In-position range [ m]
Droop pulse

ON The unit will be as follows depending on the positioning

In position (INP)
OFF mode.
Point table method
When [Pr. PC24] is set to "_ _ _ 0", the unit can be
changed to [µm], 10-4 [inch], 10-3 [degree], or [pulse]
with the setting of [Pr. PT01]. When [Pr. PC24] is set
to "_ _ _ 1", the unit is fixed to [pulse].

Setting range: 0 to 65535

PA11 Forward rotation torque limit 100.0 PA11 Forward rotation torque limit 100.0
PA12 Reverse rotation torque limit 100.0 You can limit the torque generated by the servo motor.
The torque generated by the servo motor can be limited. Set the parameter referring to section 3.6.1 (5) of "MR-
When torque is output with the analog monitor output, the J4-_A_(-RJ)/MR-J4-03A6(-RJ) Servo Amplifier
smaller torque of the values in the [Pr. PA11] (forward Instruction Manual".
rotation torque limit) and [Pr. PA12] (reverse rotation When you output torque with analog monitor output, the
torque limit) is the maximum output voltage (8V). larger value of [Pr. PA11 Forward rotation torque limit] or
[Pr. PA12 Reverse rotation torque limit] will be the
Forward rotation torque limit [Pr. PA11] maximum output voltage (8 V).

Set this parameter on the assumption that the maximum Set the parameter on the assumption that the maximum
torque is 100[%]. Set this parameter when limiting the torque is 100.0 [%]. The parameter is for limiting the
torque of the servo motor in the CCW driving mode or torque of the servo motor in the CCW power running or
CW regeneration mode. Set this parameter to "0.0" to CW regeneration. Set this parameter to "0.0" to generate
generate no torque. no torque.

Reverse rotation torque limit [Pr. PA12] Setting range: 0.0 to 100.0

Set this parameter on the assumption that the maximum PA12 Reverse rotation torque limit 100.0
torque is 100[%]. Set this parameter when limiting the You can limit the torque generated by the servo motor.
torque of the servo motor in the CW driving mode or Set the parameter referring to section 3.6.1 (5) of "MR-
CCW regeneration mode. Set this parameter to "0.0" to J4-_A_(-RJ)/MR-J4-03A6(-RJ) Servo Amplifier
generate no torque. Instruction Manual".
When you output torque with analog monitor output, the
larger value of [Pr. PA11 Forward rotation torque limit] or
[Pr. PA12 Reverse rotation torque limit] will be the
maximum output voltage (8 V).
Set the parameter on the assumption that the maximum
torque is 100.0 [%].The parameter is for limiting the
torque of the servo motor in the CW power running or
CCW regeneration. Set this parameter to "0.0" to
generate no torque.

Setting range: 0.0 to 100.0

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PA14 Rotation direction selection 0 PA14 Rotation direction selection 0
This parameter is made valid when power is switched off, Select a rotation direction of the servo motor for when
then on after setting, or when the controller reset has turning on ST1 (Forward rotation start) or ST2 (Reverse
been performed. rotation start).
Select the servo motor rotation direction when the
forward rotation start (ST1) or reverse rotation direction Servo motor rotation direction
(ST2) is turned ON. Setting
value When positioning address When positioning
increases address decreases
Servo motor rotation direction 0 CCW CW
[Pr. PA14]
Setting Forward rotation start Reverse rotation start
(ST1) ON (ST2) ON 1 CW CCW
Rotates in the CCW Rotates in the CW
0 direction. direction.
(Address increases.) (Address decreases.) The following shows the servo motor rotation directions.
Rotates in the CW Rotates in the CCW
1 direction. direction.
(Address increases.) (Address decreases.)

Forward rotation (CCW)

ST1: ON ST2: ON
CCW CCW

CW CW
ST2: ON ST1: ON

[Pr. PA14]: 0 [Pr. PA14]: 1 Reverse rotation (CW)

Setting range: 0,1

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PA15 Encoder output pulse 4000 PA15 Encoder output pulses 4000
This parameter is made valid when power is switched off, Set the encoder output pulses from the servo amplifier by
then on after setting, or when the controller reset has using the number of output pulses per revolution, dividing
been performed. ratio, or electronic gear ratio. (after multiplication by 4).
Used to set the encoder pulses (A-phase, B-phase) Set a numerator of the electronic gear, for when selecting
output by the servo amplifier. "A-phase/B-phase pulse electronic gear setting (_ _ 3 _)"
Set the value 4 times greater than the A-phase or B- of "Encoder output pulse setting selection" in [Pr. PC19].
phase pulses. The maximum output frequency is 4.6 Mpulses/s. Set the
You can use [Pr. PC19] to choose the output pulse parameter within this range.
setting or output division ratio setting.
The number of A/B-phase pulses actually output is 1/4 Setting range: 1 to 4194304
times greater than the preset number of pulses.
The maximum output frequency is 4.6Mpps (after
multiplication by 4). Use this parameter within this range.

(1) For output pulse designation

Set "_ _ 0 _" (initial value) in [Pr. PC19].
Set the number of pulses per servo motor revolution.
Output pulse = set value [pulses/rev]
For instance, set "5600" to [Pr. PA15] PA15, the actually
output A/B-phase pulses are as indicated below.

5600
A/B-phase output pulses = = 1400 pulses
1

(2) For output division ratio setting

Set "_ _ 1 _" in [Pr. PC19].
The number of pulses per servo motor revolution is
divided by the set value.
Resolution per servo motor revolution
Output pulse = = [pulse/rev]
Set value

For instance, set "8" to [Pr. PA15], the actually output

A/B-phase pulses are as indicated below.

262144 1
A/B-phase output pulses = ・ = 8192 pulses
8 4

(3) When outputting pulse train similar to command

pulses
[Pr. PC19] to "_ _ 2 _". The feedback pulses from the
servo motor encoder are processed and output as shown
below. The feedback pulses can be output in the same
pulse unit as the command pulses.

servo motor
M

Feedback pulses

Encoder

[Pr. PA06]/[Pr. PA07]

CDV
CMX A/B-phase output pulses

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PA19 Parameter write inhibit 000Ch PA19 Parameter writing inhibit 00AAh
This parameter is made valid when power is switched off, Select a reference range and writing range of the
then on after setting, or when the controller reset has parameter.
been performed. To enable read/write the positioning control parameters
In the factory setting, this servo amplifier allows changes ([Pr. PT_ _ ]), set [Pr. PA19] to "0 0 A B" in the
to the basic setting parameter, gain/filter parameter and positioning mode.
extension setting parameter settings. With the setting of Refer to table 6.4 for settings.
[Pr. PA19], write can be disabled to prevent accidental Table 6.4 [Pr. PA19] setting value and reading/writing range
changes. Setting
PA19 operation PA PB PC PD PE PF PL Po PT
The following table indicates the parameters which are
enabled for reference and write by the setting of [Pr. Other Reading ○
than
PA19]. Operation can be performed for the parameters below Writing ○
marked ○.
Reading Only 19
000Ah
Writing Only 19
Setting
PA19 operation PA PB PC PD Po Reading ○ ○ ○
000Bh
Reference ○ Writing ○ ○ ○
0000h
Write ○ Reading ○ ○ ○ ○
000Ch
Reference ○ ○ ○ Writing ○ ○ ○ ○
000Bh
Write ○ ○ ○ 00AAh
Reading ○ ○ ○ ○ ○ ○
○ ○ ○ ○ (initial
000Ch Reference value) Writing ○ ○ ○ ○ ○ ○
(initial
Write ○ ○ ○ ○ Reading ○ ○ ○ ○ ○ ○ ○ ○ ○
value) 00ABh
Writing ○ ○ ○ ○ ○ ○ ○ ○ ○
Reference ○ ○ ○ ○ ○
000Eh Reading ○
Write ○ ○ ○ ○ ○
100Bh
Reference ○ Writing Only 19

100Bh Only Reading ○ ○ ○ ○

Write 100Ch
19 Writing Only 19
Reference ○ ○ ○ ○ ○ Reading ○ ○ ○ ○ ○ ○
100Eh Only 10AAh
Write Writing Only 19
19
Reading ○ ○ ○ ○ ○ ○ ○ ○ ○
10ABh
Writing Only 19

PB01 Adaptive tuning mode (adaptive filter II) 0000h PB01 Adaptive tuning mode (adaptive filter II)
Select the setting method for filter tuning. Setting this Filter tuning mode selection 0h
parameter to "_ _ _ 1" (filter tuning mode 1) automatically Set the adaptive tuning.
changes the machine resonance suppression filter 1 ([Pr. Select the adjustment mode of the machine resonance
PB13]) and notch shape selection ([Pr. PB14]). suppression filter 1. For details, refer to section 7.1.2 of "
mechanical system

MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ) Servo Amplifier

Machine resonance point Instruction Manual ".
Response of

_ _ _ x:
0: Disabled
Frequency 1: Automatic setting
2: Manual setting
Notch depth

_ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
Frequency
Notch frequency For manufacturer setting
x _ _ _: 0h
0 0 0 x: Tuning accuracy selection
Filter tuning mode selection 0: Standard
0: Filter OFF ([Pr. PB13] and [Pr. PB14] are fixed to the 1: High accuracy
initial values.) The frequency is estimated more accurately in the high
1: Filter tuning mode (Automatically set parameter: [Pr. accuracy mode compared to the standard mode.
PB13]/[Pr. PB14]) However, the tuning sound may be larger in the high
2: Manual mode accuracy mode.
For details, refer to section 7.1.2 of "MR-J4-_A_(-
When this parameter is set to"_ _ _ 1", the tuning is
RJ)/MR-J4-03A6(-RJ) Servo Amplifier Instruction Manual
completed after positioning is done the predetermined
".
number or times for the predetermined period of time,
and the setting changes to "_ _ _ 2". When the filter This digit is available with servo amplifier with software
tuning is not necessary, the setting changes to"_ _ _ 0". version C5 or later.
When this parameter is set to "_ _ _ 0", the initial values
are set to the machine resonance suppression filter 1 and
notch shape selection. However, this does not occur
when the servo off.

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PB02 Vibration suppression control tuning mode (advanced 0000h PB02 Vibration suppression control tuning mode (advanced vibration
vibration suppression control) suppression control II)
The vibration suppression is valid when the [Pr. PA08] Vibration suppression control 1 tuning mode selection 0h
(auto tuning) setting is "_ _ _ 2" or "_ _ _ 3". When [Pr. Select the tuning mode of the vibration suppression
PA08] is "_ _ _ 1", vibration suppression is always invalid. control 1. For details, refer to section 7.1.5 of "MR-J4-
Select the setting method for vibration suppression _A_(-RJ)/MR-J4-03A6(-RJ) Servo Amplifier Instruction
control tuning. Setting this parameter to "_ _ _ 1" Manual".
(vibration suppression control tuning mode) automatically _ _ _ x:
changes the vibration suppression control - vibration 0: Disabled
frequency ([Pr. PB19]) and vibration suppression control - 1: Automatic setting
resonance frequency ([Pr. PB20]) after positioning is
2: Manual setting
done the predetermined number of times.
_ _ x _: 0h
Vibration suppression control 2 tuning mode selection
Droop pulse Droop pulse Select the tuning mode of the vibration suppression
Automatic
Command adjustment Command control 2. To enable the digit, select "3 inertia mode (_ _
Machine end Machine end
_ 1)" of "Vibration suppression mode selection" in [Pr.
position position PA24]. For details, refer to section 7.1.5 of "MR-J4-_A_(-
RJ) Servo Amplifier Instruction Manual".
0: Disabled
1: Automatic setting
2: Manual setting
0 0 0 x:
Vibration suppression control tuning mode
0: Vibration suppression control OFF ([Pr. PB19] and [Pr. _ x _ _: 0h
PB20] are fixed to the initial values.) For manufacturer setting
1: Vibration suppression control tuning mode (Advanced x _ _ _: 0h
vibration suppression control) For manufacturer setting
(Automatically set parameter [Pr. PB19]/[Pr. PB20])
2: Manual mode

When this parameter is set to "_ _ _ 1", the tuning is

completed after positioning is done the predetermined
number or times for the predetermined period of time,
and the setting changes to "_ _ _ 2". When the vibration
suppression control tuning is not necessary, the setting
changes to "_ _ _ 0". When this parameter is set to "_ _ _
0", the initial values are set to the vibration suppression
control - vibration frequency and vibration suppression
control - resonance frequency. However, this does not
occur when the servo off.
PB04 Feed forward gain 0 PB04 Feed forward gain 0
Set the feed forward gain. When the setting is 100%, the Set the feed forward gain.
droop pulses during operation at constant speed are When the setting is 100%, the droop pulses during
nearly zero. However, sudden acceleration/deceleration operation at constant speed are nearly zero. However,
will increase the overshoot. As a guideline, when the feed sudden acceleration/deceleration will increase the
forward gain setting is 100%, set 1 s or more as the overshoot. As a guideline, when the feed forward gain
acceleration/deceleration time constant up to the rated setting is 100%, set 1 s or more as the acceleration time
speed. constant up to the rated speed.

Setting range: 0 to 100

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PB06 Ratio of load inertia moment to servo motor inertia 7.0 PB06 Load to motor inertia ratio/load to motor mass ratio 7.00
moment This is used to set the load to motor inertia ratio or load
Used to set the ratio of the load inertia moment to the to motor mass ratio.
servo motor shaft inertia moment. When auto tuning Setting a value considerably different from the actual
mode 1 and interpolation mode is selected, the result of load moment of inertia may cause an unexpected
auto tuning is automatically used. operation such as an overshoot.
In this case, it varies between 0 and 100.0. The setting of the parameter will be the automatic setting
or manual setting depending on the [Pr. PA08] setting.
Refer to the following table for details. When the
parameter is automatic setting, the value will vary
between 0.00 and 100.00.

Setting range: 0.00 to 300.00

Pr. PA08 This parameter

_ _ _ 0 (2 gain adjustment mode 1 Automatic setting
(interpolation mode))
_ _ _ 1 (Auto tuning mode 1)
_ _ _ 2 (Auto tuning mode 2) Manual setting
_ _ _ 3 (Manual mode)
_ _ _ 4 (2 gain adjustment mode 2)

PB07 Model loop gain 24 PB07 Model loop gain 15.0

Set the response gain up to the target position. Set the response gain up to the target position.
Increase the gain to improve track ability in response to Increasing the setting value will also increase the
the command. response level to the position command but will be liable
When auto turning mode 1 2, is selected, the result of to generate vibration and noise.
auto turning is automatically used. The setting of the parameter will be the automatic setting
or manual setting depending on the [Pr. PA08] setting.
Refer to the following table for details.

Setting range: 1.0 to 2000.0

Pr. PA08 This parameter

_ _ _ 0 (2 gain adjustment mode 1 Manual setting
(interpolation mode))
_ _ _ 1 (Auto tuning mode 1) Automatic setting
_ _ _ 2 (Auto tuning mode 2)
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4 (2 gain adjustment mode 2)

PB08 Position loop gain 37 PB08 Position loop gain 37.0

Used to set the gain of the position loop. This is used to set the gain of the position loop.
Set this parameter to increase the position response to Set this parameter to increase the position response to
level load disturbance. Higher setting increases the level load disturbance.
response level but is liable to generate vibration and/or Increasing the setting value will also increase the
noise. response level to the load disturbance but will be liable to
When auto tuning mode 1 2, and interpolation mode is generate vibration and noise.
selected, the result of auto tuning is automatically used. The setting of the parameter will be the automatic setting
or manual setting depending
on the [Pr. PA08] setting. Refer to the following table for
details.

Setting range: 1.0 to 2000.0

Pr. PA08 This parameter

_ _ _ 0 (2 gain adjustment mode 1 Automatic setting
(interpolation mode))
_ _ _ 1 (Auto tuning mode 1)
_ _ _ 2 (Auto tuning mode 2)
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4 (2 gain adjustment mode 2) Automatic setting

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PB09 Speed loop gain 823 PB09 Speed loop gain 823
Set this parameter when vibration occurs on machines of This is used to set the gain of the speed loop.
low rigidity or large backlash. Set this parameter when vibration occurs on machines of
Higher setting increases the response level but is liable to low rigidity or large backlash. Increasing the setting value
generate vibration and/or noise. will also increase the response level but will be liable to
When auto tuning mode 1 2, manual mode and generate vibration and noise.
interpolation mode is selected, the result of auto tuning is The setting of the parameter will be the automatic setting
automatically used. or manual setting depending on the [Pr. PA08] setting.
Refer to the table of [Pr. PB08] for details.

Setting range: 20 to 65535

PB10 Speed integral compensation 33.7 PB10 Speed integral compensation 33.7
Used to set the integral time constant of the speed loop. Set the integral time constant of the speed loop.
Lower setting increases the response level but is liable to Decreasing the setting value will increase the response
generate vibration and/or noise. level but will be liable to generate vibration and noise.
When auto tuning mode 1 2, and interpolation mode is The setting of the parameter will be the automatic setting
selected, the result of auto tuning is automatically used. or manual setting depending on the [Pr. PA08] setting.
Refer to the table of [Pr. PB08] for details.

Setting range: 0.1 to 1000.0

PB11 Speed differential compensation 980 PB11 Speed differential compensation 980
Used to set the differential compensation. Set the differential compensation.
Made valid when the proportion control (PC) is switched To enable the setting value, turn on PC (proportional
on. control).

Setting range: 0 to 1000

PB12 For manufacturer setting 0 PB12 Overshoot amount compensation 0
Do not change this value by any means. Set a percentage of viscous friction torque against the
servo motor rated value the rated value.
When the response level is low or when the torque is
limited, the efficiency of the parameter may be lower.

Setting range: 0 to 100

PB13 Machine resonance suppression filter 1 4500 PB13 Machine resonance suppression filter 1 4500
Set the notch frequency of the machine resonance Set the notch frequency of the machine resonance
suppression filter 1. suppression filter 1.
Setting [Pr. PB01] (filter tuning mode 1) to "_ _ _ 1" When "Filter tuning mode selection" is set to "Automatic
automatically changes this parameter. setting (_ _ _ 1)" in [Pr. PB01], this parameter will be
When the [Pr. PB01] setting is "_ _ _ 0", the setting of this adjusted automatically by adaptive tuning.
parameter is ignored. When "Filter tuning mode selection" is set to "Manual
setting (_ _ _ 2)" in [Pr. PB01], the setting value will be
enabled.

Setting range: 10 to 4500

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PB14 Notch shape selection 1 0000h PB14 Notch shape selection 1
Used to selection the machine resonance suppression Set forms of the machine resonance suppression filter 1.
filter 1. When "Filter tuning mode selection" is set to "Automatic setting (_
_ _ 1)" in [Pr. PB01], this parameter will be adjusted automatically
0 _ x 0: by adaptive tuning.
Notch depth selection When "Filter tuning mode selection" is set to "Manual setting (_ _
Setting value Depth Gain _ 2)" in [Pr. PB01], the setting value will be enabled.
_ _ _ x: 0h
0 Deep -40dB
For manufacturer setting
1 -14dB
to _ _ x _: 0h
2 -8dB
Notch depth selection
3 Shallow -4dB
0: -40 dB
0 x _ 0: 1: -14 dB
Notch width 2: -8 dB
Setting value Width α 3: -4 dB
_ x _ _: 0h
0 Standard 2
Notch width selection
1 3
to 0: α = 2
2 4
1: α = 3
3 Wide 5
2: α = 4
3: α = 5
Setting [Pr. PB01] (filter tuning mode 1) to "_ _ _ 1"
x _ _ _: 0h
automatically changes this parameter.
For manufacturer setting
When the [Pr. PB01] setting is "_ _ _ 0", the setting of this
parameter is ignored.
PB15 Machine resonance suppression filter 2 4500 PB15 Machine resonance suppression filter 2 4500
Set the notch frequency of the machine resonance Set the notch frequency of the machine resonance
suppression filter 2. suppression filter 2.
Set [Pr. PB16] (notch shape selection 2) to "_ _ _ 1" to To enable the setting value, select "Enabled (_ _ _ 1)" of
make this parameter valid. "Machine resonance suppression filter 2 selection" in [Pr.
PB16].

Setting range: 10 to 4500

PB16 Notch shape selection 2 0000h PB16 Notch shape selection 2
Select the shape of the machine resonance suppression Set forms of the machine resonance suppression filter 2.
filter 2.
0 _ _ x: _ _ _ x: 0h
Machine resonance suppression filter 2 selection Machine resonance suppression filter 2 selection
0: Disabled 0: Disabled
1: Enabled 1: Enabled
0 _ x _: _ _ x _: 0h
Notch depth selection Notch depth selection
Setting value Depth Gain 0: -40 dB

0 Deep -40dB 1: -14 dB

2: -8 dB
1 -14dB
to 3: -4 dB
2 -8dB
_ x _ _: 0h
3 Shallow -4dB
Notch width selection
0 x _ _: 0: α = 2
Notch width 1: α = 3
2: α = 4
Setting value Width α
3: α = 5
0 Standard 2
x _ _ _: 0h
1 3
to For manufacturer setting
2 4
3 Wide 5

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PB17 Automatic setting parameter PB17 Shaft resonance suppression filter
The value of this parameter is set according to a set Set the shaft resonance suppression filter.
value of [Pr. PB06] (Ratio of load inertia moment to servo This is used to suppress a low-frequency machine vibration.
motor inertia moment). When "Shaft resonance suppression filter selection" is set to
"Automatic setting (_ _ _ 0)" in [Pr. PB23], the value will be
calculated automatically from the servo motor you use and load to
motor inertia ratio. Set manually for "Manual setting (_ _ _ 1)".
When "Shaft resonance suppression filter selection" is set to
"Disabled (_ _ _ 2)" in [Pr. PB23], the setting value of this
parameter will be disabled.
When "Machine resonance suppression filter 4 selection" is set to
"Enabled (_ _ _ 1)" in [Pr. PB49], the shaft resonance suppression
filter is not available.
_ _ x x: 00h
Shaft resonance suppression filter setting frequency
selection
Refer to table 6.5 for settings.
Set the value closest to the frequency you need.
_ x _ _: 0h
Notch depth selection
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
x _ _ _: 0h
For manufacturer setting
Table 7.5 Shaft resonance suppression filter setting
frequency selection

Setting Frequency Setting Frequency

value [Hz] value [Hz]
__00 Disabled __10 562
__01 Disabled __11 529
__02 4500 __12 500
__03 3000 __13 473
__04 2250 __14 450
__05 1800 __15 428
__06 1500 __16 409
__07 1285 __17 391
__08 1125 __18 375
__09 1000 __19 360
__0A 900 __1A 346
__0B 818 __1B 333
__0C 750 __1C 321
__0D 692 __1D 310
__0E 642 __1E 300
__0F 600 __1F 290

PB18 Low-pass filter setting 3141 PB18 Low-pass filter setting 3141
Set the low-pass filter. Set the low-pass filter.
Setting [Pr. PB23] (low-pass filter selection) to "_ _ 0 _" The following shows a relation of a required parameter to
automatically changes this parameter. this parameter.
When [Pr. PB23] is set to "_ _ 1 _", this parameter can be
set manually. Setting range: 100 to 18000

[Pr. PB23] [Pr. PB18]

_ _ 0 _ (Initial value) Automatic setting
__1_ Setting value enabled
__2_ Setting value disabled

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PB19 Vibration suppression control - vibration frequency setting 100.0 PB19 Vibration suppression control 1 – Vibration frequency 100.0
Set the vibration frequency for vibration suppression Set the vibration frequency for vibration suppression
control to suppress low-frequency machine vibration, control 1 to suppress low-frequency machine vibration.
such as enclosure vibration. When "Vibration suppression control 1 tuning mode
Setting [Pr. PB02] (vibration suppression control tuning selection" is set to "Automatic setting (_ _ _ 1)" in [Pr.
mode) to "_ _ _ 1" automatically changes this parameter. PB02], this parameter will be set automatically. When
When [Pr. PB02] is set to "_ _ _ 2", this parameter can be "Manual setting (_ _ _ 2)" is selected, the setting written
set manually. to the parameter is used. For details, refer to section
7.1.5 of "MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ) Servo
Amplifier Instruction Manual".

Setting range: 0.1 to 300.0

PB20 Vibration suppression control - resonance frequency 100.0 PB20 Vibration suppression control 1 – Resonance frequency 100.0
setting Set the resonance frequency for vibration suppression
Set the resonance frequency for vibration suppression control 1 to suppress low-frequency machine vibration.
control to suppress low-frequency machine vibration, When "Vibration suppression control 1 tuning mode
such as enclosure vibration. selection" is set to "Automatic setting (_ _ _ 1)" in [Pr.
Setting [Pr. PB02] (vibration suppression control tuning PB02], this parameter will be set automatically. When
mode) to "_ _ _ 1" automatically changes this parameter. "Manual setting (_ _ _ 2)" is selected, the setting written
When [Pr. PB02] is set to "_ _ _ 2", this parameter can be to the parameter is used. For details, refer to section
set manually. 7.1.5 of "MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ) Servo
Amplifier Instruction Manual".

Setting range: 0.1 to 300.0

PB23 Low-pass filter selection 0000h PB23 Low-pass filter selection 0h
Select the low-pass filter. _ _ _ x:
0 0 x 0: Shaft resonance suppression filter selection
Low-pass filter selection Select the shaft resonance suppression filter.
0: Automatic setting 0: Automatic setting
1: Manual setting ([Pr. PB18] setting) 1: Manual setting
2: Disabled
When you select "Enabled (_ _ _ 1)" of "Machine
resonance suppression filter 4 selection" in [Pr. PB49],
the shaft resonance suppression filter is not available.
_ _ x _: 0h
Low-pass filter selection
Select the low-pass filter.
0: Automatic setting
1: Manual setting
2: Disabled
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PB24 Slight vibration suppression control selection 0000h PB24 Slight vibration suppression control 0h
Select the slight vibration suppression control. _ _ _ x:
When [Pr. PA08] (auto tuning mode) is set to "_ _ _ 3", Slight vibration suppression control selection
this parameter is made valid. Select the slight vibration suppression control.
0 0 0 x: 0: Disabled
Slight vibration suppression control selection 1: Enabled
0: Disabled To enable the slight vibration suppression control, select
1: Enabled "Manual mode (_ _ _ 3)" of "Gain adjustment mode
selection" in [Pr. PA08].
_ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PB26 Gain changing selection 0000h PB26 Gain switching function
Select the gain changing condition. Select the gain switching condition.
0 0 _ x: Set conditions to enable the gain switching values set in [Pr.
Gain changing selection PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60].
Under any of the following conditions, the gains change _ _ _ x: 0h
on the basis of the [Pr. PB29] to [Pr. PB34] settings. Gain switching selection
0: Disabled 0: Disabled
1: Gain changing (CDP) is ON 1: Input device (gain switching (CDP))
2: Command frequency ([Pr. PB27] setting) 2: Command frequency (Note)
3: Droop pulse value ([Pr. PB27] setting) 3: Droop pulses
4: Servo motor speed ([Pr. PB27] setting) 4: Servo motor speed
0 0 x _: Note. This will be a frequency of the servo motor side
Gain changing condition (load side for the fully closed loop control)
0: Valid at more than condition (Valid when gain changing command pulse unit.
(CDP) is ON) _ _ x _: 0h
1: Valid at less than condition (Valid when gain changing Gain switching condition selection
(CDP) is OFF) 0: Gain after switching is enabled with gain switching
condition or more
1: Gain after switching is enabled with gain switching
condition or less
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PB27 Gain changing condition 10 PB27 Gain switching condition 10
Used to set the value of gain changing condition This is used to set the value of gain switching (command
(command frequency, droop pulses, servo motor speed) frequency, droop pulses, and servo motor speed)
selected in [Pr. PB26]. The set value unit changes with selected in [Pr. PB26].
the changing condition item. The set value unit differs depending on the switching
condition item. (Refer to "MR-J4-_A_(-RJ)/MR-J4-03A6(-
RJ) Servo Amplifier Instruction Manual" section 7.2.3.)

Setting range: 0 to 9999

PB28 Gain changing time constant 1 PB28 Gain switching time constant 1
Used to set the time constant at which the gains will Set the time constant at which the gains will change in
change in response to the conditions set in [Pr. PB26] response to the conditions set in [Pr. PB26] and [Pr.
and [Pr. PB27]. PB27].

Setting range: 0 to 100

PB29 Gain changing ratio of load inertia moment to servo motor 7.0 PB29 Load to motor inertia ratio/load to motor mass ratio after 7.00
inertia moment gain switching
Used to set the ratio of load inertia moment to servo Set the load to motor inertia ratio/load to motor mass
motor inertia moment when gain changing is valid. ratio for when gain switching is enabled.
This parameter is made valid when the auto tuning is This parameter is enabled only when you select "Manual
invalid ([Pr. PA08]: "_ _ _ 3"). mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].

Setting range: 0.00 to 300.00

PB30 Gain changing position loop gain 37 PB30 Position loop gain after gain switching 0.0
Set the position loop gain when the gain changing is Set the position loop gain for when the gain switching is
valid. enabled.
This parameter is made valid when the auto tuning is When you set a value less than 1.0 rad/s, the value will
invalid ([Pr. PA08]: "_ _ _ 3"). be the same as [Pr. PB08].
This parameter is enabled only when you select "Manual
mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].

Setting range: 0.0 to 2000.0

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PB31 Gain changing speed loop gain 823 PB31 Speed loop gain after gain switching 0
Set the speed loop gain when the gain changing is valid. Set the speed loop gain for when the gain switching is
This parameter is made valid when the auto tuning is enabled.
invalid ([Pr. PA08]: "_ _ _ 3"). When you set a value less than 20 rad/s, the value will
be the same as [Pr. PB09].
This parameter is enabled only when you select "Manual
mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].

Setting range: 0 to 65535

PB32 Gain changing speed integral compensation 33.7 PB32 Speed integral compensation after gain switching 0.0
Set the speed integral compensation when the gain Set the speed integral compensation for when the gain
changing is valid. switching is enabled.
This parameter is made valid when the auto tuning is When you set a value less than 0.1 ms, the value will be
invalid ([Pr. PA08]: "_ _ _ 3"). the same as [Pr. PB10].
This parameter is enabled only when you select "Manual
mode (_ _ _ 3)" of "Gain adjustment mode selection" in
[Pr. PA08].

Setting range: 0.0 to 5000.0

PB33 Gain changing vibration suppression control vibration 100.0 PB33 Vibration suppression control 1 – Vibration frequency 0.0
frequency setting after gain switching
Set the vibration frequency for vibration suppression Set the vibration frequency for vibration suppression
control when the gain changing is valid. control 1 for when the gain switching is enabled.
This parameter is made valid when the [Pr. PB02] setting When you set a value less than 0.1 Hz, the value will be
is "_ _ _ 2" and the [Pr. PB26] setting is "_ _ _ 1". the same as [Pr. PB19].
When using the vibration suppression control gain This parameter will be enabled only when the following
changing, always execute the changing after the servo conditions are fulfilled.
motor has stopped. "Gain adjustment mode selection" in [Pr. PA08] is
"Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode
selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Input
device (gain switching (CDP)) (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to
switch them after the servo motor stops.

Setting range: 0.0 to 300.0

PB34 Gain changing vibration suppression control resonance 100.0 PB34 Vibration suppression control 1 – Resonance frequency 0.0
frequency setting after gain switching
Set the resonance frequency for vibration suppression Set the resonance frequency for vibration suppression
control when the gain changing is valid. control 1 for when the gain switching is enabled.
This parameter is made valid when the [Pr. PB02] setting When you set a value less than 0.1 Hz, the value will be
is "_ _ _ 2" and the [Pr. PB26] setting is "_ _ _ 1". the same as [Pr. PB20].
When using the vibration suppression control gain This parameter will be enabled only when the following
changing, always execute the changing after the servo conditions are fulfilled.
motor has stopped. "Gain adjustment mode selection" in [Pr. PA08] is
"Manual mode (_ _ _ 3)".
"Vibration suppression control 1 tuning mode
selection" in [Pr. PB02] is "Manual setting (_ _ _ 2)".
"Gain switching selection" in [Pr. PB26] is "Input
device (gain switching (CDP)) (_ _ _ 1)".
Switching during driving may cause a shock. Be sure to
switch them after the servo motor stops.

Setting range: 0.0 to 300.0

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PC02 Home position return type 0000h PT04 Home position return type 0h
Used to set the home position return system. _ _ _ x:
0 0 0 x: Home position return method
Home position return system 0: Dog type (rear end detection, Z-phase
0: Dog type reference)/torque limit changing dog type
1: Count type 1: Count type (front end detection, Z-phase reference)
2: Data setting type 2: Data set type/torque limit changing data set type
3: Stopper type 3: Stopper type
4: Home position ignorance (Servo-on position as home 4: Home position ignorance (servo-on position as home
position) position)
5: Dog type rear end reference 5: Dog type (rear end detection, rear end reference)
6: Count type front end reference 6: Count type (front end detection, front end reference)
7: Dog cradle type 7: Dog cradle type
8: Dog type right-before Z-phase reference 8: Dog type (front end detection, Z-phase reference)
9: Dog type front end reference 9: Dog type (front end detection, front end reference)
A: Dogless Z-phase reference A: Dogless type (Z-phase reference)
PC03 Home position return direction 0001h _ _ x _: 1h
Used to set the home position return direction. Home position return direction
0 0 0 x: 0: Address increasing direction
Home position return direction 1: Address decreasing direction d
0: Address increment direction Setting "2" or more to this digit will be recognized as "1:
1: Address decrement direction Address decreasing direction".
_ x _ _: 0h
Home position shift distance multiplication
Set a multiplication of [Pr. PT07 Home position shift
distance].
0: × 1
1: × 10
2: × 100
3: × 1000
x _ _ _: 0h
For manufacturer setting
PC04 Home position return speed 500 PT05 Home position return speed 100
Used to set the servo motor speed for home position Set a servo motor speed at home position return.
return.
Setting range: 0 to permissible instantaneous speed
PC05 Creep speed 10 PT06 Creep speed 10
Used to set the creep speed after proximity dog Set a creep speed after proximity dog at home position
detection. return.

Setting range: 0 to permissible instantaneous speed

PC06 Home position shift distance 0 PT07 Home position shift distance 0
Used to set the shift distance starting at the Z-phase Set a shift distance from the Z-phase pulse detection
pulse detection position inside the encoder. position in the encoder.

Setting range: 0 to 65535

PC07 Home position return position data 0 PT08 Home position return position data 0
Used to set the current position on completion of home Set a current position at home position return
position return. completion.
Additionally, when the following parameters are
changed, the home position return position data will be
changed. Execute the home position return again.
"Position data unit" in [Pr. PT01]
"Feed length multiplication (STM)" in [Pr. PT03]
"Home position return type" in [Pr. PT04]

Setting range: -32768 to 32767

PC08 Moving distance after proximity dog 1000 PT09 Travel distance after proximity dog 1000
Used to set the moving distance after proximity dog in Set a travel distance after proximity dog at home position
count type home position return. return for the count type, dog type rear end reference,
count type front end reference, and dog type front end
reference.

Setting range: 0 to 65535

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PC09 Stopper type home position return stopper time 100 PT10 Stopper type home position return stopper time 100
In stopper type home position return, used to set the time Set time from a moving part touches the stopper and
from when the machine part is pressed against the torques reaches to the torque
stopper and the torque limit set in [Pr. PC10] is reached limit of [Pr. PT10 Stopper type home position return -
to when the home position is set. Torque limit value] to a home position set for the stopper
type home position return.

Setting range: 0 to 1000

PC10 Stopper type home position return torque limit 15.0 PT11 Stopper type home position return torque limit value 15.0
Used to set the torque limit value relative to the max. Set a torque limit value with [%] to the maximum torque
torque in [%] in stopper type home position return. at stopper type home position return.

Setting range: 0.0 to 100.0

PC11 Rough match output range 0 PT12 Rough match output range 0
Used to set the command remaining distance range Set a range of the command remaining distance which
where the rough match (CPO) is output. outputs CPO (Rough match).

Setting range: 0 to 65535

PC12 Jog speed 100 PT13 Jog speed 100
Used to set the jog speed command. Set a JOG speed.

Setting range: 0 to permissible instantaneous speed

PC13 S-pattern acceleration/deceleration time constant 0 PC03 S-pattern acceleration/deceleration time constant 0
Set when inserting S-pattern time constant into the This enables to start/stop the servo motor smoothly.
acceleration/deceleration time constant of the point table. Set the time of the arc part for S-pattern
This time constant is invalid for home position return. acceleration/deceleration.
Setting "0" will make it linear acceleration/deceleration.
Servo is usually operated with linear acceleration and
deceleration; however, smooth start and stop are
enabled by setting [Pr. PC03 S-pattern
acceleration/deceleration time constants]. When the S-
pattern acceleration/deceleration time constants are set,
smooth positioning is enabled as shown in the following
figure. Note that when it is set, a time period from the
start to output of MEND (Travel completion) is longer by
the S-pattern acceleration/deceleration time constants.

Acceleration Deceleration
time constant time constant
Rated speed

Preset speed

Servo motor
speed

0 [r/min]
Ta Tb + STC
Ta + STC Tb

Ta: Time until preset speed is reached

Tb: Time until stop

When the STC value is set longer than the constant

speed time, the speed may not reach to the command
speed.
Additionally, when a value of 1000 ms or more is set, it
will be clamped to 1000 ms.

Setting range: 0 to 5000

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PC14 Backlash compensation 0 PT14 Backlash compensation 0
Used to set the backlash compensation made when the Set a backlash compensation for reversing command
command direction is reversed. direction.
This function compensates for the number of backlash This parameter compensates backlash pulses against
pulses in the opposite direction to the home position the home position return direction.
return direction. For the home position ignorance (servo-on position as
For the home position ignorance (servo-on position as home position), this turns on SON (Servo-on) and
home position), this function compensates for the decides a home position, and compensates backlash
number of backlash pulses in the opposite direction to pulses against the first rotation direction.
the first rotating direction after establishing the home
position by switching ON the servo-on (SON). Setting range: 0 to 65535
In the absolute position detection system, this function
compensates for the backlash pulse count in the
direction opposite to the operating direction at power-on.
PC16 Electromagnetic brake sequence output 100 PC16 Electromagne tic brake sequence output 0
Used to set the delay time (Tb) between when the Set the delay time between MBR (Electromagnetic brake
electromagnetic brake interlock (MBR) switches off and interlock) and the base drive circuit is shut-off.
when the base circuit is shut off.
Setting range: 0 to 1000
PC17 Zero speed 50 PC17 Zero speed 50
Used to set the output range of the zero speed (ZSP). Set an output range of ZSP (Zero speed detection).
Zero speed signal detection has hysteresis width of 20 ZSP (Zero speed detection) has hysteresis of 20 r/min or
r/min. 20 mm/s.

Setting range: 0 to 10000

PC18 Alarm history clear 0000h PC18 Alarm history clear 0h
Used to clear the alarm history. _ _ _ x:
0 0 0 x: Alarm history clear selection
Alarm history clear Used to clear the alarm history.
0: Disabled 0: Disabled
1: Enabled 1: Enabled
When alarm history clear is made valid, the alarm history When "Enabled" is set, the alarm history will be cleared
is cleared at next power-on. After the alarm history is at the next power-on. After the alarm history is cleared,
cleared, the setting is automatically made invalid (reset to the setting is automatically disabled.
0). _ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PC19 Encoder output pulse selection 0000h PC19 Encoder output pulse selection 0h
Use to select the, encoder output pulse direction and _ _ _ x:
encoder output pulse setting. Encoder output pulse phase selection
0 0 _ x: Select an encoder pulse direction.
Encoder output pulse phase changing 0: Increasing A-phase 90° in CCW
Changes the phases of A/B-phase encoder pulses 1: Increasing A-phase 90° in CW
output .
Setting Servo motor rotation direction
value CCW CW
Servo motor rotation direction
Set value
CCW CW
A-phase A-phase
0 B-phase
A-phase A-phase B-phase
0
B-phase B-phase

A-phase A-phase A-phase A-phase

1 1
B-phase B-phase B-phase B-phase

0 0 x _:
Encoder output pulse setting selection
0: Output pulse designation _ _ x _: 0h
1: Division ratio setting Encoder output pulse setting selection
2: Ratio is automatically set to command pulse unit 0: Output pulse setting
Setting "2" makes the [Pr. PA15] (encoder output pulse) 1: Division ratio setting
setting invalid. 2: The same output pulse setting as command pulse
3: A-phase/B-phase pulse electronic gear setting
4: A/B-phase pulse through output setting
5: Command pulse input through output setting
When you select "1", the settings of [Pr. PA16 Encoder
output pulses 2] will be disabled.
When you select "2", the settings of [Pr. PA15 Encoder
output pulses] and [Pr. PA16 Encoder output pulses 2]
will be disabled.
Setting "4" will be enabled only when A/B/Z-phase
differential output linear encoder is used. And "Encoder
output pulse phase selection (_ _ _ x)" will be disabled.
When another encoder is connected, [AL. 37 Parameter
error] will occur. Setting "Standard control mode (_ _ 0
_)" in [Pr. PA01] will trigger [AL. 37].
When "5" is set, the settings of [Pr. PA15 Encoder output
pulses] and [Pr. PA16 Encoder output pulses 2] will be
disabled. "Encoder output pulse phase selection (_ _ _
x)" and "Encoder selection for encoder output pulse (_ x
_ _)" will be also disabled. When [Pr. PA01] is set to
other than "Point table method (_ _ _ 6)", [AL. 37]
occurs. When "5" is set, assign PP/PP2 with [Pr. PD44]
and NP/NP2 with [Pr. PD46].
_ x _ _: 0h
Selection of the encoders for encoder output pulse
Select an encoder used the encoder output pulses which
the servo amplifier outputs.
0: Servo motor encoder
1: Load-side encoder
When "_ 1 0 _" is set to this parameter, [AL. 37] will
occur.
x _ _ _: 0h
For manufacturer setting
PC20 Station number setting 0 PC20 Station No. setting 0
Used to specify the station number for RS-422 serial Specify a station No. of the servo amplifier for RS-422
communication. and USB communication.
Always set one station to one axis of servo amplifier. If Always set one station to one axis of the servo amplifier.
one station number Setting one station number to two or more stations will
is set to two or more stations, normal communication disable a normal communication.
cannot be made.
Setting range: 0 to 31

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PC21 RS-422 communication function selection 0000h PC21 RS-422 communication function selection
Select the communication I/F and select the RS-422 Select the details of RS-422 communication function.
communication conditions.
0_ x 0: _ _ _ x: 0h
RS-422 communication baud rate selection For manufacturer setting
0: 9600 [bps] _ _ x _: 0h
1: 19200 [bps] RS-422 communication baud rate selection
2: 38400 [bps] When using the parameter unit, set "1 _ _ _" in [Pr.
3: 57600 [bps] PF34].
4: 115200 [bps] 0: 9600 [bps]
0 x _ 0: 1: 19200 [bps]
RS-422 communication response delay time 2: 38400 [bps]
0: Disabled 3: 57600 [bps]
1: Enabled, reply sent after delay time of 800 µs or more 4: 115200 [bps]
_ x _ _: 0h
RS-422 communication response delay time selection
0: Disabled
1: Enabled (responding after 800 μs or longer delay
time)
x _ _ _: 0h
For manufacturer setting
PC22 Function selection C-1 0000h PC22 Function selection C-1
Select the encoder cable communication system _ _ _ x: 0h
selection. For manufacturer setting
x 0 0 0: _ _ x _: 0h
Encoder cable communication system selection For manufacturer setting
0: Two-wire type _ x _ _: 0h
1: Four-wire type For manufacturer setting
Incorrect setting will result in an encoder alarm [AL.16 x _ _ _: 0h
Encoder error 1] or [AL.20 Encoder error 2]. Encoder cable communication method selection
Select the encoder cable communication method.
0: Two-wire type
1: Four-wire type
When using an encoder of A/B/Z-phase differential
output method, set "0".
If the setting is incorrect, [AL. 16 Encoder initial
communication error 1] or [AL. 20 Encoder normal
communication error 1] occurs.
PC24 Function selection C-3 0000h PC24 Function selection C-3
Select the unit of the in-position range. _ _ _ x: 0h
0 0 0 x: In-position range unit selection
In-position range unit selection Select a unit of in-position range.
0: Command input unit 0: Command unit
1: Servo motor encoder unit 1: Servo motor encoder pulse unit
_ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
Error excessive alarm level unit selection
Select a setting unit of the error excessive alarm level set
in [Pr. PC43].
0: Per 1 rev or 1 mm
1: Per 0.1 rev or 0.1 mm
2: Per 0.01 rev or 0.01 mm
3: Per 0.001 rev or 0.001 mm

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PC26 Function selection C-5 0000h PC26 Function selection C-5
Select the [AL. 99 Stroke limit warning]. _ _ _ x: 0h
0 0 0 x: [AL. 99 Stroke limit warning] selection
[AL. 99 Stroke limit warning] selection Enable or disable [AL. 99 Stroke limit warning].
0: Enabled 0: Enabled
1: Disabled 1: Disabled
When this parameter is set to "1", A99 will not occur if the _ _ x _: 0h
forward rotation stroke end (LSP) or reverse rotation For manufacturer setting
stroke end (LSN) turns OFF. _ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PC27 Function selection C-6 0000h PC27 Function selection C-6
Set this function if undervoltage alarm occurs because of _ _ _ x: 0h
distorted power supply voltage waveform when using [AL. 10 Undervoltage] detection method selection
power regenerative converter or power regenerative Set this parameter when [AL. 10 Undervoltage] occurs
common converter. due to distorted power supply voltage waveform while
0 0 0 x: using FR-RC-(H) or FR-CV-(H).
Setting when undervoltage alarm occurs 0: [AL. 10] not occurrence
0: Initial value 1: [AL. 10] occurrence
1: Set "1" if undervoltage alarm occurs because of _ _ x _: 0h
distorted power supply voltage waveform when using This digit is not available with MR-J4-_A_-RJ 100 W or
power regenerative converter or power regenerative more servo amplifiers.
common converter.
_ x _ _: 0h
Undervoltage alarm selection
Select the alarm and warning that occurs when the bus
voltage drops to the undervoltage alarm level.
0: [AL. 10] regardless of servo motor speed
1: [AL. E9] at servo motor speed 50 r/min (50 mm/s) or
less, [AL. 10] at over 50 r/min (50 mm/s)
x _ _ _: 0h
For manufacturer setting
PC28 Function selection 0000h PT26 Function selection T-2
Select the display method of the current position and _ _ _ x: 0h
command position. Electronic gear fraction clear selection
0 0 _ x: 0: Disabled
Electronic gear fraction clear selection 1: Enabled
0: Disabled Selecting "Enabled" will clear a fraction of the previous
1: Enabled command by the electronic gear at start of the automatic
By setting it to "1" the fraction of the last command by the operation.
electronic gear is cleared when starting automatic Setting "2" or more to this digit will be "Disabled".
operation.
0 0 x _: _ _ x _: 0h
Current position/command position selection Current position/command position display selection
Set Display Operation Status display description Select how to display a current position and command
value method mode Current position Command position
position.
0 Positioning Automatic The actual current The command
display position where the current position Setting Displayed Operation Status display
machine home where the machine value data mode Current position Command position
Manual position is assumed home position is __0_ Positioning Auto/Manual Actual current position Command current
as 0 is displayed. assumed as 0 is display will be displayed as position will be
displayed. machine home position displayed as machine
1 Roll feed Automatic The actual current The count starts is 0. home position is 0.
display position where the from 0 when the __1_ Roll feed Auto Actual current position When ST1 (Forward
Automatic operation start signal is turned display will be displayed as rotation start) or ST2
start position is ON, and the automatic operation (Reverse rotation start)
assumed as 0 is command current start position is 0. is turned on, counting
displayed. position to the target starts from 0 and a
position is command current
displayed. During a position to the target
stop, the command position will be
position of the displayed.
selected point table When a stop, a point
is displayed. table command
Manual The command position for the point
position of the table method will be
selected point table displayed.
is displayed. Manual 0 will be continuously
displayed.

_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PC31 Software limit + 0 PT15 Software limit + (third least significant digit) 0
PC32 Used to set the address increment side software stroke PT16 Software limit + (third most significant digit)
limit. The software limit is made invalid if this value is the Set an address increasing side of the software stroke
same as in "software limit -". limit.
Set the same sign to [Pr. PC31] and [Pr. PC32]. Setting Upper and lower are a set.
of different signs will result in a parameter error.
Setting address:
Set address: Upper Lower
3 digits 3 digits
Upper Lower
3 digits 3 digits [Pr. PT15]
[Pr. PT16]
[Pr. PC31]

[Pr. PC32] The stop method depends on "Stop method selection at

software limit detection" of [Pr. PD30]. The initial value is
The software limit+ is a set of upper digits and lower "Quick stop (home position erased)".
digits. To change the value, set in the order of lower digits Setting a same value with "Software limit -" will disable
to upper digits. the software stroke limit.
Set a same sign for [Pr. PT15] and [Pr. PT16]. A different
sign will be recognized as minus sign data.
When changing the direction to address decreasing,
change it from the - side of the software limit ([Pr. PT17]
and [Pr. PT18]). An incorrect order of the setting will
trigger [AL. 37 Parameter error]. Therefore, cycling power
may be required after [Pr. PT15] to [Pr. PT18] are all set.

Setting range: -999999 to 999999

PC33 Software limit - 0 PT17 Software limit - (third least significant digit) 0
PC34 Used to set the address decrement side software stroke PT18 Software limit - (third most significant digit)
limit. The software limit is made invalid if this value is the Set an address decreasing side of the software stroke
same as in "software limit+". limit.
Set the same sign to [Pr. PC33] and [Pr. PC34]. Setting Upper and lower are a set.
of different signs will result in a parameter error.
Setting address:
Set address: Upper Lower
3 digits 3 digits
Upper Lower
3 digits 3 digits [Pr. PT17]
[Pr. PT18]
[Pr. PC33]
The stop method depends on "Stop method selection at
[Pr. PC34]
software limit detection" of [Pr. PD30]. The initial value is
"Quick stop (home position erased)".
The software limit- is a set of upper digits and lower Setting a same value with "Software limit +" will disable
digits. To change the value, set in the order of lower digits the software stroke limit.
to upper digits.
Set a same sign for [Pr. PT17] and [Pr. PT18]. A different
sign will be recognized as minus sign data.
When changing the direction to the address increasing
direction, change it from the + side of the software limit
([Pr. PT15] and [Pr. PT16]). An incorrect order of the
setting will trigger [AL. 37 Parameter error]. Therefore,
cycling power may be required after [Pr. PT15] to [Pr.
PT18] are all set.

Setting range: -999999 to 999999

PC35 Internal torque limit 2 100.0 PC35 Internal torque limit 2 100.0
Set this parameter to limit servo motor torque on the Set the parameter on the assumption that the maximum
assumption that the maximum torque is 100[%]. torque 100.0 %. The parameter is set for limiting the
When 0 is set, torque is not produced. torque of the servo motor .
No torque is generated when this parameter is set to
"0.0".
When TL1 (Internal torque limit selection) is turned on,
Internal torque limit 1 and Internal torque limit 2 are
compared and the lower value will be enabled.
Set the parameter referring to section 3.6.1 (5) of "MR-
J4-_A_(-RJ)/MR-J4-03A6(-RJ) Servo Amplifier
Instruction Manual".

Setting range: 0.0 to 100.0

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PC36 Status display selection 0000h PC36 Status display selection 00h
Select the status display to be provided at power-on. _ _ x x:
x x 0 0: Status display selection at power-on
Selection of MR-DP60 status display at power-on Select a status display shown at power-on.
0 0: Current position 00: Cumulative feedback pulse
0 1: Command position 01: Servo motor speed
0 2: Command remaining distance 02: Droop pulses
0 3: Point table No. 03: Cumulative command pulses
0 4: Cumulative feedback pulses 04: Command pulse frequency
0 5: Servo motor speed 05: Analog speed command voltage (not used for the
0 6: Droop pulses positioning mode)
0 7: Override voltage 06: Analog torque limit voltage
0 8: Override [%] 07: Regenerative load ratio
0 9: Analog speed command voltage 08: Effective load ratio
0 A: Regenerative load ratio 09: Peak load ratio
0 B: Effective load ratio 0A: Instantaneous torque
0 C: Peak load ratio 0B: Position within one-revolution/virtual position within
0 D: Instantaneous torque one-revolution (1 pulse unit)
0 E: Within one-revolution position 0C: Position within one-revolution/virtual position within
0 F: ABS counter one-revolution (1000 pulses unit)
1 0: Load inertia moment ratio 0D: ABS counter/virtual ABS counter

1 1: Bus voltage 0E: Load to motor inertia ratio/load to motor mass ratio
0F: Bus voltage
21: Current position
22: Command position
23: Command remaining distance
24: Point table No.
26: Override voltage
27: Override level

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PC37 Position range output address+ 0 PT19 Position range output address + (third least significant 0
PC38 Used to set the address increment side position range PT20 digit)
output address. Position range output address + (third most significant
the same sign to [Pr. PC37] and [Pr. PC38]. digit)
Setting of different signs will result in a parameter error. Set an address increasing side of the position range
In [Pr. PC37] to [Pr. PC40], set the range where position output address.
range (POT) turns on. Upper and lower are a set. Set a range which POT
(Position range) turns on with [Pr. PT19] to [Pr. PT22].
Set address:
Setting address:
Upper Lower
3 digits 3 digits Upper Lower
3 digits 3 digits
[Pr. PC37]
[Pr. PT19]
[Pr. PC38]
[Pr. PT20]

Position range output address+ is a set of upper digits

Set a same sign for [Pr. PT19] and [Pr. PT20]. Setting a
and lower digits. To change the value, set in the order of
different sign will trigger [AL. 37 Parameter error].
lower digits to upper digits.
When changing a setting, always set the third least
significant digit before setting the third most significant
digit.
When changing the direction to address decreasing,
change it from the - side of the position range output
address ([Pr. PT21] and [Pr. PT22]). An incorrect order of
the setting will trigger [AL. 37]. Therefore, cycling power
may be required after [Pr. PT19] to [Pr. PT22] are all set.

Setting range: -999999 to 999999

PC39 Position range output address - 0 PT21 Position range output address - (third least significant 0
PC40 Used to set the address decrement side position range PT22 digit)
output address. Position range output address - (third most significant
Set the same sign to [Pr. PC39] and [Pr. PC40]. digit)
Setting of different signs will result in a parameter error. Set an address decreasing side of the position range
output address.
Set address: Upper and lower are a set. Set a range which POT
(Position range) turns on with [Pr. PT19] to [Pr. PT22].
Upper Lower
3 digits 3 digits
Setting address:
[Pr. PC39]
Upper Lower
[Pr. PC40] 3 digits 3 digits
[Pr. PT21]
Position range output address - is a set of upper digits [Pr. PT22]
and lower digits. To change the value, set in the order of
lower digits to upper digits.
Set a same sign for [Pr. PT21] and [Pr. PT22]. Setting a
different sign will trigger [AL. 37 Parameter error].
When changing a setting, always set the third least
significant digit before setting the third most significant
digit.
When changing the direction to address increasing,
change it from the + side of the position range output
address ([Pr. PT19] and [Pr. PT20]). An incorrect order of
the setting will trigger [AL. 37]. Therefore, cycling power
may be required after [Pr. PT19] to [Pr. PT22] are all set.

Setting range: -999999 to 999999

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Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ

MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PD01 Input signal automatic ON selection 1 0000h PD01 Input signal automatic on selection 1
Select the input devices to be automatically turned ON. Convert the setting value into hexadecimal as follows.
part is for manufacturer setting. Do not set the ___x _ _ _ x (BIN): For manufacturer setting 0h
value by any means. (HEX) _ _ x _ (BIN): For manufacturer setting
_ x _ _ (BIN): SON (Servo-on)
0: Disabled (Use for an external input signal.)
Initial value 1: Enabled (automatic on)
Signal name
BIN HEX x _ _ _ (BIN): For manufacturer setting
0
__x_ _ _ _ x (BIN): PC (Proportional control) 0h
0
Servo-on (SON) 0
0 (HEX) 0: Disabled (Use for an external input signal.)
0 1: Enabled (automatic on)
Initial value _ _ x _ (BIN): TL (External torque limit
Signal name
BIN HEX selection)
Proportion control (PC) 0 0: Disabled (Use for an external input signal.)
External torque limit selection (TL) 0
0 1: Enabled (automatic on)
0
0 _ x _ _ (BIN): For manufacturer setting

Initial value
x _ _ _ (BIN): For manufacturer setting
Signal name
BIN HEX _x__ _ _ _ x (BIN): For manufacturer setting 0h
0 (HEX) _ _ x _ (BIN): For manufacturer setting
0
Forward rotation stroke end (LSP) 0
0 _ x _ _ (BIN): LSP (Forward rotation stroke
Reverse rotation stroke end (LSN) 0 end)
0: Disabled (Use for an external input signal.)
Initial value
Signal name 1: Enabled (automatic on)
BIN HEX
Forced stop (EMG) 0 x _ _ _ (BIN): LSN (Reverse rotation stroke
0 end)
0
0
0: Disabled (Use for an external input signal.)
0
BIN 0: Used to external input signal. 1: Enabled (automatic on)
BIN 1: Automatic ON
x___ _ _ _ x (BIN): EM2 (Forced stop 2)/EM1 0h
(HEX) (Forced stop 1)
For example, to turn ON SON, the setting is "_ _ _ 4". 0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
_ _ x _ (BIN): For manufacturer setting
_ x _ _ (BIN): For manufacturer setting
x _ _ _ (BIN): For manufacturer setting
Convert the setting value into hexadecimal as follows.

Initial value
Signal name
BIN HEX
0
0
0
SON (Servo-on) 0
0

Initial value
Signal name
BIN HEX
PC (Proportional control) 0
TL (External torque limit selection) 0
0
0
0

Initial value
Signal name
BIN HEX
0
0
0
LSP (Forward rotation stroke end) 0
LSN (Reverse rotation stroke end) 0

Initial value
Signal name
BIN HEX
EM2 (Forced stop 2)/EM1
(Forced stop 1) 0
0 0
0
0
BIN 0: Use for an external input signal.
BIN 1: Automatic on

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PD03 Input signal automatic ON selection 3 0000h PD41 Input signal automatic on selection 3
Select the input devices to be automatically turned ON. Select input devices to turn on them automatically.
part is for manufacturer setting. Do not set the _ _ _ x _ _ _ x (BIN): MD0 (operation mode selection 1) 0h
value by any means. (HEX) 0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
0 0 _ _ x _ (BIN): For manufacturer setting
Initial value _ x _ _ (BIN): For manufacturer setting
Signal name
BIN HEX x _ _ _ (BIN): For manufacturer setting
Automatic/manual selection(MD0) 0
_ _ x _ _ _ _ x (BIN): For manufacturer setting 0h
0
0 (HEX) _ _ x _ (BIN): For manufacturer setting
0
0 _ x _ _ (BIN): OVR (Analog override selection)
Initial value 0: Disabled (Use for an external input signal.)
Signal name
BIN HEX 1: Enabled (automatic on)
0 x _ _ _ (BIN): For manufacturer setting
0
0 _ x _ _ _ _ _ x (BIN): For manufacturer setting 0h
Override selection (OVR) 0
0 (HEX) _ _ x _ (BIN): For manufacturer setting
BIN 0: Used to external input signal. _ x _ _ (BIN): For manufacturer setting
BIN 1: Automatic ON
x _ _ _ (BIN): For manufacturer setting
x _ _ _ _ _ _ x (BIN): For manufacturer setting 0h
(HEX) _ _ x _ (BIN): For manufacturer setting
_ x _ _ (BIN): For manufacturer setting
x _ _ _ (BIN): For manufacturer setting
Convert the setting value into hexadecimal as follows.

0 0
Initial value
Input device
BIN HEX
MD0 (Operation mode selection 1) 0
0
0
0
0

Initial value
Input device
BIN HEX
0
0
0
OVR (Analog override selection) 0
0
BIN 0: Use for an external input signal.
BIN 1: Automatic on

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PD04 Input signal automatic ON selection 4 0000h PD42 Input signal automatic on selection 4
Select the input devices to be automatically turned ON. Select input devices to turn on them automatically.
___x _ _ _ x (BIN): For manufacturer setting 0h
0 0 (HEX) _ _ x _ (BIN): For manufacturer setting
Initial value _ x _ _ (BIN): For manufacturer setting
Signal name
BIN HEX
x _ _ _ (BIN): For manufacturer setting
Point table No.selection 1 (DI0) 0
Point table No.selection 2 (DI1) 0 __x_ _ _ _ x (BIN): For manufacturer setting 0h
0
Point table No.selection 3 (DI2) 0 (HEX) _ _ x _ (BIN): For manufacturer setting
Point table No.selection 4 (DI3) 0
_ x _ _ (BIN): For manufacturer setting
Initial value
Signal name x _ _ _ (BIN): For manufacturer setting
BIN HEX
Point table No.selection 5 (DI4) 0 _x__ _ _ _ x (BIN): DI0 (point table No. selection 1) 0h
Point table No.selection 6 (DI5) 0
0
(HEX) 0: Disabled (Use for an external input signal.)
Point table No.selection 7 (DI6) 0
1: Enabled (automatic on)
Point table No.selection 8 (DI7) 0
BIN 0: Used to external input signal. _ _ x _ (BIN): DI1 (point table No. selection 2)
BIN 1: Automatic ON
0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
_ x _ _ (BIN): DI2 (point table No. selection 3)
0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
x _ _ _ (BIN): DI3 (point table No. selection 4)
0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
x___ _ _ _ x (BIN): DI4 (point table No. selection 5) 0h
(HEX) 0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
_ _ x _ (BIN): DI5 (point table No. selection 6)
0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
_ x _ _ (BIN): DI6 (point table No. selection 7)
0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
x _ _ _ (BIN): DI7 (point table No. selection 8)
0: Disabled (Use for an external input signal.)
1: Enabled (automatic on)
Convert the setting value into hexadecimal as follows.

0 0
Initial value
Input device
BIN HEX
DI0 (Point table No. selection 1) 0
DI1 (Point table No. selection 2) 0
0
DI2 (Point table No. selection 3) 0
DI3 (Point table No. selection 4) 0

Initial value
Input device
BIN HEX
DI4 (Point table No. selection 5) 0
DI5 (Point table No. selection 6) 0
0
DI6 (Point table No. selection 7) 0
DI7 (Point table No. selection 8) 0
BIN 0: Use for an external input signal.
BIN 1: Automatic on

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PD06 Input signal device selection 2 (CN6-2) 002Bh PD22 Input device selection 10H
Any input device can be assigned to the CN6-2 pin. Any input device can be assigned to the CN1-45 pin.
0 0 x x: _ _ x x: 23h
Select the input device of the CN6-2 pin Not used with the positioning mode.
0 0: No assignment function x x _ _: 2Bh
0 2: Servo-on (SON) Positioning mode - Device selection
0 3: Reset (RES) Refer to table 6.10 for settings.
0 4: Proportion control (PC)
0 5: External torque limit selection (TL)
Table 6.10 Selectable input devices
0 6: Clear (CR)
0 7: Forward rotation start (ST1) Input device Input device
Setting (Note 1) Setting (Note 1)
0 8: Reverse rotation start (ST2) value value
CP/BCD CP/BCD
0 9: Internal torque limit selection (TL2)
0 A: Forward rotation stroke end (LSP) 02__ SON 26__ OVR

0 B: Reverse rotation stroke end (LSN) 03__ RES 27__ TSTP

0 D: Gain switch (CDP) 04__ PC 2B__ DOG
2 0: Automatic/manual selection (MD0) 05__ TL 2C__ SPD1 (Note 2)
2 4: Manual pulse generator multiplication 1 (TP0) 06__ CR 2D__ SPD2 (Note 2)
2 5: Manual pulse generator multiplication 2 (TP1) 07__ ST1 2E__ SPD3 (Note 2)
2 6: Override selection (OVR) 08__ ST2 2F__ SPD4 (Note 2)
2 7: Temporary stop/restart (TSTP) 09__ TL1 38__ DI0
2 B: Proximity dog (DOG) 0A__ LSP 39__ DI1
2 F: Speed selection 4 (SP3) 0B__ LSN 3A__ DI2
Note. The other setting values than shown in this table 0D__ CDP 3B__ DI3
are for manufacturer setting. 20__ MD0 3C__ DI4
23__ TCH 3D__ DI5
24__ TP0 3E__ DI6
25__ TP1 3F__ DI7

Note 1. CP: Positioning mode (point table method)

BCD: Positioning mode (point table method in the BCD
input positioning operation)
This method is available only when the MR-D01
unit is connected. Refer to chapter 12 for details.
The diagonal lines indicate manufacturer settings.
Never change the setting.
2. This is available with servo amplifiers with software
version B7 or later.
PD07 Input signal device selection 3 (CN6-3) 000Ah PD18 Input device selection 8H
Any input device can be assigned to the CN6-3 pin. Any input device can be assigned to the CN1-43 pin.
The devices that can be assigned and the setting method _ _ x x: 00h
are the same as in [Pr. PD06]. Not used with the positioning mode.
0 0 x x: x x _ _: 0Ah
Select the input device of the CN6-3 pin Positioning mode - Device selection
Refer to table 6.10 in [Pr. PD22] for settings.

PD08 Input signal device selection 4 (CN6-4) 000Bh PD20 Input device selection 9H
Any input device can be assigned to the CN6-4 pin. Any input device can be assigned to the CN1-44 pin.
The devices that can be assigned and the setting method _ _ x x: 00h
are the same as in [Pr. PD06]. Not used with the positioning mode.
0 0 x x: x x _ _: 0Bh
Select the input device of the CN6-4 pin Positioning mode - Device selection
Refer to table 6.10 in [Pr. PD22] for settings.

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PD09 Output signal device selection 1 (CN6-14) 0002h PD28 Output device selection 6
Any output signal can be assigned to the CN6-14 pin. _ _ x x: 02h
0 0 x x: Device selection
Select the output device of the CN6-14 pin Any output device can be assigned to the CN1-49 pin.
0 0: Always OFF Refer to table 6.11 for settings.
0 2: Ready (RD) _ x _ _: 0h
0 3: Trouble (ALM) For manufacturer setting
0 4: In position (INP) x _ _ _: 0h
0 5: Electromagnetic brake interlock (MBR) For manufacturer setting
0 6: Dynamic brake interlock (DB)
0 7: Limiting torque (TLC) Table 6.11 Selectable output devices
0 8: Warning (WNG)
Output device Output device
0 9: Battery warning (BWNG) Setting (Note) Setting (Note)
value value
0 A: Speed command reached (SA) CP/BCD CP/BCD
0 C: Zero speed (ZSP) __00 Always off __24 ZP
0 F: Variable gain selection (CDPS)
__02 RD __25 POT
2 3: Rough match (CPO)
__03 ALM __26 PUS
2 4: Home position return completion (ZP)
__04 INP __27 MEND
2 5: Position range (POT)
__05 MBR __2C PED
2 6: Temporary stop (PUS)
__06 DB __31 ALMWNG
2 7: Movement finish (MEND)
__07 TLC __32 BW9F
3 8: Point table No. output 1 (PT0)
__08 WNG __38 PT0
3 9: Point table No. output 2 (PT1)
3 A: Point table No. output 3 (PT2) __09 BWNG __39 PT1

3 B: Point table No. output 4 (PT3) __0A SA __3A PT2

3 C: Point table No. output 5 (PT4) __0B Always off __3B PT3
3 D: Point table No. output 6 (PT5) __0C ZSP __3C PT4
3 E: Point table No. output 7 (PT6) __0F CDPS __3D PT5
3 F: Point table No. output 8 (PT7) __11 ABSV __3E PT6
Note. The other setting values than shown in this table __23 CPO __3F PT7
are for manufacturer setting.
Note . CP: Positioning mode (point table method)
The diagonal lines indicate manufacturer settings. Never
change the setting.
PD10 Output signal device selection 2 (CN6-15) 0003h PD27 For manufacturer setting
Any output signal can be assigned to the CN6-15 pin.
The devices that can be assigned and the setting method
are the same as in [Pr. PD09].
0 0 x x:
Select the output device of the CN6-15 pin
PD11 Output signal device selection 3 (CN6-16) 0024h PD24 Output device selection 2
Any output signal can be assigned to the CN6-16 pin. _ _ x x: 0Ch
The devices that can be assigned and the setting method Device selection
are the same as in [Pr. PD09]. Any output device can be assigned to the CN1-23 pin.
0 0 x x: Refer to table 6.11 in [Pr. PD28] for settings.
Select the output device of the CN6-16 pin _ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PD16 Input polarity selection 0000h PT29 Function selection T-3
Used to set the proximity dog input polarity. Set a polarity of DOG.
0 0 0 x: ___x _ _ _ x (BIN): DOG (Proximity dog) polarity 0h
Proximity dog input polarity (HEX) selection
0: OFF indicates detection of the dog. 0: Dog detection with off
1: ON indicates detection of the dog. 1: Dog detection with on
_ _ _ x (BIN): For manufacturer setting
_ _ x _ (BIN): For manufacturer setting
_ x _ _ (BIN): For manufacturer setting
x _ _ _ (BIN): For manufacturer setting
__x_ _ _ _ x (BIN): For manufacturer setting 0h
(HEX) _ _ x _ (BIN): For manufacturer setting
_ x _ _ (BIN): For manufacturer setting
x _ _ _ (BIN): For manufacturer setting
_x__ For manufacturer setting 0h
x___ For manufacturer setting 0h
Convert the setting value into hexadecimal as follows.

0 0 0
Initial value
Setting
BIN HEX
DOG (Proximity dog) polarity selection 0
0
0
0
0

PD19 Response level setting 0002h PD29 Input filter setting

Used to select the input. Select a filter for the input signal.
0 0 0 x: _ _ _ x: 4h
Input filter Input signal filter selection
If external input signal causes chattering due to noise, If external input signal causes chattering due to noise,
etc., input filter is used to suppress it. etc., input filter is used to suppress it.
0: None 0: None
1: 0.888 [ms] 1: 0.888 [ms]
2: 1.777 [ms] 2: 1.777 [ms]
3: 2.660 [ms] 3: 2.666 [ms]
4: 3.555 [ms] 4: 3.555 [ms]
5: 4.444 [ms] 5: 4.444 [ms]
6: 5.333 [ms]
_ _ x _: 0h
RES (Reset) dedicated filter selection
0: Disabled
1: Enabled (50 [ms])
_ x _ _: 0h
CR (Clear) dedicated filter selection
0: Disabled
1: Enabled (50 [ms])
x _ _ _: 0h
For manufacturer setting

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PD20 Function selection D-1 0010h PD30 Function selection D-1
Select the stop processing at forward rotation stroke end _ _ _ x: 0h
(LSN)/reverse rotation stroke end (LSN) OFF and the Stop method selection for LSP (Forward rotation stroke
base circuit status at reset (RES) ON. end) off or LSN (Reverse rotation stroke end) off
0 _ _ x: Select a stop method for LSP (Forward rotation stroke
Stopping method used when forward rotation stroke end end) off or LSN (Reverse rotation stroke end) off.
(LSP), reverse rotation stroke end (LSN) device or 0: Quick stop (home position erased)
software limit is valid 1: Slow stop (home position erased)
0: Sudden stop (home position erased) 2: Slow stop (deceleration to a stop by deceleration time
1: Slow stop (home position erased) constant)
2: Slow stop (Deceleration to a stop by deceleration time 3: Quick stop (stop by clearing remaining distance)
constant
3: Sudden stop (Stop by remaining move distance clear)
0_ x _: _ _ x _: 0h
Selection of base circuit status at reset (RES)ON Base circuit status selection for RES (Reset) on
0: Base circuit not switched off 0: Base circuit shut-off
1: Base circuit switched off 1: No base circuit shut-off
0 x _ _: _ x _ _: 0h
Stopping method used when software limit is valid Stop method selection at software limit detection
0: Sudden stop (home position erased) Select a stop method selection at software limit detection.
1: Slow stop (home position erased) (Refer to section 7.6.)
2: Slow stop (Deceleration to a stop by deceleration time 0: Quick stop (home position erased)
constant 1: Slow stop (home position erased)
3: Sudden stop (Stop by remaining move distance clear) 2: Slow stop (deceleration to a stop by deceleration time
As in the following parameter settings, when the home constant)
position is lost by the forward rotation stroke end, reverse 3: Quick stop (stop by clearing remaining distance)
rotation stroke end, or the software limit detection, the x _ _ _: 0h
home position return completion (ZP) turns on by turning Enabled/disabled selection for a thermistor of servo
OFF/ON the servo-on (SON). In this case, there is no motor
need to perform the home position return again.
0: Enabled
1. In absolute position detection system 1: Disabled
[Pr. PA03]: _ _ _ 1 (Select the absolute position The setting in this digit will be disabled when using a
detection system) servo motor without thermistor.
[Pr. PA01]: _ _ _ 0 (Select the absolute value
command system)
2. In incremental system
[Pr. PA03]: _ _ _ 0 (Select the incremental system)
[Pr. PA01]: _ _ _ 0 (Select the absolute value
command system)
[Pr. PA04]: _ _ _ 1 (Follow-up valid)

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PD22 Function selection D-3 0000h PD32 Function selection D-3
Set the clear (CR). ___x 0h
0 0 0 x: CR (Clear) selection
Clear (CR) selection This is used to set CR (Clear).
0: Disabled 0: Deleting droop pulses by turning on the device
1: Droop pulses are cleared on the leading edge. 1: Continuous deleting of droop pulses during the device
2: While on, droop pulses are always cleared. on
2: Disabled
_ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PT26 Function selection T-2
_ _ _ x: 0h
Electronic gear fraction clear selection
0: Disabled
1: Enabled
Selecting "Enabled" will clear a fraction of the previous
command by the electronic gear at start of the automatic
operation.
Setting "2" or more to this digit will be "Disabled".
_ _ x _: 0h
Current position/command position display selection
Select how to display a current position and command
position.

Status display
Setting Displayed Operation
value data mode Current position Command
position
__0_ Actual current Command
position will be current position
Positioning Auto/ displayed as will be
display Manual machine home displayed as
position is 0. machine home
position is 0.
__1_ Auto When ST1
(Forward
rotation start)
or ST2
(Reverse
rotation start) is
turned on,
counting starts
from 0 and a
command
current position
Actual current
to the target
position will be
position will be
Roll feed displayed as
displayed.
display automatic
When a stop, a
operation start
point table
position is 0.
command
position for the
point table
method will be
displayed and 0
will be
continuously
displayed.
0 will be
Manual continuously
displayed.

_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
PD24 Function selection D-5 0002h PD34 Function selection D-5
Select the output status of the warning (WNG). ___x 0h
0 0 x 0: Alarm code output
Selection of output device at warning occurrence Select an output alarm codes.
Select the warning (WNG) and trouble (ALM) output When an alarm occurs, the alarm code is outputted to
status at warning occurrence. CN1-22, CN1-23, and CN1-24 pins.
0: Disabled
Setting Device status 1: Enabled
ON For details of the alarm codes, refer to "MR-J4-_A_-
WNG
OFF
ON RJ/MR-J4-03A-RJ Servo Amplifier Instruction Manual
0 ALM (Positioning mode)" chapter 8.
OFF
Warning occurrence When "1" is set for this digit, setting the following will
trigger [AL. 37 Parameter error].
ON "_ _ _ 1" is set in [Pr. PA03] and the absolute position
WNG
OFF
ON detection system by DIO is selected.
1 ALM
OFF MBR, DB, or ALM is assigned to the CN1-22 pin, CN1-
Warning occurrence 23 pin, or CN1-24 pin.
_ _ x _: 0h
Note. 0: OFF
Selection of output device at warning occurrence
1: ON
Select ALM (Malfunction) output status for when an
warning occurs.
Setting
value Device status

ON
WNG
OFF
0
ON
ALM
OFF
Warning occurrence

ON
WNG
OFF
1
ON
ALM
OFF
Warning occurrence

_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
Po02 MR-J3-D01 input signal device selection 2 (CN10-21, 26) 0302h Po02 MR-D01 input device selection 1
Any input signal can be assigned to the CN10-21, 26 pin. Any input device can be assigned to the CN10-21 pin and CN10-
_ _ x x: 26 pin.
Select the input device of the CN10-21 pin _ _ x x: 02h
x x _ _: CN10-21 selection
Select the input device of the CN10-26 pin Select an input signal function of the CN10-21 pin.
The devices that can be assigned are indicated in the Refer to table 6.14 for settings.
following table. This parameter setting is available with servo amplifiers
0 0: No assignment function with software version B7 or later.
0 2: Servo-on (SON) x x _ _: 03h
0 3: Reset (RES) CN10-26 selection
0 4: Proportion control (PC) Select an input signal function of the CN10-26 pin.
0 5: External torque limit selection (TL) Refer to table 6.14 for settings.
0 6: Clear (CR) This parameter setting is available with servo amplifiers
0 7: Forward rotation start (ST1) with software version B7 or later.
0 8: Reverse rotation start (ST2) Table 6.14 Selectable input devices
0 9: Internal torque limit selection (TL1) Setting Input device (Note) Setting Input device (Note)
0 A: Forward rotation stroke end (LSP) value CP/BCD value CP/BCD
0 B: Reverse rotation stroke end (LSN)
02 SON 27 TSTP
0 D: Gain changing (CDP)
03 RES 2B DOG
2 0: Automatic/manual selection (MD0)
04 PC 2C SPD1
2 4: Manual pulse generator multiplication 1 (TP0)
05 TL 2D SPD2
2 5: Manual pulse generator multiplication 2 (TP1)
06 CR 2E SPD3
2 6: Override selection (OVR)
07 ST1 2F SPD4
2 7: Temporary stop/restart (TSTP)
08 ST2 2F SPD4
2 B: Proximity dog (DOG)
2 F: Speed selection 4 (SP3) 09 TL1 38 DI0

Note. The other setting values than shown in this table 0A LSP 39 DI1
are for manufacturer setting. 0B LSN 3A DI2
0D CDP 3B DI3
20 MD0 3C DI4
23 TCH 3D DI5
24 TP0 3E DI6
25 TP1 3F DI7
26 OVR

Note. CP: Positioning mode (point table method)

BCD: Positioning mode (point table method in the BCD
input positioning operation)
The diagonal lines indicate manufacturer settings. Never
change the setting.
Po03 MR-J3-D01 input signal device selection 2 (CN10-27, 28) 0905h Po03 MR-D01 input device selection 2
Any input signal can be assigned to the CN10-27, 28 pin. Any input device can be assigned to the CN10-27 pin and CN10-
The devices that can be assigned and the setting method 28 pin.
are the same as in [Pr. Po02]. _ _ x x: 05h
_ _ x x: CN10-27 selection
Select the input device of the CN10-27 pin Select an input signal function of the CN10-27 pin.
x x _ _: Refer to table 6.14 in [Pr. Po02] for setting values.
Select the input device of the CN10-28 pin This parameter setting is available with servo amplifiers
with software version B7 or later.
x x _ _: 09h
CN10-28 selection
Select an input signal function of the CN10-28 pin.
Refer to table 6.14 in [Pr. Po02] for setting values.
This parameter setting is available with servo amplifiers
with software version B7 or later.

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
Po04 MR-J3-D01 input signal device selection 3 (CN10-29, 30) 2524h Po04 MR-D01 input device selection 3
Any input signal can be assigned to the CN10-29, 30 pin. Any input device can be assigned to the CN10-29 pin and CN10-
The devices that can be assigned and the setting method 30 pin.
are the same as in [Pr. Po02]. _ _ x x: 24h
_ _ x x: CN10-28 selection
Select the input device of the CN10-29 pin Select an input signal function of the CN10-28 pin.
Refer to table 6.14 in [Pr. Po02] for setting values.
x x _ _:
Select the input device of the CN10-30 pin This parameter setting is available with servo amplifiers
with software version B7 or later.
x x _ _: 25h
CN10-30 selection
Select an input signal function of the CN10-30 pin.
Refer to table 6.14 in [Pr. Po02] for setting values.
This parameter setting is available with servo amplifiers
with software version B7 or later.
Po05 MR-J3-D01 input signal device selection 4 (CN10-31, 32) 2026h Po05 MR-D01 input device selection 4
Any input signal can be assigned to the CN10-31, 32 pin. Any input device can be assigned to the CN10-31 pin and CN10-
The devices that can be assigned and the setting method 32 pin.
are the same as in [Pr. Po02]. _ _ x x: 26h
_ _ x x: CN10-31 selection
Select the input device of the CN10-31 pin Select an input signal function of the CN10-31 pin.
x x _ _: Refer to table 6.14 in [Pr. Po02] for setting values.
Select the input device of the CN10-32 pin This parameter setting is available with servo amplifiers
with software version B7 or later.
x x _ _: 20h
CN10-32 selection
Select an input signal function of the CN10-32 pin.
Refer to table 6.14 in [Pr. Po02] for setting values.
This parameter setting is available with servo amplifiers
with software version B7 or later.
Po06 MR-J3-D01 input signal device selection 5 (CN10-33, 34) 0427h Po06 MR-D01 input device selection 5
Any input signal can be assigned to the CN10-33, 34 pin. Any input device can be assigned to the CN10-33 pin and CN10-
The devices that can be assigned and the setting method 34 pin.
are the same as in [Pr. Po02]. _ _ x x: 27h
_ _ x x: CN10-33 selection
Select the input device of the CN10-33 pin Select an input signal function of the CN10-33 pin.
x x _ _: Refer to table 6.14 in [Pr. Po02] for setting values.
Select the input device of the CN10-34 pin This parameter setting is available with servo amplifiers
with software version B7 or later.
x x _ _: 04h
CN10-34 selection
Select an input signal function of the CN10-34 pin.
Refer to table 6.14 in [Pr. Po02] for setting values.
This parameter setting is available with servo amplifiers
with software version B7 or later.
Po07 MR-J3-D01 input signal device selection 6 (CN10-35, 36) 0807h Po07 MR-D01 input device selection 6
Any input signal can be assigned to the CN10-35, 36 pin. Any input device can be assigned to the CN10-35 pin and CN10-
The devices that can be assigned and the setting method 36 pin.
are the same as in [Pr. Po02]. _ _ x x: 07h
_ _ x x: CN10-35 selection
Select the input device of the CN10-35 pin Select an input signal function of the CN10-35 pin.
Refer to table 6.14 in [Pr. Po02] for setting values.
x x _ _:
This parameter setting is available with servo amplifiers
Select the input device of the CN10-36 pin
with software version B7 or later.
x x _ _: 08h
CN10-36 selection
Select an input signal function of the CN10-36 pin.
Refer to table 6.14 in [Pr. Po02] for setting values.
This parameter setting is available with servo amplifiers
with software version B7 or later.

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
Po08 MR-J3-D01 output signal device selection 1 (CN10-46, 2726h Po08 MR-D01 output device selection 1
47) Any output device can be assigned to the CN10-46 pin and CN10-
Any output signal can be assigned to the CN10-46, 47 47 pin.
pin. _ _ x x: 26h
_ _ x x: CN10-46 selection
Select the output device of the CN10-46 Select an output signal function of the CN10-46 pin.
x x _ _: Refer to table 6.15 for settings.
Select the output device of the CN10-47 This parameter setting is available with servo amplifiers
The devices that can be assigned are indicated in the with software version B7 or later.
following table. x x _ _: 27h
00: Always OFF CN10-47 selection
02: Ready (RD) Select an output signal function of the CN10-47 pin.
03: Trouble (ALM) Refer to table 7.15 for settings.
04: In position (INP) This parameter setting is available with servo amplifiers
05: Electromagnetic brake interlock (MBR) with software version B7 or later.
06: Dynamic brake interlock (DB) Table 6.15 Selectable output devices
07: Limiting torque (TLC)
Output device Output device
08: Warning (WNG) Setting Setting
(Note) (Note)
09: Battery warning (BWNG) value value
CP/BCD CP/BCD
0A: Speed command reached (SA)
00 Always off 24 ZP
0C: Zero speed (ZSP)
02 RD 25 POT
0F: Variable gain selection (CDPS)
03 ALM 26 PUS
23: Rough match (CPO)
04 INP 27 MEND
24: Home position return completion (ZP) 05 MBR 2C PED
25: Position range (POT9 06 DB 31 ALMWNG
26: Temporary stop (PUS) 07 TLC 32 BW9F
27: Movement finish (MEND) 08 WNG 38 PT0
38: Point table No. output 1 (PT0) 09 BWNG 39 PT1
39: Point table No. output 2 (PT1) 0A SA 3A PT2
3A: Point table No. output 3 (PT2) 0B Always off 3B PT3
3B: Point table No. output 4 (PT3) 0C ZSP 3C PT4
3C: Point table No. output 5 (PT4) 0F CDPS 3D PT5
3D: Point table No. output 6 (PT5) 10 CDLS 3E PT6
3E: Point table No. output 7 (PT6) 11 ABSV 3F PT7
3F: Point table No. output 8 (PT7) 23 CPO
Note. The other setting values than shown in this table Note. CP: Positioning mode (point table method)
are for manufacturer setting. BCD: Positioning mode (point table method in the BCD
input positioning operation)
The diagonal lines indicate manufacturer settings. Never
change the setting.
Po09 MR-J3-D01 output signal device selection 1 (CN10-48, 0423h Po09 MR-D01 output device selection 2
49) Any output device can be assigned to the CN10-48 pin and CN10-
Any output signal can be assigned to the CN10-48, 49 49 pin.
pin. _ _ x x: 23h
The devices that can be assigned and the setting method CN10-48 selection
are the same as in [Pr. Po08]. Select an output signal function of the CN10-48 pin.
_ _ x x: Refer to table 6.15 in [Pr. Po08] for settings.
Select the output device of the CN10-48 This parameter setting is available with servo amplifiers
x x _ _: with software version B7 or later.
Select the output device of the CN10-49
x x _ _: 04h
CN10-49 selection
Select an output signal function of the CN10-49 pin.
Refer to table 6.15 in [Pr. Po08] for settings.
This parameter setting is available with servo amplifiers
with software version B7 or later.

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
Po10 Function selection O-1 2101h Po10 Function selection O-1
Select the positioning operation by point table selection Always set this parameter when using MR-D01.
and BCD input. Set the MR-D01 input device selection, select whether to enable or
_ _ 0 x: disable position data input signs, and set a data establishment
condition.
Setting value
_ _ _ x: 1h
CN10 0 1 2
pin No. MR-D01 DI0 to DI14 input signal device selection
Devices not Point table BCD input
assigned used used 0: Disabled
1 DI0 POS00 1: Point table: 255 points
2 DI1 POS01 2: BCD 3 digits × 2 inputs
3 DI2 POS02 This parameter setting is available with servo amplifiers
with software version B7 or later.
4 DI3 POS03
_ _ x _: 0h
5 DI4 POS10
For manufacturer setting
6 DI5 POS11
_ x _ _: 0h
7 DI6 POS12
MR-D01 position data input sign +/-
8 DI7 POS13
0: Disabled
9 POS20
1: Enabled
10 POS21
This parameter setting is available with servo amplifiers
11 POS22
with software version B7 or later.
12 POS23
x _ _ _: 2h
15 POSP
MR-D01 data establishment condition
16 POSN
0: Strobe signal enabled (when the PLC is used)
17 STRB (Note)
2: 3.55 ms data matching time (Strobe signal disabled)
18 SP0
This parameter setting is available with servo amplifiers
19 SP1
with software version B7 or later.
20 SP2

Note. When using the strobe input (STRB), set the fourth
digit of this parameter in "0 _ _ _".
_ x 0_:
Symbol (+/-)of the positioning data in the BCD positioning
0: Disabled
+/- symbol is not used.
1: Enabled
+/- symbol is used.
x _ 0 _:
Strobe signal
0: Enabled
For the BCD input by the programmable controller
2: Disabled
For the point table or MR-DS60 digital switch
Po12 Function selection O-3 0000h Po12 Function selection O-3
Set the output of the alarm code and M code. Select an alarm code output setting and an M code output setting.
0 0 _ x: _ _ _ x: 0h
Alarm code output MR-D01 alarm code output
0: Disabled 0: Disabled
Alarm code is not output. 1: Enabled
1: Enabled Selecting "1" in this digit will output an alarm code when
Alarm code is output at alarm occurrence. an alarm occurs.
0 0 x _: This parameter setting is available with servo amplifiers
M code output with software version B7 or later.
0: Disabled _ _ x _: 0h
M code is not output. M code output selection
1: Enabled 0: Disabled
M code is output after execution of point table. 1: Enabled
Selecting "1" in this digit will enable you to check outputs
according to M codes (0 to 99) set with point tables by
using output devices of the communication function.
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
Po13 MR-J3-D01 analog monitor 1 output 0000h Po13 MR-D01 analog monitor 1 output selection
Used to selection the signal provided to the analog Set a signal to output to Analog monitor 1.
monitor 1 _ _ x x: 00h
0 0 0 x: Analog monitor 1 output selection
Analog monitor 1 (MO1) output selection Refer to table 6.16 for settings.
0: Servo motor speed (±8 V/max. speed) This parameter setting is available with servo amplifiers
1: Torque (±8 V/max. torque) with software version B7 or later.
2: Servo motor speed (+8 V/max. speed) _ x _ _:
3: Torque (+8 V/max. torque) For manufacturer setting
4: Current command (+8 V/max. current command) x _ _ _:
5: Speed command (+8 V/max. speed) For manufacturer setting
6: Droop pulses (±10 V/100 pulses) Table 6.16 Analog monitor setting value
7: Droop pulses (±10 V/1000 pulses)
Setting
8: Droop pulses (±10 V/10000 pulses) Item
value
9: Droop pulses (±10 V/100000 pulses)
A: Feedback position (±10 V/1 Mpulse) __00 servo motor speed (±8 V/max. speed)
B: Feedback position (±10 V/10 Mpulses) __01 Torque (±8 V/max. torque) (Note 2)
C: Feedback position (±10 V/100 Mpulses) __02 servo motor speed (+8 V/max. speed)
D: Bus voltage (+8 V/400 V)
__03 Torque (+8 V/max. torque) (Note 2)
__04 Current command (±8 V/max. current command)
__05 Command pulse frequency (±10 V/±4 Mpulses/s)
__06 Servo motor-side droop pulses (±10 V/100 pulses)
(Note 1)
__07 Servo motor-side droop pulses (±10 V/1000
pulses) (Note 1)
__08 Servo motor-side droop pulses (±10 V/10000
pulses) (Note 1)
__09 Servo motor-side droop pulses (±10 V/100000
pulses) (Note 1)
__0A Feedback position (±10 V/1 Mpulses) (Note 1)
__0B Feedback position (±10 V/10 Mpulses) (Note 1)
__0C Feedback position (±10 V/100 Mpulses) (Note 1)
__0D Bus voltage (200 V class and 100 V class: +8
V/400 V, 400 V class: +8 V/800 V)

Note 1. Encoder pulse unit

2. 8 V is outputted at the maximum torque. However, when
[Pr. PA11] and [Pr. PA12] are set to limit torque, 8 V is
output at the torque highly limited.
Po14 MR-J3-D01 analog monitor 2 output 0001h Po14 MR-D01 analog monitor 2 output selection
Used to selection the signal provided to the analog Set a signal to output to Analog monitor 2.
monitor 2 (MO2) output. _ _ x x: 00h
0 0 0 x: Analog monitor 2 output selection
Select the analog monitor 2 (MO2) output Select a signal to output to MO2 (Analog monitor 2).
The settings are the same as those of [Pr. Po13]. Refer to [Pr. Po13] for settings.
This parameter setting is available with servo amplifiers
with software version B7 or later.
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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MR-J3-_T_ MR-J4-_A_-RJ
Initial Initial
No. Name and function No. Name and function
value value
Po15 MR-J3-D01 analog monitor 1 offset 0 Po15 MR-D01 analog monitor 1 offset 0
Used to set the offset voltage of the analog monitor This is used to set the offset voltage of MO1 (Analog
(MO1). monitor 1).
This parameter setting is available with servo amplifiers
with software version B7 or later.

Setting range: -9999 to 9999

Po16 MR-J3-D01 analog monitor 2 offset 0 Po16 MR-D01 analog monitor 2 offset 0
Used to set the offset voltage of the analog monitor This is used to set the offset voltage of MO2 (Analog
(MO2). monitor 2).
This parameter setting is available with servo amplifiers
with software version B7 or later.

Setting range: -9999 to 9999

Po21 MR-J3-D01 override offset 0 Po21 MR-D01 override offset 0
Used to set the offset voltage of the override (VC). This is used to set the offset voltage of the override.
This parameter setting is available with servo amplifiers
with software version B7 or later.

Setting range: -9999 to 9999

Po22 MR-J3-D01 analog torque limit offset 0 Po22 MR-D01 Analog torque limit offset 0
Used to set the offset voltage of the analog torque limit This is used to set the offset voltage of the analog torque
(TLA). limit.
This parameter setting is available with servo amplifiers
with software version B7 or later.

Setting range: -9999 to 9999

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3.7 Important Points for Replacement

1. SUMMARY

This section describes the precautions for setting parameters for the replacement of MR-J3-_T_ with MR-J4-
_A_-RJ. For details on the parameters of MR-J3-_T_, refer to "MR-J3-_T_/MR-J3-D01 Servo Amplifier
Instruction Manual".

2. Precautions

We recommend that you use the parameter converter function (supported from version 1.12N or later) of MR
Configurator2 for the replacement of MR-J3-_T_ with MR-J4-_A_-RJ. The following describes the
parameters that are easily missed when the parameter setting is manually changed.

(1) [Pr. PC16 Electromagnetic brake sequence output]

MR-J3-_T_ and MR-J4-_A_-RJ have different initial values for [Pr.PC16] (MR-J3-_T_: 100 ms, MR-J4-
_A_-RJ:0 ms). When MBR (Electromagnetic brake interlock) is assigned for [Pr. PD23] to [Pr. PD26] and
[Pr. PD28], refer to the "MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ) Servo Amplifier Instruction Manual" and then
set [Pr.PC16].
No./symbol/ Setting Initial
Function Value
name digit
[unit]
PC16 Set the delay time between MBR (Electromagnetic brake interlock) and the 0
MBR base drive circuit is shut-off. [ms]
Electromagnetic
brake sequence Setting range: 0 to 1000
output

(2) Speed command input unit selection (_ _ x _) of [Pr. PC29 Function selection C-8]
The parameter number and digit are different between MR-J3-_T_ and MR-J4-_A_-RJ.
No./symbol/ Setting Initial
Function Value
name digit
[unit]
PC29 ___x For manufacturer setting 0h
*COP8
Function selection
C-8
__x_ Speed command input unit selection 0h
Select the setting units of [Pr. PC05] to [Pr. PC11], [Pr. PT05], [Pr. PT06], and [Pr.
PT13].
Setting MR-J3-_T_ MR-J4-_A_-RJ
value [Pr. PA05]: "_ x_ _" [Pr. PC29]: "_ _ x _"
0 1 r/min Unit 1 r/min Unit
1 0.1 r/min Unit 0.1 r/min Unit

Setting "1" will display "servo motor speed" in units of 0.1 r/min.
_x__ For manufacturer setting 0h
x___ For manufacturer setting 0h

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(3) Input signal filter selection (_ _ _ x) of [Pr. PD29 Input filter setting]
MR-J3-_T_ and MR-J4-_A_-RJ have different initial values for the input signal filter selection.
Initial
No./symbol/ Setting
Function value
name digit
[unit]
PD29 Select a filter for the input signal.
*DIF ___x Input signal filter selection 4h
Input filter setting If external input signal causes chattering due to noise, etc., input filter is used to
suppress it.

Setting MR-J3-_T_ MR-J4-_A_-RJ

value [Pr. PD19] [Pr. PD29]
0 None None
1 0.888 [ms] 0.888 [ms]
2 1.777 [ms] (Initial value) 1.777 [ms]
3 2.666 [ms] 2.666 [ms]
4 3.555 [ms] 3.555 [ms] (Initial value)
5 4.444 [ms] 4.444 [ms]
6 5.333 [ms]

__x_ RES (Reset) dedicated filter selection 0h

0: Disabled
1: Enabled (50 [ms])
This digit is not available with MR-J3-_T_.
_x__ CR (Clear) dedicated filter selection 0h
0: Disabled
1: Enabled (50 [ms])
This digit is not available with MR-J3-_T_.
x___ For manufacturer setting 0h

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(4) Base circuit status selection for RES (Reset) on (_ _ x _) of [Pr. PD30 Function selection D-1]
MR-J3-_T_ and MR-J4-_A_-RJ have different initial values for base circuit status selection for RES
(Reset) on.
Initial
No./symbol/ Setting
Function value
name digit
[unit]
PD30 ___x Stop method selection for LSP (Forward rotation stroke end) off or LSN (Reverse 0h
*DOP1 rotation stroke end) off
Function selection Select a stop method for LSP (Forward rotation stroke end) off or LSN (Reverse
D-1 rotation stroke end) off.

Setting MR-J3-_T_ MR-J4-_A_-RJ

value [Pr. PD20] [Pr. PD30]
Quick stop (home position Quick stop (home position
0
erased) (Initial value) erased) (Initial value)
Slow stop (home position Slow stop (home position
1
erased) erased)
Slow stop (deceleration to a Slow stop (deceleration to a
2 stop by stop by
deceleration time constant) deceleration time constant)
Quick stop (stop by clearing Quick stop (stop by clearing
3
remaining distance) remaining distance)

__x_ Base circuit status selection for RES (Reset) on 0h

Setting MR-J3-_T_ MR-J4-_A_-RJ

value [Pr. PD20] [Pr. PD30]
Base circuit shut-off
0 Base circuit shut-off
(Initial value)
No base circuit shut-off No base circuit shut-off
1
(Initial value)

_x__ Stop method selection at software limit detection 0h

Setting MR-J3-_T_ MR-J4-_A_-RJ

value [Pr. PD20] [Pr. PD30]
0 Quick stop (home position Quick stop (home position
erased) (Initial value) erased) (Initial value)
1 Slow stop (home position Slow stop (home position
erased) erased)
2 Slow stop (deceleration to a Slow stop (deceleration to a
stop by deceleration time stop by deceleration time
constant) constant)
3 Quick stop (stop by clearing Quick stop (stop by clearing
remaining distance) remaining distance)

x___ Enabled/disabled selection for a thermistor of servo motor 0h

Setting MR-J3-_T_ MR-J4-_A_-RJ

value [Pr. PD20] [Pr. PD30]
0 Fixed to 0 Enabled
1 Fixed to 0 Disabled

This digit is not available with MR-J3-_T_.

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4. COMMUNICATION FUNCTION

You can operate servo driving, parameter change, monitor function, etc. using RS-422 communicatio with
the servo amplifier.

4.1 Command and data No. list

POINT
Even if a command or data No. is the same between different model servo
amplifiers, its description may differ.

4.1.1 Reading command comparison between MR-J3-_T_ and MR-J4-_A_-RJ ([Pr. PT01]: "1_ _ _")

POINT
When [Pr. PT01] is set to "1_ _ _", MR Configurator2 is not available using USB
communication.

The functions added to the MR-J4-_A_-RJ series are not listed. Refer to the "MR-J4-_A_-RJ/MRJ4-03A6-RJ
Servo Amplifier Instruction Manual (Positioning mode)" for details.

(1) Status display (Command [0] [1])

MR-J4-_A_-RJ
MR-J3-_T_
[Pr. PT01]: "1_ _ _"
Command Data No. Description
Frame Frame
Status display length Status display length
[0] [1] [0] [0] Status display symbol and unit Current position 16 Current position 16
[0] [1] Command position Command position
[0] [2] Command remaining distance Command remaining distance
[0] [3] Point table No. Point table No.
[0] [4] Cumulative feedback pulses Cumulative feedback pulses
[0] [5] Servo motor speed Servo motor speed
[0] [6] Droop pulses Droop pulses
[0] [7] Analog override voltage Analog override voltage
[0] [8] Override level Override level
[0] [9] Analog torque limit voltage Analog torque limit voltage
[0] [A] Regenerative load ratio Regenerative load ratio
[0] [B] Effective load ratio Effective load ratio
[0] [C] Peak load ratio Peak load ratio
[0] [D] Instantaneous torque Instantaneous torque
[0] [E] Position within onerevolution Position within onerevolution
[0] [F] ABS counter ABS counter
[1] [0] Load to motor inertia ratio Load to motor inertia ratio
[1] [1] Bus voltage Bus voltage
[8] [0] Status display data value and Current position 12 Current position 12
[8] [1] processing information Command position Command position
[8] [2] Command remaining distance Command remaining distance
[8] [3] Point table No. Point table No.
[8] [4] Cumulative feedback pulses Cumulative feedback pulses
[8] [5] Servo motor speed Servo motor speed
[8] [6] Droop pulses Droop pulses
[8] [7] Analog override voltage Analog override voltage
[8] [8] Override level Override level
[8] [9] Analog torque limit voltage Analog torque limit voltage
[8] [A] Regenerative load ratio Regenerative load ratio
[8] [B] Effective load ratio Effective load ratio

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MR-J4-_A_-RJ
MR-J3-_T_
[Pr. PT01]: "1_ _ _"
Command Data No. Description
Frame Frame
Status display Status display
length length
Status display data value and 12 12
[0] [1] [8] [C] Peak load ratio Peak load ratio
processing information
[8] [D] Instantaneous torque Instantaneous torque
[8] [E] Position within onerevolution Position within onerevolution
[8] [F] ABS counter ABS counter
[9] [0] Load to motor inertia ratio Load to motor inertia ratio
[9] [1] Bus voltage Bus voltage

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(2) Parameters (Command [0] [4]/[0] [5]/[0] [6]/[0] [7]/[0] [8]/[0] [9])
MR-J4-_A_-RJ
MR-J3-_T_
[Pr. PT01]: "1_ _ _"
Command Data No.
Frame Frame
Description length Description length
[0] [4] [0] [1] Parameter group read 4 Parameter group read 4
0000: Basic setting parameter ([Pr. PA_ _ ]) 0000: Basic setting parameter ([Pr. PA_ _ ])
0001: Gain filter parameter ([Pr. PB_ _ ]) 0001: Gain filter parameter ([Pr. PB_ _ ])
0002: Extension setting parameter ([Pr. PC_ _) 0002: Extension setting parameter ([Pr. PC_ _)
0003: I/O setting parameter ([Pr. PD_ _) 0003: I/O setting parameter ([Pr. PD_ _)
0009: Option setting parameter ([Pr. Po_ _) 0005: Extension setting 3 parameter
([Pr. PF_ _ ])
0009: Option setting parameter ([Pr. Po_ _])
000C: Positioning control parameter ([Pr. PT_ _ ])
Reads the parameter group specified with the
command [8] [5] + data No. [0] [0]. Before reading
the current values, therefore, always specify the
parameter group with the command [8] [5] + data
No. [0] [0].
[0] [5] [0] [1] Current values of parameters 8 Current value of each parameter 12
(Note 1) to The decimal equivalent of the data No. value The decimal equivalent of the data No.
[F] [F] (hexadecimal) corresponds to the parameter (hexadecimal) value corresponds to the
number. parameter No.
Reads the current values of the parameters in the Reads the current values of the parameters in the
parameter group specified with the command [8] parameter group specified with the command [8]
[5] + data No. [0] [0]. Before reading the current [5] + data No. [0] [0]. Before reading the current
values, therefore, always specify the parameter values, therefore, always specify the parameter
group with the command [8] [5] + data No. [0] [0]. group with the command [8] [5] + data No. [0] [0].
[0] [6] [0] [1] Upper limit values of parameter setting ranges 8 Upper limit value of each parameter setting range 12
(Note 2) to The decimal equivalent of the data No. value The decimal equivalent of the data No.
[F] [F] (hexadecimal) corresponds to the parameter (hexadecimal) value corresponds to the
number. parameter No.
Reads the permissible upper limit values of the Reads the permissible upper limit values of the
parameters in the parameter group specified with parameters in the parameter group specified with
the command [8] [5] + data No. [0] [0]. Before the command [8] [5] + data No. [0] [0]. Before
reading the upper limit values, therefore, always reading the upper limit values, therefore, always
specify the parameter group with the command [8] specify the parameter group with the command [8]
[5] + data No. [0] [0]. [5] + data No. [0] [0].
[0] [7] [0] [1] Lower limit values of parameter setting range 8 Lower limit value of each parameter setting range 12
(Note 3) to The decimal equivalent of the data No. value The decimal equivalent of the data No.
[F] [F] (hexadecimal) corresponds to the parameter (hexadecimal) value corresponds to the
number. parameter No.
Reads the permissible lower limit values of the Reads the permissible lower limit values of the
parameters in the parameter group specified with parameters in the parameter group specified with
the command [8] [5] + data No. [0] [0]. Before the command [8] [5] + data No. [0] [0]. Before
reading the lower limit values, therefore, always reading the lower limit values, therefore, always
specify the parameter group with the command [8] specify the parameter group with the command [8]
[5] + data No. [0] [0]. [5] + data No. [0] [0].
[0] [8] [0] [1] Abbreviations of parameters 12 Each parameter symbol 12
to The decimal equivalent of the data No. value The decimal equivalent of the data No.
[F] [F] (hexadecimal) corresponds to the parameter (hexadecimal) value corresponds to the
number. parameter No.
Reads the abbreviations of the parameters in the Reads the symbols of the parameters in the
parameter group specified with the command [8] parameter group specified with the command [8]
[5] + data No. [0] [0]. Before reading the [5] + data No. [0] [0]. Before reading the symbols,
abbreviations, therefore, always specify the therefore, always specify the parameter group
parameter group with the command [8] [5] + data with the command [8] [5] + data No. [0] [0].
No. [0] [0].
[0] [9] [0] [1] Write enable/disable of parameters 4 Writing enable/disable of parameters 4
to 0000: Write enabled 0000: Writing enabled
[F] [F] 0001: Write disabled 0001: Writing disabled
Reads write enable/disable of the parameters in Reads writing enable/disable of the parameters in
the parameter group specified with the command the parameter group specified with the command
[8] [5] + data No. [0] [0]. Before reading write [8] [5] + data No. [0] [0]. Before reading writing
enable/disable, therefore, always specify the enable/disable, therefore, always specify the
parameter group with the command [8] [5] + data parameter group with the command [8] [5] + data
No. [0] [0]. No. [0] [0].

Note 1. For MR-J4_A_-RJ, the command is [1] [5].

2. For MR-J4_A_-RJ, the command is [1] [6].
3. For MR-J4_A_-RJ, the command is [1] [7].

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(3) External I/O signals (Command [1] [2])

MR-J4-_A_-RJ
MR-J3-_T_
[Pr. PT01]: "1_ _ _"
Command Data No.
Frame Frame
Description length Description length
[1] [2] [0] [0] 8 8
[0] [1] Input device status Input device status
[0] [2]
[4] [0] External input pin status External input pin status
[4] [1]
[6] [0]
[6] [1] Status of input device turned on by Status of input device turned on by
communication communication
[6] [2]
[8] [0]
[8] [1] Output device status Output device status
[8] [2]
[8] [3]
[C] [0] External output pin status External output pin status
[C] [1]

(4) Alarm history (Command [3] [3])

MR-J4-_A_-RJ
MR-J3-_T_
[Pr. PT01]: "1_ _ _"
Command Data No. Description
Frame Frame
Alarm occurrence sequence length Alarm occurrence sequence length
[3] [3] [1] [0] Alarm No. in alarm history Most recent alarm 4 Most recent alarm 4
[1] [1] First alarm in past First alarm in past
[1] [2] Second alarm in past Second alarm in past
[1] [3] Third alarm in past Third alarm in past
[1] [4] Fourth alarm in past Fourth alarm in past
[1] [5] Fifth alarm in past Fifth alarm in past
[2] [0] Alarm occurrence time in alarm history Most recent alarm 8 Most recent alarm 8
[2] [1] First alarm in past First alarm in past
[2] [2] Second alarm in past Second alarm in past
[2] [3] Third alarm in past Third alarm in past
[2] [4] Fourth alarm in past Fourth alarm in past
[2] [5] Fifth alarm in past Fifth alarm in past

(5) Current alarm (Command [0] [2])

MR-J4-_A_-RJ
MR-J3-_T_
[Pr. PT01]: "1_ _ _"
Command Data No.
Frame Frame
Description length Description length
[0] [2] [0] [0] Current alarm No. 4 Current alarm No. 4

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(6) Status display at alarm occurrence (Command [3] [5])

MR-J4-_A_-RJ
MR-J3-_T_
[Pr. PT01]: "1_ _ _"
Command Data No. Description
Frame Frame
Alarm occurrence sequence length Alarm occurrence sequence length
[3] [5] [8] [0] Status display data value and Current position 12 Current position 12
processing information
[8] [1] Command position Command position
[8] [2] Command remaining distance Command remaining distance
[8] [3] Point table No. Point table No.
[8] [4] Cumulative feedback pulses Cumulative feedback pulses
[8] [5] Servo motor speed Servo motor speed
[8] [6] Droop pulses Droop pulses
[8] [7] Analog override voltage Analog override voltage
[8] [8] Override level Override level
[8] [9] Analog torque limit voltage Analog torque limit voltage
[8] [A] Regenerative load ratio Regenerative load ratio
[8] [B] Effective load ratio Effective load ratio
[8] [C] Peak load ratio Peak load ratio
[8] [D] Instantaneous torque Instantaneous torque
[8] [E] Position within onerevolution Position within onerevolution
[8] [F] ABS counter ABS counter
[9] [0] Load to motor inertia ratio Load to motor inertia ratio
[9] [1] Bus voltage Bus voltage

(7) Point table (Command [4] [0]/[5] [0]/[5] [4]/[5] [8]/[6] [0]/[6] [4]/[4] [5])
The decimal equivalent of the data No. (hexadecimal) value corresponds to the parameter No.
MR-J4-_A_-RJ
MR-J3-_T_
[Pr. PT01]: "1_ _ _"
Command Data No.
Frame Frame
Description length Description length
[4] [0] [0] [1] Reading position data of each point table 8 Reading position data of each point table 8
to
[F] [F]
[5] [0] [0] [1] Reading speed data of each point table 8 Reading speed data of each point table 8
to
[F] [F]
[5] [4] [0] [1] Reading acceleration time constant of each point 8 Reading acceleration time constant of each point 8
to table table
[F] [F]
[5] [8] [0] [1] Reading deceleration time constant of each point 8 Reading deceleration time constant of each point 8
to table table
[F] [F]
[6] [0] [0] [1] Reading dwell of each point table 8 Reading dwell of each point table 8
to
[F] [F]
[6] [4] [0] [1] Reading auxiliary function of each point table 8 Reading auxiliary function of each point table 8
to
[F] [F]
[4] [5] [0] [1] Reading M code of each point table 8 Reading M code of each point table 8
to
[F] [F]

(8) Group setting (Command [1] [F])

MR-J4-_A_-RJ
MR-J3-_T_
[Pr. PT01]: "1_ _ _"
Command Data No.
Frame Frame
Description length Description length
[1] [F] [0] [0] Reading of group setting value 4 Reading of group setting value 4

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(9) Others (Command [0] [0]/[0] [2])

MR-J4-_A_-RJ
MR-J3-_T_
[Pr. PT01]: "1_ _ _"
Command Data No.
Frame Frame
Description length Description length
[0] [0] [1] [2] Reading test operation mode 4 Reading test operation mode 4
0000: Normal mode (not test operation mode) 0000: Normal mode (not test operation mode)
0001: JOG operation 0001: JOG operation
0002: Positioning operation 0002: Positioning operation
0003: Motorless operation 0004: Output signal (DO) forced output
0004: Output signal (DO) forced output 0005: Single-step feed opera
0005: Single-step feed opera
[0] [2] [9] [0] Servo motor-side pulse unit absolute position 8 Servo motor-side pulse unit absolute position 8
[9] [1] Command unit absolute position 8 Command unit absolute position 8
[7] [0] Software version 16 Software version 16

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4.1.2 Writing command comparison between MR-J3-_T_ and MR-J4-_A_-RJ ([Pr. PT01]: "1_ _ _")

(1) Status display (Command [8] [1])

MR-J4-_A_-RJ
MR-J3-_T_
[Pr. PT01]: "1_ _ _"
Command Data No.
Setting Frame Setting Frame
Description range length Description range length
[8] [1] [0] [0] Status display data deletion 1EA5 4 Status display data deletion 1EA5 4

(2) Parameter (Command [8] [4]/[8] [5])

MR-J4-_A_-RJ
MR-J3-_T_
[Pr. PT01]: "1_ _ _"
Command Data No.
Setting Frame Setting Frame
Description range length Description range length
[8] [4] [0] [1] Write of parameters Depen- 8 Writing each parameter Depen- 12
(Note) to Writes the values of the parameters in ding on Writes the values of the parameters in ding on
[F] [F] the parameter the the parameter group specified with the the
group specified with the command param- command [8] [5] + data No. [0] [0]. param-
[8] [5] + data No. [0] [0]. Before writing eter Before writing the values, therefore, eter
the values, therefore, always specify always specify the parameter group
the parameter group with the with the command [8] [5] + data No.
command [8] [5] + data No. [0] [0]. [0] [0].
The decimal equivalent of the data The decimal equivalent of the data No.
No. value (hexadecimal) corresponds (hexadecimal) value corresponds to
to the parameter number. the parameter No.
[8] [5] [0] [0] Parameter group writing 0000 to 4 Parameter group writing 0000 to 4
0000: Basic setting parameters 0003， 0000: Basic setting parameters 000C
([Pr. PA_ _ ]) 0009 ([Pr. PA_ _ ])
0001: Gain/filter parameters 0001: Gain/filter parameters
([Pr. PB_ _ ]) ([Pr. PB_ _ ])
0002: Extension setting parameters 0002: Extension setting parameters
([Pr. PC_ _ ]) ([Pr. PC_ _ ])
0003: I/O setting parameters 0003: I/O setting parameters
([Pr. PD_ _ ]) ([Pr. PD_ _ ])
0009: Option setting parameters 0004: Extension setting 2 parameters
([Pr. Po_ _ ]) ([Pr. PE_ _ ])
0005: Extension setting 3 parameters
([Pr. PF_ _ ])
0009: Option setting parameters
([Pr. Po_ _ ])
000C: Positioning control parameters
([Pr. PT_ _ ])

Note. For MR-J4_A_-RJ, the command is [9] [4].

(3) External I/O signals (Command [9] [2])

MR-J4-_A_-RJ
MR-J3-_T_
[Pr. PT01]: "1_ _ _"
Command Data No.
Setting Frame Setting Frame
Description range length Description range length
[9] [2] [6] [0] Communication input device signal (Note) 8 Communication input device signal (Note) 8
[6] [1]
[6] [2]

Note. Differs according to the signal. Refer to each servo amplifier instruction manual for details.

(4) Alarm history (Command [8] [2])

MR-J4-_A_-RJ
MR-J3-_T_
[Pr. PT01]: "1_ _ _"
Command Data No.
Setting Frame Setting Frame
Description range length Description range length
[8] [2] [2] [0] Alarm history clear 1EA5 4 Alarm history clear 1EA5 4

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(5) Current alarm (Command [8] [2])

MR-J4-_A_-RJ
MR-J3-_T_
[Pr. PT01]: "1_ _ _"
Command Data No.
Setting Frame Setting Frame
Description range length Description range length
[8] [2] [0] [0] Alarm clear 1EA5 4 Alarm clear 1EA5 4

(6) Point table (Command [C] [0]/[C] [6]/[C] [7]/[C] [8]/[C] [A]/[C] [B]/[C] [2])
The decimal equivalent of the data No. (hexadecimal) value corresponds to the parameter No.
MR-J4-_A_-RJ
MR-J3-_T_
[Pr. PT01]: "1_ _ _"
Command Data No.
Frame Frame
Description length Description length
[4] [0] [0] [1] Reading position data of each point table 8 Reading position data of each point table 8
to
[F] [F]
[5] [0] [0] [1] Reading speed data of each point table 8 Reading speed data of each point table 8
to
[F] [F]
[5] [4] [0] [1] Reading acceleration time constant of each point 8 Reading acceleration time constant of each 8
to table point table
[F] [F]
[5] [8] [0] [1] Reading deceleration time constant of each point 8 Reading deceleration time constant of each 8
to table point table
[F] [F]
[6] [0] [0] [1] Reading dwell of each point table 8 Reading dwell of each point table 8
to
[F] [F]
[6] [4] [0] [1] Reading auxiliary function of each point table 8 Reading auxiliary function of each point table 8
to
[F] [F]
[4] [5] [0] [1] Reading M code of each point table 8 Reading M code of each point table 8
to
[F] [F]

(7) I/O device prohibition (Command [9] [0])

MR-J4-_A_-RJ
MR-J3-_T_
[Pr. PT01]: "1_ _ _"
Command Data No.
Setting Frame Setting Frame
Description range length Description range length
[9] [0] [0] [0] Turns off the input devices with the 1EA5 4 Turns off the input device, external 1EA5 4
exception of EMG, LSP and LSN, analog input signal, and pulse train
independently of the external ON/OFF input, except EM2, LSP and LSN,
statuses. independently of the external on/off
statuses.
[0] [3] Disables all output devices (DO). 1EA5 4 Prohibits all output devices (DO). 1EA5 4
[1] [0] Enables the disabled input devices with 1EA5 4 Cancels the prohibition of the input 1EA5 4
the exception of EMG, LSP and LSN. device, external analog input signal and
pulse train input, except EM2, LSP and
LSN.
[1] [3] Enables the disabled output devices 1EA5 4 Cancels the prohibition of the output 1EA5 4
(DO). device.

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(8) Operation mode selection (Command [8] [B])

MR-J4-_A_-RJ
MR-J3-_T_
[Pr. PT01]: "1_ _ _"
Command Data No.
Setting Frame Setting Frame
Description range length Description range length
[8] [B] [0] [0] Operation mode switching 0000 to 4 Selection of test operation mode 0000 to 4
0000: Test operation mode cancel 0005 0000: Test operation mode cancel 0002,
0001: JOG operation 0001: JOG operation 0004,
0002: Positioning operation 0002: Positioning operation 0005
0003: Motorless operation 0004: Output signal (DO) forced output
0004: Output signal (DO) forced output 0005: Single-step feed operation
0005: Single-step feed

(9) Test operation mode data (Command [9] [2]/[A] [0])

MR-J4-_A_-RJ
MR-J3-_T_
[Pr. PT01]: "1_ _ _"
Command Data No.
Setting Frame Setting Frame
Description range length Description range length
[9] [2] [0] [0] Input signal for test operation (Note 1) 8 Input signal for test operation (Note 2) 8
[0] [1]
[0] [2]
[A] [0] Forced output of signal pin 8 Forced output of signal pin 8
[A] [0] [1] [0] Writes the servo motor speed in the 0000 4 Writes the 0000 4
test operation mode (JOG to acceleration/deceleration time to
operation and positioning 7FFF constant in the test operation mode 7FFF
operation). (JOG operation and positioning
operation).
[1 ][1] Writes the 8 Writes the 00000000 8
acceleration/deceleration time 00000000 acceleration/deceleration time to
constant in the test operation mode to constant in the test operation mode 7FFFFFFF
(JOG operation and positioning 7FFFFFFF (JOG operation and positioning
operation). operation).
[2] [0] Set the travel distance of the test 00000000 8 Set the travel distance of the test 00000000 8
operation mode (positioning to operation mode (positioning to
operation). 7FFFFFFF operation). 7FFFFFFF
[2] [1] Select the positioning direction of 0000 4 Select the positioning direction of 0000 4
the test operation (positioning to the test operation (positioning to
operation). 0101 operation). 0101

0 0 0 0

0: Forward rotation direction 0: Forward rotation direction

1: Reverse rotation direction 1: Reverse rotation direction

0: Command pulse unit 0: Command pulse unit

1: Encoder pulse unit 1: Encoder pulse unit

[4] [0] This is a start command of the test 1EA5 4 This is a start command of the test 1EA5 4
operation (positioning operation). operation (positioning operation).
[4] [1] This is used to make a temporary STOP 4 This is used to make a temporary STOP 4
stop during test operation GO stop during test operation GO
(positioning operation). " " in the CLR (positioning operation). " " in the CLR
data indicates a blank. data indicates a blank.
STOP: Temporary stop STOP: Temporary stop
GO : Restart for remaining GO : Restart for remaining
distance distance
CLR: Remaining distance clear CLR : Remaining distance clear

Note 1. Refer to section 14.5.7 of "MR-J3-_T/MR-J3-D01 Servo Amplifier Instruction Manual".

2. Refer to section 14.5.7 of "MR-J4-_A_(-RJ)/MR-J4-03A6(-RJ) Servo Amplifier Instruction Manual".

(10) Group setting ([9] [F])

MR-J4-_A_-RJ
MR-J3-_T_
[Pr. PT01]: "1_ _ _"
Command Data No.
Setting Frame Setting Frame
Description range length Description range length
[9] [F] [0] [0] Setting of group a to f 4 Setting of group a to f 4

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MEMO

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Part 7: Review on Replacement of MR-J3-_T_ (CC-Link communication operation) with MR-J4-_GF_

Part 7
Review on Replacement of
MR-J3-_T_ (CC-Link
communication operation)
with MR-J4-_GF_

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Part 7: Review on Replacement of MR-J3-_T_ (CC-Link communication operation) with

MR-J4-_GF_

POINT
The existing CC-Link communication compatible controller needs to be replaced
with a CC-Link IE Field Network communication compatible controller. For details
on the controller, refer to the relevant controller manual.
The profile of the link device sent/received by cyclic communication with the
master station is not compatible between MR-J3-_T_ and MR-J4-_GF_. Refer to
each servo amplifier instruction manual for details.
This manual describes the case where MR-J3-_T_ (CC-Link communication) is
used by occupying two stations. For details on the occupied stations, refer to "MR-
J3-_T_ Servo Amplifier Instruction Manual".
This manual describes the case where the station-specific mode of MR-J4-_GF_
is set to "I/O mode". For details on the case where the station-specific mode is set
to "Motion mode", refer to "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual
(Motion Mode)".
Use the MR-J4-_GF_ with software version B0 or later.

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1. SUMMARY

This chapter describes the changes that are made when a system that uses MR-J3-_T_ (CC-Link
communication operation) is replaced with a system that uses MR-J4-_GF_.

2. MR-J3-_T_ (CC-Link COMMUNICATION OPERATION) REPLACEMENT CASE STUDY

2.1 Examination of replacement method

POINT
The HG motor cannot be operated on MR-J3-_T_ (CC-Link communication
operation). If replacing the servo motor with the HG motor, batch update to the
MR-J4-_GF_ + HG motor is required.

MR-J3-_T_ (CC-Link communication operation)

MELSEC iQ-R series

MELSEC iQ-F series
MELSEC-Q series
MELSEC-L series
MELSEC-F series

MR-J3-_T_

HF-_P/HC-_P/HA-_P motor

YES NO
Is servo amplifier/servo motor
updated in a batch?

Batch update to MR-J4-_GF_ + HG motor Individual repair support of servo amplifier/servo motor (Note)
Despite an increased burden on the construction period Refer to "Part 8: Common Documents" for the servo motors
and other factors, batch update will allow for the that can be combined.
same system to be operated for an extended period of time.
(Refer to section 2.2 (1))

Note. Individual repair support indicates replacement repair.

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2.2 Replacement method

(1) Batch update to the MR-J4-_GF_ + HG motor

The connector or cable needs to be changed. Parameter migration is supported by the parameter
converter function of MR Configurator2. (Refer to "Part 8: Common Materials".)

[Existing system] [Batch update system]

CC-Link communication compatible controller CC-Link IE Field Network communication compatible

controller

MR-J3-_T_
MR-J4-_GF_

HF-_P/HC-_P/HA-_P motor
HG motor

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(2) Individual repair support of servo amplifier/servo motor

POINT
The HG motor cannot be operated on MR-J3-_T_ (CC-Link communication
operation). If replacing the servo motor with the HG motor, batch update to the
MR-J4-_GF_ + HG motor is required.
If the existing system has one of the combinations shown in the table below,
"Batch update to the MR-J4-_GF_ + HG motor" is recommended. When
adopting the HG motor, the servo amplifier capacity needs to be changed.
(Consider replacement after checking "Torque characteristics" in "Part 9: Review
on Replacement of Motor".)
For replacement from the "HC-LP motor", low inertia "HG-JR motor" is
recommended.
When using a servo motor other than the one in the replacement example
below, the motor inertia and other properties will be different. Therefore,
consider whether it can be applied to the device before use.
Existing model Batch update replacement model example
Servo motor Servo amplifier Servo motor Servo amplifier
HC-RP103(B)G5 1/_ MR-J3-200T HG-SR102(B)G5 1/_ MR-J4-100GF
HC-RP203(B)G5 1/_ MR-J3-350T HG-SR202(B)G5 1/_ MR-J4-200GF
HC-RP353(B)G5 1/_ MR-J3-500T HG-SR352(B)G5 1/_ MR-J4-350GF
HC-RP103(B)G7 1/_ MR-J3-200T HG-SR102(B)G7 1/_ MR-J4-100GF
HC-RP203(B)G7 1/_ MR-J3-350T HG-SR202(B)G7 1/_ MR-J4-200GF
HC-RP353(B)G7 1/_ MR-J3-500T HG-SR352(B)G7 1/_ MR-J4-350GF
HC-LP52(B) MR-J3-60T HG-JR73(B) MR-J4-70GF
HC-LP102(B) MR-J3-100T HG-JR153(B) MR-J4-200GF
HC-LP152(B) MR-J3-200T HG-JR353(B) MR-J4-350GF

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(a) When replacing the servo amplifier

The J3 series servo motor can be operated on the MR-J4-_GF_ servo amplifier. Refer to "Part 8:
Common Documents" for the target servo motors.

CC-Link IE Field Network communication compatible controller

MR-J4-_GF_

HF-_P/HC-_P/HA-_P motor

(b) When replacing the servo motor

The HG motor cannot be operated on the MR-J3-_T_ (CC-Link communication operation) servo
amplifier. If replacing the servo motor with the HG motor, batch update to the MR-J4-_GF_ + HG
motor is required.

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3. DIFFERENCES BETWEEN THE MR-J3-_T_ (CC-Link COMMUNICATION OPERATION) AND MR-J4-

_GF_

3.1 Function comparison table

POINT
Different functions are shaded.
This table describes the case where [Pr. PN03 Communication mode setting for
CC-Link IE communication] of MR-J4-_GF_ is set to "_ _ _ 1" and the station-
specific mode is set to I/O mode.

(1) 200 V class

Item MR-J3-_T_ (CC-Link communication operation) MR-J4-_GF_
1 Capacity range 0.1 to 22 kW/200 V 0.1 to 22 kW/200 V
Built-in (0.2 to 7 kW) Built-in (0.2 to 7 kW)
2 Internal regenerative resistor
External (11 to 22 kW) External (11 to 22 kW)
Built-in (0.1 to 7 kW) Built-in (0.1 to 7 kW)
3 Dynamic brake External (11 to 22 kW) External (11 to 22 kW)
The coasting distance may vary. (Note 1)
4 Control circuit power supply 1-phase 200 V AC to 230 V AC 1-phase 200 V AC to 240 V AC
1-phase 200 V AC to 240 V AC (0.1 to 2 kW) (Note
1-phase 200 V AC to 230 V AC (0.1 to 0.75 kW)
5 Main circuit power supply 2)
3-phase 200 V AC to 230 V AC (0.1 to 22 kW)
3-phase 200 V AC to 240 V AC (0.1 to 22 kW)
6 24 V DC power supply External supply required External supply required
Real-time auto tuning: 32 stages Real-time auto tuning: 40 stages
7 Auto tuning
Advanced gain search One-touch tuning
Positioning mode (point table method) Positioning mode (point table method)
8 Control mode Positioning mode (indexer method) Positioning mode (indexer method)
Speed control mode (point table method) Speed control mode (point table method)
Automatic operation mode Automatic operation mode
Automatic operation using the point table Automatic operation using the point table
Manual operation mode Manual operation mode
JOG operation JOG operation
Manual pulse generator operation Homing mode
Homing mode Dog type
Dog type Count type
Count type Data set type
Data set type Stopper type
Stopper type Home position ignorance (servo-on position as
Positioning mode Home position ignorance (servo-on position as home position)
9
(point table method) home position) Dog type rear end reference
Dog type rear end reference Count type front end reference
Count type front end reference Dog cradle type
Dog cradle type Dog type last Z-phase reference
Dog type last Z-phase reference Dog type front end reference
Dog type front end reference Dogless Z-phase reference
Dogless Z-phase reference Automatic retract function used for the home
Automatic retract function used for the home position return
position return Automatic positioning to home position function
Automatic positioning to home position function Roll feed mode using the roll feed display function
Roll feed mode using the roll feed display function
Automatic operation mode Automatic operation mode
Rotation direction specifying indexer Rotation direction specifying indexer
Shortest rotating indexer Shortest rotating indexer
Manual operation mode Manual operation mode
Indexer JOG operation JOG operation
Positioning mode
10 JOG operation Station JOG operation
(indexer method)
Homing mode Homing mode
Torque limit changing dog type Torque limit changing dog type
Torque limit changing data set type Torque limit changing data set type
Automatic retract function used for the home Automatic retract function used for the home
position return position return

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Item MR-J3-_T_ (CC-Link communication operation) MR-J4-_GF_

Speed command input Speed command input
Speed command data (servo motor speed) is set Speed command data (servo motor speed) is set
Speed control mode by the remote register. by the remote register.
11
(point table method) Speed number input Speed number input
Servo motor speed and acceleration/deceleration Servo motor speed and acceleration/deceleration
time constants are selected in the point table. time constants are selected in the point table.
Manual pulse generator (dedicated for MR-HDP01 Not supported
only)
Open-collector
12 Pulse input
Pulse resolution: 1000 pulses/rev
Maximum speed: Instantaneous maximum 600 r/min
Normal 200 r/min
A/B/Z-phase pulse (differential line driver) A/B/Z-phase pulse (differential line driver)
13 Encoder pulse output
Z-phase pulse (open collector)
14 DIO interface Input/output: Sink/Source Input/output: Sink/Source
Not supported (Input) None
15 Analog input/output
(Output) 10 bits or its equivalent × 2ch
Setup software (SETUP221E) MR Configurator2
16 Parameter setting method MR Configurator2 CC-Link IE Field Network communication compatible
CC-Link communication compatible controller controller
17 Setup software communication USB USB
Servo motor HF-_P series (18-bit ABS) HG series (22-bit ABS)
18
(encoder resolution) HA-_P series (18-bit ABS)
HF-KP 350% HG-KR 350%
HF-MP 300% HG-MR 300%
19 Motor maximum torque HF-SP 300% HG-SR 300%
HF-JP 300% HG-JR 300%
HA-LP 250% HG-JR 300%
20 LED display 7-segment 3-digit 7-segment 3-digit
Advanced vibration suppression Available (Advanced vibration suppression
21 Available
control control II)
22 Adaptive filter II Available Available
23 Notch filter Available (2 pcs.) Available (5 pcs.)
24 Tough drive Not available Available
25 Drive recorder Not available Available
EM1 (DB stop)/EM2 (deceleration to stop) can be
26 Forced stop EM1 (DB stop)
selected.

Note 1. Refer to "Part 8: Common Documents 1.2.3 Dynamic characteristics" for the coasting distance.
2. If using a 1-phase 200 V AC to 240 V AC power supply with a 1 kw/2 kW servo amplifier, operate the servo amplifier at 75% or less of the
effective load ratio.

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(2) 400 V class

Item MR-J3-_T_ (CC-Link communication operation) MR-J4-_GF_
1 Capacity range 0.6 to 22 kW/400 V 0.6 to 22 kW/400 V
Built-in (0.6 to 7 kW) Built-in (0.6 to 7 kW)
2 Internal regenerative resistor
External (11 to 22 kW) External (11 to 22 kW)
Built-in (0.6 to 7 kW) Built-in (0.6 to 7 kW)
3 Dynamic brake External (11 to 22 kW) External (11 to 22 kW)
The coasting distance may vary. (Note)
4 Control circuit power supply 1-phase 380 V AC to 480 V AC 1-phase 380 V AC to 480 V AC
5 Main circuit power supply 3-phase 380 V AC to 480 V AC 3-phase 380 V AC to 480 V AC
6 24 V DC power supply External supply required External supply required
Real-time auto tuning: 32 stages Real-time auto tuning: 40 stages
7 Auto tuning
Advanced gain search One-touch tuning
Positioning mode (point table method) Positioning mode (point table method)
8 Control mode Positioning mode (indexer method) Positioning mode (indexer method)
Speed control mode (point table method) Speed control mode (point table method)
Automatic operation mode Automatic operation mode
Automatic operation using the point table Automatic operation using the point table
Manual operation mode Manual operation mode
JOG operation JOG operation
Manual pulse generator operation Homing mode
Homing mode Dog type
Dog type Count type
Count type Data set type
Data set type Stopper type
Stopper type Home position ignorance (servo-on position as
Positioning mode (point table Home position ignorance (servo-on position as home position)
9
method) home position) Dog type rear end reference
Dog type rear end reference Count type front end reference
Count type front end reference Dog cradle type
Dog cradle type Dog type last Z-phase reference
Dog type last Z-phase reference Dog type front end reference
Dog type front end reference Dogless Z-phase reference
Dogless Z-phase reference Automatic retract function used for the home
Automatic retract function used for the home position return
position return Automatic positioning to home position function
Automatic positioning to home position function Roll feed mode using the roll feed display function
Roll feed mode using the roll feed display function
Automatic operation mode Automatic operation mode
Rotation direction specifying indexer Rotation direction specifying indexer
Shortest rotating indexer Shortest rotating indexer
Manual operation mode Manual operation mode
Indexer JOG operation JOG operation
Positioning mode
10 JOG operation Station JOG operation
(indexer method)
Homing mode Homing mode
Torque limit changing dog type Torque limit changing dog type
Torque limit changing data set type Torque limit changing data set type
Automatic retract function used for the home Automatic retract function used for the home
position return position return
Speed command input Speed command input
Speed command data (servo motor speed) is set Speed command data (servo motor speed) is set
Speed control mode by the remote register. by the remote register.
11
(point table method) Speed number input Speed number input
Servo motor speed and acceleration/deceleration Servo motor speed and acceleration/deceleration
time constants are selected in the point table. time constants are selected in the point table.
Manual pulse generator (dedicated for MR-HDP01 Not supported
only)
Open-collector
12 Pulse input
Pulse resolution: 1000 pulses/rev
Maximum speed: Instantaneous maximum 600 r/min
Normal 200 r/min

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Item MR-J3-_T_ (CC-Link communication operation) MR-J4-_GF_

A/B/Z-phase pulse (differential line driver) A/B/Z-phase pulse (differential line driver)
13 Encoder pulse output
Z-phase pulse (open collector)
14 DIO interface Input/output: Sink/Source Input/output: Sink/Source
Not supported (Input) None
15 Analog input/output
(Output) 10 bits or its equivalent × 2ch
Setup software (SETUP221E) MR Configurator2
16 Parameter setting method MR Configurator2 CC-Link IE Field Network communication compatible
CC-Link communication compatible controller controller
17 Setup software communication USB USB
Servo motor HF-_P series (18-bit ABS) HG series (22-bit ABS)
18
(encoder resolution) HA-_P series (18-bit ABS)
HF-SP 300% HG-SR 300%
19 Motor maximum torque HF-JP 300% HG-JR 300%
HA-LP 250% HG-JR 300%
20 LED display 7-segment 3-digit 7-segment 3-digit
Advanced vibration suppression Available (Advanced vibration suppression
21 Available
control control II)
22 Adaptive filter II Available Available
23 Notch filter Available (2 pcs.) Available (5 pcs.)
24 Tough drive Not available Available
25 Drive recorder Not available Available
EM1 (DB stop)/EM2 (deceleration to stop) can be
26 Forced stop EM1 (DB stop)
selected.

Note. Refer to "Part 8: Common Documents 1.2.3 Dynamic characteristics" for the coasting distance.

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(3) 100 V class

Item MR-J3-_T_ (CC-Link communication operation) MR-J4-_GF_
1 Capacity range 0.1 to 0.4 kW/100 V 0.1 to 0.4 kW/100 V
None (0.1 kW) None (0.1 kW)
2 Internal regenerative resistor
Built-in (0.2, 0.4 kW) Built-in (0.2, 0.4 kW)
Built-in (0.1 to 0.4 kW) Built-in (0.1 to 0.4 kW)
3 Dynamic brake
The coasting distance may vary. (Note)
4 Control circuit power supply 1-phase 100 V AC to 120 V AC 1-phase 100 V AC to 120 V AC
5 Main circuit power supply 1-phase 100 V AC to 120 V AC (0.1 to 0.4 kW) 1-phase 100 V AC to 120 V AC (0.1 to 0.4 kW)
6 24 V DC power supply External supply required External supply required
Real-time auto tuning: 32 stages Real-time auto tuning: 40 stages
7 Auto tuning
Advanced gain search One-touch tuning
Positioning mode (point table method) Positioning mode (point table method)
8 Control mode Positioning mode (indexer method) Positioning mode (indexer method)
Speed control mode (point table method) Speed control mode (point table method)
Automatic operation mode Automatic operation mode
Automatic operation using the point table Automatic operation using the point table
Manual operation mode Manual operation mode
OG operation JOG operation
Manual pulse generator operation Homing mode
Homing mode Dog type
Dog type Count type
Count type Data set type
Data set type Stopper type
Stopper type Home position ignorance (servo-on position as
Point table method operation Home position ignorance (servo-on position as home position)
9
mode home position) Dog type rear end reference
Dog type rear end reference Count type front end reference
Count type front end reference Dog cradle type
Dog cradle type Dog type last Z-phase reference
Dog type last Z-phase reference Dog type front end reference
Dog type front end reference Dogless Z-phase reference
Dogless Z-phase reference Automatic retract function used for the home
Automatic retract function used for the home position return
position return Automatic positioning to home position function
Automatic positioning to home position function Roll feed mode using the roll feed display function
Roll feed mode using the roll feed display function
Automatic operation mode Automatic operation mode
Rotation direction specifying indexer Rotation direction specifying indexer
Shortest rotating indexer Shortest rotating indexer
Manual operation mode Manual operation mode
Indexer JOG operation JOG operation
Positioning mode
10 JOG operation Station JOG operation
(indexer method)
Homing mode Homing mode
Torque limit changing dog type Torque limit changing dog type
Torque limit changing data set type Torque limit changing data set type
Automatic retract function used for the home Automatic retract function used for the home
position return position return
Speed command input Speed command input
Speed command data (servo motor speed) is set Speed command data (servo motor speed) is set
Speed control mode by the remote register. by the remote register.
11
(point table method) Speed number input Speed number input
Servo motor speed and acceleration/deceleration Servo motor speed and acceleration/deceleration
time constants are selected in the point table. time constants are selected in the point table.
Manual pulse generator (dedicated for MR-HDP01 Not supported
only)
Open-collector
12 Pulse input
Pulse resolution: 1000 pulses/rev
Maximum speed: Instantaneous maximum 600 r/min
Normal 200 r/min
A/B/Z-phase pulse (differential line driver) A/B/Z-phase pulse (differential line driver)
13 Encoder pulse output
Z-phase pulse (open collector)

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Item MR-J3-_T_ (CC-Link communication operation) MR-J4-_GF_

14 DIO interface Input/output: Sink/Source Input/output: Sink/Source
Not supported (Input) None
15 Analog input/output
(Output) 10 bits or its equivalent × 2ch
Setup software (SETUP221E) MR Configurator2
16 Parameter setting method MR Configurator2 CC-Link IE Field Network communication compatible
CC-Link communication compatible controller controller
17 Setup software communication USB USB
Servo motor HF-_P series (18-bit ABS) HG series (22-bit ABS)
18
(encoder resolution) HA-_P series (18-bit ABS)
HF-KP 350% HG-KR 350%
19 Motor maximum torque
HF-MP 300% HG-MR 300%
20 LED display 7-segment 3-digit 7-segment 3-digit
Advanced vibration suppression Available (Advanced vibration suppression
21 Available
control control II)
22 Adaptive filter II Available Available
23 Notch filter Available (2 pcs.) Available (5 pcs.)
24 Tough drive Not available Available
25 Drive recorder Not available Available
EM1 (DB stop)/EM2 (deceleration to stop) can be
26 Forced stop EM1 (DB stop)
selected.

Note. Refer to "Part 8: Common Documents 1.2.3 Dynamic characteristics" for the coasting distance.

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3.1.1 CC-Link => CC-Link IE Field Network communication operation specifications list

Item Description
Servo amplifier model MR-J3-_T_ (CC-Link communication operation) MR-J4-_GF_
Operation specifications Positioning by specifying the point table number (255 points)
Command method

Point table

Setting in the point table Setting in the point table

Setting range of feed length for one point: -999999 to Setting range of feed length for one point: -999999 to
Absolute
999999 [× 10STM μm] 999999 [× 10STM μm], -99.9999 to 99.9999 [× 10STM inch],
value
* STM setting value: 0 to 3 -999999 to 999999 [pulse]
command
Rotation angle setting range: -360.000 to 360.000
method
Position [degree]
command * STM setting value: 0 to 3
input Setting in the point table Setting in the point table
Incremental Setting range of feed length for one point: 0 to 999999 [× Setting range of feed length for one point: 0 to 999999 [×
value 10STM μm] 10STM μm], 0 to 99.9999 [× 10STM inch], 0 to 999999
command * STM setting value: 0 to 3 [pulse]
method Rotation angle setting range: 0 to 999.999 [degree]
* STM setting value: 0 to 3
Set the acceleration/deceleration time constants in the Set the acceleration/deceleration time constants in the
point table. point table.
Speed command input
Set the S-pattern acceleration/deceleration time constant Set the S-pattern acceleration/deceleration time constant
in [Pr. PC13]. in [Pr. PT51].
System Signed absolute value command method/incremental value command method
Torque limit Depends on the parameter setting or link device.
Positioning by setting the remote register
Position command data input

Operation specifications
Setting of position command data by the remote register Setting of position command data by the remote register
Feed length input setting range: -999999 to 999999 [× Feed length input setting range: -999999 to 999999 [×
Absolute
10STM μm] 10STM μm], -99.9999 to 99.9999 [× 10STM inch], -999999
value
* STM setting value: 0 to 3 to 999999 [pulse]
command
Rotation angle setting range: -360.000 to 360.000
Position method
[degree]
command
* STM setting value: 0 to 3
input
Setting in the point table Setting of position command data by the remote register
Incremental
Setting range of feed length for one point: 0 to 999999 [× Feed length input setting range: 0 to 999999 [× 10STM
value
10STM μm] μm], 0 to 99.9999 [× 10STM inch], 0 to 999999 [pulse]
command
* STM setting value: 0 to 3 Rotation angle setting range: 0 to 999.999 [degree]
method
* STM setting value: 0 to 3
Selected from the point table by the remote register. Selected from the point table by the remote register.
Speed command data (speed) is set by the remote Speed command data (speed) is set by the remote
Speed command input register. register.
Set the S-pattern acceleration/deceleration time constant Set the S-pattern acceleration/deceleration time constant
in [Pr. PC13]. in [Pr. PT51].
System Signed absolute position command method, incremental value command method

Torque limit Depends on the parameter setting or link device.

Operation specifications Positioning by specifying the station position, maximum number of divisions: 255 divisions
Indexer

<Remote register> Selected from the point table by the remote register.
Speed command data (speed) is set by the remote Speed command data (speed and
register. acceleration/deceleration time constant) is set by the
Speed command input
<Speed number input> remote register.
Speed and acceleration/deceleration time constants are
selected in the point table.
System Rotation direction specifying indexer/shortest rotating indexer
Torque limit Setting by the parameter setting or link device
Remote Speed command data (speed) is set by the remote Speed command data (speed) is set by the remote
Speed control

register register. register.

Command Speed and acceleration/deceleration time constants are Speed and acceleration/deceleration time constants are
Speed
method selected in the point table. selected in the point table.
number
Speed command: 8 speed, acceleration/deceleration Speed command: 255 speed, acceleration/deceleration
input
time constant: 2 time constant: 2
When set in units of 1 [r/min]: 0 to servo motor Set in units of 0.01 [r/min]: 0 to servo motor permissible
Speed command data permissible speed [r/min] speed [r/min]
setting range When set in units of 0.1 [r/min]: 0 to servo motor
permissible speed, or 0 to 6553.5 [r/min]

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Item Description
Servo amplifier model MR-J3-_T_ (CC-Link communication operation) MR-J4-_GF_
One
Automatic operation mode
Operation mode

Point table No. input method/position data input method

positioning
Perform one positioning operation based on the position command and speed command.
operation
Point
Automatic
table Varying-speed operation (2 speed to 255 speed)/automatic continuous positioning operation (2 points to 255
continuous
points)/automatic continuous operation to the point table selected at startup/automatic continuous operation to point
positioning
table No. 1
operation
Rotation
direction
Perform positioning to the set station. Rotation direction can be specified.
specifying
Indexer indexer
Shortest
rotating Perform positioning to the set station. Rotate in the direction closer to the current position.
indexer
JOG
Manual operation mode

Inching operation is performed based on the speed data set in the parameters.
operation
Point
Manual pulse Manual feed is performed by a manual pulse generator. Not supported
table
generator Command pulse multiplying factor: Select ×1, ×10, or
operation ×100 with parameters.
JOG Inching operation is performed based on the speed data set in the parameters.
operation Decelerates and stops regardless of the station when stopped.
Indexer When the start signal is turned on, it rotates in the rotation direction specified in the rotation direction decision.
Station JOG
When the start signal is turned off, positioning is performed to the nearest station to which deceleration stop is
operation
possible.
Performs homing using the Z-phase pulse after a moving part has moved past the proximity dog.
Point table
Homing mode

Dog type Home position address settable/home position shift amount settable/home position return direction selectable
Automatic retract on dog back to home position/automatic stroke retract function
Performs homing using the encoder pulse count after a moving part came into contact with the proximity dog.
Count type Home position address settable/home position shift amount settable/home position return direction
selectable/automatic retract on dog back to home position/automatic stroke retract function
Performs homing without a dog.
Data set type
Any position settable as home position by manual operation or other methods/home position address settable
Performs homing with a workpiece pressed against the stroke end.
Stopper type
Home position return direction selectable/home position address settable
Home
position
ignorance
The home position is the position where SON (Servo-on) is turned on.
(servo-on
Home position address settable
position as
home
position)
Dog type rear Performs homing with reference to the rear end of the proximity dog.
end Home position return direction selectable/home position shift amount settable/home position address
reference settable/automatic retract on dog back to home position/automatic stroke retract function
Count type Performs homing with reference to the front end of the proximity dog.
front end Home position return direction selectable/home position shift amount settable/home position address
reference settable/automatic retract on dog back to home position/automatic stroke retract function
Performs homing using the first Z-phase pulse with reference to the front end of the proximity dog.
Dog cradle
Home position return direction selectable/home position shift amount settable/home position address
type
settable/automatic retract on dog back to home position/automatic stroke retract function
Dog type last Performs homing using the last Z-phase pulse with reference to the front end of the proximity dog.
Z-phase Home position return direction selectable/home position shift amount settable/home position address
reference settable/automatic retract on dog back to home position/automatic stroke retract function
Dog type Performs homing with reference to the front end of the proximity dog in the direction of the front end.
front end Home position return direction selectable/home position shift amount settable/home position address
reference settable/automatic retract on dog back to home position/automatic stroke retract function
Dogless Z- Performs homing with reference to the first Z-phase in the direction of that Z-phase.
phase Home position return direction selectable/home position shift amount settable/home position address settable
reference
Performs homing using the Z-phase pulse count after a Performs homing using the Z-phase pulse count after a
Indexer

moving part has moved past the proximity dog. moving part came into contact with the proximity dog.
Home position return direction selectable/home position Home position return direction selectable/home position
Torque limit shift amount settable/home position address settable shift amount settable/home position address settable
changing dog Automatic retract on dog back to home Torque limit automatic switching function
type position/automatic stroke retract position/torque limit By default, the automatic retract function used for the
automatic switching function home position return is disabled. To enable the
automatic retract function used for the home position
return, set [Pr. PT70] to "_ _ _ 3".
Torque limit Performs homing without a dog.
changing Any position settable as home position, home position address settable, torque limit automatic switching function
data set type
Automatic positioning to home High-speed automatic positioning to a defined home position
position function
Absolute position detection/backlash compensation/overtravel prevention with external limit switch/software stroke
Other features
limit/override with analog input

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3.1.2 Function list

The function list of the MR-J3-_T_ (CC-Link communication operation) and MR-J4-_GF_ servo amplifier is
shown in the following table. Refer to each servo amplifier instruction manual for details of each function.

Point
Different functions are shaded.
The symbols in the control mode column indicate the following control modes.
CP: Positioning mode (point table method)
PS: Positioning mode (indexer method)
SP: Speed control mode (point table method)

MR-J3-_T_ (CC-Link communication Control mode

Function MR-J4-_GF_
operation) CP PS SP
This function operates the servo motor according to the setting values by selecting the point table ○
with preset 255 points. The position command and speed command can also be set using the
Positioning by automatic operation remote register.
The operation is performed to the next station divided into any number from 2 to 255 in advance. ○
The position command and speed command can also be set using the remote register.

Speed change operation

The operation is performed at the speed set in the next point table during ○
positioning. (Maximum setting speed: 255)
Automatic continuous positioning Select one point table and start it up to continuously operate the point table with consecutive ○
operation numbers.
Dog type/count type/data set type/topper type/home position ignorance/dog type rear end ○
reference/count type front end reference/dog cradle type/dog type last Z-phase reference/dog
Homing
type front end reference/dogless Z-phase reference
Torque limit changing dog type/torque limit changing data set type ○
A 262144 pulses/rev high-resolution encoder is A 4194304 pulses/rev high-resolution encoder ○ ○ ○
used for the servo motor detector. is used for the encoder of the rotary servo
High-resolution encoder
motor compatible with the MELSERVO-J4
series.
Absolute position detection system This function performs homing once, and thereafter does not require homing at every power-on. ○ ○ ○
Gain switching function
This function switches gains during rotation and during stop, and uses an input device to switch ○ ○ ○
gains during operation.
<Advanced vibration suppression control> <Advanced vibration suppression control ○ ○ ○
Advanced vibration suppression This function suppresses vibration and residual II>
control vibration at an arm end. This function suppresses vibration and residual
vibration at an arm end.

Adaptive filter II
This is a function in which the servo amplifier detects machine resonance and sets the filter ○ ○ ○
characteristics automatically to suppress mechanical system vibration.

Low-pass filter
This function is effective in suppressing resonance of a high frequency generated as the ○ ○ ○
response level of the servo system is increased.
This function analyzes the frequency This function analyzes the frequency ○ ○ ○
characteristics of the mechanical system by characteristics of the mechanical system by
simply connecting the servo amplifier with a simply connecting the servo amplifier with an
Machine analyzer function Setup software (SETUP221E) installed MR Configurator2 installed personal computer.
personal computer. MR Configurator2 is required for this function.
Setup software (SETUP221E) is required for
this function.
<Robust disturbance compensation> <Robust filter> ○ ○ ○
This function improves a disturbance response This function improves a disturbance response
when a response performance cannot be when a response performance cannot be
Robust disturbance compensation increased because of a large load to motor increased because of a large load to motor
inertia ratio, such as a roll feed axis. inertia ratio, such as a roll feed axis.
Setup software (SETUP221E) is required for
this function.
Slight vibration suppression control This function suppresses vibration of ±1 pulse generated at each servo motor stop. [Pr. PB24] ○ ○ ○

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Part 7: Review on Replacement of MR-J3-_T_ (CC-Link communication operation) with MR-J4-_GF_

MR-J3-_T_ (CC-Link communication Control mode

Function MR-J4-_GF_
operation) CP PS SP
An electronic gear is used to adjust the The position command can be multiplied ○
servo amplifier setting values so that by 1/864 to 271470. [Pr. PA06]/ [Pr.
they match the travel distance of the PA07]
machine. Also, by changing the The position command can be multiplied ○
Electronic gear
electronic gear, the machine can be by 1/9999 to 9999. [Pr. PA06]/ [Pr.
moved at any magnification with respect PA07]
to the travel distance by the servo
amplifier. [Pr. PA06]/ [Pr. PA07]

Auto tuning
This function automatically adjusts the gain to an optimum value even if the load ○ ○ ○
applied to the servo motor shaft varies.
S-pattern This function enables smooth This function enables smooth ○ ○
acceleration/deceleration acceleration/deceleration. acceleration/deceleration.
time constants [Pr. PC13] [Pr. PT51]

Regenerative option
Use this function if the built-in regenerative resistor of the servo amplifier does not ○ ○ ○
have sufficient regenerative capacity for the generated regenerative power.
Use this function if the regenerative option does not have sufficient regenerative ○ ○ ○
Brake unit capacity.
This function is available on servo amplifiers with a capacity of 5 kW or more.

Power regeneration
Use this function if the regenerative option does not have sufficient regenerative ○ ○ ○
capacity.
converter
This function is available on servo amplifiers with a capacity of 5 kW or more.

Alarm history clear

This function clears alarm histories. [Pr. This function clears alarm histories. [Pr. ○ ○ ○
PC18] PC21]
This function assigns input devices such This function assigns input devices such ○ ○ ○
as Servo-on (SON) to certain pins of the as PC (Proportional control (PID
CN6 connector in positioning mode control)) to certain pins of the CN3
Input signal selection (device (point table method). connector.
setting) [Pr. PD06] to [Pr. PD08] [Pr. PD03] to [Pr. PD05]
This function is disabled in positioning
mode (indexer method) and speed
control mode (point table method).
This function assigns output devices This function assigns output devices such ○ ○ ○
such as Malfunction (ALM)/Dynamic as MBR (Electromagnetic brake
brake interlock (DB) to certain pins of interlock) to certain pins of the CN3
the CN6 connector in positioning mode connector.
Output signal selection
(point table method). [Pr. PD07] to [Pr. PD09]
(device setting)
[Pr. PD09] to [Pr. PD11]
This function is disabled in positioning
mode (indexer method) and speed
control mode (point table method).
Torque limit This function limits the servo motor torque. [Pr. PA11]/[Pr. PA12] ○ ○ ○
Output signal (DO) forced
This function forcibly switches the output signals on and off regardless of the servo ○ ○ ○
status.
output
Use this function for purposes such as checking output signal wiring.
JOG operation/positioning JOG operation/positioning ○ ○ ○
operation/motor-less operation/DO operation/motor-less operation/DO
forced output/program operation/single- forced output/program operation/single-
step feed step feed
Test operation mode
However, a parameter unit or Setup However, MR Configurator2 is
software (SETUP221E) is required. required for positioning operation,
program operation, and single-step
feed.
Limit switch External limit switches can be used to limit travel intervals of the servo motor. ○ ○ ○
Software limit
This function uses parameters to limit the travel intervals by address. ○
Set the same function as the limit switch with parameters.
Use the RS-422 serial communication The MR-J4-_GF_ is not supported. ○ ○ ○
function for operations such as
Serial communication
operating servos, changing parameters,
and using the monitoring function.

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3.1.3 Detailed comparison of functions

POINT
Refer to each servo amplifier instruction manual for details.
Refer to "3.6 Comparison of parameter details" for details on the parameters.

(1) CC-Link function

Difference in functions Handling methods on
Item
MR-J3-_T_ MR-J4-_GF_ MR-J4-_GF_
Occupied station Supported (one station occupied/two Not supported
1
number setting station occupied)
<When occupying one station> RYn/RXn: 64 points each The number of link
Number of remote points is as shown on
RYn/RXn: 32 points each
2 input/output (RYn/RXn) the left.
<When occupying two stations>
link points The profile of the link
RYn/RXn: 64 points each
device sent/received by
<When occupying one station> RWwn/RWrn: 16 points each
Number of remote cyclic communication
RWwn/RWrn: 4 points each
3 register (RWwn/RWrn) with the master station
<When occupying two stations> is also different.
link points
RWwn/RWrn: 8 points each
<When occupying one station> Not supported RWwn6: Set it with
Point table No. RYnA to RYnE Point table No.
4 selection 1 to 8/next <When occupying two stations> selection.
station selection 1 to 8 RYnA to RYnE
RY (n + 2) 3 to RY (n + 2) 5
<When occupying two stations> Not supported RWwnA: Set it with the
RY (n + 2) C to RX (n + 2) E lower 16 bits of speed
5 Speed selection 1 to 3
command data/point
table number.
Point table No. output 1 <When occupying two stations> Not supported RWrn6: Read it from
6 to 8/station output 1 to RX (n + 2) 2 to RX (n + 2) 9 Point table No. output.
8
Forward rotation stroke This function can be used by Use the upper stroke limit (RY (n + 1) Same as the
7
end (RYn4) selecting "Used in CC-Link" in [Pr. 0) and the lower stroke limit (RY (n + specifications on the
PD12]. 1) 1). left.
It is enabled for the rotation direction This function can be used by
Reverse rotation stroke of the servo motor. selecting "Input from controller" in
8
end (RYn5) [Pr. PD41].
It is enabled for the address
increasing/decreasing direction.
RWwn: Monitor 1 RWwn0: Monitor 1
RWwn+1: Monitor 2 RWwn+2: Monitor 2
RWwn+2: Instruction code RWwn+4: Instruction code - Lower
16 bits
RWwn+5: Instruction code - Upper
16 bits
RWwn+3: Write data RWwn+C: Writing data - Lower 16
bits
RWwn+D: Writing data - Upper 16
Remote register bits
9
(RWwn) <When occupying two stations> RWwn+8: Position command data -
RWwn+4: Position command data - Lower 16 bits/point table No./next
Lower 16 bits/point table No./next station No.
station RWwn+9: Position command data -
RWwn+5: Position command data - Upper 16 bits
Upper 16 bits
<When occupying two stations> RWwn+A: Speed command data -
RWwn+6: Speed command Lower 16 bits/point table No.
data/point table No. RWwn+B: Speed command data -
Upper 16 bits

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Difference in specifications Handling methods on

Item
MR-J3-_T_ MR-J4-_GF_ MR-J4-_GF_
<When occupying one station> RWrn0: Monitor 1 data - Lower 16 bits Same as the
RWrn: Monitor 1 data RWrn+1: Monitor 1 data - Upper 16 specifications on the
<When occupying two stations> bits left.
RWrn: Monitor 1 data - Lower 16 bits
RWrn+1: Monitor 1 data - Upper 16
bits
<When occupying one station> RWrn+2: Monitor 2 data - Lower 16
RWrn+1: Monitor 2 data bits
<When occupying two stations> RWrn+3: Monitor 2 data - Upper 16
10 Remote register (RWrn)
RWrn+5: Monitor 2 data - Lower 16 bits
bits
RWrn+6: Monitor 2 data - Upper 16
bits
RWrn+2: Respond code RWrn+4: Respond code
RWrn+3: Reading data RWrn+C: Reading data - Lower 16
bits
RWrn+D: Reading data - Upper 16
bits
Monitor 0016h: Returns in units of 0.1 [r/min]. Returns in units of 0.01 [r/min].
11
codes Motor speed
001Bh: Returns the upper 16-bit data. Returns the upper 32-bit data.
Monitor
12 ABS
codes
position
0010h:
Reading Current 0 0
13 instruction alarm Details of the alarm or warning that
is occurring
codes (warning) Alarm No./Warning No.
The alarm number that is occurring
read or warning number

0020h to
Reading 0025h: 0 0
14 instruction Alarm No. in Details of alarms that have occurred
in the past
codes alarm Alarm No. that occurred in the past
Alarm number that occurred in the
history past

bit4: LSP Check with bit 0 of 0041h.

Input device
bit5: LSN Check with bit 1 of 0041h.
status 0:
0040h bitA to bitE: DI0 to Not supported The MR-J4-_GF_ is
DI4 not supported.
bit0: PSR Check with bit 0 of 0042h. Same as the
bit1: SPR Check with bit 1 of 0042h. specifications on the
left.
bit3 to bit5: DI5 to DI7 Not supported The MR-J4-_GF_ is
not supported.
Input device bit6: TL1 Check with bit 6 of 0042h. Same as the
Reading Device status 1: specifications on the
bit7: PC Check with bit 7 of 0042h.
15 instruction status 0041h left.
bit8: CDP Check with bit 8 of 0042h.
codes (off/on) read
bitA: CSL Check with bit A of 0042h.
bitB: INC Check with bit B of 0042h.
bitC to bitE: SP0 to Not supported The MR-J4-_GF_ is
SP2 not supported.
Input device bitA: RES Check with bit A of 0043h. Same as the
status 2: specifications on the
0042h left.
0050h: Output device status 0 Not supported Check the status of
0051h: Output device status 1 the output device with
0052h: Output device status 2 the link device (RXn).

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(2) Operation
Difference in specifications Handling methods on
Item
MR-J3-_T_ MR-J4-_GF_ MR-J4-_GF_
Roll feed display Supported Supported Set [Pr. PT26] as
1
function required.
Supported Supported Set [Pr. PA01] and [Pr.
2 Speed control operation
PN03] as required.
Automatic Supported Supported By default, the
retract automatic retract
function function used for the
used for the home position return is
home disabled. To enable it,
position set [Pr. PT70] to "_ _ _
return 3".
By default, dogs are detected with By default, dogs are detected with In the initial parameter
Proximity dog (DOG) turned off. Proximity dog (DOG) turned on. The values, the proximity
The input polarity can be changed input polarity can be changed with dog input polarity is
Proximity
with [Pr. PD16]. [Pr. PT29]. different between MR-
dog input
J3-_T_ and MR-J4-
polarity
_GF_.
Review [Pr. PT29] as
required.
The stop position at home position When "_ _ _ 0" (initial value) is set in In the initial parameter
return completion is the Z-phase after [Pr. PT70], the stop position at home values, the stop
a moving part has moved past the position return completion is the Z- position at home
dog. phase after a moving part has moved position return
The details are as follows. past the front end of the dog. completion is different
Passing the rear Stopping at The details are as follows. between MR-J3-_T_
end of the dog the first Z-phase
Torque Servo motor after passing
Stopping at the first and MR-J4-_GF_.
Z-phase in which
limit speed the rear end
Servo motor speed
deceleration stop Review [Pr. PT70] as
is possible
3 changing 0 r/min
required.
0 r/min
dog type Proximity dog
Proximity dog
homing
Z-phase
Z-phase
Proximity dog Proximity dog
(DOG) (DOG)
The stop position at power supply The stop position at power supply return
Stop return completion is not on the dog. completion is not on the dog.

position at Note: The proximity dog input polarity has

Deceleration starts from the front end changed in [Pr. PT29].
home
of the proximity dog. After the rear
position Deceleration starts from the front end
end is passed, the position specified
return of the proximity dog. The position
by the first Z-phase signal or the
completion specified by the first Z-phase signal to
position of the first Z-phase signal
which deceleration stop is possible or
shifted by the amount of home
the position of the first Z-phase signal
position shift distance is used as the
shifted by the home position shift
home position.
distance is used as the home
position.
When "_ _ _ 3" is set in [Pr. PT70],
the position specified by the first Z-
phase signal after the rear end of the
proximity dog is passed or the
position of the first Z-phase signal
shifted by the amount of home
position shift distance is used as the
home position. (Same as MR-J3-_T_)
The speed command unit can be The speed command unit is 0.01 0.01 The unit is fixed
4 Servo motor speed
selected from 1 [r/min] and 0.1 [r/min]. [r/min] only. to [r/min].
[Pr. PC77] is compared with [Pr. If "_ _ _ 0" (initial value) is set in [Pr. In the initial parameter
PA11] and [Pr. PA12], and the PT48], [Pr. PC77] is enabled. values, the torque limit
smallest value is enabled. When "_ _ _ 1" is set in [Pr. PT48], value when indexer
Torque limit value when [Pr. PC77] is compared with [Pr. operation is stopped is
5 indexer operation is PA11] and [Pr. PA12], and the different between MR-
stopped smaller value is enabled. (Same as J3-_T_ and MR-J4-
MR-J3-_T_) _GF_.
Review [Pr. PT48] as
required.

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Part 7: Review on Replacement of MR-J3-_T_ (CC-Link communication operation) with MR-J4-_GF_

(3) Input/output device

Difference in specifications Handling methods on
Item
MR-J3-_T_ MR-J4-_GF_ MR-J4-_GF_
<Alarm Supported Supported
release>
Turn on
Reset (RES)
to release
the current
alarm.
Reset <Base circuit Supported Not supported The MR-J4-_GF_ is
1
(RES) shut-off> not supported.
Base circuit
status
selection for
Reset (RES)
on with the
setting of
[Pr. PD20]
Supported Supported Review [Pr. PD42] as
2 Clear (CR)
required.
Manual pulse generator Supported Not supported The MR-J4-_GF_ is
(PP/NP) not supported.
Manual pulse generator Supported Not supported
3
multiplication 1 (TP0)
Manual pulse generator Supported Not supported
multiplication 2 (TP1)
Temporary stop/restart (TSTP) input Temporary stop/restart (TSTP) input
Temporary stop/restart
4 is disabled if input during homing oris enabled if input even during
(TSTP)
JOG operation. homing or JOG operation.
During indexer operation, travel During indexer operation, travel
Travel completion
5 completion (MEND) is turned off at completion (MEND) remains on even
(MEND)
servo-off. at servo-off.
Home position return Home position return completion 2 Use Home position
6 Home position return completion (ZP)
completion (ZP) (ZP2) return completion 2
Output of home (ZP2).
Home position return completion (ZP) Home position return completion 2
7 position return
is turned off at servo-off. (ZP2) remains on even at servo-off.
completion
Forward rotation stroke It can be used by setting "Used in It can be used by setting "Input from
8
end (LSP) CN6 external input signal" in [Pr. servo amplifier" in [Pr. PD41] and
Reverse rotation stroke PD12] and assigning it to any input assigning it to any input pin in [Pr.
9
end (LSN) pin in [Pr. PD06] to [Pr. PD08]. PD03] to [Pr. PD05].
Point table No. selection Supported Not supported Set it with the link
1 to 8/next station device (RWwn).
10
selection 1 to 8 (DI0 to
DI7)
Speed selection 1 to 3 Supported Not supported
11
(SP0 to SP2)
Point table No. output 1 Supported Not supported Read it with the link
12 to 8/station output 1 to 8 device (RWrn).
(PT0 to PT7)
Internal torque limit Supported Supported
13
selection (TL1)

(4) Other
Difference in specifications Handling methods on
Item
MR-J3-_T_ MR-J4-_GF_ MR-J4-_GF_
1 RS-422 communication Supported Not supported The MR-J4-_GF_ is
Manual pulse generator not supported.
2 Supported Not supported
operation

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Part 7: Review on Replacement of MR-J3-_T_ (CC-Link communication operation) with MR-J4-_GF_

3.2 Configuration including peripheral equipment

(1) MR-J3-_T_ (CC-Link communication)

The figure is for MR-J3-100T or less with 3-phase or 1-phase 200 V AC to 230 V AC.

(Note3) RST
Power Setup software Personal
supply (SETUP221E) computer

Molded-case
circuit breaker
(MCCB)

Servo amplifier
Magnetic
contactor
(MC)

(Note2) CN5 CC-Link

CN3

Line noise
filter
(FR-BSF01) CN1

U CN6
V I/O signals
L1 W
L2
L3 CN2

CN4

(Note2)
P1 (Note1)
Power factor
improving Battery
DC reactor P2 MR-J3BAT
(FR-BEL)
P C
Regenerative
option Servo motor

Note 1. The battery is available as an option. It is used for the absolute position detection system.
2. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
If not using the power factor improving DC reactor, short-circuit P1 and P2.
3. 1-phase 200 V AC to 230 V AC is supported by MR-J3-70T or lower. For 1-phase 200 V AC to 230 V AC power supply,
connect the power supply to L1 and L2. Leave L3 Open. For the power supply specifications, refer to "3.1 Function comparison
table" (3).

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Part 7: Review on Replacement of MR-J3-_T_ (CC-Link communication operation) with MR-J4-_GF_

(2) MR-J4-_GF_
The figure is an example of MR-J4-20GF-RJ.

(Note2) RS T
Power
supply
Personal
Molded-case computer
circuit breaker MR Configurator2
(MCCB) CN5

(Note3)
Magnetic CN8 To safety relay or
contactor MR-J3-D05 safety logic unit
(MC)
(Note1)

CN3 Junction
terminal block
Line noise filter
(FR-BSF01)

(Note5) D
CN1A Controller or
servo amplifier
U
L1
V
L2 CN1B Controller or
L3 W servo amplifier

Power factor P3 CN2

improving
DC reactor Servo motor
(FR-HEL) P4 (Note4) CN2L

P+ CN4
Regenerative Battery
option
C

L11

L21

Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
If not using the power factor improving DC reactor, short-circuit P3 and P4.
2. For 1-phase 200 V AC to 240 V AC power supply, connect the power supply to L1 and L3. Leave L2 open. For the power
supply specifications, refer to section 1.3 of "MR-J4-_GF_ (-RJ) Servo Amplifier Instruction Manual (Motion Mode)".
3. The bus voltage may drop depending on the main circuit 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.
4. This is for the MR-J4-_GF_-RJ servo amplifier. The MR-J4-_GF_ servo amplifier does not have the CN2L connector.
5. Always connect P+ and D terminals. To use the regenerative option, refer to section 11.2 of "MR-J4-_GF_ (-RJ) Servo
Amplifier Instruction Manual (Motion Mode)".

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3.3 List of Corresponding Connectors and Terminal Blocks

MR-J3-_T_ MR-J4-_GF_

Servo amplifier
Servo amplifier 10 m or less 10 m or less

(Note2) (Note 8) (Note 2) (Note 12) (Note 10)

CN6
(Note 3) Main circuit power supply CN3 CN3 DC 24 V
14 RD RA1 Ready Forced stop2 EM2 20
DC 24 V (Note4) CN6 3 DOCOM
Forward rotation (Note 2)
DICOM 5 (Note9)
15 ALM RA2 Malfunction (Note6) (Note 4) stroke end LSP 2 13 MBR RA1 Electromagnetic brake interlock
DOCOM 17 Reverse rotation
Homing position (Note 6) LSN 12
16 ZP RA3
return completion stroke end (Note 13)
(Note3, 5) Forced stop EMG 1 9 INP RA2 In-position
Proximity dog DOG 19
Proximity dog DOG 2
(Note9) 15 ALM RA3 Malfunction (Note 11)
Forward rotation 3 10 m or less Touch probe 1 TPR1 10
LSP
(Note5) stroke end (Note 7)
Reverse rotation LSN 4 13 LZ Detector Z-phase pulse Touch probe 2 TPR2 1
stroke end 26 LZR (Differential line driver)
10 m or less DICOM 5 6 LA Encoder A-phase pulse
11 LA Detector A-phase pulse (Note 10) DC 24 V 16 LAR (Differential line driver)
(Note8)
24 LAR (Differential line driver) 7 LB Encoder B-phase pulse
(Note7) Personal computer
12 LB Detector B-phase pulse (Note 5) USB cable 17 LBR (Differential line driver)
Setup software Personal computer
25 LBR (Differential line driver) MR Configurator2 MR-J3USBCBL3M 8 LZ Encoder Z-phase pulse
(SETUP221E)
(Option) (Differential line driver)
23 LG Control common CN5 18 LZR
MR-J3USBCBL3M CN5 Plate SD + 11 LG Control common
(Option)
+
4 MO1 Analog monitor 1
DC ± 10 V

(Note1)
14 MO2 Analog monitor 2
DC ± 10 V
CN1
(Note 9)
Short-circuit connector CN8 Plate SD
(Supplied with the servo amplifier)
2 m or less
CC-Link CN1A CN1B

CC-Link IE Field Network CC-Link IE Field Network

Note 1. To prevent an electric shock, always connect the protective earth Note 1. To prevent an electric shock, always connect the protective earth
(PE) terminal (the terminal marked with the symbol) of the (PE) terminal (the terminal marked with the symbol) of the servo
servo amplifier to the protective earth (PE) of the cabinet. amplifier to the protective earth (PE) of the cabinet.
2. Connect the diode in the correct direction. If it is connected 2. Connect the diode in the correct direction. If it is connected reversely,
reversely, the servo amplifier may malfunction and not output the servo amplifier may malfunction and not output signals, disabling
signals, disabling protective circuits such as Forced stop (EMG). protective circuits such as EM2 (Forced stop 2).
3. Always install a forced stop switch (normally closed contact). 3. If the controller does not have the forced stop function, always install
4. Supply 24 V DC ±10% 150 mA to interfaces from an external a forced stop 2 switch (normally closed contact).
source. The amperage will not exceed 150 mA when all I/O 4. When starting operation, always turn on EM2 (Forced stop 2), LSP
signals are used. Reducing the number of I/O points decreases (Forward rotation stroke end), and LSN (Reverse rotation stroke
the current capacity. Refer to 4.8.2 (1) of "MR-J3-_T_ Servo end). If FLS (Upper stroke limit) and RLS (Lower stroke limit) are
Amplifier Instruction Manual" for information on the currents used via a (normally closed contact) controller, wiring LSP and LSN
required for interfaces. is unnecessary. In that case, set [Pr. PD41].
5. Always turn on Forced stop (EMG) and Forward/Reverse rotation 5. Use SW1DNC-MRC2-_.
stroke end (LSP/LSN) during operation. (Normally closed contact) 6. The devices of these pins can be changed with [Pr. PD03], [Pr.
6. Malfunction (ALM) turns on in an operation with no alarms. PD04], and [Pr. PD05].
(Normally closed contact) 7. This device can be used only on the MR-J4-_GF_-RJ.
7. Use the MRZJW3-SETUP221E. 8. To prevent an unexpected restart of the servo amplifier, configure a
8. A personal computer or parameter unit can also be connected circuit that turns off EM2 when the main circuit power supply is
using RS-422 communication on the CN3 connector. However, the turned off.
USB communication function (CN5 connector) and RS-422 9. If not using the STO function, attach the short-circuit connector that
communication function (CN3 connector) are mutually exclusive. came with the servo amplifier.
They cannot be used at the same time.
10. Supply 24 V DC ±10% to interfaces from an external source. The
Personal computer
total current capacity of these power supplies is 300 mA maximum.
RS-232C/RS-422 replacement cable
Recommended product: The amperage will not exceed 300 mA when all I/O signals are used.
Interface cable DSV-CABV (Diatrend)
Reducing the number of I/O points decreases the current capacity.
To RS-232C connector Servo amplifier
For the current required for the interface, refer to section 3.8 of "MR-
J4-_GF_ (-RJ) Servo Amplifier Instruction Manual (Motion Mode)".
CN3
or
MR-PRU03
11. ALM (Malfunction) turns on in an operation with no alarms. (Normally
Parameter unit
closed contact)
10BASE-T cable or the like 12. The pins with the same signal name are connected in the servo
(EIA568 compliant product)
amplifier.
13. The devices of these pins can be changed with [Pr. PD07], [Pr.
PD08], and [Pr. PD09].

9. This diagram shows a sink I/O interface. For the source I/O
interface, refer to section 4.8.3 of "MR-J3-_T_ Servo Amplifier
Instruction Manual".

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Part 7: Review on Replacement of MR-J3-_T_ (CC-Link communication operation) with MR-J4-_GF_

3.4 List of supported connectors and terminal blocks

(1) Connector comparison table

An example of connection with peripheral equipment is shown below. Refer to each servo amplifier
instruction manual for details on signals.
MR-J3_T_ MR-J4-_GF_
The figure shows MR-J3-100T. The figure shows MR-J4-20GF-RJ.
(Note 3)
Power supply
Setup software Personal
(SETUP221E) computer
RS T
Molded-case (Note 2)
circuit breaker Power supply
(MCCB) Personal
Molded-case computer
circuit breaker MR Configurator2
(MCCB)

Servo amplifier
Magnetic
contactor
(MC) (Note 3)
Magnetic CN8 To safety relay or
contactor MR-J3-D05 safety logic unit
(MC)
(Note 2) CC-Link
(Note 1)

Line noise filter Junction

Line noise filter terminal block
(FR-BSF01) (FR-BSF01)

D (Note 5)
I/O signals Controller or servo amplifier
L1
L2
L1
L3
UVW L2 Controller or servo amplifier
L3 U V W

(Note 2) Power factor P3

P1 (Note 1) improving
Power factor
improving Battery DC reactor Servo motor
P2 MR-J3BAT (FR-HEL) P4 CN2L ( 4)
DC reactor
(FR-BEL) P+
P C Regenerative Battery
Regenerative option
option Servo motor C

L11

L21

Note 1. The battery is available as an option. It is used for the absolute Note 1. The power factor improving AC reactor can also be used. In this
position detection system. case, the power factor improving DC reactor cannot be used. If not
2. The power factor improving AC reactor can also be used. In this using the power factor improving DC reactor, short-circuit P3 and
case, the power factor improving DC reactor cannot be used. If not P4.
using the power factor improving DC reactor, short-circuit P1 and 2. For 1-phase 200 V AC to 240 V AC power supply, connect the
P2. power supply to L1 and L3. Leave L2 open. For the power supply
specifications, refer to section 1.3 of "MR-J4-_GF_ (-RJ) Servo
3. For the power supply specifications, refer to section 1.3 of "MR-J3-
Amplifier Instruction Manual (Motion Mode)".
_T_ Servo Amplifier Instruction Manual".
3. The bus voltage may drop depending on the main circuit 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.
4. This is for the MR-J4-_GF_-RJ servo amplifier. The MR-J4-_GF_
servo amplifier does not have the CN2L connector.
5. Always connect P+ and D terminals. To use the regenerative
option, refer to section 11.2 of "MR-J4-_GF_ (-RJ) Servo Amplifier
Instruction Manual (Motion Mode)".

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(2) List of connectors and terminal blocks

MR-J3-_T_ MR-J4-_GF_
No. Connector name Connector No. Connector name Connector Precautions
number number
① I/O signal connector CN6 ① I/O signal connector CN3 New arrangement required
Changes are required for
models of the HG-JR 1000
r/min series with 15 kW or
② Detector connector CN2 ② Encoder connector CN2 more and the HG-JR 1500
r/min series with 22 kW or
more.
(CN2L is not used.)
MR-J4-_GF_ requires a
CN1A communication connector
③ Communication connector CN1 → ③ Ethernet cable connector
for CC-Link IE Field
CN1B Network.
USB communication USB communication
④ connector
CN5 ④ connector
CN5
Main circuit power
➄ connector
CNP1 ➄ Main circuit power connector CNP1
It is necessary to switch the
Control circuit power Control circuit power
⑥ connector
CNP2 ⑥ connector
CNP2 power connector (supplied
with the servo amplifier).
Servo motor power output Servo motor power output
➆ connector
CNP3 ➆ connector
CNP3
New arrangement for
⑧ Battery connector CN4 ⑧ Battery connector CN4
battery required
RS-422 communication
⑨ connector
CN3

Note. When the STO function is not used with MR-J4-_GF_, install the short-circuit connector attached to the servo amplifier on CN8
(STO input signal connector).
The configuration of the main circuit terminal block differs depending on the capacity. Refer to "Part 8: Common Documents" for
details.

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(3) Signal comparison

(a) MR-J3-_T_/MR-J4-_GF_ common
The signal in ( ) is unique to MR-J4-_GF_.
MR-J3-_T_ Signal MR-J4-_GF_
Connector signal arrangement Connector pin No. abbreviation Connector pin No. Connector signal arrangement
EMG
CN6 CN6-1 CN3-20 (Note) CN3
(EM2)
CN6-2 DOG CN3-19
1 14 CN6-3 LSP CN3-2 1 11
2 15 2 12
EMG RD CN6-4 LSN CN3-12 TPR2 LG
DOG ALM CN6-5 DICOM CN3-5 LSP LSN
3 16 3 13
4 17 CN6-6 PP 4 14
LSP ZP DOCOM MBR
CN6-7
LSN DOCOM MO1 MO2
5 18 CN6-8 5 15
6 19 6 16
DICOM OPC CN6-9 DICOM ALM
PP NP CN6-10 LA LAR
7 20 7 17
8 21 CN6-11 LA CN3-6 8 18
LB LBR
CN6-12 LB CN3-7
LZ LZR
9 22 CN6-13 LZ CN3-8 9 19
10 23 CN6-14 10 20
RD INP DOG
LG CN6-15 ALM CN3-15 TPR1 EM2
11 24
12 25 CN6-16 ZP
LA LAR
CN6-17 DOCOM CN3-3
LB LBR
13 26 CN6-18 OPC
LZ LZR CN6-19 NP
CN6-20
CN6-21
CN6-22
CN6-23 LG CN3-11
CN6-24 LAR CN3-16
CN6-25 LBR CN3-17
CN6-26 LZR CN3-18

Note. EM2 is assigned to the CN3-20 pin as the initial value. To make the same setting as MR-J3-_T_, set this to "Forced stop
deceleration function disabled (EM1 is used)". To use EM1, set [Pr. PA04] to "0 _ _ _" to enable it.

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(b) CN3 (MR-J4-_GF_ only)

MR-J3-_T_ Signal MR-J4-_GF_
Connector signal arrangement Connector pin No. abbreviation Connector pin No. Connector signal arrangement
CN3
MO1 CN3-4

1 11
2 12
TPR2 LG
MO2 CN3-14
LSP LSN
3 13
4 14
DOCOM MBR
TRP1 CN3-10 MO1 MO2
5 15
6 16
DICOM ALM
LA LAR
TRP2 CN3-1
7 17
8 18
LB LBR
LZ LZR
9 19
INP CN3-9 (Note) 10 20
INP DOG
TPR1 EM2

MBR CN3-13 (Note)

Note. The devices of these pins can be changed with [Pr. PD03], [Pr. PD04], and [Pr. PD05].

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Part 7: Review on Replacement of MR-J3-_T_ (CC-Link communication operation) with MR-J4-_GF_

3.5 Peripheral equipment compatibility comparison

POINT
See Part 10: Review on Replacement of Optional Peripheral Equipment.

3.5.1 MR-J3-_T_/MR-J4-_GF_

The items shown in the following table are not compatible in MR-J3-_T_ and MR-J4-_GF_.
When replacing, prepare a new one for MR-J4-_GF_. For details, refer to "MR-J4-_GF_(-RJ) Servo Amplifier
Instruction Manual (Motion Mode)".

I/O signal connector connection junction terminal block/junction terminal block cable/junction terminal block
connector set
Item MR-J3-_T_ MR-J4-_GF_
Junction terminal block PS7DW-20V14B-F (recommended
product)
Junction terminal block cable MR-J2HBUS_M
Junction terminal block MR-J2CMP2 MR-CCN1
connector set

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Part 7: Review on Replacement of MR-J3-_T_ (CC-Link communication operation) with MR-J4-_GF_

3.6 Parameter comparison

Never make a drastic adjustment or change to the parameter values as doing so

will make the operation unstable.
If a fixed value is described for each digit of the parameter, never change the
CAUTION value of that digit.
Do not change the parameters for manufacturer setting.
For each parameter value, only set the setting value that is listed in the following
table.

POINT
When replacing MR-J3-_T_ (CC-Link communication operation) with MR-J4-
_GF_, set [Pr. PN03] to "_ _ _ 1" (I/O mode).
Refer to "Part 8: Common Documents" for the parameter converter function.
For MR-J3-_T_, the parameters in which the symbols are preceded by * are
enabled when the power is turned off and turned on again after setting.
For MR-J4-_GF_, the parameters in which the symbols are preceded by * are
enabled by the following conditions.
*: After setting, turn off the power and turn it on again, or reset the controller.
**: After setting, turn off the power and turn it on again.
For details on parameter setting for replacement, refer to "MR-J4-_GF_ (-RJ)
Servo Amplifier Instruction Manual (Motion Mode)" and "MR-J4-_GF_ (-RJ)
Servo Amplifier Instruction Manual (I/O mode)".
In MR-J4-_GF_, the deceleration to a stop function is enabled in the factory
setting. When not using the deceleration to a stop function, set [Pr. PA04] to "0 _
_ _".
Set [Pr. PA19] to "00AB" to enable reading and writing of positioning control
parameters ([Pr. PT_ _ ]) and network setting parameters ([Pr. PN_ _ ]).

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Part 7: Review on Replacement of MR-J3-_T_ (CC-Link communication operation) with MR-J4-_GF_

3.6.1 Parameters required to be set when replacing

The parameters shown here are the parameters that need to be set at the minimum when replacing servo
amplifiers all at once. Note that it may be necessary to set parameters other than the ones shown here
depending on the settings of the existing servo amplifier.
MR-J3-_T_ (CC-Link communication operation) MR-J4-_GF_
Precautions
No. Name No. Name
PA01 Control mode PA01 Operation mode Refer to "3.6.3 Comparison of parameter
PT01 Command mode selection details" for details.
PN03 Communication mode setting for CC-Link IE
communication
PA02 Regenerative option PA02 Regenerative option
PA03 Absolute position detection system PA03 Absolute position detection system
PA05 Feed function selection PT03 Feed function selection
PA06 Electronic gear numerator (command input PA06 Electronic gear numerator (command pulse
pulse multiplication numerator)/number of multiplication numerator)/number of gear teeth
gear teeth on machine side on machine side
PA07 Electronic gear denominator (command input PA07 Electronic gear denominator (command pulse
pulse multiplication denominator)/number of multiplication denominator)/number of gear
gear teeth on servo motor side teeth on servo motor side
PA08 Auto tuning mode PA08 Auto tuning mode
PA09 Auto tuning response PA09 Auto tuning response
PA10 In-position range PA10 In-position range
PA11 Forward rotation torque limit PA11 Forward rotation torque limit
PA12 Reverse rotation torque limit PA12 Reverse rotation torque limit
PA14 Rotation direction selection/station No. PA14 Rotation direction selection/station number
direction selection direction selection
PA15 Detector output pulse PA15 Encoder output pulses
PA19 Parameter writing prohibited PA19 Parameter writing prohibited Set [Pr. PA19] to "0 0 A B" to enable
reading and writing of positioning control
parameters ([Pr. PT_ _ ]) and network
setting parameters ([Pr. PN_ _ ]).
PB06 Load to motor inertia ratio PB06 Load to motor inertia ratio The unit system is different. (0.1
multiplier → 0.01 multiplier)
Be careful with the setting value.
PB07 Model control gain PB07 Model control gain The unit system is different. (rad/s → 0.1
rad/s)
The initial value is different.
Be careful with the setting value.
PB08 Position control gain PB08 Position control gain The unit system is different. (rad/s → 0.1
rad/s)
Be careful with the setting value.
PB12 For manufacturer setting PB12 Overshoot amount compensation Refer to "3.6.3 Comparison of parameter
PB17 Automatic setting parameter PB17 Shaft resonance suppression filter details" for details.
PB23 Low-pass filter selection PB23 Low-pass filter selection
PB29 Gain switching - Load to motor inertia ratio PB29 Gain switching - Load to motor inertia ratio The unit system is different. (0.1
multiplier → 0.01 multiplier)
Be careful with the setting value.
PB30 Gain switching - Position control gain PB30 Gain switching - Position control gain The unit system is different. (rad/s → 0.1
rad/s)
The initial value is different.
Be careful with the setting value.
PB31 Gain switching - Speed control gain PB31 Gain switching - Speed control gain The initial value is different.
PB32 Speed integral compensation after gain PB32 Speed integral compensation after gain Be careful with the setting value.
switching switching
PB33 Gain switching - Vibration suppression control PB33 Gain switching - Vibration suppression control
- Vibration frequency 1 - Vibration frequency
PB34 Gain switching - Vibration suppression control PB34 Gain switching - Vibration suppression control
- Resonance frequency 1 - Resonance frequency

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MR-J3-_T_ (CC-Link communication operation) MR-J4-_GF_

Precautions
No. Name No. Name
PC02 Home position return type PT45 Homing methods Refer to "3.6.3 Comparison of parameter
PC03 Homing direction PT70Function selection T-10 details" for details.
PC04 Homing speed PT05 Homing speed
PC05 Creep speed PT06 Creep speed
PC06 Home position shift distance PT07 Home position shift distance
PT69 Home position shift distance (extension
parameter)
PC07 Homing position data PT08 Homing position data
PT47 Home position return position data (extension
parameter)
PC08 Travel distance after proximity dog PT09 Travel distance after proximity dog
PT71 Travel distance after proximity dog (extension
parameter)
PC09 Stopper type homing - Stopping time PT10 Stopper type homing - Stopping time
PC10 Stopper type homing - Torque limit value PT11 Stopper type homing - Torque limit value
PC11 Rough match output range PT12 Rough match output range
PC12 JOG speed PT65 JOG speed command
PC13 S-pattern acceleration/deceleration time PT51 S-pattern acceleration/deceleration time
constants constants
PC14 Backlash compensation PT14 Backlash compensation
PC16 Electromagnetic brake sequence output PC02 Electromagnetic brake sequence output The initial value is different.
Be careful with the setting value.
PC24 Function selection C-3 PC06 Function selection C-3 Refer to "3.6.3 Comparison of parameter
PC26 Function selection C-5 PC19 Function selection C-6 details" for details.
PC27 Function selection C-6 PC20 Function selection C-7
PC28 Function selection C-7 PT26 Function selection T-2
PC30 Remote register-based position/speed PT62 Remote register-based position/speed
specifying method selection specifying method selection
PC31 Software limit + PT15 Software limit + (last 4 digits)
PC32 PT16 Software limit + (first 4 digits)
PC33 Software limit - PT17 Software limit - (last 4 digits)
PC34 PT18 Software limit - (first 4 digits)
PC35 Internal torque limit 2 PC77 Internal torque limit 2 The initial value is different.
PT48 Function selection T-7A Be careful with the setting value.
PC37 Position range output address + PT19 Position range output address + (last 4 digits) Refer to "3.6.3 Comparison of parameter
PC38 PT20 Position range output address + (first 4 digits) details" for details.
PC39 Position range output address - PT21 Position range output address - (last 4 digits)
PC40 PT22 Position range output address - (first 4 digits)
PC45 Function selection C-9 PT27 Indexer method - Operation mode selection
PC46 Number of stations/rotation for indexer PT28 Number of stations per rotation
positioning operation
PC47 Station home position shift distance for PT40 Station home position shift distance
indexer positioning operation
PC50 Function selection C-A PT62 Remote register-based position/speed
specifying method selection
PD01 Input signal automatic ON selection 1 PD01 Input signal automatic ON selection 1 Refer to "3.6.3 Comparison of parameter
details" for details.
PD06 Input signal device selection 2 (CN6-2) PD03 Input device selection 1 (CN3-2) Assign the input device assigned to the
CN6-2, CN6-3, and CN6-4 pins of MR-
PD07 Input signal device selection 3 (CN6-3) PD04 Input device selection 2 (CN3-12) J3-_T_ to any of the pins of MR-J4-
_GF_.
PD08 Input signal device selection 4 (CN6-4) PD05 Input device selection 3 (CN3-19)
Refer to "3.6.3 Comparison of parameter
PD12 External DI function selection 1 details" for details.

PD09 Output signal device selection 1 (CN6-14) PD07 Output device selection 1 (CN3-13) Assign the output device assigned to the
CN6-14 pin, CN6-15 pin, and CN6-16
PD10 Output signal device selection 2 (CN6-15) PD08 Output device selection 2 (CN3-9) pin of MR-J3-_T_ to one of the following
pins of MR-J4-_GF_.
Refer to "3.6.3 Comparison of parameter
PD11 Output signal device selection 3 (CN6-16) PD09 Output device selection 3 (CN3-15)
details" for details.

PD12 External DI function selection 1 PD41 Function selection D-4 Refer to "3.6.3 Comparison of parameter
PD14 External DI function selection 3 details" for details.
PD16 Input polarity selection PT29 Function selection T-3
PD19 Input filter setting PD11 Input filter setting
PD20 Function selection D-1 PD12 Function selection D-1
PD22 Function selection D-3 PD42 Function selection D-5
PD24 Function selection D-5 PD14 Function selection D-3

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3.6.2 Parameter comparison list

MR-J3-_T_ (CC-Link communication operation) parameter Corresponding MR-J4-_GF_ parameter
Customer Customer
Initial Initial
No. Symbol Parameter name setting No. Symbol Parameter name setting
value value
value value
PA01 *STY Control mode 0000h PA01 **STY Operation mode 1000h
PT01 **CTY Command mode selection 0300h
PN03 **NWMD Communication mode setting for 0000h
CC-Link IE communication
PA02 *REG Regenerative option 0000h PA02 *REG Regenerative option 0000h
PA03 *ABS Absolute position detection system 0000h PA03 *ABS Absolute position detection system 0000h
selection
PA04 *AOP1 Function selection A-1 0000h No corresponding parameter
PA05 *FTY Feed function selection 0000h PT03 *FTY Feed function selection 0000h
PA06 *CMX Electronic gear numerator (command 1 PA06 *CMX Electronic gear numerator 1
input pulse multiplication (command pulse multiplication
numerator)/number of gear teeth on numerator)/number of gear teeth
machine side on machine side
PA07 *CDV Electronic gear denominator (command 1 PA07 *CDV Electronic gear denominator 1
input pulse multiplication (command pulse multiplication
denominator)/number of gear teeth on denominator)/number of gear
servo motor side teeth on servo motor side
PA08 ATU Auto tuning mode 0001h PA08 ATU Auto tuning mode 0001h
PA09 RSP Auto tuning response 12 PA09 RSP Auto tuning response 16
PA10 INP In-position range 100 PA10 INP In-position range 1600
PA11 TLP Forward rotation torque limit 100.0 PA11 TLP Forward rotation torque limit 1000.0
PA12 TLN Reverse rotation torque limit 100.0 PA12 TLN Reverse rotation torque limit 1000.0
PA14 *POL Rotation direction selection/station No. 0 PA14 *POL Servo motor rotation direction 0
direction selection selection/station No. direction
selection
PA15 *ENR Detector output pulse 4000 PA15 *ENR Encoder output pulses 4000
PA19 *BLK Parameter writing prohibited 000Ch PA19 *BLK Parameter writing prohibited 00ABh
PB01 FILTAdaptive tuning mode 0000h PB01 FILT Adaptive tuning mode (adaptive 0000h
(adaptive filter II) filter II)
PB02 VRFT Vibration suppression control tuning 0000h PB02 VRFT Vibration suppression control 0000h
mode tuning mode
(Advanced vibration suppression (Advanced vibration suppression
control) control II)
PB04 FFC Feed forward gain 0 PB04 FFC Feed forward gain 0
PB06 GD2 Load to motor inertia ratio 7.0 PB06 GD2 Load to motor inertia ratio 7.00
PB07 PG1 Model control gain 24 PB07 PG1 Model control gain (Note) 15.0
PB08 PG2 Position control gain 37 PB08 PG2 Position control gain (Note) 37.0
PB09 VG2 Speed control gain 823 PB09 VG2 Speed control gain (Note) 823
PB10 VIC Speed integral compensation 33.7 PB10 VIC Speed integral compensation 33.7
(Note)
PB11 VDC Speed differential compensation 980 PB11 VDC Speed differential compensation 980
(Note)
PB12 For manufacturer setting 0 PB12 OVA Overshoot amount compensation 0
PB13 NH1 Machine resonance suppression filter 1 4500 PB13 NH1 Machine resonance suppression 4500
filter 1
PB14 NHQ1 Notch shape selection 1 0000h PB14 NHQ1 Notch shape selection 1 0000h
PB15 NH2 Machine resonance suppression filter 2 4500 PB15 NH2 Machine resonance suppression 4500
filter 2
PB16 NHQ2 Notch shape selection 2 0000h PB16 NHQ2 Notch shape selection 2 0000h
PB17 Automatic setting parameter PB17 NHF Shaft resonance suppression filter 0000h
PB18 LPF Low-pass filter setting 3141 PB18 LPF Low-pass filter setting 3141
PB19 VRF1 Vibration suppression control - 100.0 PB19 VRF11 Vibration suppression control 1 - 100.0
Vibration frequency Vibration frequency
PB20 VRF2 Vibration suppression control - 100.0 PB20 VRF12 Vibration suppression control 1 - 100.0
Resonance frequency Resonance frequency
PB23 VFBF Low-pass filter selection 0000h PB23 VFBF Low-pass filter selection 0000h
PB24 *MVS Slight vibration suppression control 0000h PB24 *MVS Slight vibration suppression 0000h
selection control
PB26 *CDP Gain switching selection 0000h PB26 *CDP Gain switching function 0000h
PB27 CDL Gain switching condition 10 PB27 CDL Gain switching condition 10
PB28 CDT Gain switching time constant 1 PB28 CDT Gain switching time constant 1
PB29 GD2B Load to motor inertia ratio after gain 7.0 PB29 GD2B Gain switching - Load to motor 7.00
switching inertia ratio

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MR-J3-_T_ (CC-Link communication operation) parameter Corresponding MR-J4-_GF_ parameter

Customer Customer
Initial Initial
No. Symbol Parameter name setting No. Symbol Parameter name setting
value value
value value
PB30 PG2B Gain switching - Position control gain 37 PB30 PG2B Gain switching - Position control 0.0
gain
PB31 VG2B Gain switching - Speed control gain 823 PB31 VG2B Gain switching - Speed control 0
gain
PB32 VICB Speed integral compensation after gain 33.7 PB32 VICB Speed integral compensation after 0.0
switching gain switching
PB33 VRF1B Gain switching - Vibration suppression 100.0 PB33 VRF1B Gain switching - Vibration 0.0
control - Vibration frequency suppression control 1 - Vibration
frequency
PB34 VRF2B Gain switching - Vibration suppression 100.0 PB34 VRF2B Gain switching - Vibration 0.0
control - Resonance frequency suppression control 1 -
Resonance frequency

Note. The parameters related to gain adjustment are different from those of the MR-J3-_T_ servo amplifier. For the gain adjustment method, refer to "
MR-J4_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".

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MR-J3-_T_ parameter Corresponding MR-J4-_GF_ parameter

Customer Customer
Initial Initial
No. Symbol Parameter name setting No. Symbol Parameter name setting
value value
value value
PC02 *ZTY Home position return type 0000h PT45 HMM Homing methods 37
PC03 *ZDIR Homing direction 0001h PT70 TOP10 Function selection T-10 0000h
PC04 ZRF Homing speed 500 PT05 ZRF Homing speed 100.00
PC05 CRF Creep speed 10 PT06 CRF Creep speed 10.00
PC06 ZST Home position shift distance 0 PT07 ZST Home position shift distance 0
PT69 ZSTH Home position shift distance
0
(extension parameter)
PC07 *ZPS Homing position data 0 PT08 *ZPS Homing position data 0
PT47 *ZPSH Home position return position data
0
(extension parameter)
PC08 DCT Travel distance after proximity dog 1000 PT09 DCT Travel distance after proximity dog 0
PT71 DCTH Travel distance after proximity dog
0
(extension parameter)
PC09 ZTM Stopper type homing - Stopping time 100 PT10 ZTM Stopper type homing - Stopping
100
time
PC10 ZTT Stopper type homing - Torque limit 15.0 PT11 ZTT Stopper type homing - Torque limit
15.0
value value
PC11 CRP Rough match output range 0 PT12 CRP Rough match output range 0
PC12 JOG JOG speed 100 PT65 PVC JOG speed command 100.00
PC13 *STC S-pattern acceleration/deceleration time 0 PT51 STC S-pattern acceleration/deceleration 0
constants time constants
PC14 *BKC Backlash compensation 0 PT14 *BKC Backlash compensation 0
PC16 MBR Electromagnetic brake sequence output 100 PC02 MBR Electromagnetic brake sequence 0
output
PC17 ZSP Zero speed 50 PC07 ZSP Zero speed 50
PC18 *BPS Alarm history clear 0000h PC21 *BPS Alarm history clear 0000h
PC19 *ENRS Detector output pulse selection 0000h PC03 *ENRS Encoder output pulses selection 0000h
PC20 *SNO Setting station numbers 0 No corresponding parameter
PC21 *SOP RS-422 communication function 0000h No corresponding parameter
selection
PC22 *COP1 Function selection C-1 0000h PC04 **COP1 Function selection C-1 0000h
PC24 *COP3 Function selection C-3 0000h PC06 *COP3 Function selection C-3 0000h
PC26 *COP5 Function selection C-5 0000h PC19 *COP5 Function selection C-5 0000h
PC27 *COP6 Function selection C-6 0000h PC20 *COP6 Function selection C-6 0000h
PC28 *COP7 Function selection C-7 0000h PT26 *TOP2 Function selection T-2 0000h
PC30 *DSS Remote register-based position/speed 0000h PT62 *DSS Remote register-based 0000h
specifying method selection position/speed specifying method
PC50 *COPA Function selection C-A 0000h selection
PC31 LMPL Software limit + 0 PT15 LMPL Software limit + 0000h
PC32 LMPH PT16 LMPH 0000h
PC33 LMNL Software limit - 0 PT17 LMNL Software limit - 0000h
PC34 LMNH PT18 LMNH 0000h
PC35 TL2 Internal torque limit 2 100.0 PC77 TL2 Internal torque limit 2 0.0
PT48 TOP7A Function selection T-7A 0000h
PC37 *LPPL Position range output address + 0 PT19 *LPPL Position range output address + 0000h
PC38 *LPPH PT20 *LPPH 0000h
PC39 *LNPL Position range output address - 0 PT21 *LNPL Position range output address - 0000h
PC40 *LNPH PT22 *LNPH 0000h
PC45 *COP9 Function selection C-9 0000h PT27 *ODM Indexer method - Operation mode
0000h
selection
PC46 *STN Number of stations/rotation for indexer 0000h PT28 *STN Number of stations per rotation 8
positioning operation
PC47 PSST Station home position shift distance for 0000h PT40 *SZS Station home position shift 0
indexer positioning operation distance

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MR-J3-_T_ parameter Corresponding MR-J4-_GF_ parameter

Customer Customer
Initial Initial
No. Symbol Parameter name setting No. Symbol Parameter name setting
value value
value value
PD01 *DIA1 Input signal automatic ON
Input signal automatic ON selection 1 0000h PD01 *DIA1 0000h
selection 1
PA04 *AOP1 Function selection A-1 2000h
PB24 *MVS Slight vibration suppression control 0000h
PD03 *DIA3 Input signal automatic ON selection 3 0000h No corresponding parameter
PD04 *DIA4 Input signal automatic ON selection 4 0000h No corresponding parameter
PD06 *DI2 Input signal device selection 2 (CN6-2) 002Bh PD03 *DI1 Input device selection 1 000Ah
PD07 *DI3 Input signal device selection 3 (CN6-3) 000Ah PD04 *DI2 Input device selection 2 000Bh
PD08 *DI4 Input signal device selection 4 (CN6-4) 000Bh PD05 *DI3 Input device selection 3 0022h
PD09 *DO1 Output signal device selection 1 (CN6-
0002h PD07 *DO1 Output device selection 1 0005h
14)
PD10 *DO2 Output signal device selection 2 (CN6-
0003h PD08 *DO2 Output device selection 2 0004h
15)
PD11 *DO3 Output signal device selection 3 (CN6-
0024h PD09 *DO3 Output device selection 3 0003h
16)
PD12 *DIN1 External DI function selection 1 0C00h No corresponding parameter
PD14 *DIN2 External DI function selection 3 0800h No corresponding parameter
PD16 *DIAB Input polarity selection 0000h PT29 *TOP3 Function selection T-3 0000h
PD19 *DIF Input filter setting 0002h PD11 *DIF Input filter 0004h
PD20 *DOP1 Function selection D-1 0010h PD12 *DOP1 Function selection D-1 0101h
PD22 *DOP3 Function selection D-3 0000h PD42 *DOP5 Function selection D-5 0000h
PD24 *DOP5 Function selection D-5 0000h PD14 *DOP3 Function selection D-3 0000h
PD25 A8DT CC-Link communication error (A8D) Communication error detection
0000h PN02 CERT 0
detection time time
PD26 TLT Indexer positioning operation torque PT39 INT Torque limit delay time 100
0064h
limit ready time

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Part 7: Review on Replacement of MR-J3-_T_ (CC-Link communication operation) with MR-J4-_GF_

3.6.3 Parameter detail comparison

POINT
If a value out of the setting range is set to each parameter, [AL. 37 Parameter
error] occurs.
The symbols in the control mode indicate the following control modes.
CP: Positioning mode (point table method)
PS: Positioning mode (indexer method)
SP: Speed control mode (point table method)

MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PA01 Control mode 0000h PA01 Operation mode 0h CP
_ _ 0 x: _ _ _ x: PS
Command method selection Control mode selection SP
0: Absolute value command method Select a control mode.
1: Incremental value command method 0: Positioning mode (point table method)
_ x 0 _: 8: Positioning mode (indexer method)
350% maximum torque setting of HF-KP series B: Speed control mode (point table method)
servo motor When [Pr. PN03] = _ _ _ 1, the above settings are
0: Disabled enabled.
3: Enabled
x _ 0 _: _ _ x _: 0h CP
Operation method Operation mode selection PS
0: Point table positioning operation 0: Standard control mode SP
1: Indexer positioning operation _ x _ _: 0h
2: Speed control For manufacturer setting
x _ _ _: 1h
For manufacturer setting
PT01 Command mode selection 0h CP
_ _ _ x:
Positioning command method selection
0: Absolute value command method
1: Incremental value command method
_ _ x _: 0h
For manufacturer setting
_ x _ _: 3h CP
Unit for position data
0: mm
The initial value is "3", so reset it to "0".
x _ _ _: 0h
For manufacturer setting
PN03 Communication mode setting for CC-Link IE 0h CP
communication PS
_ _ _ x: SP
Station-specific mode selection
Select the I/O mode that can be connected to the
master local unit.
1: I/O mode
The initial value is "0", so reset it to "1".
_ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PA02 Regenerative option 0000h PA02 Regenerative option 00h CP
Incorrect setting may cause the regenerative option __xx PS
to burn. Select a regenerative option. SP
If a selected regenerative option is not for use with Incorrect setting may cause the regenerative option
the servo amplifier, [AL. 37 Parameter error] occurs. to burn.
When using the regeneration option, brake unit, If a selected regenerative option is not for use with
power regeneration converter, or power regeneration the servo amplifier, [AL. 37 Parameter error] occurs.
common converter, set this parameter.
0 0 x x: 00: Regenerative option is not used.
Regenerative option selection For 100 W servo amplifiers, the regenerative
00: Regenerative option is not used. resistor is not used.
For 100 W servo amplifiers, the regenerative Built-in regenerative resistors are used on servo
resistor is not used. amplifiers with a capacity of 0.2 kW to 7 kW.
Built-in regenerative resistors are used on servo Use the supplied regenerative resistor or
amplifiers with a capacity of 200 W to 7 kW. regenerative option on a 11 kW to 22 kW servo
Use the supplied regenerative resistor or amplifier.
regenerative option on a 11 kW to 22 kW servo 01: When using FR-RC-(H)/FR-CV-(H)/FR-BU2-
amplifier. (H)/FR-XC-(H)FR-RC-(H), FR-CV-(H), and FR-
01: FR-BU2-(H)/FR-RC-(H)/FR-CV-(H) XC-(H), select "1" for "[AL. 10 Undervoltage]
02: MR-RB032 detection method selection" of [Pr. PC20].
03: MR-RB12 02: MR-RB032
04: MR-RB32 03: MR-RB12
05: MR-RB30 04: MR-RB32
06: MR-RB50 (A cooling fan is required.) 05: MR-RB30
08: MR-RB31 06: MR-RB50 (A cooling fan is required.)
09: MR-RB51 (A cooling fan is required.) 08: MR-RB31
80: MR-RB1H-4 09: MR-RB51 (A cooling fan is required.)
81: MR-RB3M-4 (A cooling fan is required.) 0B: MR-RB3N
82: MR-RB3G-4 (A cooling fan is required.) 0C: MR-RB5N (A cooling fan is required.)
83: MR-RB5G-4 (A cooling fan is required.) 80: MR-RB1H-4
84: MR-RB34-4 (A cooling fan is required.) 81: MR-RB3M-4 (A cooling fan is required.)
85: MR-RB54-4 (A cooling fan is required.) 82: MR-RB3G-4 (A cooling fan is required.)
FA: When using a cooling fan to cool the supplied 83: MR-RB5G-4 (A cooling fan is required.)
regenerative resistor or regenerative option on a 84: MR-RB34-4 (A cooling fan is required.)
11 kW to 22 kW servo amplifier to increase the 85: MR-RB54-4 (A cooling fan is required.)
capability 91: MR-RB3U-4 (A cooling fan is required.)
92: MR-RB5U-4 (A cooling fan is required.)
FA: When using a cooling fan to cool the supplied
regenerative resistor or regenerative option on a
11 kW to 22 kW servo amplifier to increase the
capability
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PA03 Absolute position detection system 0000h PA03 Absolute position detection system 0h CP
0 0 0 x: _ _ _ x: PS
Absolute position detection system selection Absolute position detection system selection
0: Use with the incremental system. Set this digit when using the absolute position
1: Use with the absolute position detection system. detection system.
0: Disabled (incremental system)
1: Enabled (absolute position detection system)

_ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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Part 7: Review on Replacement of MR-J3-_T_ (CC-Link communication operation) with MR-J4-_GF_

MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PA04 Function selection A-1 0000h No corresponding parameter
0 0 0 x:
Follow-up of Servo-on (RYn0)-off and Forced stop
(EMG)-off when using the absolute value command
method in the incremental system
0: Disabled
1: Enabled
Normally, when this servo amplifier is used in the
absolute value command method of an incremental
system, the home position disappears at servo-off or
in the forced stop state.
If this parameter is set to "1", the home position will
not disappear even at servo-off, in the forced stop
state, or at occurrence of an alarm that can be
canceled by reset.
Operation can be resumed again if Servo-on (RYn0)
or Forced stop (EMG) is cleared, or if an alarm is
canceled using Reset (RES).
PA05 Feed function selection 0000h PT03 Feed function selection 0h CP
Select the setting unit for feed length multiplication, _ _ _ x:
manual pulse generator input multiplication, and Feed length multiplication [STM]
servo motor speed. 0: 1 multiplier
0_ _ x: 1: 10 multiplier
2: 100 multiplier
Position data input range 3: 1000 multiplier
Feed length [mm]
Feed
Setting multiplication Incremental
unit Absolute value
value (STM) value
[μm] command
[Multiplier] command
method
method
0 1 1 -999.999 to 0 to +999.999
+999.999
1 10 10 -9999.99 to 0 to +9999.99
+9999.99
_ _ x _: 0h
2 100 100 -99999.9 to 0 to +99999.9 For manufacturer setting
+99999.9
3 1000 1000 -999999 to 0 to +999999
+999999

0 _ x _:
Manual pulse generator multiplication _ x _ _: 0h
0: 1 multiplier For manufacturer setting (no corresponding
1: 10 multiplier parameter)
2: 100 multiplier
0 x_ _:
Servo motor speed setting unit selection x _ _ _: 0h
0: 1 r/min unit For manufacturer setting (no corresponding
1: 0.1 r/min unit parameter)
When set to "1", "Servo motor speed" in the status
display is in units of 0.1 r/min.

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Part 7: Review on Replacement of MR-J3-_T_ (CC-Link communication operation) with MR-J4-_GF_

MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PA06 Electronic gear numerator (command input pulse 1 PA06 Electronic gear numerator 1 CP
PA07 multiplication numerator) 1 PA07 Electronic gear denominator 1
Electronic gear denominator (command input pulse
multiplication denominator) Electronic gear
([Pr. PA06]/[Pr. PA07])
The range of electronic gear setting is Servo motor
1 CMX CMX +
< < 2000.Setting any value out of the Travel distance Deviation counter M
10 CDV CDV -

setting range will trigger [AL. 37 Parameter error].

When [Pr. PA06] is set to "0", the servo motor
Encoder
detector resolution is set for the electronic gear
numerator. Pt: Servo motor encoder resolution 4194304
(1) Logic of electronic gear [pulse/rev]
An electronic gear ([Pr. PA06]/[Pr. PA07]) is used ΔS: Travel distance per servo motor revolution
to adjust the servo amplifier setting values so that [mm/rev]/[inch/rev]/[pulse/rev]
they match the travel distance of the machine. CMX/CDV = Pt/ΔS
Also, by changing the electronic gear, the
machine can be moved at any magnification with Set the electronic gear within the following range of
respect to the travel distance on the servo conditions.
amplifier. If a value out of the range is set, [AL. 37 Parameter
error] occurs.
CMX [Pr. PA06]
=
CDV [Pr. PA07] 1/865 < CMX/CDV < 271471

Servo
motor
Setting range: 1 to 16777215
distance

+
Moving

CMX Deviation
CDV - counter

Encoder feedback pulses

Electronic gear
[Pr. PA06]/[Pr. PA07] Encoder

PA06 Number of gear teeth on machine side 0000h PA06 Number of gear teeth on machine side 1 PS
PA07 Number of gear teeth on servo motor side PA07 Number of gear teeth on servo motor side 1
Set the electronic gear within the following range When the number of pulley teeth on the machine
of conditions. side is 50 and the number of pulley teeth on the
(1) 1/9999 ≤ CMX/CDV ≤ 9999 servo motor side is 20
(2) CDV × STN ≤ 32767 Set [Pr. PA06] = 50 and [Pr. PA07] = 20.
(3) CMX × CDV ≤ 100000
Number of pulley teeth
Setting any value out of the range of conditions on the machine side: 50
will trigger [AL. 37 Parameter error]. If a small
value is set for the electronic gear ratio, the servo
motor may not be driven at the set servo motor
speed in the manual operation mode.
Servo motor
The setting range of [Pr. PA06] and [Pr. PA07] in
the indexer positioning operation is 1 to 16384.
The setting range is different from the setting Number of pulley teeth
range in the point table positioning operation. on the servo motor side: 20

Set the electronic gear within the following range of

conditions.
If a value out of the range is set, [AL. 37 Parameter
error] occurs.
1 ≤ CMX ≤ 16384, 1 ≤ CDV ≤ 16384
1 CMX
9999
9999 CDV
CDV × STN × 32767 (STN: Number of stations
per rotation [Pr. PT28])
CMX × CDV ≤ 100000

If a small value is set for the electronic gear ratio in

the manual operation mode, the servo motor may
not be driven at the set servo motor speed.

1 station travel distance =

1 CMX
Pt (servo motor resolution) × ×
STN CDV

Setting range: 1 to 16777215

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PA08 Auto tuning mode 0001h PA08 Auto tuning mode 1h CP
Use auto-tuning to adjust the gain. _ _ _ x: PS
Select the gain adjustment mode. Gain adjustment mode selection SP
0 0 0 x: Select the gain adjustment mode.
Gain adjustment mode setting 0: 2 gain adjustment mode 1 (interpolation mode)
0: Interpolation mode (Automatically set parameter 1: Auto tuning mode 1
No. [Pr. PB06]/[Pr. PB08]/[Pr. PB09]/[Pr. PB10]) 2: Auto tuning mode 2
1: Auto tuning mode 1 (Automatically set parameter 3: Manual mode
No. [Pr. PB06]/[Pr. PB07]/[Pr. PB08]/[Pr. 4: 2 gain adjustment mode 2
PB09]/[Pr. PB10]) Refer to the following table for details.
2: Auto tuning mode 2 (Automatically set parameter _ _ x _: 0h
No. [Pr. PB07]/[Pr. PB08]/[Pr. PB09]/[Pr. PB10])
For manufacturer setting

The name of each parameter is as follows. _ x _ _: 0h

For manufacturer setting
No. Name
x _ _ _: 0h
PB06 Load to motor inertia ratio For manufacturer setting
PB07 Model control gain Gain adjustment mode selection
PB08 Position control gain
Setting
Gain adjustment mode Parameter adjusted automatically
PB09 Speed control gain value
PB10 Speed integral compensation ___0 2 gain adjustment mode 1 [Pr. PB06 Load to motor inertia
(Interpolation mode) ratio]
[Pr. PB08 Position control gain]
[Pr. PB09 Speed control gain]
[Pr. PB10 Speed integral
compensation]
___1 Auto tuning [Pr. PB06 Load to motor inertia
Mode 1 ratio]
[Pr. PB07 Model control gain]
[Pr. PB08 Position control gain]
[Pr. PB09 Speed control gain]
[Pr. PB10 Speed integral
compensation]
___2 Auto tuning [Pr. PB07 Model control gain]
Mode 2 [Pr. PB08 Position control gain]
[Pr. PB09 Speed control gain]
[Pr. PB10 Speed integral
compensation]
___3 Manual mode
___4 2 gain adjustment mode 2 [Pr. PB08 Position control gain]
[Pr. PB09 Speed control gain]
[Pr. PB10 Speed integral
compensation]

PA09 Auto tuning response 12 PA09 Auto tuning response 16 CP

If hunting occurs in the machine or if the gear noise Set the auto tuning response. PS
is loud, reduce the setting value. If wanting to SP
shorten the stop setting time or improve other Machine characteristic Machine characteristic
performances, increase the setting value. Setting Guideline for Setting Guideline for
value Responsi machine value Responsi machine
veness resonance veness resonance
Guideline for Guideline for frequency [Hz] frequency [Hz]
Setting Responsi machine Setting Responsi machine Low Medium
value veness resonance value veness resonance 1 2.7 21 67.1
response response
frequency [Hz] frequency [Hz]
2 3.6 22 75.6
Low Medium 3 4.9 23 85.2
1 10.0 17 67.1
response response
4 6.6 24 95.9
2 11.3 18 75.6
5 10.0 25 108.0
3 12.7 19 85.2
6 11.3 26 121.7
4 14.3 20 95.9
7 12.7 27 137.1
5 16.1 21 108.0
8 14.3 28 154.4
6 18.1 22 121.7
9 16.1 29 173.9
7 20.4 23 137.1
10 18.1 30 195.9
8 23.0 24 154.4
11 20.4 31 220.6
9 25.9 25 173.9
12 23.0 32 248.5
10 29.2 26 195.9
13 25.9 33 279.9
11 32.9 27 220.6
14 29.2 34 315.3
12 37.0 28 248.5
15 32.9 35 355.1
13 41.7 29 279.9
16 37.0 36 400.0
14 47.0 30 315.3
17 41.7 37 446.6
15 52.9 31 355.1
18 47.0 38 501.2
Medium High
16 59.6 32 400.0 19 52.9 39 571.5
response response
Medium High
20 59.6 40 642.7
response response

Setting range: 1 to 40

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Part 7: Review on Replacement of MR-J3-_T_ (CC-Link communication operation) with MR-J4-_GF_

MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PA10 In-position range 100 PA10 In-position range 1600 CP
Set the range for outputting travel completion Set the in-position range in the command pulse unit. PS
(RXnC) and in-position (RXn1) in units of command It can be changed to be in units of servo motor
pulses before calculating the electronic gear. It can encoder pulse by setting [Pr. PC06].
be changed to be in units of detector output pulses In I/O mode, the in-position range is the range in
by setting [Pr. PC24]. The setting unit changes to which RXnC (travel completion) and RXn1 (in-
pulse when the detector output pulse unit is used. position) are output.
The unit is as follows depending on the positioning
Servo motor-side droop pulses
mode.
Command pulse Command pulse

Droop pulses
For the point table method
The unit is [μm].
ON
For the indexer method
In-position (RXn1)
OFF The unit is command unit [pulse]. (A unit that
expresses one rotation on the machine side by
the number of servo motor resolution pulses)
For example, to set ±1 degree as the in-position
range for the rotation angle at the machine end,
set 4194304 × (1/360) = 11650 pulses.

Setting range: 0 to 65535

PA11 Forward rotation torque limit 100.0 PA11 Forward rotation torque limit 1000.0 CP
PA12 Reverse rotation torque limit 100.0 The torque generated by the servo motor can be PS
The torque generated by the servo motor can be limited. SP
limited. Set the rated torque at 100.0 [%]. Set the servo
When torque is outputted with the analog monitor parameter to limit the torque of the servo motor for
output, the torque of the larger value of either [Pr. CCW power running or CW regeneration. If this
PA11] (Forward rotation torque limit) or [Pr. PA12] object is set to "0.0", the servo motor does not
(Reverse rotation torque limit value) becomes the generate torque.
maximum output voltage (8 V). The polarity of the torque limit can be changed with
the setting values of [Pr. PA14 Rotation direction
Forward rotation torque limit [Pr. PA11] selection] and [Pr. PC29 POL reflection selection at
Set the maximum torque at 100 [%]. Set the servo torque mode].
parameter to limit the torque of the servo motor for
CCW power running or CW regeneration. If this Setting range: 0.0 to 1000.0
object is set to "0.0", the servo motor does not PA12 The torque generated by the servo motor can be 1000.0 CP
generate torque. limited. PS
Set the rated torque at 100.0 [%]. Set the servo SP
Reverse rotation torque limit [Pr. PA12] parameter to limit the torque of the servo motor for
Set the maximum torque at 100 [%]. Set the servo CW power running or CCW regeneration. If this
parameter to limit the torque of the servo motor for object is set to "0.0", the servo motor does not
CW power running or CCW regeneration. If this generate torque.
object is set to "0.0", the servo motor does not The polarity of the torque limit can be changed with
generate torque. the setting values of [Pr. PA14 Rotation direction
selection/travel direction selection] and [Pr. PC29
POL reflection selection at torque mode].

Setting range: 0.0 to 1000.0

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PA14 Rotation direction selection 0 PA14 Rotation direction selection 0 CP
Select the rotation direction of the servo motor when Select the rotation direction of the servo motor when SP
Forward rotation start (RYn1) or Reverse rotation RYn1 (Forward rotation start) or RYn2 (Reverse
start (RYn2) is turned on. rotation start) is turned on.
The torque polarity can be changed with the
combination of this parameter and [Pr. PC29 Torque
Servo motor rotation direction
Setting value POL reflection selection].
of [Pr. PA14] Forward rotation start Reverse rotation start
(RYn1) ON (RYn2) ON
Rotate in CCW Servo motor rotation direction
Rotate in CW direction [Pr. PA14]
0 direction (address setting value With an increasing With a decreasing
(address decreasing)
increasing) positioning address positioning address
Rotate in CCW Rotate in CCW Rotate in CW
Rotate in CW direction 0
1 direction (address direction direction
(address increasing)
decreasing) Rotate in CCW
1 Rotate in CW direction
direction

The servo motor rotation direction is as follows.

RYn1: ON RYn2: ON
CCW CCW
Forward rotation (CCW)

CW CW
RYn2: ON RYn1: ON

[Pr. PA14]: 0 [Pr. PA14]: 1

Reverse rotation (CW)

PA14 Station No. direction selection 0 PA14 Station No. direction selection 0 PS
This parameter is enabled when the power is turned Select the station number assignment direction.
off and turned on again after setting.
Select the station number assignment direction with Setting value Servo motor rotation direction
this parameter. of [Pr. PA14] RYn1 (start) ON
Station numbers are assigned in the order of 1,
0
[Pr. PA14] Servo motor rotation direction 2, 3... in the CW direction.
setting value Start (RYn1) ON Station numbers are assigned in the order of 1,
1
Station numbers are assigned in the order of 1, 2, 3... in the CCW direction.
0
2, 3... in the CW direction.
Station numbers are assigned in the order of 1,
1 Setting range: 0, 1
2, 3... in the CCW direction.

CCW

CW

CW
CCW
direction
direction

4 4
3 2 3
Station No. 1 1 2 Station No.

[Pr. PA14]: 0 (Initial value) [Pr. PA14]: 1

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PA15 Detector output pulse 4000 PA15 Encoder output pulses 4000 CP
Set the detector pulse (A-phase/B-phase) to be Set the encoder output pulses outputted from the PS
output by the servo amplifier. Set the value that is servo amplifier, by using the number of output SP
four times that of the A-phase/B-phase pulse. pulses per revolution, dividing ratio, or electronic
The output pulse setting or output dividing ratio gear ratio. (after multiplication by 4)
setting can be selected in [Pr. PC19]. Set a numerator for the electronic gear for the A/B-
The number of A-phase/B-phase pulses to be phase pulse output when "A-phase/B-phase pulse
actually output is 1/4 times the set number of pulses. electronic gear setting (_ _ 3 _)" is selected for
Also, the maximum output frequency is 4.6 "Encoder output pulse setting selection" of [Pr.
Mpulses/s (after multiplication by 4). Use the value PC03].
within the range. The maximum output frequency is 4.6 Mpulses/s.
Set the value within the range.
(1) When output pulse is specified
Set [Pr. PC19] to "_ _ 0 _" (initial value). Setting range: 1 to 4194304
Set the number of pulses per revolution of the
servo motor.
Output pulse = setting value [pulse/rev]
For example, if [Pr. PA15] is set to "5600", the A-
phase/B-phase pulses to be actually output will
be as follows.

5600
A·B-phase output pulses = = 1400 [pulse]
4

(2) When setting the output dividing ratio

Set [Pr. PC19] to "_ _ 1 _".
The number of pulses per revolution of the servo
motor is divided by the set value.

Resolution per servo motor revolution

Output pulse = [pulses/rev]
Set value

For example, if [Pr. PA15] is set to "8", the A-

phase/B-phase pulses to be actually output will
be as follows.

262144 1
A/B-phase output pulses = • = 8192 [pulse]
8 4

(3) When outputting a pulse train similar to the

command pulse
Set [Pr. PC19] to "_ _ 2 _". The feedback pulses
from the servo motor detector are processed and
outputted as follows. Feedback pulses can be
outputted in the same pulse unit as the command
pulse.

Servo motor

Feedback pulses

Encoder

[Pr. PA06]/[Pr. PA07]

CDV
A-phase/B-phase output pulses
CMX

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PA19 Parameter writing prohibited 000Ch PA19 Parameter writing prohibited 00ABh CP
In the factory setting, the basic setting parameters, Select a reference range and writing range for the PS
gain/filter parameters, and extended setting parameter. SP
parameters of this servo amplifier can be changed. In I/O mode, set [Pr. PA19] to "0 0 A B" to enable
Writing can be prohibited to prevent inadvertent reading and writing of positioning control
changes by setting [Pr. PA19]. parameters ([Pr. PT_ _ ]) and network setting
The table below shows the parameters that are parameters ([Pr. PN_ _ ]).
enabled for reference and writing according to the Refer to the following table for setting values.
settings of [Pr. PA19]. ○Parameters that can be
operated are marked with the 〇 symbol. Setting value and read/write range of [Pr. PA19]
Setting
Setting value PA19 value PA PB PC PD PE PF PL PT PN
PA19 PA PB PC PD operation
operation
Reference ○ Setting Readable ○
0000h
Writable ○ values not
Reference ○ ○ ○ listed Writable ○
000Bh below
Writable ○ ○ ○
19
000Ch Reference ○ ○ ○ ○ Readable only
(initial 000Ah
value)
Writable ○ ○ ○ ○ Writable
19
only
Reference ○ Readable ○ ○ ○
100Bh
Writable 19 only 000Bh
Writable ○ ○ ○
Reference ○ ○ ○ ○
100Ch
Writable 19 only Readable ○ ○ ○ ○
000Ch
Writable ○ ○ ○ ○
Readable ○ ○ ○ ○ ○ ○
000Fh
Writable ○ ○ ○ ○ ○ ○
Readable ○ ○ ○ ○ ○ ○
00AAh
Writable ○ ○ ○ ○ ○ ○
00ABh Readable ○ ○ ○ ○ ○ ○ ○ ○ ○
(initial
value)
Writable ○ ○ ○ ○ ○ ○ ○ ○ ○
Readable ○
100Bh 19
Writable only
Readable ○ ○ ○ ○
100Ch 19
Writable only
Readable ○ ○ ○ ○ ○ ○
100Fh 19
Writable only
Readable ○ ○ ○ ○ ○ ○
10AAh 19
Writable only
Readable ○ ○ ○ ○ ○ ○ ○ ○ ○
10ABh 19
Writable only

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PB01 Adaptive tuning mode (adaptive filter II) 0000h PB01 Adaptive tuning mode (adaptive filter II) 0h CP
Select the method for setting adaptive tuning. When Filter tuning mode selection PS
this parameter is set to "_ _ _ 1" (filter tuning mode), Setting of the adaptive tuning is performed. SP
Mechanical resonance suppression filter 1 ([Pr. Select the adjustment mode of the machine
PB13]) and Notch shape selection 1 ([Pr. PB14]) are resonance suppression filter 1. For details, refer to
automatically changed. "MR-J4-_GF_(-RJ) Servo Amplifier Instruction
Manual (Motion Mode)".
_ _ _ x:
mechanical system

Machine resonance point 0: Disabled

1: Automatic setting
Response of

2: Manual setting

Frequency
Notch depth

_ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
Frequency
Notch frequency For manufacturer setting
0 0 0 x: x _ _ _: 0h
Adaptive tuning mode selection For manufacturer setting
0: Filter OFF ([Pr. PB13]/[Pr. PB14] is fixed to the
initial value.)
1: Filter tuning mode (automatically set parameter:
[Pr. PB13]/[Pr. PB14])
2: Manual mode

When "_ _ _ 1" is set, tuning is completed after

positioning operation is performed for a certain
period of time and a certain number of times. The
parameter then changes to "_ _ _ 2". If adaptive
tuning is not required, the parameter will change to
"_ _ _ 0". When "_ _ _ 0" is set, the initial value is set
to Mechanical resonance suppression filter 1 and
Notch shape selection 1. However, this operation is
not performed in the servo-off state.
PB02 Vibration suppression control tuning mode 0000h PB02 Vibration suppression control tuning mode 0h CP
(advanced vibration suppression control) (advanced vibration suppression control II) PS
Vibration suppression control is enabled when [Pr. Vibration suppression control 1 - Tuning mode
PA08] (auto tuning mode) is "_ _ _ 2" or "_ _ _ 3". selection
When [Pr. PA08] is "_ _ _ 1", vibration suppression Select the tuning mode of the vibration suppression
control is always disabled. control 1. For details, refer to "MR-J4-_GF_(-RJ)
Select the method for setting vibration suppression Servo Amplifier Instruction Manual (Motion Mode)".
control tuning. When this parameter is set to "_ _ _ _ _ _ x:
1" (vibration suppression control tuning mode), 0: Disabled
Vibration suppression control - Vibration frequency 1: Automatic setting
([Pr. PB19]) and Vibration suppression control - 2: Manual setting
Resonance frequency ([Pr. PB20]) are automatically
changed after positioning operation is performed for
a certain period of time.

_ _ x _: 0h CP
Droop pulse
Automatic
Droop pulse Vibration suppression control 2 - Tuning mode PS
Command adjustment Command selection
Machine side Machine side Select the tuning mode of the vibration suppression
position position control 2. If "3 inertia mode (_ _ _ 1)" is selected for
"Vibration suppression mode selection" in [Pr.
PA24], the setting value of this digit is enabled. For
0 0 0 x: details, refer to "MR-J4-_GF_(-RJ) Servo Amplifier
Vibration suppression control tuning mode Instruction Manual (Motion Mode)".
0: Vibration suppression control OFF ([Pr. PB19]/[Pr. 0: Disabled
PB20]) is fixed to the initial value.) 1: Automatic setting
1: Vibration suppression control tuning mode 2: Manual setting
(advanced vibration suppression control) _ x _ _: 0h
(Automatically set parameter [Pr. PB19]/[Pr. For manufacturer setting
PB20]) x _ _ _: 0h
2: Manual mode For manufacturer setting

When "_ _ _ 1" is set, tuning is completed after

positioning operation is performed for a certain
period of time and a certain number of times. The
parameter then changes to "_ _ _ 2". If vibration
suppression control tuning is not required, the
parameter will change to "_ _ _ 0". When "_ _ _ 0" is
set, the initial value is set to Vibration suppression
control - Vibration frequency and Vibration
suppression control - Resonance frequency.
However, this operation is not performed in the
servo-off state.

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PB04 Feed forward gain 0 PB04 Feed forward gain 0 CP
Set the feed forward gain. Set the feed forward gain. PS
When 100% is set, the droop pulses of when When 100% is set and constant speed operation is
operating at a constant speed become almost zero. performed, the droop pulses become almost zero.
However, if sudden acceleration/deceleration is However, if sudden acceleration/deceleration is
performed, overshoot becomes large. As a guide, performed, overshoot becomes large. When the feed
when the feed forward gain is set to 100%, set a forward gain is set to 100%, set a value not smaller
value not smaller than 1 s for the acceleration time than 1 s for the acceleration time constant until the
constant until the rated speed is reached. rated speed is reached.

Setting range: 0 to 100

PB06 Load to motor inertia ratio 7.0 PB06 Load to motor inertia ratio 7.00 CP
Set the load to motor inertia ratio for the servo motor Set the load to motor inertia ratio. PS
shaft inertia moment. Setting a value greatly different from the actual load SP
When auto tuning mode 1 or interpolation mode is moment of inertia may cause an unexpected
selected, the auto tuning result is automatically operation such as an overshoot.
obtained. In this case, the value varies within the This parameter will be automatic or manual
range of 0 to 100.00. depending on the setting value of [Pr. PA08]. Refer
to the following table for details. When the parameter
is set to automatic setting, the value varies within the
range of 0.00 to 100.00.

Setting range: 0.00 to 300.00

Pr. PA08 State of this parameter

_ _ _ 0 (2 gain adjustment mode 1 (interpolation Automatic setting
mode))
_ _ _ 1 (auto tuning mode 1)
_ _ _ 2 (auto tuning mode 2) Manual setting

_ _ _ 3 (manual mode)
_ _ _ 4 (2 gain adjustment mode 2)

PB07 Model control gain 24 PB07 Model control gain 15.0 CP

Set the response gain to the target position. Set the response gain to the target position. PS
Increasing the gain improves trackability to a Increasing the setting value improves
command. responsiveness to the position command, but
When auto tuning mode 1 or auto tuning mode 2 is increasing the value too much raises the likelihood
set, the auto-tuning result is automatically obtained. of vibration and noise. When using vibration
suppression control, the setting range of [Pr. PB07]
is limited. For details, refer to "MR-J4-_GF_(-RJ)
Servo Amplifier Instruction Manual (Motion Mode)".
This parameter will be automatic or manual
depending on the setting value of [Pr. PA08]. Refer
to the following table for details.

Setting range: 1.0 to 2000.0

Pr. PA08 State of this parameter

_ _ _ 0 (2 gain adjustment mode 1 (interpolation Manual setting
mode))
_ _ _ 1 (auto tuning mode 1) Automatic setting

_ _ _ 2 (auto tuning mode 2)

_ _ _ 3 (manual mode) Manual setting

_ _ _ 4 (2 gain adjustment mode 2)

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PB08 Position control gain 37 PB08 Position control gain 37.0 CP
Set the gain of the position loop. Set the gain of the position loop. PS
Set this servo parameter when increasing the Set this servo parameter when increasing the
position responsiveness to level load disturbance. position responsiveness to level load disturbance.
Increasing the setting value improves Increasing the setting value improves
responsiveness, but raises the likelihood of vibration responsiveness to the load disturbance, but
and noise. increasing the value too much raises the likelihood
When auto tuning mode 1, auto tuning mode 2, or of vibration and noise.
interpolation mode is set, the auto tuning result is This parameter will be automatic or manual
automatically obtained. depending on the setting value of [Pr. PA08]. Refer
to the following table for details.

Setting range: 1.0 to 2000.0

Pr. PA08 State of this parameter

_ _ _ 0 (2 gain adjustment mode 1 Automatic setting
(interpolation mode))
_ _ _ 1 (auto tuning mode 1)
_ _ _ 2 (auto tuning mode 2)
_ _ _ 3 (manual mode) Manual setting
_ _ _ 4 (2 gain adjustment mode 2) Automatic setting

PB09 Speed control gain 823 PB09 Speed control gain 823 CP
Set the gain of the speed loop. Set the gain of the speed loop. PS
Set this servo parameter when vibration occurs on Set this servo parameter when vibration occurs on SP
machines with low rigidity or with large backlash. machines with low rigidity or with large backlash.
Increasing the setting value improves Increasing the setting value improves
responsiveness, but raises the likelihood of vibration responsiveness, but increasing the value too much
and noise. raises the likelihood of vibration and noise.
When auto tuning mode 1, auto tuning mode 2, or This parameter will be automatic or manual
interpolation mode is set, the auto tuning result is depending on the setting value of [Pr. PA08]. Refer
automatically obtained. to the [Pr. PB08] table above for details.

Setting range: 20 to 65535

PB10 Speed integral compensation 33.7 PB10 Speed integral compensation 33.7 CP
Set the integral time constant of the speed loop. Set the integral time constant of the speed loop. PS
Decreasing the setting value improves Decreasing the setting value improves SP
responsiveness, but raises the likelihood of vibration responsiveness, but raises the likelihood of vibration
and noise. and noise.
When auto tuning mode 1, auto tuning mode 2, or This parameter will be automatic or manual
interpolation mode is set, the auto tuning result is depending on the setting value of [Pr. PA08]. Refer
automatically obtained. to the [Pr. PB08] table above for details.

Setting range: 0.1 to 1000.0

PB11 Speed differential compensation 980 PB11 Speed differential compensation 980 CP
Set the differential compensation. Set the differential compensation. PS
This parameter is enabled when proportional control This parameter is always enabled when "Continuous SP
(RY (n + 2) 7) is turned on. PID control enabled (_ _ 3 _)" is set to "PI-PID
switching control selection" in [Pr. PB24].
This parameter is enabled by turning on the PC
(proportional control) or turning on the PID switching
signal from the controller.

Setting range: 0 to 1000

PB12 For manufacturer setting 0 PB12 Overshoot amount compensation 0 CP
Never change this parameter. Set a viscous friction torque in percentage to the PS
rated torque at servo motor rated speed.
If the responsiveness is too low or if the torque is
limited, the efficiency of the parameter may
decrease.

Setting range: 0 to 100

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PB13 Machine resonance suppression filter 1 4500 PB13 Machine resonance suppression filter 1 4500 CP
Set the notch frequency of the machine resonance Set the notch frequency of the machine resonance PS
suppression filter 1. suppression filter 1. SP
If [Pr. PB01] (adaptive tuning mode) is set to "_ _ _ When "Automatic setting (_ _ _ 1)" is selected for
1", this parameter is automatically changed. "Filter tuning mode selection" in [Pr. PB01], the
If [Pr. PB01] is "_ _ _ 0", the setting of this parameter values obtained from adaptive tuning are applied.
is ignored. When "Manual setting (_ _ _ 2)" is selected for "Filter
tuning mode selection" in [Pr. PB01], the setting
value of this parameter is enabled.

Setting range: 10 to 4500

PB14 Notch shape selection 1 0000h PB14 Notch shape selection 1 0h
Select forms of the mechanical resonance Set forms of the machine resonance suppression
suppression filter 1. filter 1.
0 _ x 0: When "Automatic setting (_ _ _ 1)" is selected for
Notch depth selection "Filter tuning mode selection" in [Pr. PB01], the
Setting values obtained from adaptive tuning are applied.
Depth Gain
value When "Manual setting (_ _ _ 2)" is selected for "Filter
0
Deep
-40dB tuning mode selection" in [Pr. PB01], the setting
1 -14dB value of this parameter is enabled.
to _ _ _ x:
2 -8dB
Shallow For manufacturer setting
3 -4dB

0 x _ 0: _ _ x _: 0h CP
Notch width selection Notch depth selection PS
Setting
Depth α
0: -40 dB SP
value
1: -14 dB
0 2
Standard 2: -8 dB
1 3 3: -4 dB
to
2 4 _ x _ _: 0h CP
Wide Notch width selection PS
3 5
0: α = 2 SP
If [Pr. PB01] (adaptive tuning mode) is set to "_ _ _ 1: α = 3
1", this parameter is automatically changed. 2: α = 4
If [Pr. PB01] is "_ _ _ 0", the setting of this parameter 3: α = 5
is ignored. x _ _ _: 0h
For manufacturer setting
PB15 Machine resonance suppression filter 2 4500 PB15 Machine resonance suppression filter 2 4500 CP
Set the notch frequency of the machine resonance Set the notch frequency of the machine resonance PS
suppression filter 2. suppression filter 2. SP
This parameter is enabled when [Pr. PB16] (Notch If "Enable (_ _ _ 1)" is selected for "Machine
shape selection 2) is set to "_ _ _ 1". resonance suppression filter 2 selection" in [Pr.
PB16], the setting value of this parameter is
enabled.

Setting range: 10 to 4500

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Part 7: Review on Replacement of MR-J3-_T_ (CC-Link communication operation) with MR-J4-_GF_

MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PB16 Notch shape selection 2 0000h PB16 Notch shape selection 2 0h CP
Select forms of the mechanical resonance Set forms of the machine resonance suppression PS
suppression filter 2. filter 2. SP
0 _ _ x: _ _ _ x:
Mechanical resonance suppression filter 2 selection Mechanical resonance suppression filter 2 selection
0: Disabled 0: Disabled
1: Enabled 1: Enabled
0 _ x _: _ _ x _: 0h CP
Notch depth selection Notch depth selection PS
Setting
Depth Gain
0: -40 dB SP
value
1: -14 dB
0 -40dB
Deep 2: -8 dB
1 -14dB 3: -4 dB
to
2 -8dB
Shallow _ x _ _: 0h CP
3 -4dB
Notch width selection PS
0: α = 2 SP
0 x _ _:
1: α = 3
Notch width selection
2: α = 4
Setting
Depth α 3: α = 5
value
0 2 x _ _ _: 0h
Standard
1 3
For manufacturer setting
to
2 4
Wide
3 5

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Part 7: Review on Replacement of MR-J3-_T_ (CC-Link communication operation) with MR-J4-_GF_

MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PB17 Automatic setting parameter PB17 Shaft resonance suppression filter 00h CP
This parameter is automatically set according to the Set the shaft resonance suppression filter. PS
set value of [Pr. PB06] (Load to motor inertia ratio). Use this to suppress a high-frequency machine SP
vibration.
When "Shaft resonance suppression filter selection"
in [Pr. PB23] is "Automatic setting (_ _ _ 0)", the
value will be calculated automatically from the servo
motor used and load to motor inertia ratio. When
"Manual setting (_ _ _ 1)" is set, the content written
with this parameter is used.
If "Shaft resonance suppression filter selection" in
[Pr. PB23] is "Disabled (_ _ _ 2)", the setting value is
invalid.
If "Enabled (_ _ _ 1)" is selected for "Machine
resonance suppression filter 4 selection" in [Pr.
PB49], the shaft resonance suppression filter cannot
be used.
If "Shaft resonance suppression filter selection" in
[Pr. PB23] is "Disabled (_ _ _ 2)", the performance
may be reduced.

_ _ x x:
Refer to the following table for setting values.
Set the value closest to the required frequency.
_ x _ _: 0h CP
Notch depth selection PS
0: -40 dB SP
1: -14 dB
2: -8 dB
3: -4 dB

x _ _ _: 0h
For manufacturer setting

Shaft resonance suppression filter setting - Frequency selection

Setting Setting
Frequency [Hz] Frequency [Hz]
value value
__00 Disabled __10 562
__01 Disabled __11 529
__02 4500 __12 500
__03 3000 __13 473
__04 2250 __14 450
__05 1800 __15 428
__06 1500 __16 409
__07 1285 __17 391
__08 1125 __18 375
__09 1000 __19 360
__0A 900 __1A 346
__0B 818 __1B 333
__0C 750 __1C 321
__0D 692 __1D 310
__0E 642 __1E 300
__0F 600 __1F 290

PB18 Low-pass filter setting 3141 PB18 Low-pass filter setting 3141 CP
Set the low-pass filter. Set the low-pass filter. PS
If [Pr. PB23] (low-pass filter selection) is set to "_ _ 0 Refer to the table below for the status of this SP
_", this parameter is automatically changed. parameter and the setting values of the related
If [Pr. PB23] is set to "_ _ 1 _", this parameter can be parameter.
set manually.
Setting range: 100 to 18000

[Pr. PB23] [Pr. PB18]

_ _ 0 _ (initial value) Automatic setting

__1_ Setting value enabled
__2_ Setting value disabled

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Part 7: Review on Replacement of MR-J3-_T_ (CC-Link communication operation) with MR-J4-_GF_

MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PB19 Vibration suppression control - Vibration frequency 100.0 PB19 Vibration suppression control 1 - Vibration frequency 100.0 CP
Set the vibration frequency of vibration suppression Set the vibration frequency of vibration suppression PS
control to suppress low-frequency machine vibration control 1 to suppress low-frequency machine
such as chassis vibration. vibration.
If [Pr. PB02] (vibration suppression control tuning When "Automatic setting (_ _ _ 1)" is selected for
mode) is set to "_ _ _ 1", this parameter is [Vibration suppression control 1 - Tuning mode
automatically changed. If [Pr. PB02] is set to "_ _ _ selection] in [Pr. PB02], this parameter will be set
2", this parameter can be set manually. automatically. If "Manual setting (_ _ _ 2)" is set, the
value written for this parameter is used. For details,
refer to "MR-J4-_GF_(-RJ) Servo Amplifier
Instruction Manual (Motion Mode)".

Setting range: 0.1 to 300.0

PB20 Vibration suppression control - Resonance frequency 100.0 PB20 Vibration suppression control 1 - Resonance 100.0 CP
Set the resonance frequency of vibration frequency PS
suppression control to suppress low-frequency Set the resonance frequency of vibration
machine vibration such as chassis vibration. suppression control 1 to suppress low-frequency
If [Pr. PB02] (vibration suppression control tuning machine vibration.
mode) is set to "_ _ _ 1", this parameter is When "Automatic setting (_ _ _ 1)" is selected for
automatically changed. If [Pr. PB02] is set to "_ _ _ [Vibration suppression control 1 - Tuning mode
2", this parameter can be set manually. selection] in [Pr. PB02], this parameter will be set
automatically. If "Manual setting (_ _ _ 2)" is set, the
value written for this parameter is used. For details,
refer to "MR-J4-_GF_(-RJ) Servo Amplifier
Instruction Manual (Motion Mode)".

Setting range: 0.1 to 300.0

PB23 Low-pass filter selection 0000h PB23 Low-pass filter selection 0h CP
Select the low-pass filter. _ _ _ x: PS
0 0 x 0: Shaft resonance suppression filter selection SP
Low-pass filter selection Select the shaft resonance suppression filter.
0: Automatic setting 0: Automatic setting
1: Manual setting (setting value of [Pr. PB18]) 1: Manual setting
2: Disabled
If "Enabled (_ _ _ 1)" is selected for "Machine
resonance suppression filter 4 selection" in [Pr.
PB49], the shaft resonance suppression filter cannot
be used.
_ _ x _: 0h CP
Low-pass filter selection PS
Select the low-pass filter. SP
0: Automatic setting
1: Manual setting
2: Disabled
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PB24 Slight vibration suppression control selection 0000h PB24 Slight vibration suppression control 0h CP
Select the slight vibration suppression control. _ _ _ x: PS
The slight vibration suppression control is enabled if Slight vibration suppression control selection
[Pr. PA08] (auto tuning mode) is set to "_ _ _ 3". Select the slight vibration suppression control.
0 0 0 x: 0: Disabled
Slight vibration suppression control selection 1: Enabled
0: Disabled The slight vibration suppression control is enabled
1: Enabled when "Manual mode (_ _ _ 3)" is selected for "Gain
adjustment mode selection" in [Pr. PA08]. Slight
vibration suppression control selection cannot be
used in speed control mode (point table method).
PI-PID switching control selection 0h CP
0: PI control enabled PS
_ _ x _:
(Switching to PID control (proportional control) is
enabled by PID switching signal from controller and
the input device PC (proportional control).)

3: PID control (proportional control) is always

enabled.
If the servo motor at a stop is rotated even for a
pulse due to any external factor, it generates torque
to compensate for a position mismatch. When the
servo motor shaft is to be locked mechanically after
positioning completion (stop), enabling the PID
control and completing positioning simultaneously
will suppress the unnecessary torque generated to
compensate for a position mismatch.
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PB26 Gain switching selection 0000h PB26 Gain switching function 0h CP
Select the gain switching condition. Select the gain switching condition. PS
0 0 _ x: Set conditions to enable the gain switching values SP
Gain switching selection set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr.
Under the following conditions, the gain is switched PB60].
based on the setting values of [Pr. PB29] to [Pr. _ _ _ x:
PB34]. Gain switching selection
0: Disabled 0: Disabled
1: Gain switching (RY (n + 2) 8) 1: Control commands from the controller and input
2: Command frequency (setting value of [Pr. PB27]) devices (CDP (gain switching)) are enabled.
3: Droop pulses (setting value of [Pr. PB27]) 2: Command frequency
4: Servo motor speed (setting value of [Pr. PB27]) 3: Droop pulses
0 0 x _: 4: Servo motor speed
Gain switching condition _ _ x _: 0h CP
0: Enabled when gain switching (RY (n + 2) 8) is ON. Gain switching - Condition selection PS
Enabled when the value matches or is higher than 0: Gain after switching is enabled with the condition SP
the value set in [Pr. PB27]. value or more for gain switching.
1: Enabled when gain switching (RY (n + 2) 8) is 1: Gain after switching is enabled with the condition
OFF. value or less for gain switching.
Enabled when the value matches or is less than the _ x _ _: 0h
value set in [Pr. PB27]. For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PB27 Gain switching condition 10 PB27 Gain switching condition 10 CP
Set the value of the gain switching condition Set the value of the gain switching (command PS
(command frequency, droop pulses, or servo motor frequency, droop pulses, or servo motor speed) SP
speed) selected in [Pr. PB26]. selected in [Pr. PB26].
The set value unit differs depending on the switching The set value unit differs depending on the switching
condition item. condition item. (Refer to "MR-J4-_GF_(-RJ) Servo
Amplifier Instruction Manual (Motion Mode)".)

Setting range: 0 to 65535

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PB28 Gain switching time constant 1 PB28 Gain switching time constant 1 CP
Set the time constant at which the gain switches in Set the time constant until the gain switches in PS
response to the conditions set in [Pr. PB26] and [Pr. response to the conditions set in [Pr. PB26] and [Pr. SP
PB27]. PB27].

Setting range: 0 to 100

PB29 Load to motor inertia ratio after gain switching 7.0 PB29 Gain switching - Load to motor inertia ratio 7.00 CP
Set the load to motor inertia ratio for the servo motor Set the load to motor inertia ratio for when the gain PS
of when the gain switching is enabled. switching is enabled.
This parameter is enabled when auto tuning is This parameter is enabled only when "Manual mode
disabled ([Pr. PA08]: "_ _ _ 3"). (_ _ _ 3)" is selected for "Gain adjustment mode
selection" in [Pr. PA08].

Setting range: 0.00 to 300.00

PB30 Gain switching - Position control gain 37 PB30 Gain switching - Position control gain 0.0 CP
Set the position control gain for when the gain Set the position control gain for when the gain PS
switching is enabled. switching is enabled.
This parameter is enabled when auto tuning is If a value less than 1.0 rad/s is set, the value will be
disabled ([Pr. PA08]: "_ _ _ 3"). the same as the value set in [Pr. PB08].
This parameter is enabled only when "Manual mode
(_ _ _ 3)" is selected for "Gain adjustment mode
selection" in [Pr. PA08].

Setting range: 0.0 to 2000.0

PB31 Gain switching - Speed control gain 823 PB31 Gain switching - Speed control gain 0 CP
Set the speed control gain for when the gain Set the speed control gain for when the gain PS
switching is enabled. switching is enabled.
This parameter is enabled when auto tuning is If a value less than 20 rad/s is set, the value will be
disabled ([Pr. PA08]: "_ _ _ 3"). the same as the value set in [Pr. PB09].
This parameter is enabled only when "Manual mode
(_ _ _ 3)" is selected for "Gain adjustment mode
selection" in [Pr. PA08].

Setting range: 0 to 65535

PB32 Speed integral compensation after gain switching 33.7 PB32 Speed integral compensation after gain switching 0.0 CP
Set the speed integral compensation for when the Set the speed integral compensation for when the PS
gain switching is enabled. gain switching is enabled. SP
This parameter is enabled when auto tuning is If a value less than 0.1 ms is set, the value will be
disabled ([Pr. PA08]: "_ _ _ 3"). the same as the value set in [Pr. PB10].
This parameter is enabled only when "Manual mode
(_ _ _ 3)" is selected for "Gain adjustment mode
selection" in [Pr. PA08].

Setting range: 0.0 to 5000.0

PB33 Vibration frequency for vibration suppression control 100.0 PB33 Gain switching - Vibration suppression control 1- 0.0 CP
after gain switching Vibration frequency PS
Set the vibration frequency of vibration suppression Set the vibration frequency of vibration suppression
control for when the gain switching is enabled. control 1 for when the gain switching is enabled.
This parameter is enabled when [Pr. PB02] is "_ _ _ If a value less than 0.1 Hz is set, the value will be
2" or [Pr. PB26] is "_ _ _ 1". the same as the value set in [Pr. PB19].
When using vibration suppression control gain This parameter is enabled only under the following
switching, switch the gains after the servo motor has conditions.
stopped. "Manual mode (_ _ _ 3)" is selected for "Gain
adjustment mode selection" in [Pr. PA08].
"Manual setting (_ _ _ 2)" is selected for "Vibration
suppression control 1 - Tuning mode selection" in
[Pr. PB02].
"Control commands from the controller and input
devices CDP (gain switching) (_ _ _ 1)" is selected
for "Gain switching selection" in [Pr. PB26].
Switching gains during driving may cause a shock.
Always switch the gains after the servo motor has
stopped.

Setting range: 0.0 to 300.0

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PB34 Resonance frequency for vibration suppression 100.0 PB34 Vibration suppression control 1 - Resonance 0.0 CP
control after gain switching frequency after gain switching PS
Set the resonance frequency for vibration Set the resonance frequency for vibration
suppression control for when the gain switching is suppression control 1 for when the gain switching is
enabled. enabled.
This parameter is enabled when [Pr. PB02] is "_ _ _ If a value less than 0.1 Hz is set, the value will be
2" or [Pr. PB26] is "_ _ _ 1". When using vibration the same as the value set in [Pr. PB20].
suppression control gain switching, switch the gains This parameter is enabled only under the following
after the servo motor has stopped. conditions.
"Manual mode (_ _ _ 3)" is selected for "Gain
adjustment mode selection" in [Pr. PA08].
"Manual setting (_ _ _ 2)" is selected for "Vibration
suppression control 1 - Tuning mode selection" in
[Pr. PB02].
"Control commands from the controller and input
devices (CDP (gain switching)) (_ _ _ 1)" is
selected for "Gain switching selection" in [Pr.
PB26].
Switching gains during driving may cause a shock.
Always switch the gains after the servo motor has
stopped.

Setting range: 0.0 to 300.0

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PC02 Home position return type 0000h PT45 Homing methods 37 CP
Select the homing method. Set a homing method. PS
0 0 0 x: Refer to the following table for the homing of the
Homing methods replacement destination.
For other homing methods, refer to "MR-J4-_GF_ (-
For point table positioning operation RJ) Servo Amplifier Instruction Manual (I/O Mode)".
0: Dog type
1: Count type Homing methods
2: Data set type
3: Stopper type Setting
Homing direction Homing methods
Control
value method
4: Home position ignorance (servo-on position as
-1 Address increasing Dog type (Rear end detection - Z-phase CP
home position) direction reference)
5: Dog type rear end reference Torque limit changing dog type PS
6: Count type front end reference -2 Count type (Front end detection - Z-phase CP
7: Dog cradle type reference)
-3 Torque limit changing data set type PS
8: Dog type last Z-phase reference
9: Dog type front end reference -4 Address increasing Stopper type (Stopper position reference) CP
direction
A: Dogless Z-phase reference -5 Home position ignorance (servo-on position
For indexer positioning operation as home position)
C: Torque limit changing dog type -6 Address increasing Dog type (Rear end detection - rear end
direction reference)
D: Torque limit changing data set type -7 Count type (Front end detection - front end
reference)
-8 Dog cradle type
PC03 Homing direction 0001h
Select the homing direction. -9 Dog type last Z-phase reference

0 0 0 x: -10 Dog type front end reference

Homing direction -11 Dogless Z-phase reference
0: Address increasing direction/Station No. -33 Address decreasing Dog type (Rear end detection - Z-phase CP
increasing direction direction reference)
1: Address decreasing direction/Station No. Torque limit changing dog type PS
decreasing direction -34 Count type (Front end detection - Z-phase CP
reference)
-36 Stopper type (Stopper position reference)
-38 Dog type (Rear end detection - rear end
reference)
-39 Count type (Front end detection - front end
reference)
-40 Dog cradle type
-41 Dog type last Z-phase reference
-42 Dog type front end reference
-43 Dogless Z-phase reference
37 Data set type

PT70 Function selection T-10 0h PS

Torque limit changing dog type homing function
selection
_ _ _ x:

Automatic retract
Setting
Proximity dog detection end function used for the
value
home position return
0 Front end detection Disabled
Stops with reference to the first Z-
phase after passing the front end of
the proximity dog.
1 Rear end detection Disabled
Stops with reference to the first Z-
phase after the rear end of the
proximity dog is passed.
2 Front end detection Enabled
Stops with reference to the first Z-
phase after passing the front end of
the proximity dog.
3 Rear end detection Enabled
Stops with reference to the first Z-
phase after the rear end of the
proximity dog is passed.

_ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PC04 Homing speed 500 PT05 Homing speed 100.00 CP
Set the servo motor speed for homing. Set the servo motor speed for homing. PS
Setting range: 0.00 to instantaneous permissible
speed
PC05 Creep speed 10 PT06 Creep speed 10.00 CP
Set the creep speed after proximity dog detection. Set a creep speed after proximity dog at homing. PS

Setting range: 0.00 to instantaneous permissible

speed
PC06 Home position shift distance 0 PT07 Home position shift distance 0 CP
Set the travel distance from the home position. Set the shift travel distance from the point where a PS
Z-phase pulse is detected in the encoder or the point
set by the travel distance after proximity dog.
A value of up to 231 -1 can be set in [Pr. PT69].
For the home position shift direction, refer to section
4.6 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction
Manual (Motion Mode)".
The unit is as follows depending on the positioning
mode.
For the point table method
The unit is [μm].
For the indexer method
The unit is command unit [pulse]. (A unit that
expresses one rotation on the machine side by the
number of servo motor resolution pulses)
For the command unit, refer to the function column
of [Pr. PA10].

Setting range: 0 to 65535

PT69 Home position shift distance (extension parameter) 0 CP
Set the extension parameters of [Pr. PT07]. PS
When using [Pr. PT69], the home position shift
distance is calculated as follows.
Home position shift distance = [Pr. PT07] + ([Pr.
PT69] × 65536)
For the home position shift direction, refer to section
4.6 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction
Manual (Motion Mode)".
The unit is as follows depending on the positioning
mode.
For the point table method
The unit is [μm].
For the indexer method
The unit is command unit [pulse]. (A unit that
expresses one rotation on the machine side by the
number of servo motor resolution pulses)
For the command unit, refer to the function column
of [Pr. PA10]. If a value of "1001" or higher is set,
the value is clamped at "1000".

Setting range: 0 to 32767

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PC07 Homing position data 0 PT08 Homing position data 0 CP
Set the current position at home position return Set the current position at home position return
completion. completion.
A value of up to "231 - 1" can be set in [Pr. PT47].
If the following parameter is changed, the homing
position data will also be changed. Execute homing
again.
"Unit for position data" in [Pr. PT01]

Setting range: 0 to 65535

PT47 Home position return position data (extension 0 CP
parameter)
Set the extension parameters of [Pr. PT08].
When using [Pr. PT47], the homing position data is
calculated as follows.
Homing position data = [Pr. PT08] + ([Pr. PT47] ×
65536)

Setting range: -32768 to 32767

PC08 Travel distance after proximity dog 1000 PT09 Travel distance after proximity dog 0 CP
Set the travel distance after proximity dog detection. Set a travel distance after proximity dog for homing
for the count type (Front end detection Z-phase
reference) and the following dog reference.
Dog type rear end reference homing
Count type homing (front end reference)
Dog type front end reference homing
A value of up to 231 can be set in [Pr. PT71].

Setting range: 0 to 65535

PT71 Travel distance after proximity dog (extension 0 CP
parameter)
Set the extension parameters of [Pr. PT09].
When using [Pr. PT71], the travel distance after
proximity dog is calculated as follows.
Travel distance after proximity dog
= [Pr. PT09] + ([Pr. PT71] × 65536)

Setting range: 0 to 32767

PC09 Stopper type home position return - Stopper time 100 PT10 Stopper type home position return - Stopper time 100 CP
Set a time from a moving part touches the stopper Set a time from a moving part touches the stopper
and torques reach the torque limit of [Pr. PC10] to a and torques reach the torque limit value of [Pr. PT11
home position is set for the stopper type homing. Stopper type homing - Torque limit value] to a home
position is set for the stopper type homing.

Setting range: 5 to 1000

PC10 Stopper type home position return - Torque limit 15.0 PT11 Stopper type home position return - Torque limit 15.0 CP
value value
Set a torque limit value with [%] to the maximum Set a torque limit value with [%] to the maximum
torque at stopper type homing. torque at stopper type homing.

Setting range: 0.1 to 100.0

PC11 Rough match output range 0 PT12 Rough match output range 0 CP
Set the range of the command remaining distance to Set the range of the command remaining distance to PS
output the rough match (CPO). output the rough match.
The unit is as follows depending on the positioning
mode.
For the point table method
The unit is [μm].
For the indexer method
The unit is command unit [pulse]. (A unit that
expresses one rotation on the machine side by the
number of servo motor resolution pulses)
For the command unit, refer to the function column
of [Pr. PA10].

Setting range: 0 to 65535

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PC12 JOG speed 100 PT65 JOG speed command 100.00 CP
Set the JOG speed command. Set the JOG speed command. PS
If a value smaller than "1.00" is set, the servo motor
may not rotate.

Setting range: 0.00 to Instantaneous permissible

speed
PC13 S-pattern acceleration/deceleration time constants 0 PT51 S-pattern acceleration/deceleration time constants 0 CP
Set this parameter when inserting the S-pattern This setting enables smooth start and stop of the SP
acceleration/deceleration time constant for the servo motor.
acceleration/deceleration time constant of the point Set the time of the arc part at S-pattern
table. acceleration/deceleration.
These time constants are disabled during homing. By setting "0", linear acceleration/deceleration is
performed.
This parameter is disabled during homing.
Servo operation normally performs linear
acceleration and deceleration, but it can be started
and stopped smoothly by setting [Pr. PT51 S-pattern
acceleration/deceleration time constants]. When the
S-pattern acceleration/deceleration time constant is
set, smooth positioning is performed as shown in the
following figure. If the S-pattern
acceleration/deceleration time constant is set, the
time from start to output of MEND (travel completion)
becomes longer by the amount of S-pattern
acceleration/deceleration time constant.

Acceleration time Deceleration time

constant constant
Rated speed

Preset speed

Servo motor
speed Ta: Time until preset
speed is reached
0 [r/min]
Ta Tb + STC Tb: Time until stop
Ta + STC Tb

Ta: Time it takes to reach the set speed

Tb: Time it takes to come to a stop
If the STC value is set longer than the constant
speed time, the speed may not reach the command
speed.
Also, if a value of 1000 ms or more is set, the value
is clamped to 1000 ms.

Setting range: 0 to 5000

PC14 Backlash compensation 0 PT14 Backlash compensation 0 CP
Set the backlash compensation to be compensated Set the backlash compensation. PS
when the command direction is reversed. When the command direction of automatic operation
The number of backlash pulses is compensated in is reversed, it stops at the position compensated by
the reverse direction with respect to the homing the value set for the backlash compensation.
direction. For home position ignorance (servo-on The backlash correction direction is determined by
position as home position), the number of backlash the homing direction immediately before the home
pulses is compensated in the reverse direction with position return is completed. For home position
respect to the direction in which the first rotation ignorance (servo-on position as home position),
starts after the homing position is determined by compensation is performed in the reverse direction
turning on Servo-on (RYn0). with respect to the direction in which the first rotation
For the absolute position detection system, starts after the homing position is determined by
compensation is performed in the reverse direction turning on RYn0 (Servo-on).
with respect to the operation direction at power-on. For the absolute position detection system,
compensation is performed in the reverse direction
with respect to the operation direction at power-on.

Setting range: 0 to 65535

PC16 Electromagnetic brake sequence output 100 PC02 Electromagnetic brake sequence output 0 CP
Set the delay time (Tb) used between the Set the delay time used between the MBR PS
Electromagnetic brake interlock (MBR) shut-off and (Electromagnetic brake interlock) shut-off and the SP
the base circuit shut-off. base circuit shut-off.

Setting range: 0 to 1000

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PC14 Backlash compensation 0 PT14 Backlash compensation 0 CP
Set the backlash compensation to be compensated Set the backlash compensation. PS
when the command direction is reversed. When the command direction of automatic operation
The number of backlash pulses is compensated in is reversed, it stops at the position compensated by
the reverse direction with respect to the homing the value set for the backlash compensation.
direction. For home position ignorance (servo-on The backlash correction direction is determined by
position as home position), the number of backlash the homing direction immediately before the home
pulses is compensated in the reverse direction with position return is completed. For home position
respect to the direction in which the first rotation ignorance (servo-on position as home position),
starts after the homing position is determined by compensation is performed in the reverse direction
turning on Servo-on (RYn0). with respect to the direction in which the first rotation
For the absolute position detection system, starts after the homing position is determined by
compensation is performed in the reverse direction turning on RYn0 (Servo-on).
with respect to the operation direction at power-on. For the absolute position detection system,
compensation is performed in the reverse direction
with respect to the operation direction at power-on.

Setting range: 0 to 65535

PC16 Electromagnetic brake sequence output 100 PC02 Electromagnetic brake sequence output 0 CP
Set the delay time (Tb) used between the Set the delay time used between the MBR PS
Electromagnetic brake interlock (MBR) shut-off and (Electromagnetic brake interlock) shut-off and the SP
the base circuit shut-off. base circuit shut-off.

Setting range: 0 to 1000

PC17 Zero speed 50 PC07 Zero speed 50 CP
Set an output range of the zero speed detection Set the output range of ZSP (zero speed detection). PS
(ZSP). ZSP (zero speed detection) has a hysteresis of 20 SP
The zero speed detection (ZSP) has a hysteresis r/min.
width of 20 r/min.
Setting range: 0 to 10000
PC18 Alarm history clear 0000h PC21 Alarm history clear 0h CP
Clears the alarm history. _ _ _ x: PS
0 0 0 x: Alarm clear history selection SP
Alarm history clear Clears the alarm history.
0: Disabled 0: Disabled
1: Enabled 1: Enabled
When Alarm history clear is enabled, the alarm When "Enabled" is selected, the alarm history will be
history will be cleared at the next power-on. cleared at the next power-on. Alarm history clear is
Alarm history clear is disabled (0) automatically after disabled automatically after the alarm history is
the alarm history is cleared. cleared.
_ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PC19 Detector output pulse selection 0000h PC03 Encoder output pulses selection 0h CP
Select the detector output pulse direction and _ _ _ x: PS
detector output pulse setting. Encoder output pulse phase selection SP
0 0 _ x: Select the encoder pulse direction.
Detector output pulse phase change 0: Increasing A-phase 90° in CCW
Change the detector output pulse phase between A- 1: Increasing A-phase 90° in CW
phase and B-phase.
Setting Servo motor rotation direction
Setting Servo motor rotation direction value CCW CW
value CCW CW
A-phase A-phase
A-phase A-phase 0 B-phase B-phase
0 B-phase B-phase

A-phase A-phase
A-phase A-phase 1 B-phase B-phase
1 B-phase B-phase

0 0 x _: _ _ x _: 0h CP
Detector output pulse setting selection Encoder output pulse setting selection PS
0: Output pulse setting 0: Output pulse setting SP
1: Dividing ratio setting 1: Dividing ratio setting
2: Command pulse unit ratio automatic setting 2: The same output pulse setting as the command
When "2" is set, the setting value of [Pr. PA15] pulse unit
(Detector output pulse) is disabled. 3: A-phase/B-phase pulse electronic gear setting
4: A/B-phase pulse through output setting
When "2" is set, the setting value of [Pr. PA15]
(Encoder output pulse) is disabled. Also, the servo
motor side pulse unit is used in the indexer method.
When using this setting, do not change the settings
of [Pr. PA06] and [Pr. PA07] after power-on.
For details, refer to Appendix 15 of "MR-J4-_GF_(-
RJ) Servo Amplifier Instruction Manual (Motion
Mode)".
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PC20 Setting station numbers 0 No corresponding parameter
Specify the servo amplifier station No. for RS-422
communication and USB communication.
Always set one station for one servo amplifier. If the
same station No. is used for multiple servo
amplifiers, the communication will fail.
PC21 RS-422 communication function selection 0000h No corresponding parameter
Select the RS-422 communication function.
0_ x 0:
RS-422 communication - Baud rate selection
0: 9600 [bps]
1: 19200 [bps]
2: 38400 [bps]
3: 57600 [bps]
4: 115200 [bps]
0 x _ 0:
RS-422 communication response delay time
0: Disabled
1: Enabled (Data is returned with a delay of 800 μs
or longer.)

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PC22 Function selection C-1 0000h PC04 Function selection C-1 0h
Select the method by which detector cable _ _ _ x:
communication is to be performed. For manufacturer setting
x 0 0 0: _ _ x _: 0h
Detector cable communication method selection For manufacturer setting
0: Two-wire type _ x _ _: 0h
1: Four-wire type For manufacturer setting
If the value is set incorrectly, [AL.16 Detector error 1] x _ _ _: 0h CP
or [AL.20 Detector error 2] will occur.
Encoder cable communication method selection PS
Select the communication method of encoder SP
cables.
0: Two-wire type
1: Four-wire type
When using an encoder of A/B/Z-phase differential
output method, set "0".
If the value is set incorrectly, [AL. 16 Encoder initial
communication error 1] or [AL. 20 Encoder normal
communication error 1] occurs.
PC24 Function selection C-3 0000h PC06 Function selection C-3 0h CP
Select a unit of the in-position range. _ _ _ x: PS
0 0 0 x: In-position range unit selection SP
In-position range unit selection Select a unit of the in-position range.
0: Command input unit 0: Command input pulse unit
1: Servo motor detector unit 1: Servo motor encoder pulse unit
_ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
For manufacturer setting
Excessive error alarm and excessive error warning 0h CP
trigger level unit selection PS
x _ _ _: SP
Select the unit used when setting the excessive error
alarm trigger level in [Pr. PC01] and setting the
excessive error warning trigger level in [Pr. PC38].
0: 1 rev unit
1: 0.1 rev unit
2: 0.01 rev unit
3: 0.001 rev unit
PC26 Function selection C-5 0000h PC19 Function selection C-6 0h CP
Select [AL. 99 Stroke limit warning]. _ _ _ x: PS
0 0 0 x: [AL. 99 Stroke limit warning] selection SP
[AL. 99 Stroke limit warning] selection Enable or disable [AL. 99 Stroke limit warning].
0: Enabled 0: Enabled
1: Disabled 1: Disabled
When "1" is set, Warning [AL. 99] does not occur When "Disabled" is selected, [AL. 99] does not occur
even if Forward rotation stroke end (LSP) or Reverse while LSP (Forward rotation stroke end) or LSN
rotation stroke end (LSN) is turned off. (Reverse rotation stroke end) is off, but the operation
will be stopped with the stroke limit.
_ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PC27 Function selection C-6 0000h PC20 Function selection C-7 0h CP
Set this when an undervoltage alarm occurs due to _ _ _ x: PS
power supply distortion while the power regeneration [AL. 10 Undervoltage] detection method selection SP
converter or the power regeneration common Set this if [AL. 10 Undervoltage] occurs due to power
converter is being used. supply voltage distortion while the FR-RC-(H), FR-
0 0 0 x: CV-(H), or FR-XC-(H) is being used.
Control circuit power supply undervoltage alarm 0: [AL. 10] not occurring
detection method selection 1: [AL. 10] occurring
0: Initial value _ _ x _: 0h
1: Set this to "1" when an undervoltage alarm occurs For manufacturer setting
due to power supply distortion while the power
_ x _ _: 0h CP
regeneration converter or the power regeneration
common converter is being used. Undervoltage alarm selection PS
Select the alarm or warning that occurs when the SP
bus voltage drops to the undervoltage alarm trigger
level.
0: [AL. 10 Undervoltage] occurs regardless of servo
motor speed.
1: [AL. E9 Main circuit off warning] occurs when the
servo motor speed is 50 r/min (50 mm/s) or less,
and [AL. 10] occurs when over 50 r/min (50
mm/s).
x _ _ _: 0h
For manufacturer setting
PC28 Function selection C-7 0000h PT26 Function selection T-2 0h CP
Select the display method of the current _ _ _ x:
position/command position. Electronic gear fraction clear selection
0 0 _ x: 0: Disabled
Electronic gear fraction clear selection 1: Enabled
0: Disabled When "Valid" is selected, the fraction of the previous
1: Enabled command given by the electronic gear is cleared
When "1" is set, the fraction of the previous when automatic operation starts.
command given by the electronic gear is cleared If "2" or more is set for this digit, this parameter will
when automatic operation starts. be set to "Disabled".
0 0 x _: Current position/command position display selection 0h CP
_ _ x _:
Current position/command position display selection
Select the display method of the current position and
Setting Display Operation Status display details command position.
value method mode Current position Command position 0: Positioning display
0 Positioning Automatic Displays the Displays the 1: Roll feed display
display current position command current
with the machine position with the
Setting Display Status display details
Manual home position as machine home Operation mode
value method Current position Command position
0. position as 0.
__0_ Positioning Automatic/manual Displays the current Displays the
1 Roll feed Automatic Displays the actual Displays the
display current position command current display position with the command current
machine home position with the
with the automatic position from the
position as 0. machine home
operation start point where the
position as 0. operation signal is position as 0.
turned on and the __1_ Roll feed Automatic Continuous Not available. Not available.
count is started display positioning
from 0 to when the operation
target position is
reached. Single Displays the current Displays the
At stopped state,
positioning position with the command current
the command
operation automatic operation position from the
position of the start position as 0. point where the
selected point
operation signal is
table is displayed.
turned on and the
Manual Displays the Always displays 0. count is started from
current position 0 to when the target
with the machine position is reached.
home position as At stopped state,
0. the command
position is
displayed. (When
the positioning
mode is the point
table method, the
target position of the
point table is
displayed.)
Manual Displays the current Always displays 0.
position with the
machine home
position as 0.

_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PC30 Remote register-based position/speed specifying 0h PT62 Remote register-based position/speed specifying 0h CP
method selection method selection
This parameter is enabled when the position/speed _ _ _ x:
specifying method selection (RY (n + 2) A) is turned Position/speed specifying method selection of point
on when two stations are occupied. table method
0 _ _ x:
Select the method by which the position command Setting
Position command Speed command
and speed command for point table positioning value
operation are received. 0 Point table number Point table number
1 Position data Point table number
If "1" or "2" is selected when one station is occupied, 2 Servo motor speed
a parameter error will occur.

When "2" is set and operating with the speed

Setting
value
Position command Speed command command, always set the acceleration/deceleration
0 Specify the point table No. time constants to point table No. 1.
1 Specify the position data. Specify the point table
No.
2 Specify the servo motor
speed.

When "2" is set and operating with the speed

command, always set the acceleration/deceleration
time constants to point table No. 1.
0 _ x _: 0h _ _ x _: 0h PS
Select the method by which the position command Position/speed specifying method selection of
and speed command for indexer positioning indexer method
operation are received.
If "1" s selected when one station is occupied, a Setting
Position command Speed command
parameter error will occur. value
0 Next station number Point table number
1 Servo motor speed
Setting
Position command Speed command
value
0 Specify the station No. Specify the point table When "1" is set and operating with the speed
No. command, always set the acceleration/deceleration
1 Specify the servo motor
time constants to point table No. 1.
speed.

When "1" is set and operating with the speed

command, always set the acceleration/deceleration
time constants to point table No. 1.
0 x _ _: 0h _ x _ _: 0h SP
Select the method by which the speed command for Speed specifying method selection of speed control
speed control operation is received. mode (point table) method
If "1" s selected when one station is occupied, a
parameter error will occur. Setting
Speed command
value
0 Specify the speed selection number.
Setting
Speed command 1 Specify the servo motor speed command
value
(unsigned).
0 Specify the speed selection number.
1 Specify the servo motor speed.
When "1" is set, always set the
acceleration/deceleration time constants to point
table No. 1 or point table No. 2. The servo motor
speed is limited by the permissible speed of the
servo motor.
PC50 Function selection C-A 0000h x _ _ _: 0h SP
_ 0 0 x: Speed command data reflection timing selection of
Remote register speed command data reflection speed control mode (point table) method
timing selection 0: Reflected at the edge while the speed command
Select the timing in which to reflect the speed execution demand is on.
command data of the remote register. 1: Always reflected while the speed command
0: Reflected at the rising edge of the speed execution demand is on.
command execution request (RY (n + 2) 1).
1: Always reflected while the speed command
execution request (RY (n + 2) 1) is on.

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PC31 Software limit + 0 PT15 Software limit + (last 4 digits) 0000h CP
PC32 Set the address increasing side of the software PT16 Software limit + (first 4 digits) 0000h
stroke limit. If the same value as "Software limit -" is Set the address increasing side of the software
set, the software limit will be disabled. stroke limit. The upper and lower digits are
combined to make one set.
Set the same sign for [Pr. PC31]/[Pr. PC32]. Setting
a different sign will result in a parameter error. Setting address:

Set address:
First 4 digits Last 4 digits
Upper 3 Lower 3
digits digits [Pr. PT15]

[Pr. PT16]
[Pr. PC31]

[Pr. PC32] If a value equal to or greater than that of "Software

limit +" is set to "Software limit -", the software limit
will be disabled.
The upper and lower digits of Software limit + are
combined to make one set. When changing the When changing the setting of this parameter with
digits, change the lower digit first before changing MR Configurator2, do so in the servo-off state or in
the upper digit. the home position return mode.

Setting range: 8000 0000h to 7FFF FFFFh

(-2147483648 to 2147483647)
PC33 Software limit - 0 PT17 Software limit - (last 4 digits) 0000h CP
PC34 Sets the address decreasing side of the software PT18 Software limit - (first 4 digits) 0000h
stroke limit. If the same value as "Software limit +" is Set the address decreasing side of the software
set, the software limit will be disabled. stroke limit. The upper and lower digits are
Set the same sign for [Pr. PC33]/[Pr. PC34]. Setting combined to make one set.
a different sign will result in a parameter error.
Setting address:
Set address:

Upper 3 Lower 3 First 4 digits Last 4 digits

digits digits
[Pr. PT17]
[Pr. PC33]
[Pr. PT18]
[Pr. PC34]
If a value equal to or greater than that of "Software
The upper and lower digits of Software limit - are limit +" is set to "Software limit -", the software limit
combined to make one set. When changing the will be disabled.
digits, change the lower digit first before changing When changing the setting of this parameter with
the upper digit. MR Configurator2, do so in the servo-off state or in
the home position return mode.

Setting range: 8000 0000h to 7FFF FFFFh

(-2147483648 to 2147483647)
PC35 Internal torque limit 2 100.0 PC77 Internal torque limit 2 0.0 CP
Set the maximum torque at 100 [%]. Set the servo Set the servo parameter to limit the torque of the PS
parameter to limit the torque of the servo motor. servo motor. Set the rated torque at 100.0%.
SP
If this object is set to "0", the servo motor does not If this object is set to "0.0", the servo motor does not
generate torque. generate torque.
This parameter setting is enabled while automatic
operation, manual operation, and homing operation
are stopped. During operation, the setting values of
[Pr. PA11] and [Pr. PA12] are enabled.

Setting range: 0.0 to 1000.0

PT48 Function selection T-7A 0h PS
_ _ _ x:
Torque limit selection during stop
0: Disabled
1: Enabled
When "0" is set, [Pr. PC77] is enabled for the torque
limit value for stopping the indexer operation. When
"1" is set, [Pr. PC77], [Pr. PA11], and [Pr. PA12] are
compared and the one with the lowest value is
enabled for the torque limit value for stopping the
indexer operation.
_ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PC37 Position range output address + 0 PT19 Position range output address + (last 4 digits) 0000h CP
PC38 Set the address increasing side of the position range PT20 Position range output address + (first 4 digits) 0000h
output address. Set the address increasing side of the position range
Set the same sign for [Pr. PC37]/[Pr. PC38]. Setting output address. The upper and lower digits are
a different sign will result in a parameter error. combined to make one set.
Use [Pr. PC37] to [Pr. PC40] to set the range where Use [Pr. PT19] to [Pr. PT22] to set the range where
position range (POT) turns on. RXnE (Position range) turns on.

Set address: Setting address:

Upper 3 Lower 3
digits digits First 4 digits Last 4 digits
[Pr. PC37] [Pr. PT19]

[Pr. PC38] [Pr. PT20]

The upper and lower digits of Position range output Setting range: 8000 0000h to 7FFF FFFFh
address + are combined to make one set. When (-2147483648 to 2147483647)
changing the digits, change the lower digit first
before changing the upper digit.
PC39 Position range output address - 0 PT21 Position range output address - (last 4 digits) 0000h CP
PC40 Set the address decreasing side of the position PT22 Position range output address - (first 4 digits) 0000h
range output address. Set the address decreasing side of the position
Set the same sign for [Pr. PC39]/[Pr. PC40]. Setting range output address.
a different sign will result in a parameter error. The upper and lower digits are combined to make
one set.
Set address: Use [Pr. PT19] to [Pr. PT22] to set the range where
RXnE (Position range) turns on.
Upper 3 Lower 3
digits digits
Setting address:
[Pr. PC39]

[Pr. PC40] First 4 digits Last 4 digits

[Pr. PT21]
The upper and lower digits of Position range output
address - are combined to make one set. When [Pr. PT22]
changing the digits, change the lower digit first
before changing the upper digit. Setting range: 8000 0000h to 7FFF FFFFh
(-2147483648 to 2147483647)
PC45 Function selection C-9 0000h PT27 Indexer method - Operation mode selection 0h
0 0 0 x: _ _ _ x:
Selection of manual operation mode for indexer For manufacturer setting
positioning operation _ _ x _: 0h PS
Select the manual operation mode. Manual operation method selection
0: Indexer JOG operation 0: Station JOG operation
1: JOG operation 1: JOG operation
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PC46 Number of stations/rotation for indexer positioning 0000h PT28 Number of stations per rotation 8 PS
operation Set the number of stations (number of indexer
Set the number of stations (number of indexers) per stations) per rotation of the machine.
rotation of the machine. If the setting value is 2 or If the setting value is "0" or "1", the number of
less, the number of stations will be 2. stations will be 2.

Setting value Number of stations Setting range: 0 to 255

0000 2
0001 2
0002 2
0003 3
0004 4
…

00FF 255

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PC47 Station home position shift distance for indexer 0000h PT40 Station home position shift distance 0 PS
positioning operation When homing, set the station home position shift
This parameter is not available in the absolute distance in units of encoder pulses.
position detection system. By setting this parameter, the station home position
Use the number of pulses to set the amount by (station number 0) can be shifted with respect to the
which to shift the home position with respect to the homing position.
position set as the home position with this The following shows the precautions on setting the
parameter. station home position shift distance.
This shift amount is not enabled immediately after During homing, the station home position shift
setting the home position. It is enabled when the setting is disabled. It is enabled when the power is
power is cycled. cycled.
If the shift distance is longer than the in-position If the station home position shift distance is larger
range, In-position (RXn1) will not turn on at power- than the in-position range, RXn1 (In-position) is
on. not turned on when the power is cycled after
Convert the number of pulses to be shifted to homing.
hexadecimal before setting.
Setting range: -32000 to 32000
The setting range is -2000 to 2000 pulses.
PC50 Function selection C-A 0000h No corresponding parameter CP
x 0 0 _: CC-Link IE communication error (AL.8D) is detected PS
CC-Link communication error (A8D) extension in the initial state. SP
function selection The time in which to detect CC-Link IE
0: No extension communication error (AL.8D) can be adjusted with
1: CC-Link communication error (A8D) detection [Pr. PN02].
delay For details, refer to "MR-J4-_GF_(-RJ) Servo
The time in which CC-Link communication error Amplifier Instruction Manual (Motion Mode)".
(A8D) occurrence is waited can be adjusted with [Pr.
PD25].

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PD01 Input signal automatic ON selection 1 0000h PD01 Input signal automatic ON selection 1
Select input devices that turn on automatically. Select input devices that turn on automatically.
: Indicates that this is for manufacturer setting. _ _ _ x (BIN): For manufacturer setting 0h
Configuration is not allowed.
___x _ _ x _ (BIN): For manufacturer setting
(HEX) _ x _ _ (BIN): For manufacturer setting
x _ _ _ (BIN): For manufacturer setting
_ _ _ x (BIN): For manufacturer setting 0h
__x_ _ _ x _ (BIN): For manufacturer setting
Initial value (HEX)
Device name _ x _ _ (BIN): For manufacturer setting
BIN HEX
x _ _ _ (BIN): For manufacturer setting
0
_ _ _ x (BIN): For manufacturer setting 0h CP
0
Servo-on (SON) 0
0 _ _ x _ (BIN): For manufacturer setting PS
0 _ x _ _ (BIN): LSP (forward rotation SP
stroke end)
Initial value
Device name 0: Disabled (Use for an external input
BIN HEX _x__ signal.)
Proportional control (PC) 0
(HEX) 1: Enabled (automatic on)
External torque limit
selection (TL) 0
0 x _ _ _ (BIN): LSN (reverse rotation
0 stroke end)
0 0: Disabled (Use for an external input
signal.)
Initial value
Device name 1: Enabled (automatic on)
BIN HEX
_ _ _ x (BIN): For manufacturer setting 0h
0
0 x___ _ _ x _ (BIN): For manufacturer setting
LSP (Forward rotation 0 (HEX) _ x _ _ (BIN): For manufacturer setting
stroke end) 0
x _ _ _ (BIN): For manufacturer setting
LSN (Reverse rotation
stroke end) 0

Initial value
0 0 0
Device name
BIN HEX Initial value
Signal name
Forced stop (EMG) 0 BIN HEX
0
0
0 0
0 0
LSP (Forward rotation stroke end) 0
0 LSN (Reverse rotation stroke end) 0
BIN 0: Use for an external input signal BIN 0: Use for an external input signal
BIN 1: Automatic ON BIN 1: Automatic ON

For example, when Servo-on (RYn0) is turned on the setting PA04 Function selection A-1
value is "_ _ _ 4". _ _ _ x: 0h
For manufacturer setting
_ _ x _: 0h
For manufacturer setting
_ x _ _: 0h CP
Servo forced stop selection PS
0: Enabled (the forced stop input EM2 or EM1 is SP
used)
1: Disabled (the forced stop input EM2 and EM1 are
not used)
Refer to the following table for details.
x _ _ _: 2h CP
Forced stop deceleration function selection PS
0: Forced stop deceleration function SP
Disabled (use EM1)
2: Forced stop deceleration function enabled (EM2 is
used)
Refer to the following table for details.

Setting Deceleration method

EM1/EM2
value EM2 or EM1 is off Alarm occurrence
00__ EM1 MBR (Electromagnetic brake MBR (Electromagnetic brake
interlock) turns off without the interlock) turns off without the
forced stop deceleration. forced stop deceleration.
20__ EM2 MBR (Electromagnetic brake MBR (Electromagnetic brake
interlock) turns off after the interlock) turns off after the
forced stop deceleration. forced stop deceleration.
01__ Neither MBR (Electromagnetic brake
EM2 nor interlock) turns off without the
EM1 is forced stop deceleration.
used.
21__ Neither MBR (Electromagnetic brake
EM2 nor interlock) turns off after the
EM1 is forced stop deceleration.
used.

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PD01 Input signal automatic ON selection 1 0000h PB24 Slight vibration suppression control 0h CP
Select input devices that turn on automatically. _ _ _ x: PS
: Indicates that this is for manufacturer setting. Slight vibration suppression control selection
Configuration is not allowed. Select the slight vibration suppression control.
0: Disabled
1: Enabled
The slight vibration suppression control is enabled
when "Manual mode (_ _ _ 3)" is selected for "Gain
adjustment mode selection" in [Pr. PA08]. Slight
vibration suppression control selection cannot be
used in speed control mode (point table method).
PI-PID switching control selection 0h CP
0: PI control enabled PS
_ _ x _: SP
(Switching to PID control (proportional control) is
enabled by PID switching signal from controller and
the input device PC (proportional control).)

3: PID control (proportional control) is always

enabled.
If the servo motor at a stop is rotated even for a
pulse due to any external factor, it generates torque
to compensate for a position mismatch. When the
servo motor shaft is to be locked mechanically after
positioning completion (stop), enabling the PID
control and completing positioning simultaneously
will suppress the unnecessary torque generated to
compensate for a position mismatch.
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PD03 Input signal automatic ON selection 3 0000h No corresponding parameter
Select input devices that turn on automatically.
: Indicates that this is for manufacturer setting.
Configuration is not allowed.

0
Initial value
Device name
BIN HEX
Automatic/manual 0
selection (MD0)
0
0
0
0

Initial value
Device name
BIN HEX
Speed acceleration/
deceleration selection 0
(STAB)
0
0
0
0

Initial value
Device name
BIN HEX
Speed selection 1 (SP0) 0
Speed selection 2 (SP1) 0
0
Speed selection 3 (SP2) 0
0
BIN 0: Use for a CC-Link or external input signal
BIN 1: Automatic ON

PD04 Input signal automatic ON selection 4 0000h No corresponding parameter

Select input devices that turn on automatically.

0 0
Initial value
Device name
BIN HEX
Point table No.
0
selection 1 (DI0)

Point table No.

0
selection 2 (DI1)
0
Point table No.
0
selection 3 (DI2)

Point table No.

selection 4 (DI3) 0

Initial value
Device name
BIN HEX
Point table No.
0
selection 5 (DI4)

Point table No.

0
selection 6 (DI5)
0
Point table No.
0
selection 7 (DI6)
Point table No.
0
selection 8 (DI7)
BIN 0: Used in CC-Link or as external
input signal.
BIN 1: Automatic ON

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PD06 Input signal device selection 2 (CN6-2) 002Bh PD03 Input device selection 1
Any input device can be assigned to the CN6-2 pin. Any input device can be assigned to the CN3-2 pin.
0 0 x x: Device selection 0Ah CP
Select the CN6-2 pin input device. _ _ x x: PS
0 0: No assigned function Refer to the following table for setting values. SP
0 2: Servo-on (SON) _ x _ _: 0h
0 3: Reset (RES) For manufacturer setting
0 4: Proportional control (PC) x _ _ _: 0h
0 6: Clear (CR) For manufacturer setting
0 7: Forward rotation start (ST1)
0 8: Reverse rotation start (ST2)
Setting value Input device
0 9: Internal torque limit selection (TL2)
__00
0 A: Forward rotation stroke end (LSP)
__03 RES (Reset)
0 B: Reverse rotation stroke end (LSN)
__04 PC (Proportional control)
0 D: Gain switching (CDP)
__06 CR (Clear)
2 0: Automatic/manual selection (MD0)
__09 CTL (Internal torque limit selection)
2 4: Manual pulse generator multiplication 1 (TP0)
__0A LSP (Forward rotation stroke end)
2 5: Manual pulse generator multiplication 2 (TP1)
2 7: Temporary stop/restart (TSTP) __0B LSN (Reverse rotation stroke end)

2 B: Proximity dog (DOG) __0D CDP (Gain switching)

Note. The setting values other than those shown __22 DOG (Proximity dog)
here are for manufacturer settings.
Configuration is not allowed.
PD07 Input signal device selection 3 (CN6-3) 000Ah PD04 Input device selection 2
Any input device can be assigned to the CN6-3 pin. Any input device can be assigned to the CN3-12 pin.
The devices that can be assigned and the setting _ _ x x: 22h CP
method are the same as those for [Pr. PD06]. Device selection PS
0 0 x x: Refer to the table of [Pr. PD03] for setting values. SP
Select the CN6-3 pin input device. _ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PD08 Input signal device selection 4 (CN6-4) 000Bh PD05 Input device selection 3
Any input device can be assigned to the CN6-4 pin. Any input device can be assigned to the CN3-19 pin.
The devices that can be assigned and the setting _ _ x x: 22h CP
method are the same as those for [Pr. PD06]. Device selection PS
0 0 x x: Refer to the table of [Pr. PD03] for setting values. SP
Select the CN6-4 pin input device. _ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PD09 Output signal device selection 1 (CN6-14) 0002h PD07 Output device selection 1
Any output device can be assigned to the CN6-14 Any output device can be assigned to the CN3-13 pin. MBR
pin. RD is assigned as the initial value. (Electromagnetic brake interlock) is assigned as the initial value.
0 0 x x: _ _ x x: 05h CP
Select the CN6-14 pin output device. Device selection PS
0 0: Always off Refer to the following table for setting values. SP
0 2: Ready (RD) _ x _ _: 0h
0 3: Malfunction (ALM) For manufacturer setting
0 4: In-position (INP) x _ _ _: 0h
0 5: Electromagnetic brake interlock (MBR) For manufacturer setting
0 6: Dynamic brake interlock (DB)
0 7: Limiting torque (TLC) Setting value Output device
0 8: Warning (WNG) __00 Always off
0 9: Battery warning (BWNG) __02 RD (Ready)
0 A: Speed command reached (SA)
__03 ALM (Malfunction)
0 C: Zero speed detection (ZSP)
__04 INP (In-position)
0 F: Variable gain selection (CDPS)
__05 MBR (Electromagnetic brake interlock)
2 3: Rough match (CPO)
__06 DB (Dynamic brake interlock)
2 4: Home position return completion (ZP)
__07 TLC (Limiting torque)
2 5: Position range (POT)
2 6: Temporarily stopped (PUS) __08 WNG (Warning)

2 7: Travel completion (MEND) __09 BWNG (Battery warning)

3 8: Point table No. output 1 (PT0) __0A SA (Speed reached)

3 9: Point table No. output 2 (PT1) __0C ZSP (Zero speed detection)
3 A: Point table No. output 3 (PT2) __0F CDPS (Variable gain enabled)
3 B: Point table No. output 4 (PT3) __25 POT (Position range)
3 C: Point table No. output 5 (PT4) __26 PUS (Temporarily stopped)
3 D: Point table No. output 6 (PT5) __27 MEND (Traveling completion)
3 E: Point table No. output 7 (PT6) __28 CPO (Rough match)
3 F: Point table No. output 8 (PT7) __35 ZP2 (Home position return completion 2)
Note. The setting values other than those shown
here are for manufacturer settings.
Configuration is not allowed.
PD10 Output signal device selection 2 (CN6-15) 0003h PD08 Output device selection 2
Any output device can be assigned to the CN6-15 Any output device can be assigned to the CN3-9 pin. INP (In-position)
pin. ALM is assigned as the initial value. is assigned as the initial value.
The devices that can be assigned and the setting _ _ x x: 04h CP
method are the same as those for [Pr. PD09]. Device selection PS
0 0 x x: Refer to the table of [Pr. PD07] for setting values. SP
Select the CN6-15 pin output device. _ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting
PD11 Output signal device selection 3 (CN6-16) 0024h PD09 Output device selection 3
Any output device can be assigned to the CN6-16 Any output device can be assigned to the CN3-15 pin. ALM
pin. ZP is assigned as the initial value. (Malfunction) is assigned as the initial value.
The devices that can be assigned and the setting _ _ x x: 03h CP
method are the same as those for [Pr. PD09]. Device selection PS
0 0 x x: Refer to the table of [Pr. PD07] for setting values. SP
Select the CN6-16 pin output device. _ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PD12 External DI function selection 1 0C00h PD41 Function selection D-4
Set any signal to be captured from the CN6 _ _ _ x: 0h
connector. For manufacturer setting
: Indicates that this is for manufacturer setting.
_ _ x _: 0h
Configuration is not allowed.
For manufacturer setting
_ x _ _: 0h
For manufacturer setting (no corresponding
parameter)
Initial value
Device name x _ _ _: 0h CP
BIN HEX
0
Sensor input method selection PS
0 Select the input method for the proximity dog and
0
Servo-on (SON) 0 stroke limits.
Reset (RES) 0 0: Input from servo amplifier (LSP/LSN/DOG)
Initial value 1: Input from controller (FLS/RLS/DOG)
Device name
BIN HEX When selecting "0", wire the limit switch installed in
Proportional control (PC) 0 CCW direction to LSP, and wire the limit switch
0 0 installed in CW direction to LSN. If the wiring is
Clear (CR) 0 reversed, the servo motor will not stop at the limit
Forward rotation start
(ST1) 0 switch.
When selecting "1", set the limit switch installed in
Initial value
Device name position address increasing direction to FLS, and the
BIN HEX
limit switch installed in decreasing direction to RLS.
Reverse rotation start
(ST2) 0 After that, input them from the controller. If the wiring
Internal torque limit (TL1) 0 is reversed, the servo motor will not stop at the limit
Forward rotation stroke 1 C switch. For details, refer to the controller user's
end (LSP)
manual.
Reverse rotation stroke
end (LSN) 1

Initial value
Device name
BIN HEX
0
Gain switching (CDP) 0
0
0
0
BIN 0: Use for CC-Link
BIN 1: Use for a CN6 connector external input
signal

PD14 External DI function selection 3 0800h

Set any signal to be captured from the CN6
connector.
: Indicates that this is for manufacturer setting.
Configuration is not allowed.

0
Initial value
Device name
BIN HEX
Automatic/manual
0
selection (MD0)
0 0
0
0

Initial value
Device name
BIN HEX
0
0
0 0
Temporary
0
stop/Restart (TSTP)

Initial value
Device name
BIN HEX
0
0
8
0
Proximity dog (DOG) 1
BIN 0: Used in CC-Link
BIN 1: Used in CN6 external input signal

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Part 7: Review on Replacement of MR-J3-_T_ (CC-Link communication operation) with MR-J4-_GF_

MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PD16 Input polarity selection 0000h PT29 Function selection T-3
Select the proximity dog input polarity. Set the polarity of DOG.
0 0 0 x: _ _ _ x (BIN): DOG (Proximity dog) 0h CP
Proximity dog input polarity polarity selection PS
0: Dog detection with off For the point table method
1: Dog detection with on 0: Dog detection with off
1: Dog detection with on
___x
For the indexer method
(HEX)
0: Dog detection with on
1: Dog detection with off
_ _ x _ (BIN): For manufacturer setting
_ x _ _ (BIN): For manufacturer setting
x _ _ _ (BIN): For manufacturer setting
_ _ _ x (BIN): For manufacturer setting 0h
__x_ _ _ x _ (BIN): For manufacturer setting
(HEX) _ x _ _ (BIN): For manufacturer setting
x _ _ _ (BIN): For manufacturer setting
_ _ _ x (BIN): For manufacturer setting 0h
_x__ _ _ x _ (BIN): For manufacturer setting
(HEX) _ x _ _ (BIN): For manufacturer setting
x _ _ _ (BIN): For manufacturer setting
_ _ _ x (BIN): For manufacturer setting 0h
x___ _ _ x _ (BIN): For manufacturer setting
(HEX) _ x _ _ (BIN): For manufacturer setting
x _ _ _ (BIN): For manufacturer setting

0 0 0
Initial value
Setting
BIN HEX
DOG (Proximity dog) polarity selection 0
0
0
0
0

PD19 Input filter setting 0002h PD11 Input filter setting 4h CP

Select the input filter. Input signal filter selection PS
0 0 0 x: _ _ _ x: SP
Input filter If the external input signal causes chattering due to
If the external input signal causes chattering due to noise or other factors, the input filter can be used for
noise or other factors, the input filter can be used for suppression.
suppression. 0: None
0: None 1: 0.888 [ms]
1: 0.888 [ms] 2: 1.777 [ms]
2: 1.777 [ms] 3: 2.666 [ms]
3: 2.660 [ms] 4: 3.555 [ms]
4: 3.555 [ms] 5: 4.444 [ms]
5: 4.444 [ms] 6: 5.333 [ms]
RES (Reset) dedicated filter selection 0h CP
_ _ x _: PS
0: Disabled SP
1: Enabled (50 [ms])
CR (Clear) dedicated filter selection 0h CP
_ x _ _: PS
0: Disabled
1: Enabled (50 [ms])
x _ _ _: 0h
For manufacturer setting

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PD20 Function selection D-1 0010h PD12 Function selection D-1 1h CP
Select the stop processing method when Forward _ _ _ x:
rotation stroke end (LSP) or Reverse rotation stroke Stop method selection at stroke limit detection
end (LSN) is turned off, or select the base circuit Select the stop method when RY (n + 1) 0 (upper
status when Reset (RY (n + 1) A or RY (n + 3) A) is stroke limit) or RY (n + 1) 1 (lower stroke limit) is off.
turned on. 0: Quick stop (home position erased)
0 _ _ x: 1: Slow stop (home position erased)
Stop method when Forward rotation stroke end 2: Slow stop (deceleration stop due to deceleration
(LSP) or Reverse rotation stroke end (LSN) is turned time constant)
off
3: Quick stop (stop due to remaining distance clear)
0: Quick stop (home position erased)
1: Slow stop (home position erased)
If a value other than the value described in the
2: Slow stop (deceleration stop due to deceleration setting value column is set, [AL. 37 Parameter error]
time constant) occurs.
3: Quick stop (stop due to remaining distance clear)
0_ x _:
Base circuit status selection when Reset (RY (n + 1) _ _ x _: 0h
A or RY (n + 3) A) is turned off For manufacturer setting (no corresponding
0: Base circuit shut-off parameter)
1: Base circuit not shut-off _ x _ _: 1h CP
0 x _ _: Stop method selection at software limit detection
Stop processing at software limit detection Select the stop method at the software limit
0: Quick stop (home position erased) detection.
1: Slow stop (home position erased) 0: Quick stop (home position erased)
2: Slow stop (deceleration stop due to deceleration 1: Slow stop (home position erased)
time constant) 2: Slow stop (deceleration stop due to deceleration
3: Quick stop (stop due to remaining distance clear) time constant)
If the home position is erased due to the detection of 3: Quick stop (stop due to remaining distance clear)
the forward rotation stroke end, reverse rotation When "0" is set, [AL. 37] occurs.
stroke end, or software limit while the parameters are x _ _ _: 0h CP
set as follows, Home position return completion (ZP) Servo motor thermistor enabled/disabled selection PS
turns on by turning off and on Servo-on (RYn0). In 0: Enabled SP
this case, it is not necessary to execute homing 1: Disabled
again.
This digit is enabled only when a servo motor with a
1. For the absolute position detection system built-in thermistor is used.
[Pr. PA03]: _ _ _ 1 (Select the absolute position When using a servo motor that does not have a
detection system) built-in thermistor, this digit setting is disabled.
[Pr. PA01]: _ _ _ 0 (Select the absolute value
command method)
2. For the incremental system
[Pr. PA03]: _ _ _ 0 (Select the incremental
system)
[Pr. PA01]: _ _ _ 0 (Select the absolute value
command method)
[Pr. PA04]: _ _ _ 1 (Follow-up enabled)

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PD20 Function selection D-1 0010h PD12 Function selection D-1 1h PS
Select the stop processing method when Forward _ _ _ x:
rotation stroke end (LSP) or Reverse rotation stroke Stop method selection at stroke limit detection
end (LSN) is turned off, or select the base circuit Select the stop method when RY (n + 1) 0 (upper
status when Reset (RY (n + 1) A or RY (n + 3) A) is stroke limit) or RY (n + 1) 1 (lower stroke limit) is off.
turned on. 0: Quick stop (home position erased)
0 _ _ x: 1: Slow stop (home position erased)
Stop method when Forward rotation stroke end 2: Slow stop (same setting as that of "1")
(LSP) or Reverse rotation stroke end (LSN) is turned
3: Quick stop (same setting as that of "0")
off
0: Quick stop (home position erased)
If a value other than the value described in the
1: Slow stop (home position erased)
setting value column is set, [AL. 37 Parameter error]
2: Slow stop (same setting as that of "1") occurs.
3: Quick stop (same setting as that of "0")
_ _ x _: 0h
Even in this case, when LSP or LSN is detected, it is
For manufacturer setting (no corresponding
necessary to execute homing again before parameter)
performing automatic operation. However, in the
absolute position detection system ([Pr. PA03]: _ _ _ _ x _ _: 1h
1), Home position return completion (ZP) can be For manufacturer setting (no corresponding
turned on with servo-on. In this case, it is not parameter)
necessary to execute homing again.
00 x _: x _ _ _: 0h CP
Base circuit status selection when Reset (RY (n + 1) Servo motor thermistor enabled/disabled selection PS
A or RY (n + 3) A) is turned off 0: Enabled SP
0: Base circuit shut-off 1: Disabled
1: Base circuit not shut-off This digit is enabled only when a servo motor with a
built-in thermistor is used.
When using a servo motor that does not have a
built-in thermistor, this digit setting is disabled.

PD20 Function selection D-1 0010h PD12 Function selection D-1 1h SP

Select the stop processing method when Forward _ _ _ x:
rotation stroke end (LSP) or Reverse rotation stroke Stop method selection at stroke limit detection
end (LSN) is turned off, or select the base circuit Select the stop method when RY (n + 1) 0 (upper
status when Reset (RY (n + 1) A or RY (n + 3) A) is stroke limit) or RY (n + 1) 1 (lower stroke limit) is off.
turned on. 0: Quick stop (stop due to clearing speed command
0 0 _ x: 0)
Stop method when Forward rotation stroke end 1: Slow stop (deceleration stop due to deceleration
(LSP) or Reverse rotation stroke end (LSN) is turned time constant)
off
0: Quick stop If a value other than the value described in the
1: Slow stop setting value column is set, [AL. 37 Parameter error]
00 x _: occurs.
Base circuit status selection when Reset (RY (n + 1) _ _ x _: 0h
A or RY (n + 3) A) is turned off
For manufacturer setting (no corresponding
0: Base circuit shut-off parameter)
1: Base circuit not shut-off _ x _ _: 1h
For manufacturer setting (no corresponding
parameter)
x _ _ _: 0h CP
Servo motor thermistor enabled/disabled selection PS
0: Enabled SP
1: Disabled
This digit is enabled only when a servo motor with a
built-in thermistor is used.
When using a servo motor that does not have a
built-in thermistor, this digit setting is disabled.

PD22 Function selection D-3 0000h PD42 Function selection D-5 0h CP

Set Clear (RYnF). _ _ _ x: PS
0 0 0 x: CR (Clear) selection
Clear (RYnF) selection 0: Delete droop pulses by turning on the device.
0: Disabled 1: Always delete droop pulses during the device on.
1: Delete droop pulses by turning on the device. 2: Disabled
2: Always delete droop pulses during the device on. _ _ x _: 0h
For manufacturer setting
_ x _ _: 0h
For manufacturer setting
x _ _ _: 0h
For manufacturer setting

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MR-J3-_T_ MR-J4-_GF_
Control
Initial Initial
No. Name and function No. Name and function mode
value value
PD24 Function selection D-5 0000h PD14 Function selection D-3 0h
Select the output status of Warning (RXnA). _ _ _ x:
For manufacturer setting
0 0 x 0: _ _ x _: 0h CP
Output device status at warning occurrence Output device status at warning occurrence PS
Select WNG (Warning) and ALM (Malfunction) SP
output status at warning occurrence.
0 0 0
Output device status at warning occurrence
Setting
Select the output status of Warning (RXnA) and Device status (Note)
Malfunction (RX (n + 1) A or RX (n + 3) A) at value
warning occurrence.
RXnA 0
Setting CC-Link IE
Device status (Note) RX 1
value RX (n + 3) A 0
1 0 ON
CC-Link RXnA WNG
0 Output OFF
RX RX (n + 1) A or 1 device ON
RX (n + 3) A 0 ALM
OFF Warning
0 ON
Output WNG occurrence
OFF
device ON 1
ALM OFF RXnA 0
CC-Link IE
Warning
RX 1
occurrence RX (n + 3) A 0
1 1 ON
CC-Link RXnA
0 Output WNG OFF
RX RX (n + 1) A or 1 device ON
RX (n + 3) A 0 ALM OFF
1 ON Warning
Output WNG OFF occurrence
device ON
ALM OFF
Warning
_ _ _ x: 0h
occurrence
Note. 0: OFF
For manufacturer setting
1: ON _ _ _ x: 0h
For manufacturer setting
PD25 CC-Link communication error (A8D) detection time 0000h PN02 Communication error detection time 0 CP
If "CC-Link communication error (A8D) detection Set the time until [AL. 8D.1 CC-Link IE PS
delay" is selected for [Pr. PC50], this parameter is communication error 1], [AL. 8D.6 CC-Link IE SP
enabled. communication error 3] and [AL. 86.1 Network
If [Pr. PC50] is "0000h", the set value becomes 10 communication error 1] are detected. When "0" is
ms. set, the detection time changes as shown in the
Convert the decimal to hexadecimal before entering. table below depending on the setting value of [Pr.
The maximum setting range is 1000 ms. If that range PN03].
is exceeded, the value will be limited to the setting If [Pr. PD41] is set to "_ 1 _ _" or "1 _ _ _" and the
range. setting value of this parameter is increased, the
Example) When "03E8h" is set, the set value servo motor cannot be stopped at occurrence of a
becomes 1000 ms. communication error. Be careful when changing the
set value as there is a danger of collision.
When "1388h" is set, the set value becomes 10000
ms when converted to decimal, but it will be
regarded as 1000 ms, which is the upper limit of the [Pr. PN03] Detection time
setting range. _ _ _ 1 (I/O mode) 10.0 ms

If no CC-Link communication error (A8D)

is detected, use the default value for the
communication timeout detection time.
Setting range: 0 to 1000
When changing the setting value, do not
CAUTION
set it longer than necessary.
Otherwise, the servo motor will not be
able to stop quickly at occurrence of CC-
Link communication error (A8D).

PD26 Torque limit delay time for indexer positioning 0064h PT39 Torque limit delay time 100 PS
operation Set the delay time from when RXnC (travel
Set the delay time in which Internal torque limit 2 completed) is output until [Pr. PC77 Internal torque
([Pr. PC35]) is enabled after In-position (RXn1) is limit 2] is enabled.
turned on.
Convert the delay time to hexadecimal before Setting range: 0 to 1000
setting. The setting range is 0 to 1000 ms.

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3.7 Replacement points and precautions

1. SUMMARY

This section describes the precautions for parameter setting when replacing MR-J3-_T_ with MR-J4-_GF_.
For details on the parameters of MR-J3-_T_, refer to "MR-J3-_T_ Servo Amplifier Instruction Manual".

2. PRECAUTIONS

When migrating from MR-J3-_T_ to MR-J4-_GF_, using the parameter converter function of MR
Configurator2 (available on version 1.120A or later) is recommended. However, this section provides
supplementary explanation on parameters that can be easily overlooked when manually changing the
parameter settings.

(1) [Pr. PA10 In-position range]

The initial value of [Pr. PA10] differs between MR-J3-_T_ and MR-J4-_GF_ (MR-J3-_T_: 100 μm, MR-
J4-_GF_: 1600 μm). When INP (In-position) is assigned to [Pr. PD07] to [Pr. PD09], set [Pr. PA10] while
referring to "MR-J4-_GF_ (-RJ) Servo Amplifier Instruction Manual (Motion Mode)" and "MR-J4-_GF_ (-
RJ) Servo Amplifier Instruction Manual (I/O Mode)".

Number/abbreviation/ Setting Initial value

Function
name digit [unit]
PA10 Set the in-position range in the command pulse unit. 1600 [μm]
INP It can be changed to be in units of servo motor encoder pulse by setting [Pr. PC06].
In-position range In I/O mode, the in-position range is the range in which RXnC (travel completion) and
RXn1 (in-position) are output.
The unit is as follows depending on the positioning mode.
For the point table method
When [Pr. PC06] is set to "_ _ _ 0", the unit is fixed at [μm].
If [Pr. PC06] is set to "_ _ _ 1", the unit is fixed at [pulse].
For the indexer method
The unit is command unit [pulse]. (A unit that expresses one rotation on the machine
side by the number of servo motor resolution pulses)
For example, to set ±1 degree as the in-position range for the rotation angle at the
machine end, set 4194304 × (1/360) = 11650 pulses.

Setting range: 0 to 65535

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(2) [Pr. PA11 Forward rotation torque limit]/[Pr. PA12 Reverse rotation torque limit]
The initial value of [Pr. PA11]/[Pr. PA12] differs between MR-J3-_T_ and MR-J4-_GF_ (MR-J3-_T_:
100.0%, MR-J4-_GF_: 1000.0%).
MR-J3-_T_ corresponds to the maximum torque when the setting value of [Pr. PA11]/[Pr. PA12] is
100.0%, while MR-J4-_GF_ corresponds to the rated torque when the setting value of [Pr. PA11]/[Pr.
PA12] is 100.0%.

Number/abbreviation/ Setting Initial value

Function
name digit [unit]
PA11 The torque generated by the servo motor can be limited. 1000.0 [%]
TLP For MR-J4-_GF_, set the rated torque at 100.0 [%]. Set the servo parameter to limit the
Forward rotation torque of the servo motor for CCW power running or CW regeneration. If this object is
torque limit set to "0.0", the servo motor does not generate torque.
The polarity of the torque limit can be changed with the setting values of [Pr. PA14
Rotation direction selection] and [Pr. PC29 POL reflection selection at torque mode].

Setting range: 0.0 to 1000.0

PA12 The torque generated by the servo motor can be limited. 1000.0 [%]
TLN For MR-J4-_GF_, set the rated torque at 100.0 [%]. Set the servo parameter to limit the
Reverse rotation torque of the servo motor for CW power running or CCW regeneration. If this object is
torque limit set to "0.0", the servo motor does not generate torque.
The polarity of the torque limit can be changed with the setting values of [Pr. PA14
Rotation direction selection] and [Pr. PC29 POL reflection selection at torque mode].

Setting range: 0.0 to 1000.0

(3) [Pr. PC02 Electromagnetic brake sequence output]

The parameter number and initial value differ between MR-J3-_T_ and MR-J4-_GF_ (MR-J3-_T_: [Pr.
PC16] initial value 100 ms, MR-J4-_GF_: [Pr. PC02] initial value 0 ms). When MBR (Electromagnetic
brake interlock) is assigned to [Pr. PD07] to [Pr. PD09], set [Pr. PC02] while referring to "MR-J4-_GF_ (-
RJ) Servo Amplifier Instruction Manual (Motion Mode)" and "MR-J4-_GF_ (-RJ) Servo Amplifier
Instruction Manual (I/O Mode)".

Number/abbreviation/ Setting Initial value

Function
name digit [unit]
PC02 Set the delay time used between the MBR (Electromagnetic brake interlock) shut-off 0 [ms]
MBR and the base circuit shut-off.
Electromagnetic
brake sequence Setting range: 0 to 1000
output

(4) [Pr. PC77 Internal torque limit 2]

The parameter number and initial value differ between MR-J3-_T_ and MR-J4-_GF_ (MR-J3-_T_: [Pr.
PC35] initial value 100.0%, MR-J4-_GF_: [Pr. PC77] initial value 0.0%).

Number/abbreviation/ Setting Initial value

Function
name digit [unit]
PC77 Set the servo parameter to limit the torque of the servo motor. Set the rated torque at 0.0 [%]
TL2 100.0%.
Internal torque limit 2 If this object is set to "0.0", the servo motor does not generate torque.
In positioning mode (indexer method), this parameter setting value is enabled while
automatic operation, manual operation, and homing operation are stopped. During
operation, the setting values of [Pr. PA11] and [Pr. PA12] are enabled.
The internal torque limit selection function can also be used to enable/disable this
parameter.

Setting range: 0.0 to 1000.0

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(5) Input signal filter selection (_ _ _ x) in [Pr. PD11 Input filter setting]
The initial value for input signal filter selection differs between MR-J3-_T_ and MR-J4-_GF_.

Number/abbreviation/ Setting Initial value

Function
name digit [unit]
PD11 Select the input signal filter.
*DIF _ _ _ x Input signal filter selection 4h
Input filter setting If the external input signal causes chattering due to noise or other factors, the input
filter can be used for suppression.

MR-J3-_T_ MR-J4-_GF_
Setting value
[Pr. PD19] [Pr. PD11]
0 None None
1 0.888 [ms] 0.888 [ms]
2 1.777 [ms] (initial value) 1.777 [ms]
3 2.666 [ms] 2.666 [ms]
4 3.555 [ms] 3.555 [ms] (initial value)
5 4.444 [ms] 4.444 [ms]
6 5.333 [ms]

__x_ RES (Reset) dedicated filter selection 0h

0: Disabled
1: Enabled (50 [ms])
MR-J3-_T_ does not have this digit setting.
_x__ CR (Clear) dedicated filter selection 0h
0: Disabled
1: Enabled (50 [ms])
MR-J3-_T_ does not have this digit setting.
x___ For manufacturer setting 0h

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(6) Stop method selection at stroke limit detection (_ _ _ x) in [Pr. PD12 Function selection D-1]
The initial value for stop method selection at stroke limit detection differs between MR-J3-_T_ and MR-
J4-_GF_.

Number/abbreviation/ Setting Initial value

Function
name digit [unit]
PD12 ___x Stop method selection at stroke limit detection 1h
*DOP1 Select the stop method when RY (n + 1) 0 (upper stroke limit) or RY (n + 1) 1 (lower
Function selection D-1 stroke limit) is off.

For MR-J3-_T_, the upper stroke limit corresponds to the "forward rotation stroke end"
and the lower stroke limit corresponds to the "reverse rotation stroke end".

Positioning mode (point table method)

MR-J3-_T_ MR-J4-_GF_
Setting value
[Pr. PD20] [Pr. PD12]
0 Quick stop (home position Quick stop (home position
erased) (initial value) erased)
1 Slow stop (home position Slow stop (home position
erased) erased) (initial value)
2 Slow stop (deceleration Slow stop (deceleration stop
stop due to deceleration due to deceleration time
time constant) constant)
3 Quick stop (stop due to Quick stop (stop due to
remaining distance clear) remaining distance clear)

Positioning mode (indexer method)

MR-J3-_T_ MR-J4-_GF_
Setting value
[Pr. PD20] [Pr. PD12]
0 Quick stop (home position Quick stop (home position
erased) (initial value) erased)
1 Slow stop (home position Slow stop (home position
erased) erased) (initial value)
2 Slow stop (same setting as Slow stop (same setting as that
that of "1") of "1")
3 Quick stop (same setting as Quick stop (same setting as
that of "0") that of "0")

Speed control mode (point table method)

MR-J3-_T_ MR-J4-_GF_
Setting value
[Pr. PD20] [Pr. PD12]
0 Quick stop (initial value) Quick stop (stop due to clearing
speed command 0)
1 Slow stop Slow stop (deceleration stop
due to deceleration time
constant) (initial value)

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(7) Stop method selection at software limit detection (_ x _ _) in [Pr. PD12 Function selection D-1]
The initial value for stop method selection at software limit detection differs between MR-J3-_T_ and
MR-J4-_GF_.

Number/abbreviation/ Setting Initial value

Function
name digit [unit]
PD12 _ x _ _ Stop method selection at software limit detection 1h
*DOP1 Select the stop method at the software limit detection.
Function selection D-1
Positioning mode (point table method)
MR-J3-_T_ MR-J4-_GF_
Setting value
[Pr. PD20] [Pr. PD12]
0 Quick stop (home position Quick stop (home position
erased) (initial value) erased)
1 Slow stop (home position Slow stop (home position
erased) erased) (initial value)
2 Slow stop (deceleration stop Slow stop (deceleration stop
due to deceleration time due to deceleration time
constant) constant)
3 Quick stop (stop due to Quick stop (stop due to
remaining distance clear) remaining distance clear)

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(8) CR (Clear) selection (_ _ _ x) in [Pr. PD42 Function selection D-5]

The setting value for CR (Clear) selection differs between MR-J3-_T_ and MR-J4-_GF_.

Number/abbreviation/ Setting Initial value

Function
name digit [unit]
PD42 ___x CR (Clear) selection 0h
*DOP5
Function selection D-5 MR-J3-_T_ MR-J4-_GF_
Setting value
[Pr. PD22] [Pr. PD42]
0 Disabled Delete droop pulses by turning
on the device.
1 Delete droop pulses by Always delete droop pulses
turning on the device. during the device on.
2 Always delete droop pulses Disabled
during the device on.

(9) [Pr. PT05 Home position return speed]

The parameter number and initial value differ between MR-J3-_T_ and MR-J4-_GF_ (MR-J3-_T_: [Pr.
PC04] initial value 500 r/min, MR-J4-_GF_: [Pr. PT05] initial value 100.00 r/min).

Number/abbreviation/ Setting Initial value

Function
name digit [unit]
PT05 Set the servo motor speed for homing. 100.00
ZRF [r/min]
Homing speed Setting range: 0.00 to instantaneous permissible speed

(10) [Pr. PT28 Number of stations per rotation]

The parameter number and initial value differ between MR-J3-_T_ and MR-J4-_GF_ (MR-J3-_T_: [Pr.
PC46] initial value 0000h, MR-J4-_GF_: [Pr. PT28] initial value eight stations).

Number/abbreviation/ Setting Initial value

Function
name digit [unit]
PT28 Set the number of stations (number of indexer stations) per rotation of the machine. 8
*STN If the setting value is "0" or "1", the number of stations will be 2. [divisions]
Number of stations
per rotation Setting range: 0 to 255

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Part 8: Common Reference Material

Part 8
Common Reference Material

8- 1
Part 8: Common Reference Material

Part 8: Common Reference Material

1. SPECIFICATION DIFFERENCES

1.1 Detailed Specification/Function Differences

POINT
Functions with difference are shown witph shading.

(1) Comparison of MR-J3 series and MR-J4 series (General-purpose interface, SSCNET interface,
DIO/Serial communication, CC-Link ⇒ CC-Link IE Field Network interface)
Item MR-J3 series MR-J4 series
General-purpose interface General-purpose interface
SSCNET III interface (50 Mbps) SSCNET III/H interface
(100 V class) 0.1 kW to 0.4 kW (100 V class) 0.1 kW to 0.4 kW
(200 V class) 0.1 kW to 37 kW (200 V class) 0.1 kW to 37 kW
(400 V class) 0.6 kW to 55 kW (400 V class) 0.6 kW to 55 kW
1 Capacity range
DIO/Serial communication CC-Link IE Field Network interface
CC-Link interface (100 V class) 0.1 kW to 0.4 kW
(100 V class) 0.1 kW to 0.4 kW (200 V class) 0.1 kW to 22 kW
(200 V class) 0.1 kW to 22 kW (400 V class) 0.6 kW to 22 kW
(400 V class) 0.6 kW to 22 kW
Built-in (0.2 kW to 7 kW) Built-in (0.2 kW to 7 kW)
2 Regenerative resistor
External (11 kW to 55 kW) External (11 kW to 55 kW)
Built-in (0.1 kW to 7 kW) Built-in (0.1 kW to 7 kW)
3 Dynamic brake External (11 kW to 55 kW) External (11 kW to 55 kW)
Coasting distance is different. (Note1)
(100 V class) (100 V class)
1-phase 100V AC to 120V AC 1-phase 100V AC to 120V AC
(200 V class) (200 V class)
4 Control circuit power
1-phase 200V AC to 230V AC 1-phase 200V AC to 240V AC
(400 V class) (400 V class)
1-phase 380V AC to 480V AC 1-phase 380V AC to 480V AC
(100 V class) (100 V class)
1-phase 100V AC to 120V AC 1-phase 100V AC to 120V AC
(200 V class) (200 V class)
1-phase 230V AC 1-phase 200V AC to 240V AC (0.1 kW to 2 kW)
5 Main circuit power
3-phase 200V AC to 230V AC (0.1 kW to 750 W) 3-phase 200V AC to 240V AC (0.1 kW to 37 kW)
3-phase 200V AC to 230V AC (0.1 kW to 37 kW) (400 V class)
(400 V class) 3-phase 380V AC to 480V AC
3-phase 380V AC to 480V AC
6 24 V DC power External supply required External supply required
Real-time auto tuning: 32 steps Real-time auto tuning: 40 steps
7 Auto tuning
Advanced gain search One-touch tuning
General-purpose interface General-purpose interface
Position control mode (pulse command) Position control mode (pulse command)
Speed control mode (analog command) Speed control mode (analog command)
Torque control mode (analog command) Torque control mode (analog command)
SSCNET III interface (50 Mbps) SSCNET III/H interface (150 Mbps)
Position control mode Position control mode
Speed control mode Speed control mode
DIO/Serial communication Torque control mode
Positioning mode (point table method) DIO/Serial communication
8 Control mode CC-Link interface Positioning mode (point table method)
Positioning mode (point table method) CC-Link IE Field Network interface
Positioning mode (indexer method) Positioning mode (point table method)
Speed control mode (point table method) Positioning mode (indexer method)
Speed control mode (point table method)
< J3 compatibility mode >
SSCNET III/H interface (50 Mbps)
Position control mode
Speed control mode

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Part 8: Common Reference Material

Item MR-J3 series MR-J4 series

Maximum input pulses Differential pulse: 1 Mpulse/s Differential pulse: 4 Mpulses/s
9
(General-purpose interface) Command pulse: Sink Command pulse: Sink
General-purpose interface General-purpose interface
DI: 9 points, DO: 6 points DI: 9 points, DO: 6 points
SSCNET III interface SSCNET III/H interface
DI: 3 points, DO: 3 points DI: 3 points, DO: 3 points
DIO/Serial communication DIO/Serial communication
The number of DIO points
10 < Not using extension I/O unit > < Not using extension I/O unit >
(excluding EM1)
DI: 3 points, DO: 3 points DI: 13 points, DO: 6 points
< Using extension I/O unit > < Using extension I/O unit >
DI: 23 points, DO: 19 points DI: 33 points, DO: 22 points
CC-Link interface CC-Link IE Field Network interface
DI: 3 points, DO: 3 points DI: 3 points, DO: 3 points
ABZ-phase (differential line driver) ABZ-phase (differential line driver)
11 Encoder pulse output General-purpose interface General-purpose interface
Z-phase (open collector) Z-phase (open collector)
12 DIO interface input/output: sink/source input/output: sink/source
General-purpose interface General-purpose interface
(Input) 2ch (Input) 2ch
10-bit torque, 14-bit speed or equivalent 10-bit torque, 14-bit speed or equivalent
(Output) 10-bit or equivalent × 2ch (Output) 10-bit or equivalent × 2ch
SSCNET III interface SSCNET III/H interface
(Output) 10-bit or equivalent × 2ch (Output) 10-bit or equivalent × 2ch
DIO/Serial communication DIO/Serial communication
< Not using extension I/O unit > < Not using extension I/O unit >
13 Analog input/output
(Input) 0 points (Input) 2 points
(Output) 0 points (Output) 2 points
< Using extension I/O unit > < Using extension I/O unit >
(Input) 2 points (Input) 2 points (Note 2)
(Output) 2 points (Output) 4 points
CC-Link interface CC-Link IE Field Network interface
(Input) 0 points (Input) 0 points
(Output) 0 points (Output) 2 points
Number of internal speed
14 commands (General- 7 points 7 points
purpose interface)
Setup software (SETUP221E)
15 Parameter setting method MR Configurator2 MR Configurator2
Push button (General-purpose interface) Push button (General-purpose interface)
Setup software
16 USB USB
communication function
Servo motor HF-_P series (18-bit ABS) HG series (22-bit ABS)
17
(Encoder resolution) HA-_P series (18-bit ABS)
HF-KP 350% HG-KR 350%
HF-MP 300% HG-MR 300%
18 Motor maximum torque HF-SP 300% HG-SR 300%
HF-JP 300% HG-JR 300%
HA-LP 250% HG-JR 300%
General-purpose interface General-purpose interface
7-segment 5-digit 7-segment 5-digit
SSCNET III interface SSCNET III/H interface
19 LED display
7-segment 3-digit 7-segment 3-digit
DIO, Serial communication DIO, Serial communication
7-segment 3-digit 7-segment 5-digit
Advanced vibration Provided (Advanced vibration suppression
20 Provided
suppression control control II)
21 Adaptive filter II Provided Provided
22 Notch filter Provided (2 pcs) Provided (5 pcs)
23 Tough drive Unprovided Provided
24 Drive recorder Unprovided Provided
25 Forced stop EM1 (DB stop) EM1 (DB stop)/EM2 (deceleration to a stop)

Note 1. For the coasting distance, refer to section "1.2.3 Dynamic brake: coasting distance".
2. The 2 analog inputs of MR-J4-_A_-RJ and those of MR-D01 are mutually exclusive.

8- 3
Part 8: Common Reference Material

1.2 Servo amplifier

1.2.1 Main circuit terminal block

Series Main circuit terminal block Series Main circuit terminal block
L1 L1 L1
L2 L2
L2 L3 L3
CNP1 CNP1 CNP1
N N N-
P3
P1 P1
P4
P2 P2
MR-J3-10_ MR-J4-10_(-RJ) P+
P P C
to to
C C CNP2 D
MR-J3-60_ CNP2 D CNP2 D
MR-J4-60_(-RJ) L11
PE terminal
L21
L11 L11
L21 L21 U
CNP3 V
U U W
CNP3 V CNP3 V Screw size: M4 Screw size: M4
Tightening torque: 1.2 [N•m] PE Tightening torque: 1.2 [N•m]
W W (10.6 [lb•in])

L1 L1
L2
L2
L3
L3 CNP1
CNP1 N-
N
P3
P1
P4
P2
P+
MR-J3-70_, P MR-J4-70_(-RJ) C
MR-J3-100_ C MR-J4-100_ (-RJ) CNP2 D
CNP2 D L11
PE terminal
L21
L11
L21 U
CNP3 V
U
W
CNP3 V Screw size: M4
Tightening torque: 1.2 [N•m] Screw size: M4
PE Tightening torque: 1.2 [N•m]
W (10.6 [lb•in])

L1 L1 L1
L2 L2 L2
L3 L3 L3
CNP1 CNP1
CNP1 N - N N-
P1 P3
P1 P2 P4
P2 P+
U
MR-J3-200_N, C
P+ CNP3 V MR-J4-200_(-RJ)
/-200_(-RT) C W
CNP2 D
L11
CNP2 D PE terminal
P L21
L 11
C U
L 21
CNP2 D
CNP3 V
U L 11 Screw size: M4 W
CNP3 V L 21 Tightening torque: 1.2 [N•m] Screw size: M4
W (10.6 [lb•in]) PE Tightening torque: 1.2 [N•m]

L1 L1
L2 L2
L3 L3
CNP1
CNP1 N-
N
P3
P1
P4
P2
U
U CNP3 V
MR-J3-350_ CNP3 V
MR-J4-350_(-RJ)
W
W
PE terminal P+
P C
C CNP2 D
L11
CNP2 D
L21
L11 Screw size: M4
Tightening torque: 1.2 [N•m] Screw size: M4
L21 PE Tightening torque: 1.2 [N•m]
(10.6 [lb•in])

8- 4
Part 8: Common Reference Material

Series Main circuit terminal block Series Main circuit terminal block

TE1
TE2 L11 TE2 Screw size: M3.5
Tightening torque: 0.8 [N•m]
L1 L2 L3 P C U V W L21

TE1 TE1 L1 TE1 Screw size: M4

TE2 Screw size: M4
Tightening torque: 1.2 [N•m] Tightening torque: 1.2 [N•m]
L2
L11 L21 (10.6 [lb•in])
TE2 L3
Screw size: M3.5 (Note)
Tightening torque: 0.8 [N•m]
N-
TE3 (7.08 [lb•in]) TE3 P3 TE3 Screw size: M4
MR-J3-500_ N P1 P2 TE3
Screw size: M4
MR-J4-500_(-RJ) Tightening torque: 1.2 [N•m]
Tightening torque: 1.2 [N•m]
P4
(10.6 [lb•in]) P+
PE
Screw size: M4 C
PE terminal Tightening torque: 1.2 [N•m]
(10.6 [lb•in]) TE4 D TE4 Screw size: M4
Tightening torque: 1.2 [N•m]
U
Built-in regenerative resistor lead V PE PE Screw size: M4
terminal fixing screw W Tightening torque: 1.2 [N•m]

TE1
TE3 N- P3 P4
L1 L2 L3 P C U V W
TE1
TE2 Screw size: M4
Tightening torque: 1.2 [N•m]
TE1 L1 L2 L3 P+ C U V W TE2 L11 L21
L11 L21 (10.6 [lb•in])
TE2
Screw size: M3.5 (Note) TE3 Screw size: M4
Tightening torque: 0.8 [N•m] PE
TE3 (7.08 [lb•in]) Tightening torque: 1.2 [N•m]
MR-J3-700_ N P1 P2 TE3 MR-J4-700_(-RJ)
Screw size: M4
Tightening torque: 1.2 [N•m] TE1 Screw size: M4
(10.6 [lb•in]) Tightening torque: 1.2 [N•m]
PE
Screw size: M4
PE terminal Tightening torque: 1.2 [N•m] TE2 Screw size: M3.5
(10.6 [lb•in]) Tightening torque: 0.8 [N•m]

Built-in regenerative resistor lead PE Screw size: M4

terminal fixing screw Tightening torque: 1.2 [N•m]

TE1-1 L1 L2 L3 U V W
TE
L 1 L 2 L 3 L 11 L 21 U V W
P1 P C N TE1-2 P3 P4 P+ C N- TE2 L11 L21

MR-J3-11K_ L1/L2/L3/U/V/ PE TE1-1 Screw size: M6

Tightening torque: 3.0 [N•m]
(-LR) W/P1/P/C/ L11/L21 MR-J4-11K_(-RJ)
N/
MR-J3-15K_ MR-J3-11K_(4) Screw size M6 M4
MR-J4-15K_(-RJ) TE1-2 Screw size: M6
Tightening torque: 3.0 [N•m]
(-LR) Tightening torque
MR-J3-15K_(4) 3.0 1.2
[(lb:in)] [N•m] TE2 Screw size: M4
Screw size M8 M4 Tightening torque: 1.2 [N•m]
MR-J3-22K_(4) Tightening torque
6.0 1.2 PE Screw size: M6
[(lb:in)] [N•m] Tightening torque: 3.0 [N•m]

TE1-1 L1 L2 L3 U V W
TE
L 1 L 2 L 3 L 11 L 21 U V W
P1 P C N TE1-2 P3 P4 P+ C N-

L1/L2/L3/U/V/ PE TE2 L11 L21

W/P1/P/C/ L11/L21
N/
TE1-1 Screw size: M8
MR-J3-11K_(4) Screw size M6 M4
MR-J3-22K_ MR-J4-22K_(-RJ) Tightening torque: 6.0 [N•m
Tightening torque
MR-J3-15K_(4) 3.0 1.2
[(lb:in)] [N•m] TE1-2 Screw size: M8
Screw size M8 M4
Tightening torque: 6.0 [N•m
MR-J3-22K_(4) Tightening torque
6.0 1.2 TE2 Screw size: M4
[(lb:in)] [N•m] Tightening torque: 1.2 [N•m

PE Screw size: M8
Tightening torque: 6.0 [N•m

8- 5
Part 8: Common Reference Material

Series Main circuit terminal block Series Main circuit terminal block

TE2-1 TE2-1
L+ Screw size: M6
Tightening torque: 3.0 [N•m]
L- TE2-1 TE2-2 TE1 Screw size: M10
(26.6 [lb•in])
L+ L+ Tightening torque: 12.0 [N•m]
TE3 TE3 TE2-1 Screw size: M6
L- L-
MR-J3-DU30K_ L 11 Screw size: M4 MR-J4-DU30K_ Tightening torque: 3.0 [N•m]
Tightening torque: 1.2 [N•m] TE3
MR-J3-DU37K_ L 21 (10.6 [lb•in])
MR-J4-DU37K_ L11
TE2-2 Screw size: M6
Tightening torque: 3.0 [N•m]
MR-J3-DU45K_4 TE1
TE1 MR-J4-DU45K_4 L21
Screw size: M10 TE3 Screw size: M4
MR-J3-DU55K_4 U V W Tightening torque: 10.0 [N•m]
MR-J4-DU55K_4 PE TE1 Tightening torque: 1.2 [N•m]
(88.5 [lb•in]) U V W PE Screw size: M10
PE PE Tightening torque: 12.0 [N•m]
Screw size: M10
Tightening torque: 10.0 [N•m]
(88.5 [lb•in])

L1 N-
L2 L1
L3 L2
CNP1
CNP1 N- L3
P3
P1 P4
P2
MR-J3-60_4 MR-J4-60_4(-RJ) P+
to P+ to C
CNP2 D
MR-J3-200_4 C MR-J4-200_4(-RJ)
L11
CNP2 D PE terminal
L21
L11
L21 U
CNP3 V
U W
Screw size: M4
CNP3 V Tightening torque: 1.2 [N•m]
Screw size: M4
(10.6 [lb•in]) PE Tightening torque: 1.2 [N•m]
W

N-
L1
TE1
L2
L1 L2 L3 P C U V W CNP1
L3
TE2 TE1
Screw size: M4 P3
L11 L21 Tightening torque: 1.2 [N•m] (10.6 [lb•in])
P4
TE2
TE3 Screw size: M3.5 (Note)
Tightening torque: 0.8 [N•m] (7.08 [lb•in]) P+
N P1 P2
MR-J3-350_4 TE3
MR-J4-350_4(-RJ) C
Screw size: M4
Tightening torque: 1.2 [N•m] (10.6 [lb•in]) CNP2 D
PE L11
Screw size: M4
PE terminal Tightening torque: 1.2 [N•m] (10.6 [lb•in]) L21

U
Built-in regenerative resistor lead CNP3 V
terminal fixing screw
W
Screw size: M4
PE Tightening torque: 1.2 [N•m]

TE1
TE2 L11 L21 TE3 N- P3 P4
L1 L2 L3 P C U V W

TE2 TE1 TE1 L1 L2 L3 P+ C U V W

Screw size: M4
L11 L21 Tightening torque: 1.2 [N•m] (10.6 [lb•in])
TE2 PE TE2 Screw size: M3.5
TE3 Screw size: M3.5 (Note) Tightening torque: 0.8 [N•m]
Tightening torque: 0.8 [N•m] (7.08 [lb•in])
N P1 P2
MR-J3-500_4 TE3
Screw size: M4
MR-J4-500_4(-RJ) TE3 Screw size: M4
Tightening torque: 1.2 [N•m] (10.6 [lb•in]) Tightening torque: 1.2 [N•m]
PE
Screw size: M4
Tightening torque: 1.2 [N•m] (10.6 [lb•in]) TE1 Screw size: M4
PE terminal
Tightening torque: 1.2 [N•m]

Built-in regenerative resistor lead PE Screw size: M4

terminal fixing screw Tightening torque: 1.2 [N•m]

8- 6
Part 8: Common Reference Material

Series Main circuit terminal block Series Main circuit terminal block

TE1
TE3 N- P3 P4
L1 L2 L3 P C U V W

TE2 TE1 TE1 L1 L2 L3 P+ C U V W TE2 L11 L21

Screw size: M4
L11 L21 Tightening torque: 1.2 [N•m] (10.6 [lb•in])
PE TE3 Screw size: M4
TE2
TE3 Screw size: M3.5 (Note) Tightening torque: 1.2 [N•m]
Tightening torque: 0.8 [N•m] (7.08 [lb•in])
N P1 P2 MR-J4-700_4
MR-J3-700_4 TE3 TE1 Screw size: M4
Screw size: M4
Tightening torque: 1.2 [N•m] (10.6 [lb•in]) (-RJ) Tightening torque: 1.2 [N•m]
PE
Screw size: M4 TE2 Screw size: M3.5
PE terminal Tightening torque: 1.2 [N•m] (10.6 [lb•in])
Tightening torque: 0.8 [N•m]

Built-in regenerative resistor lead

PE Screw size: M4
terminal fixing screw Tightening torque: 1.2 [N•m]

TE1-1 L1 L2 L3 U V W
TE
L 1 L 2 L 3 L 11 L 21 U V W TE1-2 P3 P4 P+ C N- TE2 L11 L21
P1 P C N
PE TE1-1 Screw size: M6
MR-J3-11K_4 MR-J4-11K_4 Tightening torque: 3.0 [N•m]
L1/L2/L3/U/V/
(-LR), W/P1/P/C/ L11/L21 (-RJ)
TE1-2 Screw size: M6
MR-J3-15K_4 N/ MR-J4-15K_4 Tightening torque: 3.0 [N•m]
MR-J3-11K_(4) Screw size M6 M4
(-LR) (-RJ)
Tightening torque TE2 Screw size: M4
MR-J3-15K_(4) 3.0 1.2
[(lb:in)] [N•m] Tightening torque: 1.2 [N•m]
Screw size M8 M4
PE Screw size: M6
MR-J3-22K_(4) Tightening torque
6.0 1.2 Tightening torque: 3.0 [N•m]
[(lb:in)] [N•m]

TE1-1 L1 L2 L3 U V W
TE
TE1-2 P3 P4 P+ C N-
L 1 L 2 L 3 L 11 L 21 U V W
P1 P C N PE TE2 L11 L21

TE1-1 Screw size: M8

L1/L2/L3/U/V/ Tightening torque: 6.0 [N•m]
W/P1/P/C/ L11/L21 MR-J4-22K_4
MR-J3-22K_4 N/ (-RJ) TE1-2 Screw size: M8
MR-J3-11K_(4) Screw size M6 M4 Tightening torque: 6.0 [N•m]
Tightening torque
MR-J3-15K_(4) 3.0 1.2
[(lb:in)] [N•m] TE2 Screw size: M4
Tightening torque: 1.2 [N•m]
Screw size M8 M4
MR-J3-22K_(4) Tightening torque
6.0 1.2 PE Screw size: M8
[(lb:in)] [N•m] Tightening torque: 6.0 [N•m]

TE2 TE2
L+ Screw size: M6
Tightening torque: 3.0 [N•m]
L- (26.6 [lb•in])
TE3 TE2 TE3 TE1 Screw size: M8
TE3 Screw size: M4 Tightening torque: 6.0 [N•m]
L+ L11
L11 Tightening torque: 1.2 [N•m] L- L21 TE2 Screw size: M6
MR-J3-DU30K_4 L21 (10.6 [lb•in]) MR-J4-DU30K_4 PE TE1
Tightening torque: 3.0 [N•m]
MR-J3-DU37K_4 TE1 MR-J4-DU37K_4 TE3 Screw size: M4
Screw size: M8 U V W Tightening torque: 1.2 [N•m]
TE1
Tightening torque: 6.0 [N•m] PE Screw size: M8
U V W (53.1 [lb•in]) Tightening torque: 6.0 [N•m]
PE
PE Screw size: M8
Tightening torque: 6.0 [N•m]
(53.1 [lb•in])

8- 7
Part 8: Common Reference Material

Series Main circuit terminal block Series Main circuit terminal block

L1
L1 L1
L2
L2
L2 L3 CNP1
CNP 1 CNP1 N-
N N
P1 P1
P2 P2
MR-J3-10_1 MR-J4-10_1(-RJ) P+
P P C
to to
C C CNP2 D
MR-J3-40_1 CNP 2 D CNP2 D
MR-J4-40_1(-RJ)
PE terminal L11
L11 L 11 L21
L21 L 21
U
U U CNP3 V
CNP 3 V CNP3 V W
Screw size: M4
Screw size: M4
W W Tightening torque: 1.2 [N•m]
PE Tightening torque: 1.2 [N•m]

Note Screw size is M3.5 for the control circuit terminal block (TE2) of the servo amplifier manufactured in April 2007 or later. Screw size
is M3 for the control terminal block (TE2) of the servo amplifier manufactured in March 2007 or earlier.

8- 8
Part 8: Common Reference Material

1.2.2 Comparison of encoder signals (CN2)

MR-J3/J3W series Signal MR-J4 series
symbol
Connector pin assignment Connector pin No. Connector pin No. Connector pin assignment
(Note 1)
CN2-2 LG CN2-2
CN2 CN2 (Note 2)
MD
CN2-7 CN2-7
2 6 10 (MX) 2 6 10
LG 4 8 CN2-3 MR CN2-3 LG 4 THM2 8
MRR MDR MRR MXR
1 5 9 CN2-9 BAT CN2-9 1 5 9
P5 3 7 BAT MDR P5 3 THM1 7 BAT
MR2 MD CN2-8 CN2-8 MR MX
(MXR)
CN2-4 MRR CN2-4
CN2-1 P5 CN2-1

Note 1. Signal abbreviations in parentheses are for MR-J4 series.

2. THM1 and THM2 depend on the servo motor used. Refer to "Part 9 Review on Replacement of Motor".

8- 9
Part 8: Common Reference Material

1.2.3 Dynamic brake: coasting distance

(1) Dynamic brake time constant

(a) Replacement of MR-J3 Series with MR-J4 Series

Series MR-J3 Series Series MR-J4 Series

25 50

Dynamic brake time

73
Time constant [ms]

40

constant τ [ms]
20
23 30 73 43
15
20
HF-KP 10 053 HG-KR 23
13 10 053
5
13
43 0
0 0 1000 2000 3000 4000 5000 6000
0 1000 2000 3000 4000 5000 6000 Speed [r/min]
Speed [r/min]

25 50

Dynamic brake time

Time constant [ms]

40

constant τ [ms]
20
30 73
15 43
73 23 20
HF-MP 10 HG-MR 23
43
10 053
5 13
13 053 0
0 0 1000 2000 3000 4000 5000 6000
0 1000 2000 3000 4000 5000 6000 Speed [r/min]
Speed [r/min]

60 100
Dynamic brake time
[ms]

50 80
constant τ [ms]

40 60 51 81
Time constant

51
30 81
40
HF-SP HG-SR 121
20 201
1000 r/min 421 1000 r/min 20
10 301 301
201 421
121 0
0 0 250 500 750 1000 1250 1500
0 500 1000 1500 2000 Speed [r/min]
Speed [r/min]

120 350
Dynamic brake time

300
Time constant [ms]

100
constant τ [ms]

52 250
80 200 102
52
60 352 150
HF-SP 102 HG-SR 352
702 100 152 502
2000 r/min 40 2000 r/min 202
50
20 702
202 0
0 502 152 0 500 1000 1500 2000 2500 3000
0 500 1000 1500 2000 2500 3000 Speed [r/min]
Speed [r/min]

8 - 10
Part 8: Common Reference Material

Series MR-J3 Series Series MR-J4 Series

90 100
2024 524
[ms]

Dynamic brake time

75 80 3524
524

constant τ [ms]
60 60
Time constant

1024 2024
HF-SP 45 HG-SR 40 5024
3524
400 V 400 V
30 5024 1024
2000 r/min 2000 r/min 20
7024
15 1524
0
1524 7024 0 500 1000 1500 2000 2500 3000
0 Speed [r/min]
0 1000 2000 3000
Speed[r/min]

18 18
16 16

Dynamic brake time

[ms]

14 14

constant τ [ms]
12 12
10 103 503
Time constant

10 103 503
8
8 153
HC-RP 153 HG-RR 6
6
4
4 2 353
353 203
2 203 0
0 0 500 1000 1500 2000 2500 3000
0 500 1000 1500 2000 2500 3000 Servo motor speed [r/min]
Speed [r/min]

260 260
53 53
[ms]

220 220
Dynamic brake time

時 903 903
constant τ [ms]

定 180 180
Time constan

数
140 103 140 103
τ 703 703
HF-JP [ms] 100 HG-JR 100
353 353
200 V 73 503 200 V 73 503
60 60
20 203 153 20 203 153
0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
Speed [r/min] Servo motor speed [r/min]

200 120
180 534 7034
100
Dynamic brake time

160
1034
constant τ [ms]

140 80 534
120 7034
Time constan

9034
100 734 60
HF-JP 80 HG-JR 1034
2034 40 3534
400 V 60 9034 400 V
3534 5034
40 20
20 1534 2034 1534
5034 734
0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
Speed [r/min] Speed [r/min]

8 - 11
Part 8: Common Reference Material

Series MR-J3 Series Series MR-J4 Series

200 260
53
220

Dynamic brake time

160
52 903

constant τ [ms]
180
120 202
140 103
HC-LP HG-JR 703
80 302 100 353
2000 r/min 102 3000 r/min 73 503
40 60
152
20 203 153
0 0
0 500 1000 1500 2000 0 1000 2000 3000 4000 5000 6000
Speed [r/min] Servo motor speed [r/min]

100 100
90 90
72 72
80 502 80

Dynamic brake time

502
70 70

constant τ [ms]
352 352
60 60
50 50
40 40
HC-UP HG-UR
30 30
20 202 20 202
152 152
10 10
0 0
0 500 1000 1500 2000 0 500 1000 1500 2000
Speed [r/min] Servo motor speed [r/min]

350
Dynamic brake time

300
constant τ [ms]

250
200 102
52
HG-SR 150
352
200 V 100 152 502
80 202
50
[ms]

15K2 702
0
60 11K2 0 500 1000 1500 2000 2500 3000
Speed [r/min]
Speed [r/min]
Time constant

40
HA-LP 22K2
702
200 V 80
20
70 15K1M
Dynamic brake time

502 60
constant τ [ms]

0
0 500 1000 1500 2000 50 22K1M
Speed[r/min] HG-JR 40
30 701M
200 V 11K1M
1500 r/min 20
10
0
0 500 1000 1500 2000 2500 3000
Speed [r/min]

8 - 12
Part 8: Common Reference Material

Series MR-J3 Series Series MR-J4 Series

20
[ms]
16

12 11K1M4 15K1M4 701M4

Time constant

HA-LP
400 V 8
70
1500 r/min
4 22K1M4 60

Dynamic brake time

0 50

constant τ [ms]
0 500 1000 1500
40 11K1M4
Speed [r/min]
HG-JR
400 V 30
701M4 15K1M4
40 1500 r/min 20
35 22K1M4
[ms]

10
30
0
25 0 500 1000 1500 2000 2500 3000
Time constant

15K24
HA-LP 20 Speed [r/min]
400 V 15
2000 r/min 11K24
10
5 22K2
0
0 500 1000 1500 2000
Speed[r/min]

80 80
15K1M
Time constant t [ms]

70 70
Dynamic brake time

60 60
constant τ [ms]

50 50 22K1M
15K1M
40 40
HF-JP 30 HG-JR 30 701M
11K1M 11K1M
200 V 20 200 V 20
10 10
0 0
0 500 1000 1500 2000 2500 3000 0 500 1000 1500 2000 2500 3000
Speed [r/min] Speed [r/min]

50 70
45
Time constant t [ms]

40 11K1M4 60
35
Dynamic brake time

30 50
constant τ [ms]

25 15K1M4
20 40 11K1M4
15
HF-JP 10 HG-JR 30
400 V 5 400 V 701M4 15K1M4
0 20
0 500 1000 1500 2000 2500 3000
22K1M4
Speed [r/min] 10

0
0 500 1000 1500 2000 2500 3000
Speed [r/min]

8 - 13
Part 8: Common Reference Material

Series MR-J3 Series Series MR-J4 Series

40 60

35 HG-JR30K1
HA-LP30K1
50
30 HA-LP37K1

Dynamic brake time constant [ms]

[ms]

25 40
HG-JR37K1
Time constant

20
HA-LP HG-JR 30
200 V 15 200 V
1000 r/min 1000 r/min
10 20

5
10
0
0 200 400 600 800 1000 1200
Speed [r/min]
0
0 500 1000 1500
Speed [r/min]

60
HA-LP37K1M

50

40 HA-LP30K1M
[ms]
Time constant

HA-LP 30
200 V
50
1500 r/min
20 HG-JR30K1M
45
HG-JR37K1M
10 40
Dynamic brake time constant [ms]

35
0
0 500 1000 1500 2000
30
Speed [r/min]

HG-JR 25
200 V
45 20
1500 r/min
15
40
HA-LP30K2
10
35 HA-LP37K2
5
30
[ms]

0
25 0 500 1000 1500 2000 2500
Time constant

HA-LP Speed [r/min]

200 V 20

2000 r/min
15

10

0
0 500 1000 1500 2000
Speed [r/min]

8 - 14
Part 8: Common Reference Material

Series MR-J3 Series Series MR-J4 Series

40 50
HG-JR30K14
35 HA-LP25K14 45
HA-LP30K14
40
30 HA-LP37K14

Dynamic brake time constant [ms]

35
[ms]

HG-JR37K14
25
30
Time constant

20
HA-LP HG-JR 25
400 V 15 400 V
20
1000 r/min 1000 r/min
10
15
5
10

0
0 200 400 600 800 1000 1200 5
Speed [r/min]
0
0 500 1000 1500
Speed [r/min]

60
HA-LP37K1M4

50 HA-LP45K1M4
HA-LP50K1M4

40 HA-LP30K1M4
[ms]
Time constant

HA-LP 30
400 V
90
1500 r/min 20

80
HG-JR45K1M4
10
Dynamic brake time constant [ms]

70
HG-JR55K1M4
0 60
0 500 1000 1500 2000
Speed [r/min]
50
HG-JR
HG-JR30K1M4
400 V 40
45
HA-LP45K24 1500 r/min HG-JR37K1M4
30
40

20
35
HA-LP55K24
HA-LP37K24 10
30
[ms]

HA-LP30K24 0
25 0 500 1000 1500 2000 2500
Time constant

HA-LP Speed [r/min]

400 V 20

2000 r/min
15

10

0
0 500 1000 1500 2000
Speed [r/min]

8 - 15
Part 8: Common Reference Material

(b) Replacement of MR-J3W series with MR-J4W2-_B servo amplifier

Series MR-J3W Series Series MR-J4W2-_B

25 50

Dynamic brake time

73
Time constant [ms]

40

constant τ [ms]
20
30 73 43
15 23
20
10 23
HF-KP 053 HG-KR
13 10 053
5 13
0
43 0 1000 2000 3000 4000 5000 6000
0 Speed [r/min]
0 1000 2000 3000 4000 5000 6000
Speed [r/min]

25 50

Dynamic brake time

40
Time constant [ms]

constant τ [ms]
20
30 73
15 43
73 23 20
HF-MP 10 HG-MR 23
43 10 053
5 13
0
13 053 0 1000 2000 3000 4000 5000 6000
0
0 1000 2000 3000 4000 5000 6000 Speed [r/min]
Speed [r/min]

60 100
Dynamic brake time

50 80
constant τ [ms]

40 60 51 81
51
HF-SP 30 81 HG-SR 40
1000 20 1000
20
r/min r/min
10 0
0 250 500 750 1000 1250 1500
0 Speed [r/min]
0 500 1000 1500 2000
Speed [r/min]

120 350
Dynamic brake time

300
100
constant τ [ms]

52 250
80 200 102
52
HF-SP 60 HG-SR 150
102
2000 2000 100
40
r/min r/min 50
20
0
0 500 1000 1500 2000 2500 3000
0
0 500 1000 1500 2000 2500 3000 Speed [r/min]
Speed [r/min]

8 - 16
Part 8: Common Reference Material

Series MR-J3W Series Series MR-J4W2-_B

100 100
90 90
[ms] 72 72
80 80

Dynamic brake time

constant τ [ms]
70 70
60 60
Time constant

50 50
HC-UP HG-UR
40 40
series series
30 30
20 20
10 10
0 0
0 500 1000 1500 2000 0 500 1000 1500 2000
Speed [r/min] Speed [r/min]

260
53
220
Dynamic brake time
constant τ [ms]

180
140 103
HF-JP 100
3000 r/min 73 260
60 53
220
Dynamic brake time
20

constant τ [ms]
0 180
0 1000 2000 3000 4000 5000 6000
Speed [r/min] 140 103
HG-JR
3000 100
73
r/min 60
200
20
Dynamic brake time

160 0
constant τ [ms]

52 0 1000 2000 3000 4000 5000 6000

120 Speed [r/min]
HC-LP 80
series 102
40

0
0 500 1000 1500 2000
Speed [r/min]

0.0025 0.0025
0136 0136
Dynamic brake time
Time constant [s]

0.0020 0236 0.0020 0236

constant τ [s]

0.0015 0.0015

HG-AK 0.0010 0336 HG-AK 0.0010 0336

series series
0.0005 0.0005

0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
Speed [r/min] Speed [r/min]

8 - 17
Part 8: Common Reference Material

(2) Calculation of coasting distance

The figure shows the pattern in which the servo motor comes to a stop when the dynamic brake is
operated. Use equation 5.1 to calculate an approximate coasting distance to a stop. The dynamic brake
time constant τ varies with the servo motor and machine operation speeds. (Refer to (1) of this section.)
A working part generally has a friction force. Therefore, actual coasting distance will be shorter than a
maximum coasting distance calculated with the following equation.
ON
EM1 (Forced stop 1)
OFF

Dynamic brake
time constantτ
V0
Machine speed

te Time

Dynamic Brake Operation Diagram

V0 JL
Lmax = • te + 1+ ··························································································· (7.1)
60 JM

Lmax : Maximum coasting distance ····················································································· [mm]

V0 : Machine's fast feed speed ················································································· [mm/min]
JM : Moment of inertia of the servo motor ····························································· [× 10-4 kg • m2]
JL : Load moment of inertia converted into equivalent value on servo motor shaft········· [× 10-4 kg • m2]
: Dynamic brake time constant ······················································································ [s]
te : Delay time of control section ······················································································· [s]
For 7 kW or lower servo, there is internal relay delay time of about 10 ms. For 11 kW to 55 kW
servo, there is delay caused by magnetic contactor built into the external dynamic brake (about 50
ms) and delay caused by the external relay.
For MR-J3W-0303BN6 and MR-J4W2-0303B6 the processing delay time about 3.5 ms

8 - 18
Part 8: Common Reference Material

(3) Electronic dynamic brake

The electronic dynamic brake operates in the initial state for HG series servo motors with a 600 W or
smaller capacity.
The time constant " " for the electronic dynamic brake will be shorter than that for normal dynamic brake.
Therefore, coasting distance will be shorter than in normal dynamic brake.

Series Servo motor

HG-KR HG-KR053/HG-KR13/HG-KR23/HG-KR43
HG-MR HG-MR053/HG-MR13/HG-MR23/HG-MR43
HG-SR HG-SR51/HG-SR52
HG-AK HG-AK0136/HG-AK0236/HG-AK0336

(a) Parameter settings (for MR-J4-_A_series)

Initial
Abbrevia- Setting
No. Name and function value
tion range
[unit]
PF09 *FOP5 Function selection F-5 Refer to the
"Name and
Initial
Setting digit Explanation function"
value
column.
___x Electronic dynamic brake selection. 0h
0: Automatic (effective only for specific servo motors)
2: Disabled
Refer to the following table for the specified servo motors.
Series Servo motor
HG-KR HG-KR053/HG-KR13/HG-KR23/HG-KR43
HG-MR HG-MR053/HG-MR13/HG-MR23/HG-MR43
HG-SR HG-SR51/HG-SR52

PF15 DBT Electronic Dynamic Brake Operating Time 2000 0

Set an operating time for the electronic dynamic brake. (Note) [ms] to
10000

(b) Parameter settings (for MR-J4-_B_series/MR-J4W2-_B servo amplifier/MR-J4-_GF_series)

Initial
Abbrevia- Setting
No. Name and function value
tion range
[unit]
PF06 *FOP5 Function selection F-5 Refer to the
"Name and
Initial function"
Setting digit Explanation
value column.
___x Electronic dynamic brake selection. 0h
0: Automatic (effective only for specific servo motors)
2: Disabled
Refer to the following table for the specified servo motors.
Series Servo motor
HG-KR HG-KR053/HG-KR13/HG-KR23/HG-KR43
HG-MR HG-MR053/HG-MR13/HG-MR23/HG-MR43
HG-SR HG-SR51/HG-SR52
HG-AK HG-AK0136/HG-AK0236/HG-AK0336

PF12 DBT Electronic Dynamic Brake Operating Time 2000 0

Set an operating time for the electronic dynamic brake. (Note) [ms] to
10000

Note. When the electronic dynamic brake is released during operation, the servo system cannot be switched on until the，[Pr. PF12]
operating time is over.

8 - 19
Part 8: Common Reference Material

1.2.4 Forced stop deceleration function selection

(1) Parameter setting

(a) For MR-J4-_A_series

POINT
With MR-J4-_A_, the deceleration to a stop function is enabled by the factory
setting. To disable the deceleration to a stop function, set [Pr. PA04] to "0 _ _ _".

Initial
Abbre- Setting
No. Name and function value
viation range
[unit]
PA04 *AOP1 Function selection A-1 Refer to the
This is used to select the forced stop input and forced stop deceleration function. "Name and
function" column.
Initial
Setting digit Explanation
value
___x For manufacturer setting 0h
__x_ 0h
_x__ 0h
x___ Forced stop deceleration function selection 2h
0: Forced stop deceleration function disabled (EM1)
2: Forced stop deceleration function enabled (EM2)
Refer to the following table for details.

Setting EM2/EM1 Deceleration method

value selection EM2 or EM1 is off Alarm occurred
0___ EM1 MBR (Electromagnetic brake MBR (Electromagnetic brake
interlock) turns off without interlock) turns off without the
the forced stop deceleration. forced stop deceleration.
2___ EM2 MBR (Electromagnetic brake MBR (Electromagnetic brake
interlock) turns off after the interlock) turns off after the
forced stop deceleration. forced stop deceleration.

8 - 20
Part 8: Common Reference Material

(b) For MR-J4-_B_series/MR-J4W2-_B servo amplifier/MR-J4-_GF_series

POINT
With MR-J4-_B_ , MR-J4W2-_B and MR-J4-_GF_series the deceleration to a
stop function is enabled in the factory setting. To disable the deceleration to a
stop function, set [Pr. PA04] to "0 _ _ _".

Initial
Abbre- Setting
No. Name and function value
viation range
[unit]
PA04 *AOP1 Function selection A-1 Refer to the
This is used to select the forced stop input and forced stop deceleration function. "Name and
function" column
Initial
Setting digit Explanation
value
___x For manufacturer setting 0h
__x_ 0h
_x__ Servo forced stop selection 0h
0: Enabled (The forced stop input EM2 or EM1 is used.)
1: Disabled (The forced stop input EM2 and EM1 are not
used.)
Refer to the following table for details.
x___ Forced stop deceleration function selection 2h
0: Forced stop deceleration function disabled (EM1)
2: Forced stop deceleration function enabled (EM2)
Refer to the following table for details.

Setting EM2/EM1 Deceleration method

value selection EM2 or EM1 is off Alarm occurred
00__ EM1 MBR (Electromagnetic brake MBR (Electromagnetic brake
interlock) turns off without interlock) turns off without the
the forced stop deceleration. forced stop deceleration.
20__ EM2 MBR (Electromagnetic brake MBR (Electromagnetic brake
interlock) turns off after the interlock) turns off after the
forced stop deceleration. forced stop deceleration.
01__ Not using MBR (Electromagnetic brake
EM2 or interlock) turns off without the
EM1 forced stop deceleration.
21__ Not using MBR (Electromagnetic brake
EM2 or interlock) turns off after the
EM1 forced stop deceleration.

8 - 21
Part 8: Common Reference Material

1.2.5 Servo setup software: Setup software (SETUP221E) => MR Configurator2

Item MR-J3 series MR-J4 series

Setup software → MR Configurator2
Servo setup software
Model: MRZJW3-SETUP221E Model: SW1DNC-MRC2-E

(1) MR Configurator2 (SW1DNC-MRC2-E) specification

Item Description
Project Create/read/save/delete project, system setting, and print
Parameter Parameter setting, amplifier axis name setting, parameter converter (Note 1)
Positioning data Point table, program, indirect addressing
Monitor Display all, I/O monitor, graph, and ABS data display
Alarm display, alarm onset data display, drive recorder, display of the reason for no rotation,
Diagnostics
system configuration, life diagnosis, machine diagnosis
Jog operation (Note 1), positioning operation, motor-less operation, DO forced output, and
Test operation
program operation, test operation event information, single-step feed (Note 2)
Adjustment One-touch tuning, tuning, and machine analyzer
Servo assistant, parameter setting range update, help display, connection to MITSUBISHI
Others
ELECTRIC FA Global Website

Note 1. This function is available only in standard control mode.

2. SW1DNC-MRC2-E supports only MR-J4_A_-RJ.

(2) System configuration

For servo setup software components, refer to each servo amplifier instruction manual.

8 - 22
Part 8: Common Reference Material

1.2.6 Servo amplifier initialization time

This section describes the servo amplifier initialization time (time from power-on to servo-on acceptance).
The initialization time is about 2 s for the MR-J3-_A_ servo amplifier, about 2.5 s for MR-J3-_T_, and about 3
s for the MR-J3-_B_/MR-J3W-_B servo amplifier. In contrast, the initialization time is about 3.5 s for the MR-
J4-_A_/MR-J4-_B_/MR-J4W2-_B servo amplifier, about 4 s for MR-J4-_A_-RJ, and "about 4 s and network
initial communication" for the MR-J4-_GF_ servo amplifier. When replacing the servo amplifier, be careful of
the difference in initialization time.

<Points to note upon replacement>

(1) When using the electromagnetic brake to prevent a drop in a vertical lift application or the like with an
external timer to adjust the brake release time, the lift may drop due to a longer servo-lock time.
Adjust the brake release time as necessary or use MBR (electromagnetic brake interlock signal).

(2) A longer servo-on time at power-on may cause a delay in the servo motor starting time after power-
up. Please take note.

(1) MR-J3-_A_series servo amplifier

The initialization time is 1.5 to 2 s.
Servo-on (SON) accepted

(1.5 to 2 s)
Main circuit ON
Control circuit OFF
Power supply
ON
Base circuit
OFF
10 ms 10 ms 95 ms
ON
Servo-on (SON)
OFF 95 ms
ON
Reset (RES)
OFF
5 ms 10 ms 5 ms 10 ms 5 ms 10 ms
ON
Ready (RD)
OFF
No (ON)
Trouble (ALM)
Yes (OFF) (1 to 1.5 s)

(2) MR-J4-_A_/MR-J4-_B_series servo amplifier/MR-J4W2-_B servo amplifier

The initialization time is 2.5 to 3.5 s.
SON (Servo-on) or Servo-on command accepted

(2.5 s to 3.5 s)
Main circuit ON
power supply
Control circuit OFF
ON
Base circuit
OFF
10 ms 10 ms 95 ms
ON
SON (Servo-on)
OFF 95 ms
ON
RES (Reset)
OFF
5 ms 10 ms 5 ms 10 ms 5 ms 10 ms
ON
RD (Ready)
OFF
No alarm (ON)
ALM
(Malfunction) Alarm (OFF)
2.5 s to 3.5 s

8 - 23
Part 8: Common Reference Material

(3) MR-J3-_B_/MR-J3W-_B series servo amplifier

The initialization time is 3 s.
Servo-on command accepted
(3 s)
Maincircuit ON
Controlcircuit power supply OFF

ON
Basecircuit
OFF
95ms10ms 95ms
Servo-oncommand ON
(fromcontroller) OFF

(4) MR-J4W2-0303B6 servo amplifier

The initialization time is 4 s.
Servo-on command accepted

(4 s)
Main circuit power supply ON
Control circuit OFF
ON
Base circuit
OFF
95 ms 10 ms 95 ms
Servo-on command ON
(from controller) OFF

(5) MR-J3W-0303BN6 servo amplifier

The initialization time is 3 s.
Servo-on command accepted
(3 s)
ON
Power supply
OFF
ON
Base circuit
OFF
95 ms 10 ms 95 ms
Servo-on command ON
(from controller) OFF

(6) MR-J3-_T_ series servo amplifier

The initialization time is 2 to 2.5 s.
Servo-on (SON) accepted

(2 to 2.5 s)
Main circuit ON
Control circuit OFF
Power supply
ON
Base circuit
OFF
10 ms 10 ms 95 ms
Servo-on ON
(SON) OFF
95 ms
Reset ON
(RES) OFF
5 ms 10 ms 5 ms 10 ms 5 ms 10 ms
Ready ON
(RD) OFF

8 - 24
Part 8: Common Reference Material

(7) MR-J4-_A_-RJ series servo amplifier

The initialization time is 4 to 4.5 s.
SON (Servo-on) accepted

(4 s to 5 s)
Main circuit ON
power supply
Control circuit OFF
ON
Base circuit
OFF
10 ms 10 ms 95 ms
ON
SON (Servo-on)
OFF 95 ms
ON
RES (Reset)
OFF
5 ms 10 ms 5 ms 10 ms 5 ms 10 ms
ON
RD (Ready)
OFF
No alarming (ON)
ALM (Malfunction)
Alarming (OFF)
4 s to 5 s

(8) MR-J4-_GF_ series servo amplifier

The initialization time is 3 s to 4 s and network initial communication time.
Servo-on command accepted

(3 s to 4 s and
network initial
communication time)

Main circuit ON
power supply
Control circuit O FF

ON
Base circuit
O FF
95 ms 10 ms 95 ms
Servo-on command ON
(from servo system
O FF
controller)

8 - 25
Part 8: Common Reference Material

1.2.7 The pulse width of the encoder Z-Phase pulse

< Precautions >

Always reset the home position upon replacement.

< Servo amplifier replacement >

MR-J3/MR-J3W series MR-J4 series
256/262144 pulses 256/262144 pulses
(The number of Z-phase pulses/ (The number of Z-phase pulses/
The number of pulses per servo motor revolution) The number of pulses per servo motor revolution)
At low speed
Lower than
approximately
130 r/min 256 pulses (Approximately 6 ms) 256 pulses (Approximately 6 ms)
(Note) (Note)

Approximately 440 μs fixed Approximately 440 μs fixed

At high speed
Approximately
130 r/min or
Approximately 440 µs Approximately 440 µs
higher

Note. This is the pulse width when the servo motor rotates at 10 r/min. The time for the pulse width varies depending on the number of
the servo motor revolutions.
Pulse width = 256 × (60/(Servo motor speed × 262144)) × 106 [µs]

< Simultaneous replacement >

HG-KR/HG-MR/HG-SR motor
4096/4194304 pulses
(The number of Z-phase pulses/
The number of pulses per servo motor revolution)
At low speed
Lower than
approximately
130 r/min 4095 pulses (Approximately 6 ms)
(Note)

Approximately 400 µs fixed

At high speed
Approximately
130 r/min or
Approximately 400 µs
higher

Note. This is the pulse width when the servo motor rotates at 10 r/min. The time for the pulse width varies depending on the number of
the servo motor revolutions.
Pulse width = 4096 × (60/(Servo motor speed × 4194304)) × 106 [μs]

8 - 26
Part 8: Common Reference Material

1.3 Overload protection characteristics

POINT
"Overload protection characteristics" may be different due to the replacement of
the servo amplifier and the servo motor. Check "overload protection
characteristics" of each model before considering replacement.
If operation that generates torque more than 100% of the rating is performed
with an abnormally high frequency in a servo motor stop status (servo-lock
status) or in a 50 r/min or less (the other motors: 30 r/min or less) low-speed
operation status, the servo amplifier may malfunction regardless of the electronic
thermal protection.
When MR-J4 series is driven with motors before replacement, the "overload
protection characteristics" is the same as MR-J3 series.

An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo
motor power wires from overloads.
[AL. 50 Overload 1] occurs if overload operation performed is above the electronic thermal protection curve
shown in fig. 10.1 [AL. 51 Overload 2] occurs if the maximum current is applied continuously for several
seconds due to machine collision, etc. Use the equipment on the left-hand side area of the continuous or
broken line in the graph.
For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque
of the machine should be kept at 70% or less of the rated torque.
This servo amplifier has solid-state servo motor overload protection.

8 - 27
Part 8: Common Reference Material

(1) MR-J3 servo amplifier/MR-J4 servo amplifier

MR-J3 servo amplifier
Rotary servo motor Graph of overload
HF-KP HF-MP HF-SP HC-UP HF-RP HC-LP HA-LP HF-JP protection characteristics
053 053 Characteristics a
13 13
23 23 51 72 52 53 Characteristics b
43 43 81 102 73
73 73 52 103
102
121 152 103 152 153 Characteristics c
201 202 153 202 203
152 203 353
202
301
352
421 352 353 302 502 503 Characteristics d
502 502 503 601 703
702 701M
702
801 903 Characteristics e
11K1M 11K1M (Note)
11K2 15K1M (Note)
15K1
15K1M
15K2
20K1
22K1M
22K2
25K1
524 534 Characteristics b
1024 734
1034
1524 1534 Characteristics c
2024 2034
3524 3534
5024 6014 5034 Characteristics d
7024 701M4 7034
8014 9034 Characteristics e
11K1M4 11K1M4 (Note)
11K24 15K1M4 (Note)
12K14
15K14
15K1M4
15K24
20K14
22K1M4
22K24

Note. Model names of servo amplifiers supporting these servo motors have "-LR" at the end.

8 - 28
Part 8: Common Reference Material

Servo amplifiers supporting the 400% Servo motor (Note 2) Servo amplifiers supporting the 400% Servo motor (Note 2)
maximum torque setting (Note 1) HF-JP maximum torque setting (Note 1) HF-JP
MR-J3-100_ 53 MR-J3-100_4 534
73 734
MR-J3-200_N MR-J3-200_4
103 1034
153 1534
MR-J3-350_ MR-J3-350_4
203 2034
MR-J3-500_ 353 MR-J3-500_4 3534
MR-J3-700_ 503 MR-J3-700_4 5034

Note 1. The following shows the software versions of the servo amplifiers for increasing the maximum torque up to 400%.
MR-J3-_A_: Manufactured in January 2010 or later (software version C6 or later)
MR-J3-_B_: Manufactured in August 2009 or later (software version C4 or later)
MR-J3-_T_: Manufactured in April 2010 or later (software version A8 or later)
2. The maximum torque of the HF-JP servo motor can be increased up to 400% by using a servo amplifier manufactured in
April 2010 or later.

8 - 29
Part 8: Common Reference Material

MR-J4 servo amplifier

Rotary servo motor Graph of overload
HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR protection characteristics
053 053 72 Characteristics a
13 13
23 23 51 53 (Note) Characteristics b
43 43 81 73
73 73 52 103
102
121 152 103 73 (Note) Characteristics c
201 202 153 103 (Note)
152 203 153 (Note)
202 203 (Note)
301 353
352
421 352 353 353 (Note) Characteristics d
502 502 503 601
702 701M
503 (Note)
703
801 Characteristics e
12K1
15K1
20K1
25K1
11K1M
15K1M
22K1M
903
524 534 (Note) Characteristics b
1024 734
1034
1524 734 (Note) Characteristics c
2024 1034 (Note)
3524 1534 (Note)
2034 (Note)
3534
5024 3534 (Note) Characteristics d
7024 6014
701M4
5034 (Note)
7034
8014 Characteristics e
12K14
15K14
20K14
25K14
11K1M4
15K1M4
22K1M4
9034

Note. The combination is for increasing the maximum torque of the servo motor to 400%.

Servo amplifiers supporting the 400% Servo motor (Note) Servo amplifiers supporting the 400% Servo motor (Note)
maximum torque setting (Note) HG-JR_ maximum torque setting (Note) HG-JR_
MR-J4-100_(-RJ) 53 MR-J4-100_4(-RJ) 534
73 734
MR-J4-200_(-RJ) MR-J4-200_4(-RJ)
103 1034
153 1534
MR-J4-350_(-RJ) MR-J4-350_4(-RJ)
203 2034
MR-J4-500_(-RJ) 353 MR-J4-500_4(-RJ) 3534
MR-J4-700_(-RJ) 503 MR-J4-700_4(-RJ) 5034

Note. This is available with servo amplifiers with software version C8 or later. The combination increases the rated torque and the
maximum torque.

8 - 30
 Part 8: Common Reference Material

The following graphs show overload protection characteristics.

1000 1000

Operating Operating
100 100

Operation time [s]

Operation time [s]

Servo-lock Servo-lock
10 10

1 1

0.1 0.1
0 50 100 150 200 250 300 350 0 50 100 150 200 250 300 350 400
Load ratio [%] (Note 1) Load ratio [%] (Note 1, 2)

Characteristics a Characteristics b

1000 1000

Operating Operating
100 100
Operation time [s]

Operation time [s]

Servo-lock
Servo-lock
10 10

1 1

0.1 0.1
0 50 100 150 200 250 300 350 400 0 50 100 150 200 250 300 350 400
Load ratio [%] (Note 2) Load ratio [%] (Note 2)

Characteristics c Characteristics d

8 - 31
 Part 8: Common Reference Material

10000

1000
Operation time [s]

Operating

100

Servo-lock
10

1
0 50 100 150 200 250 300
Load ratio [%]

Characteristics e
Note 1. The operation time at the load ratio of 300% to 350% applies when the maximum torque of HG-KR servo motor and HF-KP
servo motor is increased to 350% of rated torque.
2. The operation time at the load ratio of 300% to 400% applies when the maximum torque of HG-JR servo motor and HF-JP
servo motor is increased to 400% of rated torque.

8 - 32
Part 8: Common Reference Material

(2) MR-J4W2-_B servo amplifier/MR-J3W series

The following graphs show overload protection characteristics.

1000 1000

Operating Operating
100 100
Operation time [s]

Operation time [s]

Servo-lock Servo-lock
10 10

1 1

0.1 0.1
0 50 100 150 200 250 300 350 0 50 100 150 200 250 300 350 400
Load ratio [%] (Note 1) Load ratio [%] (Note 1, 2)

HG-KR053/HG-KR13 HG-KR23/HG-KR43/HG-KR73
HG-MR053/HG-MR13 HG-MR23/HG-MR43/HG-MR73
HG-SR51/HG-SR81/HG-SR52/HG-SR102
HG-UR72
HG-JR53/HG-JR73/HG-JR103
HF-KP053/HF-KP13 HF-KP23/HF-KP43/HF-KP73
HF-MP053/HF-MP13 HF-MP23/HF-MP43/HF-MP73
HF-SP51/HF-SP81/HF-SP52/HF-SP102
HC-UP72
HC-LP52/HC-LP102
HF-JP53/HF-JP73/HF-JP103
Note 1. The load ratio ranging from 300% to 350% applies to the HG-KR series servo motor.
2. The operation time at the load ratio of 350% to 400% applies when the maximum torque of HG-JR53 servo motor and HF-JP
servo motor is increased to 400% of rated torque.

8 - 33
Part 8: Common Reference Material

(3) MR-J4W2-0303B6/MR-J3W-0303BN6 servo amplifier

The following graphs show overload protection characteristics.

1000

100 Operation
Operation time [s]

Servo-lock
10

0.1
0 50 100 150 200 250 300 350 400

Load ratio [%]

HG-AK0136/HG-AK0236/HG-AK0336

(4) MR-J4-DU_(-RJ)/MR-J3- DU_ drive unit

The following graphs show overload protection characteristics.

10000

1000
Operation time [s]

Operating

100

Servo-lock
10

1
0 50 100 150 200 250 300
(Note)
Load ratio [%]

Note. Load ratio 100% indicates the rated output of the drive unit.

8 - 34
Part 8: Common Reference Material

1.4 Comparison of Networks

MR-J4-_B_servo amplifier is connected to controllers, including a servo system controller, on the high-speed
synchronous network SSCNET III/H. The servo amplifier directly receives a command from a controller to
drive a servo motor.
SSCNET III/H allows higher-speed communication of 150 Mbps for both upstream and downstream traffic to
be achieved with high noise resistance enabled by adoption of the SSCNET III optical cables. Large amounts
of data are exchanged in real-time between the controller and the servo amplifier. Servo monitor information
is stored in the upper information system and is used for control.

1.4.1 Comparison of servo system network specifications

MR-J3/MR-J3W series MR-J4 series (Note)

Item
SSCNET III SSCNET III SSCNET III/H
Communication
media Optical fiber cable Optical fiber cable
Communication
50 Mbps 50 Mbps 150 Mbps
speed
→
[Standard cord inside cabinet/ [Standard cord inside cabinet/
standard cable outside cabinet] standard cable outside cabinet]
Transmission Maximum distance between stations: 20 m Maximum distance between stations: 20 m
distance [Long distance cable] [Long distance cable]
[Long distance cable]
Maximum distance between stations: 50 m Maximum distance Maximum distance
between stations: 50 m between stations: 100 m

Note. When you connect an amplifier with SSCNET III/H communication for the first controller communication with the factory setting,
the operation mode will be fixed to "J4 mode". For SSCNET III communication, the operation mode will be fixed to "J3
compatibility mode". To return to the factory setting or to select an arbitrary mode, change the setting with the application "MR
Mode Change".
The application "MR Mode Change" is available with MR Configurator2 Version 1.12N and later. When a version older than
1.12N is used, download an update version from the MITSUBISHI ELECTRIC FA Global Website.

(1) Explanation of SSCNET III/H cable models

J4 series MR-J3/MR-J3W
Function Name series
J4 mode J3 compatibility mode
Communication baud rate 150 Mbps 50 Mbps 50 Mbps
SSCNET III/H communication
Maximum distance
or SSCNET III communication 100 m 50 m 50 m
between stations

Note. For cable of 30 m or shorter, contact your local sales office.

Contact Mitsubishi Electric System & Service about ultra-high flex-life cables and long distance cables longer than 50 m.

8 - 35
Part 8: Common Reference Material

(2) SSCNET III/H cable specifications

POINT
SSCNET III cables can be used as they are.

Description

SSCNET III/H cable model MR-J3BUS_M MR-J3BUS_M-A MR-J3BUS_M-B

SSCNET III/H cable length 0.15 m 0.3 m to 3 m 5 m to 20 m 30 m to 50 m

Enforced covering cable: Enforced covering cable:
Minimum bend
25 mm 50 mm 50 mm
radius
Cord: 25 mm Cord: 30 mm
420 N 980 N
Tension strength 70 N 140 N
(Enforced covering cable) (Enforced covering cable)
Temperature
range for use -40 °C to 85 °C -20 °C to 70 °C
(Note)
Atmosphere Indoors (not exposed to direct sunlight), no solvent or oil.
Optical cable
(cord)

0.07

0.2
0.07

4.4 0.1 4.4 0.4

2.2

2.2
2.2

Appearance [mm]

2.2 0.07 4.4 0.1

6.0 0.2 7.6 0.5

Note. This temperature range for use is the value for optical cable (cord) only. Temperature condition for the connector is the same
as that for servo amplifier.

8 - 36
Part 8: Common Reference Material

2. SERVO AMPLIFIER DIMENSIONS/ATTACHMENT DIFFERENCES

2.1 MR-J3 series => MR-J4 series Comparison Table of Servo Amplifier Dimensions/Installation Differences

POINT
Dimensions with differences are shown with shading.
Only the dimensions of servo amplifiers are compared. For the dimensions of MR-
J3-D01 and MR-D01, refer to section 2.1.3.

2.1.1 1-axis servo amplifier 200 V/100 V class (22 kW or less)

(1) Comparison of Dimensions

The following table shows comparison of the MR-J3 series and MR-J4 series dimensions. Dimensions of
servo amplifiers of 3.5 kW or less, 7 kW, and 22 kW are the same and have compatibility in mounting.
Note that the width and horizontal mounting screw pitch have been changed for servo amplifiers of 5 kW.
For servo amplifiers of 11 kW and 15 kW, note that the width, vertical/horizontal mounting screw pitch,
and screw size have been changed.
The dimensions are different between MR-J3-_T_ and MR-J4-_GF_. Refer to Table 2 for details.

Table. 1 Comparison of dimensions (comparison between the same capacity types) [Unit: mm]
Model Height Width (Note 1) Depth Mounting screw pitch
Model
MR-J4 series
MR-J3 series MR-J3 MR-J4 MR-J3 MR-J4 MR-J3 MR-J4 MR-J3 MR-J4
(Note 2)
MR-J3-10_(1) MR-J4-10_(1) (-RJ)
135 135
MR-J3-20_(1) MR-J4-20_(1) (-RJ) 40 40 156 (Vertical) 156 (Vertical)
MR-J3-40_(1) MR-J4-40_(1) (-RJ) (60) (60) (2 screws) (2 screws)
170 170
MR-J3-60 _ MR-J4-60_(-RJ)
MR-J3-70_ MR-J4-70_(-RJ) 168 168 156 (Vertical)/ 156 (Vertical)/
60 60
185 185 42 (Horizontal) 42 (Horizontal)
MR-J3-100_ MR-J4-100_(-RJ) (80) (80)
(3 screws) (3 screws)
MR-J3-200_(N)(- 156 (Vertical)/ 156 (Vertical)/
MR-J4-200_(-RJ) 90 90
RT) 195 195 78 (Horizontal) 78 (Horizontal)
(105) (105)
MR-J3-350_ MR-J4-350_(-RJ) (3 screws) (3 screws)
235 (Vertical)/ 235 (Vertical)/
130 105
MR-J3-500_ MR-J4-500_(-RJ) 250 250 118 (Horizontal) 93 (Horizontal)
(140) (115)
(4 screws) (4 screws)
200 200
285 (Vertical)/ 285 (Vertical)/
172 172
MR-J3-700_ MR-J4-700_(-RJ) 300 300 160 (Horizontal) 160 (Horizontal)
(182) (182)
(4 screws) (4 screws)
MR-J3-11K_(-LR) MR-J4-11K_(-RJ) 380 (Vertical)/
220
196 (Horizontal)
MR-J3-15K_(-LR) MR-J4-15K_(-RJ) (220) 376 (Vertical)/
260 (4 screws)
400 400 260 260 236 (Horizontal)
(260) 376 (Vertical)/
260 (4 screws)
MR-J3-22K_ MR-J4-22K_(-RJ) 236 (Horizontal)
(260)
(4 screws)

Note 1. The values in the parentheses show the dimensions for when MR-J3-D01 or MR-D01 has been mounted.
2 Refer to the following table for MR-J4-10GF(1)/MR-J4-20GF(1)/MR-J4-40GF(1)/MR-J4-60GF.

8 - 37
Part 8: Common Reference Material

Table. 2 Comparison of dimensions (comparison between the same capacity types) [Unit: mm]
Model Model Height Width Depth Mounting screw pitch
MR-J3 series MR-J4 series MR-J3 MR-J4 MR-J3 MR-J4 MR-J3 MR-J4 MR-J3 MR-J4
MR-J3-10T(1) MR-J4-10GF(1)
135 156 156
MR-J3-20T(1) MR-J4-20GF(1)
168 168 40 50 155 (Vertical) (Vertical)
MR-J3-40T(1) MR-J4-40GF(1) (2 screws) (2 screws)
170
MR-J3-60T MR-J4-60GF

When replacing two or more units of MR-J3-_T_ with MR-J4-_GF_, pay attention to the distance between the
units during installation. For details, refer to section 2.1 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction
Manual (Motion Mode)".

8 - 38
Part 8: Common Reference Material

(2) Comparison of dimensions

MR-J3-10_/MR-J3-20_ MR-J4-10_/MR-J4-20_ (Note)

40
φ6 mounting hole 6 Approx. 80 135

4 40 φ6 mounting hole
6

6
Approx.80 135

CNP1
6

CN6 CN5

L1
L1 L2 L3N

CNP1 L2
L3

CNP2
N
CN3
P1 P2

P1
CNP2

161
P2

156

168
161

P
PC D L11L21

156

168

C
D
CNP3
CN1

L11
L21
CNP3 U
U V W

V
W
CHARGE
CN4 CN2L CN2
6

6
6
Approx.14

Approx.
Approx.68 25.5
With M R-J3BAT

Approx. 21
6 With Approx. 69.3
MR-BAT6V1SET

Approx. 38.5

MR-J3-40_/MR-J3-60_ MR-J4-40_/MR-J4-60_

40
6 Approx. 80 170
6
φ6 mounting hole
5 mounting hole 40
6 Approx.80 170
6

CNP1
6

CN6 CN5

CNP1
L1 L2 L3 N P1 P2

L1
L2
L3

CNP2
N
CN3

P1
CNP2
156

161

P2
168
161
156

168

P
PCDL11L21 U V W

CNP3
D
CN1

L1 1

CNP3
L2 1

U
V
W

C H A R GE
CN4CN2LCN2
6

6
Approx.
Approx.68
Approx.14

25.5
With MR-J3BAT
With
Approx. 21

6 MR-BAT6V1SET Approx. 69.3

Approx. 38.5

MR-J3-70_/MR-J3-100_ MR-J4-70_/MR-J4-100_

60
φ6 mounting hole 12 Approx. 80 185

6 Exhaust
mounting hole 60
6

6 12 Approx.80 185 CNP1

Exhaust
6

CNP2
CN6 CN5

CNP1 L1
L1 L2 L3 N P1 P2 PCDL11L21 U V W

L2
156

161

L3
168

CNP3
CN3

P1

CNP2 P2
161

P
156

168

C
D
CN1

L11
CNP3 L21
U
V
W
CHARGE
CN4CN2LCN2

Cooling fan
6

Cooling fan
6 air intake
6 air intake
Approx.
Approx. 21

12 42
Approx.14

Approx.68 Approx. 69.3

25.5
With MR-J3BAT 12 42
Cooling fan Approx. 38.5
With
MR-BAT6V1SET
6

Note. Refer to this section (3) for MR-J4-10GF(1)/MR-J4-20GF(1)/MR-J4-40GF(1)/MR-J4-60GF.

8 - 39
Part 8: Common Reference Material

MR-J3-200_N MR-J4-200_

6 mounting hole
90
85 Approx.80 195
6 45 φ6 mounting hole 90
Exhaust
85
CNP1 Lock knob 45 Approx. 80 195
Exhaust

6
CNP2

CNP3

156

161
168
Approx.
Cooling fan
Cooling fan 6
Approx.68 25.5 Cooling fan air intake
6 78 6

6
With MR-J3BAT
Cooling fan
Approx. air intake

Approx. 21
6
69.3
6 78 6
Approx. 38.5

With
MR-BAT6V1SET
MR-J3-200_(-RT)
6

6 mounting hole
90
85
Approx.80 195 6
45
6

21.4
156

168
6

6 Cooling fan
Approx.
Approx.14

25.5 wind direction

Approx.68 6 78
With MR-J3BAT 6

MR-J3-350_ MR-J4-350_

6 90
90 mounting hole
6 85
85
Approx.80 195 φ6 mounting hole 45 Approx. 80 195
45
Exhaust Lock knob
Exhaust
6

21.4
156

168

161
156

168
6

6 Cooling fan
6

air intake Cooling fan

Approx.14

Cooling fan Approx. Cooling fan PE

air intake
Approx. 21

Approx.68 25.5
6 Approx. 69.3
6 78 6
6 78 6
With MR-J3BAT
Approx. 38.5
With
MR-BAT6V1SET

8 - 40
Part 8: Common Reference Material

MR-J3-500_ MR-J4-500_

2- 6 Approx.80 200
mounting hole
Approx.7.5

130 131.5 68.5

6

118 Cooling fan

Cooling fan exhaust 6 Terminal layout
(Terminal cover open)
Approx. 25 105 Approx. 80 200
2-φ6 mounting hole 6 93 6 Approx. 28 6
CN5

CN5
Cooling fan

7.5
CN6

CN6
exhaust
CN3

CN3
CAUTION CAUTION

WARNING WARNING

TE2
CN1

CN1
250
235

TE1
CN2

CN2
CN2L

CN2L

250
235
CN4

CN4
TE2 TE3 TE3
CHARGE With MR-J3BAT
TE4
TE1
20.5
6 Air intake With
3 places for MR-BAT6V1SET
ground (M4)
Approx.7.5

PE

7.5
6
Regenerative resistor Intake

Approx.
38.5
lead terminal fixing screw

Approx.
34
MR-J3-700_ MR-J4-700_

2- 6
Approx.80 200
Approx.7.5

mounting hole
172 138 62
160 Cooling fan 6 Terminal layout
6

Cooling fan exhaust

(Terminal cover open)
172 Approx. 80 200
2-φ6 mounting hole 6 160 6 Approx. 28 6
Cooling fan
CN5

CN5

7.5

exhaust
CN6

CN6
CN3

CN3

CAUTION CAUTION

WARNING WARNING
CN1

CN1
300
285

CN2

CN2
CN2L

CN2L
CN4

CN4

300
285

With MR-J3BAT TE3

TE3
CHARGE

With TE1
20.5 MR-BAT6V1SET TE2
PE
7.5

6 Air intake TE1

TE2 6 Intake
3 places for
Approx.7.5

Built-in regenerative resistor

Approx. Approx.

ground (M4)
38.5

lead terminal fixing screw

Screw size: M4
Regenerative resistor lead Tightening torque: 1.2 [N•m]
terminal fixing screw
101

8 - 41
Part 8: Common Reference Material

MR-J3-11K_(-LR)/MR-J3-15K_(-LR)/MR-J3-22K_ MR-J4-11K_/MR-J4-15K_

220 Approx. 80 260

2-φ6 mounting hole 12 196 12 Approx. 28 10.5
Cooling fan
exhaust

10
400
380
24.2 11 PE
TE1-1
TE2
TE1-2

60 43
78.5
6 188 Intake 25.5 22.8

10
With
MR-BAT6V1SET 224.2 57.9
237.4 5 × 25.5 (= 127.5)

Approx. Approx.
139.5 38.5
MR-J4-22K_

260 Approx. 80 260

2-φ12 mounting hole 12 236 12 Approx. 28
Cooling fan
12

exhaust
400
376

TE1-1
32.7 11
TE2 40 TE1-2

PE
25.5 22.8
40.5
26.5

12 188.5 Intake
12

With
MR-BAT6V1SET 223.4 59.9
235.4 5 × 25.5 (= 127.5)
Approx. Approx.
179 38.5

8 - 42
Part 8: Common Reference Material

(3) Comparison of dimensions (MR-J4-10GF(1)/MR-J4-20GF(1)/MR-J4-40GF(1)/MR-J4-60GF)

MR-J3-10_/MR-J3-20_ MR-J4-10GF(1)/MR-J4-20GF(1)/ MR-J4-40GF(1)/MR-J4-60GF

40
Rating plate 50
4 6 mounting hole 6 Approx. 80 135
φ6 mounting hole 6 Approx. 80 155

Lock knob
6

6
(Note) CNP1
CNP1

CNP2
CN1

161
CNP2

156

168
168 CNP3
161

CNP3
156

6
PE
With MR-BAT6V1SET-A Approx. 51

Approx. 37.5
6
6

6 Approx. 28.4
Approx. 68
Approx. 14

Approx. 25.5
With MR-J3BAT
5

MR-J3-40_/MR-J3-60_

40
Rating plate
5 6 mounting hole 6 Approx. 80 170
6

(Note)
CNP1

CN1
CNP2
161

168
156

CNP3
6

6
Approx. 14

Approx. 68
Approx. 25.5

With MR-J3BAT

8 - 43
Part 8: Common Reference Material

2.1.2 1-axis servo amplifier 400 V class (22 kW or less)

(1) Comparison of dimensions

The following table shows comparison of the MR-J3 series and MR-J4 series dimensions. Dimensions of
servo amplifiers of 2 kW or less, 5 kW, 7 kW, and 22 kW are the same and have compatibility in
mounting. Note that the width and horizontal mounting screw pitch have been changed for servo
amplifiers of 3.5 kW. For servo amplifiers of 11 kW and 15 kW, note that the width, vertical/horizontal
mounting screw pitch, and screw size have been changed.

Comparison of dimensions (comparison between the same capacity types) [Unit: mm]
Model Model Height Width (Note) Depth Mounting screw pitch
MR-J3 series MR-J4 series MR-J3 MR-J4 MR-J3 MR-J4 MR-J3 MR-J4 MR-J3 MR-J4
MR-J3-60_4 MR-J4-60_4(-RJ) 156 (Vertical)/ 156 (Vertical)/
60 60
42 (Horizontal) 42 (Horizontal)
MR-J3-100_4 MR-J4-100_4(-RJ) (80) (80)
(3 screws) (3 screws)
168 168 195 195
156 (Vertical)/ 156 (Vertical)/
90 90
MR-J3-200_4 MR-J4-200_4(-RJ) 78 (Horizontal) 78 (Horizontal)
(105) (105)
(3 screws) (3 screws)
235 (Vertical)/
105
MR-J3-350_4 MR-J4-350_4(-RJ) 93 (Horizontal)
(115) 235 (Vertical)/
130 (4 screws)
250 250 118 (Horizontal)
(140) 235 (Vertical)/
130 (4 screws)
MR-J3-500_4 MR-J4-500_4(-RJ) 200 200 118 (Horizontal)
(140)
(4 screws)
285 (Vertical)/ 285 (Vertical)/
172 172
MR-J3-700_4 MR-J4-700_4(-RJ) 300 300 160 (Horizontal) 160 (Horizontal)
(182) (182)
(4 screws) (4 screws)
MR-J3-11K_4(-LR) MR-J4-11K_4(-RJ) 380 (Vertical)/
220
196 (Horizontal)
MR-J3-15K_4(-LR) MR-J4-15K_4(-RJ) (220) 376 (Vertical)/
260 (4 screws)
400 400 260 260 236 (Horizontal)
(260) 376 (Vertical)/
260 (4 screws)
MR-J3-22K_4 MR-J4-22K_4(-RJ) 236 (Horizontal)
(260)
(4 screws)

Note. The values in the parentheses show the dimensions for when MR-J3-D01 or MR-D01 has been mounted.

8 - 44
Part 8: Common Reference Material

(2) Comparison of dimensions

MR-J3-60_4/MR-J3-100_4 MR-J4-60_4/MR-J4-100_4

60
60 Approx. 80 195 φ6 mounting hole
6mounting hole 12 12 Approx. 80 185
6
Lock knob
Exhaust

6
CNP1

CNP2

161
156

168
CNP3

6
PE
6 6 With Cooling fan

Approx. 21
MR-BAT6V1SET air intake
Approx. 68 12 42 Approx. 69.3
Approx. 25.5 12 42
With MR-J3BAT Approx. 38.5

MR-J3-200_4 MR-J4-200_4

6mounting hole
90
90
85
Approx. 80 195 85
6 45 φ6 mounting hole 45 Approx. 80 195

CNP1
Lock knob Exhaust

6
CNP2

156

168
161
CNP3

6
Approx. Cooling fan
25.5 wind direction
6

Approx. 68 Cooling fan

6 78 6 PE
With air intake

Approx. 21
With MR-J3BAT Approx. 69.3
6 MR-BAT6V1SET
6 78 6
Approx. 38.5

MR-J3-350_4 MR-J4-350_4
Approx. 80 200
6 2- 6 mounting hole
130 131.5 68.5
Cooling fan
7.5

118 Terminal layout

wind direction 6
(Terminal cover open)
2-φ6 mounting hole
Approx. 73.5

Cooling fan 105 Approx. 80 200

6 93 6 Approx. 28 6
Lock knob
7.5

Cooling fan exhaust

235
250

CNP1

TE2 TE3
CNP2
CHARGE With MR-J3BAT
250
235

TE1 CNP3
Approx. 69.3

20.5
3 places for
7.5

ground (M4)
With
Built-in regenerative
resistor lead terminal MR-BAT6V1SET
fixing screw

Intake
7.5

6
Approx.
38.5
Approx.
34

8 - 45
Part 8: Common Reference Material

MR-J3-500_4 MR-J4-500_4
Approx. 80 200
6 2- 6 mounting hole
130 131.5 68.5
Cooling fan
7.5

118 Terminal layout

wind direction 6
(Terminal cover open)

Approx. 28

Approx. 73.5
Cooling fan 130 Approx. 80 200
Approx. 200 6 118 Approx. 28 6

7.5
Cooling fan exhaust
235
250

TE2

250
235
TE3
CHARGE With MR-J3BAT

Approx. 69.3
TE2 TE3
TE1
20.5 TE1
3 places for
7.5

ground (M4)
With Intake PE

7.5
Built-in regenerative MR-BAT6V1SET
resistor lead terminal
fixing screw Built-in regenerative resistor

Approx.
38.5
lead terminal fixing screw
Screw size: M4
Tightening torque: 1.2 [N•m]

Approx.
60
MR-J3-700_4 MR-J4-700_4

6 Approx.80 200
2- 6 mounting hole
172 138 62
7.5

Cooling fan
160 Terminal layout
wind direction 6
(Terminal cover open)

Cooling fan

172 Approx. 80 200

2-φ6 mounting hole 6 160 6 Approx. 28 6
CN3

CN3

Cooling fan

7.5
CN1A

CN1A

exhaust
CN1B

CN1B
300
285

With MR-J3BAT TE3

300
285

CHARGE

TE3
20.5
6 TE1 TE2
3 places for With TE1
7.5

MR-BAT6V1SET TE2
ground (M4) PE
7.5

6 Intake
Built-in regenerative
resistor lead terminal Built-in regenerative resistor
Approx. Approx.

fixing screw
38.5

lead terminal fixing screw

Screw size: M4
Tightening torque: 1.2 [N•m]
101

8 - 46
Part 8: Common Reference Material

MR-J3-11K_4(-LR)/MR-J3-15K_4(-LR)/MR-J3-22K_4 MR-J4-11K_4/MR-J4-15K_4

220 Approx. 80 260

2-φ6 mounting hole 12 196 12 Approx. 28 10.5
Cooling fan
exhaust

10
400
380
24.2 11 PE
TE1-1
TE2
TE1-2

60 43
78.5
6 188 Intake 25.5 22.8

10
With
MR-BAT6V1SET 224.2 57.9
237.4 5 × 25.5 (= 127.5)

Approx. Approx.
139.5 38.5
MR-J4-22K_4

260 Approx. 80 260

2-φ12 mounting hole 12 236 12 Approx. 28
Cooling fan
12

exhaust
400
376

TE1-1
32.7 11
TE2 TE1-2

40
PE
25.5 22.8

40.5
26.5
12 188.5 Intake
12

With
MR-BAT6V1SET 223.4 59.9
235.4 5 × 25.5 (= 127.5)
Approx. Approx.
179 38.5

8 - 47
Part 8: Common Reference Material

2.1.3 MR-J3-D01/MR-D01

[Unit: mm]

103
98
94
20
(80) 79.5

CN20

CN30

114.5
5

161
CN10

97
24.5
When an MR-D01 extension IO unit is connected to a servo amplifier
Servo amplifier L [mm]
100 V/200 V 0.1 kW to 3.5 kW 200 V 5 kW/7 kW
400 V 0.6 kW to 2 kW 400 V 3.5 kW to 7 kW MR-J4-10A1-RJ to MR-J4-40A1-RJ 20
Servo amplifier Servo amplifier MR-J4-10A-RJ to MR-J4-100A-RJ
MR-D01 MR-D01 MR-J4-60A4-RJ to MR-J4-100A4-RJ
MR-J4-200A-RJ/MR-J4-350A-RJ 15
MR-J4-200A4-RJ
MR-J4-500A-RJ/MR-J4-700A-RJ 10
MR-J4-350A4-RJ to MR-J4-700A4-RJ
MR-J4-11KA-RJ to MR-J4-22KA-RJ 0
MR-J4-11KA4-RJ to MR-J4-22KA4-RJ

8 - 48
Part 8: Common Reference Material

2.1.4 Drive unit and converter unit 200 V class (30 kW or more)

(1) Comparison of Dimensions

The following table shows comparison of the MR-J3 series and MR-J4 series dimensions.
The two are the same in height, width, mounting screw pitch, and screw size, and therefore compatible
in mounting. When the servo amplifier is mounted so that the heat sink is inside the cabinet, the depth
vary.

Comparison of dimensions (comparison between the same capacity types) [Unit: mm]
Model Model Height Width Depth Mounting screw pitch
MR-J3 series MR-J4 series MR-J3 MR-J4 MR-J3 MR-J4 MR-J3 MR-J4 MR-J3 MR-J4

MR-J3-DU30K_ MR-J4-DU30K_ 200 200 360 (Vertical)/ 360 (Vertical)/

380 380 300 300 (328) (300) 260 (Horizontal) 260 (Horizontal)
MR-J3-DU37K_ MR-J4-DU37K_ (Note) (Note) (4 screws) (4 screws)

200 200 360 (Vertical)/ 360 (Vertical)/

MR-J3-CR55K MR-CR55K 380 380 300 300 (328) (300) 260 (Horizontal) 260 (Horizontal)
(Note) (Note) (4 screws) (4 screws)

Note. The values in the parentheses are applied to when a heat sink is placed in a cabinet.

(2) Comparison dimensions

MR-J3-DU30K_ MR-J4-DU30K_
2- 7 Installation hole 300 Approx. 200 100
80 180
Approx. 20 20 260 20
300 Approx. 200 10
20 Approx. 80 Cooling fan Terminal block layout 2-φ7 mounting hole
Cooling
260 180 wind direction fan
10

(Terminal cover removed) exhaust

195

TE2-2
TE2-1
380
360

TE3

24

11
For mounting
TE2-1
155

TE2-1 MR-J3BAT
124.5

92
TE3
TE1
59
TE3

41
TE1 7 Intake PE TE1
PE
10

With MR-BAT6V1SET
22.5 22 15.5
175.5
7 Approx. 200 128 32 28 31
178.5
328 118 62
162.5
130.1

277

MR-J3-DU37K_ MR-J4-DU37K_
2- 7 Installation hole 300 Approx. 200 100
80 180
Approx. 20 20 260 20
300 Approx. 200 10
20 Approx. 80 Cooling fan Terminal block layout 2-φ7 mounting hole
Cooling
260 180 wind direction fan
10

(Terminal cover removed) exhaust

195

TE2-2
TE2-1
380
360

TE3
24

11

For mounting
TE2-1
155

TE2-1 MR-J3BAT
124.5

92

TE3
TE1
59

TE3
41

TE1 7 Intake PE TE1

PE
10

With MR-BAT6V1SET
22.5 22 15.5
175.5
7 Approx. 200 128 32 28 31
178.5
328 118 62
162.5
130.1

277

8 - 49
Part 8: Common Reference Material

MR-J3-CR55K MR-CR55K
Cooling fan 300 200 100
wind direction 20 260 20 180
2- 7 Installation hole
328 Cooling 192
2-φ7 mounting hole
Approx. 20 fan

10
300 Approx. 200 128 exhaust
Approx. 80 Terminal block layout
20 260 180
(Terminal cover removed)

98.6
195
22.5 22 22 22.5
CHARGE
TE2-1

380
360
TE2-2
TE3

24

11
155
TE2-2
TE2-2

124.5
TE3

92
TE3

59
41
TE1-1 TE1-2 PE
7 2.3 Intake TE1-1 TE1-2
PE PE

10
175.5
63 33 15.5
7 TE1-1 TE1-2 178.5
32 230
2 × 31 = 62 2 × 31 = 62

162.5
130.3
277

8 - 50
Part 8: Common Reference Material

2.1.5 Drive unit and converter unit 400 V class (30 kW or more)
(1) Comparison of Dimensions
The following table shows comparison of the MR-J3 series and MR-J4 series dimensions.The two are
the same in height, width, mounting screw pitch, and screw size, and therefore compatible in mounting.
When the servo amplifier is mounted so that the heat sink is inside the cabinet, the depth vary.
Comparison of dimensions (comparison between the same capacity types) [Unit: mm]
Model Model Height Width Depth Mounting screw pitch
MR-J3 series MR-J4 series MR-J3 MR-J4 MR-J3 MR-J4 MR-J3 MR-J4 MR-J3 MR-J4

MR-J3-DU30K_4 MR-J4-DU30K_4 200 200 360 (Vertical)/ 360 (Vertical)/

380 380 240 240 (328) (300) 120 (Horizontal) 120 (Horizontal)
MR-J3-DU37K_4 MR-J4-DU37K_4 (Note) (Note) (4 screws) (4 screws)

MR-J3-DU45K_4 MR-J4-DU45K_4 200 200 360 (Vertical)/ 360 (Vertical)/

380 380 300 300 (328) (300) 260 (Horizontal) 260 (Horizontal)
MR-J3-DU55K_4 MR-J4-DU55K_4 (Note) (Note) (4 screws) (4 screws)

200 200 360 (Vertical)/ 360 (Vertical)/

MR-J3-CR55K4 MR-CR55K4 380 380 300 300 (328) (300) 260 (Horizontal) 260 (Horizontal)
(Note) (Note) (4 screws) (4 screws)

Note. The values in the parentheses are applied to when a heat sink is placed in a cabinet.

(2) Comparison dimensions

MR-J3-DU30K_4 MR-J4-DU30K_4
240 200 100
2- 6 Installation hole Approx.
60 120 60 80 180
Approx. 60 10
240 Approx. 200 Cooling
Approx. 80 Cooling fan Terminal block layout
2-φ6 mounting hole fan
60 120 180
10

wind direction exhaust

(Terminal cover removed)
195

TE2
380
360

TE3

24

11
For mounting
155

124.5

TE2 MR-J3BAT

92
52
41

TE3

6 Intake
PE TE1
10

TE1 With MR-BAT6V1SET 175.5

22.5 22
178.5 38 28
6 Approx. 200 128 105.5 28

328 143 56
170.5
152.5

219.2

MR-J3-DU37K_4 MR-J4-DU37K_4
240 200 100
2- 6 Installation hole Approx.
60 120 60 80 180
Approx. 60
240 Approx. 200 10
Cooling fan Cooling
Approx. 80 2-φ6 mounting hole
60 120 180 Terminal block layout fan
wind direction
10

exhaust
(Terminal cover removed)
195

TE2
380
360

TE3
24

11

For mounting
155

TE2 MR-J3BAT
124.5

92

TE3
52
41

TE1 6 Intake
PE TE1
10

With MR-BAT6V1SET 175.5

22.5 22
178.5 38 28
6 Approx. 200 128
105.5 28
328
143 56
170.5
152.5

219.2

8 - 51
Part 8: Common Reference Material

MR-J3-DU45K_4 MR-J4-DU45K_4
2- 7 Installation hole 300 Approx. 200 100
80 180
Approx. 20 20 260 20
300 Approx. 200 10
20 Approx. 80 Cooling fan Terminal block layout 2-φ7 mounting hole
Cooling
260 180 wind direction fan

10
(Terminal cover removed) exhaust

195
TE2-2
TE2-1

380
360
TE3

24

11
For mounting
TE2-1

155
TE2-1 MR-J3BAT

124.5

92
TE3
TE1

59
TE3

41
TE1 7 Intake PE TE1
PE

10
With MR-BAT6V1SET
22.5 22 15.5
175.5
7 Approx. 200 128 32 28 31
178.5
328 118 62

162.5
130.1
277

MR-J3-DU55K_4 MR-J4-DU55K_4
2- 7 Installation hole 300 Approx. 200 100
80 180
Approx. 20 20 260 20
300 Approx. 200 10
20 Approx. 80 Cooling fan Terminal block layout 2-φ7 mounting hole
Cooling
260 180 wind direction fan
10

(Terminal cover removed) exhaust

195 TE2-2
TE2-1
380
360

TE3

24

11
For mounting
TE2-1
155

TE2-1 MR-J3BAT

124.5

92
TE3
TE1

59
TE3

41
TE1 7 Intake PE TE1
PE
10

With MR-BAT6V1SET
22.5 22 15.5
175.5
7 Approx. 200 128 32 28 31
178.5
328 118 62
162.5
130.1

277

MR-J3-CR55K4 MR-CR55K4
Cooling fan 300 200 100
wind direction 20 260 20 180
2- 7 Installation hole
Cooling 192
328 2-φ7 mounting hole fan
Approx. 20
10

300 Approx. 200 128 exhaust

Approx. 80 Terminal block layout
20 260 180
(Terminal cover removed)
98.6
195

22.5 22 22 22.5
CHARGE TE2-1
380
360

TE2-2

TE3
24

11
155

124.5

TE2-2
TE2-2
92

TE3
59
41

TE3

7 2.3 Intake TE1-1 TE1-2

PE PE PE
10

TE1-1 TE1-2 175.5

63 33 15.5
178.5
32 230
7 TE1-1 TE1-2 2 × 31 = 62 2 × 31 = 62
162.5
130.3

277

8 - 52
Part 8: Common Reference Material

2.1.6 Multi-axis servo amplifier

(1) Comparison of Dimensions

The following table shows comparison of the MR-J3 series and MR-J4 series dimensions.Note that the
number of the mounting screws for 200 W/400 W has been changed. The width, the mounting screw
pitch in vertical directions, and the number of the mounting screws for 750 W/1 kW have also been
changed.

Comparison of dimensions (comparison between the same capacity types) [Unit: mm]
Model Model Height Width Depth Mounting screw pitch
MR-J3 series MR-J4 series MR-J3 MR-J4 MR-J3 MR-J4 MR-J3 MR-J4 MR-J3 MR-J4
MR-J3W-22B MR-J4W2-22B 156 (Vertical)/
156 (Vertical)
168 168 60 60 195 195 48 (Horizontal)
MR-J3W-44B MR-J4W2-44B (2 screws)
(4 screws)
MR-J3W-77B MR-J4W2-77B 156 (Vertical)/ 156 (Vertical)/
85
168 168 100 195 195 88 (Horizontal) 73 (Horizontal)
MR-J3W-1010B MR-J4W2-1010B (Note)
(4 screws) (3 screws)
156 (Vertical) 156 (Vertical)
MR-J3W-0303BN6 MR-J4W2-0303B6 168 168 30 30 100 100
(2 screws) (2 screws)

Note. Some have been changed in width.

(2) Comparison dimensions

MR-J3W-22B/MR-J3W-44B MR-J4W2-22B/MR-J4W2-44B

6 mounting hole 60 Approx. 80 195

Lock knob 6 Cooling fan exhaust 6.2
2- 6 mounting hole
6 60 Approx. 80 195 (only with MR-J4W2-44B)
6

CNP1
CNP1

CNP2 CNP2
(Note)
156

168
CNP3A CNP3A
Cooling fan
CNP3B CNP3B
air intake
PE
PE
6 SW3
6

6 48 6
Air intake
6 Lock knob
6

MR-J3W-77B/MR-J3W-1010B MR-J4W2-77B/MR-J4W2-1010B

2- 6 mounting hole
100 Approx. 80 195
6

CNP1 6 mounting hole

85 Approx. 80 195
Lock knob 6
CNP2
6

CNP3A CNP1
CNP3B
PE CNP2
156

168

CNP3A
6 CNP3B
6 88 6 Cooling fan
air intake
SW3 PE
6

6 Air intake 6.2

6 73

Lock knob

MR-J3W-0303BN6 MR-J4W2-0303B6

Approx. 80
6 30 (80) 100 6 30 100
2- 6 mounting hole 6
CN5
6

CN3
CN4
CN1A
168

CN1B
168
156

CN2A CNP1
CN2B
CNP1
CNP2A
CNP2B
Approx.
37.5
6

6
(23)

Approx.
27.4 Approx. 51
(68) (29)
MR-J3W03BATSET is mounted. With MR-BAT6V1SET-A

8 - 53
Part 8: Common Reference Material

2.2 Parameter conversion

2.2.1 Operation procedure of parameter conversion

The parameter converter function of MR Configurator2 converts the servo parameters of MR-J3-_A_/MR-J3-
_T_ to the servo parameters of MR-J4-_A_/MR-J4-_A_-RJ/MR-J4-_GF_.

The version of MR Configurator2 is as follows depending on the model used.

When replacing MR-J3-_A_ to MR-J4-_A_: 1.12N or later
When replacing MR-J3-_T_ to MR-J4-_A_-RJ: 1.72A or later
When replacing MR-J3-_T_ to MR-J4-_GF_: 1.120A or later

POINT
Only the parameters common to replacing MR-J3-_A_ to MR-J4-_A_, replacing
MR-J3-_T_ (DIO/serial communication) to MR-J4-_A_-RJ, and replacing MR-J3-
_T_ (CC-Link communication) to MR-J4-_GF_ are applicable.
The initial value of MR-J4-_A_(-RJ) is set for additional parameters of MR-J4-
_A_(-RJ).
The initial value of MR-J4-_GF_ is set for additional parameters of MR-J4-_GF_.

Parameter converter function

(MR Configurator2)

Data files

MR Configurator2 MR Configurator2

Change MR-J3-_A_/MR-J3-_T_ to MR-J4-_A_/MR-J4-_A_-RJ/MR-J4-_GF_

8 - 54
Part 8: Common Reference Material

2.2.2 MR-J3-_A_/MR-J3-_T_ parameter diversion procedure

POINT
Parameter conversion: Set the parameter block within the readable range to
read changes from the initial value.

Parameter reading from the servo amplifier MR- J3-_A_/MR-J3-_T_

Start MR Configurator2(SW1DNC-MRC2-E) ･ ･ ･ A connection with a PC-AT compatible personal computer is required.
USB communication (MR-J3USBCBL3M)

Create a new project.

Read the servo parameters.

Save the parameter file.

Converting the parameters of MR-J3-_A_/MR-J3-_T_ and writing them to the MR-J4-_A_(-RJ)/MR-J4-

_GF_ servo amplifier

Create a new project.

Change MR- J3-_A_/MR-J3-_T_ parameters to

MR-J4-_A_(-RJ)/MR- J4-_GF_ parameters.

Write the changed parameters to the

MR-J4-_A_(-RJ)/MR- J4-_GF_ servo amplifier.

8 - 55
Part 8: Common Reference Material

2.2.3 Parameter reading from the servo amplifier MR- J3-_A_/MR-J3-_T_

(1) Start MR Configurator2 (SW1DNC-MRC2-E).

(2) Create a new project.

Select [Project] - [New] from the menu to display the New Project dialog box. Select "MR-J3-A" or "MR-
J3-T" for Model.
The setting of "Station" must be the same as that of the servo amplifier. Set the same value as that of
the parameter: [Pr. PC20]. The following figure shows an example of when "MR-J3-A" is selected for
Model.

8 - 56
Part 8: Common Reference Material

(3) Read the servo parameters.

Click [Parameters] in the menu to display the parameter list screen.
Connect the MR- J3-_A_/MR-J3-_T_ servo amplifier to a personal computer and click the [Read] button.
The following figure shows an example of when "MR-J3-A" is selected for Model.

After reading the parameters is completed, select [Save As] to save the parameter file.

8 - 57
Part 8: Common Reference Material

2.2.4 Converting the parameters of MR-J3-_A_/MR-J3-_T_ and writing them to the MR-J4-_A_(-RJ)/MR-J4-
_GF_ servo amplifier

(1) Start MR Configurator2 (SW1DNC-MRC2-E).

(2) Create a new project.

Select [Project] - [New] from the menu to display the New Project dialog box. Select "MR-J4-A(-RJ)" or
"MR-J4-GF(-RJ)" for Model.
The following figure shows the case where "MR-J4-A(-RJ)" is selected for the model.

8 - 58
Part 8: Common Reference Material

(3) Change MR-J3-_A_/MR-J3-_T_ parameters to MR-J4-_A_(-RJ)/MR-J4-_GF_(-RJ) parameters.

Select [Parameter] - [Parameter Converter] from the menu to display the parameter converter screen.
Then click the [Open file] button and specify the user file that was saved with the operation in (3) of
Section 2.2.3. The following figure shows the case where "MR-J4-A(-RJ)" is selected for the model.

Click [Update Project].

8 - 59
Part 8: Common Reference Material

(4) Write the changed parameters to the MR-J4-_A_(-RJ)/MR-J4-_GF_(-RJ) servo amplifier.

Select [Parameter] - [Parameter Setting] from the menu to display the parameter setting screen.
Connect the MR-J4-_A_(-RJ)/MR-J4-_GF_(-RJ) servo amplifier to a personal computer and click the
[Single Axis Write] button. The parameter values will be written to the MR-J4-_A_(-RJ)/MR-J4-_GF_(-RJ)
servo amplifier.

Note: The servo gain is not perfectly equal.

Refer to the MR Configurator2 (SW1DNC-MRC2-E) help for details.

8 - 60
Part 8: Common Reference Material

2.2.5 Conversion rules (MR-J3-_A_ => MR-J4-_A_)

The following table shows the servo parameter conversion rules from MR-J3-_A_ to MR-J4- _A_.
Servo parameters not specified in the following table will be set to the initial values.

POINT
Because the servo parameters of MR-J3-_A _ and those of MR-J4-_A_ are not
completely interchangeable, the conversion rules may not be applied. Check the
operations and review the settings as necessary.
The value of the parameter writing after parameter conversion is the initial value.
MR-J4-_A_: [Pr. PA19] = "00AAh"
Various offset parameters cannot be converted. Change the settings as
necessary.
MR-J4-_A_: [Pr. PC37] to [Pr. PC40]
The following parameters of MR-J4-_A_ are compatible with the servo amplifier's
software version A3 or later. The software version can be checked in the
system configuration of MR Configurator 2.
MR-J4-_A_: [Pr. PA03 Absolute position detection system "_ _ _2h" (Absolute
position detection system by communication)]
MR-J4-_A_: [Pr. PC21 RS-422 communication function selection]
When the geared servo motor is replaced, the reduction ratio may differ before
and after the replacement. Check the specifications of the servo motor and
review the electronic gear settings as necessary.
MR-J4-_A_: [Pr. PA05] to [Pr. PA07]
The following parameters will be converted to values according to the encoder
resolution of the servo motor.
MR-J4-_A_: [Pr. PA10]/[Pr. PA15]/[Pr. PA21]
When "HG series" is selected for servo motor series, the parameters will be
converted to values according to the encoder resolution of the HG motor.
When "HF-_P/HC-_P/HA-_P series" is selected for servo motor series, the
parameters will be converted to values according to the encoder resolution of
the HF-_P/HC-_P/HA-_P servo motor.
Servo motor series can be selected in MR Configurator2 with software version
1.72A or later.

MR-J3-_A_ MR-J4-_A_
Conversion rule
No. Name Type Target No. Type Target
___X PA01 Hex ___X The setting value will be maintained.
When "HG series" is selected for
servo motor series, the setting value
will not be maintained.
When "HF-_P/HC-_P/HA-_P series"
is selected for servo motor series,
the setting value will be converted as
PA01 Control mode Hex
_X__ PA01 Hex _X__ follows:
_ 0_ _ will be changed to _ 2_ _.
_ 4_ _ will be changed to _ 2_ _.
Otherwise, _ 0_ _ will be set.
Servo motor series can be selected
in MR Configurator2 with software
version 1.72A or later.
PA02 Regenerative option Hex _ _ XX PA02 Hex _ _ XX The setting value will be maintained.
01_ _ will be changed to _ _ 01.
PA03 Absolute position detection system Hex ___X PA03 Hex ___X 02_ _ will be changed to _ _ 02.
Otherwise, _ _ 00 will be set.

8 - 61
Part 8: Common Reference Material

MR-J3-_A_ MR-J4-_A_
Conversion rule
No. Name Type Target No. Type Target
01_ _ will be changed to _ _ 05.
(MBR)
PA04 Function selection A-1 Hex ___X PD24 Hex _ _ XX
The setting value other than above
will not be maintained.
0 will be changed to 10000.
PA05 Dec - Otherwise, the setting value will be
maintained.
When "HG series" is selected for
servo motor series, the setting value
Number of command input pulses
PA05 Dec - will be converted as follows:
per revolution
0 will be changed to 2_ _ _.
PA21 Hex X_ _ _
Otherwise, 1_ _ _ will be set.
Servo motor series can be selected in
MR Configurator2 with software
version 1.72A or later.
Electronic gear numerator
PA06 (Command pulse multiplying factor Dec - PA06 Dec - The setting value will be maintained.
numerator)
Electronic gear denominator
PA07 (Command pulse multiplying factor Dec - PA07 Dec - The setting value will be maintained.
denominator)
PA08 Auto tuning mode Hex ___X PA08 Hex ___X The setting value will be maintained.
The value 4 is added to the setting
PA09 Auto tuning response Dec - PA09 Dec -
value.
PA10 In-position range Dec - PA10 Dec - The setting value will be maintained.
PA11 Forward rotation torque limit Dec - PA11 Dec - The setting value will be maintained.
PA12 Reverse rotation torque limit Dec - PA12 Dec - The setting value will be maintained.
PA13 Command pulse input form Hex _ _ XX PA13 Hex _ _ XX The setting value will be maintained.
PA14 Rotation direction selection Dec - PA14 Dec - The setting value will be maintained.
When "HG series" is selected for
servo motor series, the setting value
will be converted as follows:
(1) When the setting value of PC19 is
_ _ 1 _, the value increases by 16
times.
(2) When the setting value of PC19 is
PA15 Encoder output pulse Dec - PA15 Dec - other than _ _ 1 _, the setting
value will be maintained.
When "HF-_P/HC-_P/HA-_P series"
is selected for servo motor series, the
setting value will be maintained.
Servo motor series can be selected in
MR Configurator2 with software
version 1.72A or later.
Adaptive tuning mode
PB01 Hex ___X PB01 Hex ___X The setting value will be maintained.
(Adaptive filter II)
Vibration suppression control
tuning mode
PB02 Hex ___X PB02 Hex ___X The setting value will be maintained.
(Advanced vibration suppression
control)
Position command
acceleration/deceleration time
PB03 Dec - PB03 Dec - The setting value will be maintained.
constant
(Position smoothing)
PB04 Feed forward gain Dec - PB04 Dec - The setting value will be maintained.
Ratio of load inertia moment to
PB06 Dec - PB06 Dec - One decimal place will be added.
servo motor inertia moment
PB07 Model loop gain Dec - PB07 Dec - One decimal place will be added.
PB08 Position loop gain Dec - PB08 Dec - One decimal place will be added.
PB09 Speed loop gain Dec - PB09 Dec - The setting value will be maintained.
PB10 Speed integral compensation Dec - PB10 Dec - The setting value will be maintained.
Hex: hexadecimal parameter; Dec: decimal parameter

8 - 62
Part 8: Common Reference Material

MR-J3-_A_ MR-J4-_A_
Conversion rule
No. Name Type Target No. Type Target
PB11 Speed differential compensation Dec - PB11 Dec - The setting value will be maintained.
Machine resonance suppression
PB13 Dec - PB13 Dec - The setting value will be maintained.
filter 1
PB14 Notch shape selection 1 Hex _ XX_ PB14 Hex _ XX_ The setting value will be maintained.
Machine resonance suppression
PB15 Dec - PB15 Dec - The setting value will be maintained.
filter 2
PB16 Notch shape selection 2 Hex _ XXX PB16 Hex _ XXX The setting value will be maintained.
_ _ 01 will be changed to _ _ 00.
_ _ XX _ _ XX Otherwise, the setting value will be
PB17 Automatic setting parameter Hex PB17 Hex
maintained.
_ X_ _ _ X_ _ The setting value will be maintained.
PB18 Low-pass filter setting Dec - PB18 Dec - The setting value will be maintained.
Vibration suppression control
PB19 Dec - PB19 Dec - The setting value will be maintained.
vibration frequency setting
Vibration suppression control
PB20 Dec - PB20 Dec - The setting value will be maintained.
resonance frequency setting
PB23 Low-pass filter selection Hex _ _ X_ PB23 Hex _ _ X_ The setting value will be maintained.
Slight vibration suppression
PB24 Hex ___X PB24 Hex ___X The setting value will be maintained.
control selection
PB25 Function selection B-1 Hex _ _ X_ PB25 Hex _ _ X_ The setting value will be maintained.
PB26 Gain changing selection Hex _ _ XX PB26 Hex _ _ XX The setting value will be maintained.
PB27 Gain changing condition Dec - PB27 Dec - The setting value will be maintained.
PB28 Gain changing time constant Dec - PB28 Dec - The setting value will be maintained.
Gain changing ratio of load inertia
PB29 moment to servo motor inertia Dec - PB29 Dec - One decimal place will be added.
moment
PB30 Gain changing position loop gain Dec - PB30 Dec - One decimal place will be added.
PB31 Gain changing speed loop gain Dec - PB31 Dec - The setting value will be maintained.
Gain changing speed integral
PB32 Dec - PB32 Dec - The setting value will be maintained.
compensation
Gain changing vibration
PB33 suppression control vibration Dec - PB33 Dec - The setting value will be maintained.
frequency setting
Gain changing vibration
PB34 suppression control resonance Dec - PB34 Dec - The setting value will be maintained.
frequency setting
PC01 Acceleration time constant Dec - PC01 Dec - The setting value will be maintained.
PC02 Deceleration time constant Dec - PC02 Dec - The setting value will be maintained.
S-pattern
PC03 acceleration/deceleration time Dec - PC03 Dec - The setting value will be maintained.
constant
PC04 Torque command time constant Dec - PC04 Dec - The setting value will be maintained.
Internal speed command 1
PC05 Dec - PC05 Dec - The setting value will be maintained.
Internal speed limit 1
Internal speed command 2
PC06 Dec - PC06 Dec - The setting value will be maintained.
Internal speed limit 2
Internal speed command 3
PC07 Dec - PC07 Dec - The setting value will be maintained.
Internal speed limit 3
Internal speed command 4
PC08 Dec - PC08 Dec - The setting value will be maintained.
Internal speed limit 4
Internal speed command 5
PC09 Dec - PC09 Dec - The setting value will be maintained.
Internal speed limit 5
Internal speed command 6
PC10 Dec - PC10 Dec - The setting value will be maintained.
Internal speed limit 6
Internal speed command 7
PC11 Dec - PC11 Dec - The setting value will be maintained.
Internal speed limit 7
PC02 Deceleration time constant Dec - PC02 Dec - The setting value will be maintained.
S-pattern
PC03 acceleration/deceleration time Dec - PC03 Dec - The setting value will be maintained.
constant
Hex: hexadecimal parameter; Dec: decimal parameter

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Part 8: Common Reference Material

MR-J3-_A_ MR-J4-_A_
Conversion rule
No. Name Type Target No. Type Target
PC04 Torque command time constant Dec - PC04 Dec - The setting value will be maintained.
Internal speed command 1
PC05 Dec - PC05 Dec - The setting value will be maintained.
Internal speed limit 1
Internal speed command 2
PC06 Dec - PC06 Dec - The setting value will be maintained.
Internal speed limit 2
Internal speed command 3
PC07 Dec - PC07 Dec - The setting value will be maintained.
Internal speed limit 3
Internal speed command 4
PC08 Dec - PC08 Dec - The setting value will be maintained.
Internal speed limit 4
Internal speed command 5
PC09 Dec - PC09 Dec - The setting value will be maintained.
Internal speed limit 5
Internal speed command 6
PC10 Dec - PC10 Dec - The setting value will be maintained.
Internal speed limit 6
Internal speed command 7
PC11 Dec - PC11 Dec - The setting value will be maintained.
Internal speed limit 7
Analog speed command maximum
speed
PC12 Dec - PC12 Dec - The setting value will be maintained.
Analog speed limit maximum
speed
Analog torque command
PC13 Dec - PC13 Dec - The setting value will be maintained.
maximum output
PC14 Analog monitor 1 output Hex _ _ XX PC14 Hex _ _ XX The setting value will be maintained.
PC15 Analog monitor 2 output Hex _ _ XX PC15 Hex _ _ XX The setting value will be maintained.
Electromagnetic brake sequence
PC16 Dec - PC16 Dec - The setting value will be maintained.
output
PC17 Zero speed Dec - PC17 Dec - The setting value will be maintained.
PC18 Alarm history clear Hex ___X PC18 Hex ___X The setting value will be maintained.
PC19 Encoder output pulses selection Hex _ _ XX PC19 Hex _ _ XX The setting value will be maintained.
PC20 Station number setting Dec - PC20 Dec - The setting value will be maintained.
PC21 Communication function selection Hex _ XX_ PC21 Hex _ XX_ The setting value will be maintained.
PC22 Function selection C-1 Hex X_ _ _ PC22 Hex X_ _ _ The setting value will be maintained.
___X ___X The setting value will be maintained.
PC23 Function selection C-2 Hex PC23 Hex
XX_ _ XX_ _ The setting value will be maintained.
PC24 Function selection C-3 Hex ___X PC24 Hex ___X The setting value will be maintained.
PC26 Function selection C-5 Hex ___X PC26 Hex ___X The setting value will be maintained.
PC27 Function selection C-6 Hex ___X PC27 Hex ___X The setting value will be maintained.
PC30 Acceleration time constant 2 Dec - PC30 Dec - The setting value will be maintained.
PC31 Deceleration time constant 2 Dec - PC31 Dec - The setting value will be maintained.
Command pulse multiplying factor The setting value will be maintained.
PC32 Dec - PC32 Dec -
numerator 2
Command pulse multiplying factor The setting value will be maintained.
PC33 Dec - PC33 Dec -
numerator 3
Command pulse multiplying factor The setting value will be maintained.
PC34 Dec - PC34 Dec -
numerator 4
PC35 Internal torque limit 2 Dec - PC35 Dec - The setting value will be maintained.
_ _1_ will be changed to _ _ 00.
_ _ XX _ _ XX Otherwise, the setting value will be
PC36 Status display selection Hex PC36 Hex maintained.
_ X_ _ _ X_ _ The setting value will be maintained.
Input signal automatic ON
PD01 Hex _ XXX PD01 Hex _ XXX The setting value will be maintained.
selection 1
Input signal device selection 1 _ _ _ _ XXXX PD03 Hex XXXX The setting value will be maintained.
PD03 Hex
(CN1-15) _ _ XX_ _ _ _ PD04 Hex _ _ XX The setting value will be maintained.
Input signal device selection 2 _ _ _ _ XXXX PD05 Hex XXXX The setting value will be maintained.
PD04 Hex
(CN1-16) _ _ XX_ _ _ _ PD06 Hex _ _ XX The setting value will be maintained.
Input signal device selection 3 _ _ _ _ XXXX PD07 Hex XXXX The setting value will be maintained.
PD05 Hex
(CN1-17) _ _ XX_ _ _ _ PD08 Hex _ _ XX The setting value will be maintained.
Input signal device selection 4 _ _ _ _ XXXX PD09 Hex XXXX The setting value will be maintained.
PD06 Hex
(CN1-18) _ _ XX_ _ _ _ PD10 Hex _ _ XX The setting value will be maintained.
Hex: hexadecimal parameter; Dec: decimal parameter

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Part 8: Common Reference Material

MR-J3-_A_ MR-J4-_A_
Conversion rule
No. Name Type Target No. Type Target
Input signal device selection 5 _ _ _ _ XXXX PD11 Hex XXXX The setting value will be maintained.
PD07 Hex
(CN1-19) _ _ XX_ _ _ _ PD12 Hex _ _ XX The setting value will be maintained.
Input signal device selection 6 _ _ _ _ XXXX PD13 Hex XXXX The setting value will be maintained.
PD08 Hex
(CN1-41) _ _ XX_ _ _ _ PD14 Hex _ _ XX The setting value will be maintained.
Input signal device selection 8 _ _ _ _ XXXX PD17 Hex XXXX The setting value will be maintained.
PD10 Hex
(CN1-43) _ _ XX_ _ _ _ PD18 Hex _ _ XX The setting value will be maintained.
Input signal device selection 9 _ _ _ _ XXXX PD19 Hex XXXX The setting value will be maintained.
PD11 Hex
(CN1-44) _ _ XX_ _ _ _ PD20 Hex _ _ XX The setting value will be maintained.
Input signal device selection 10 _ _ _ _ XXXX PD21 Hex XXXX The setting value will be maintained.
PD12 Hex
(CN1-45) _ _ XX_ _ _ _ PD22 Hex _ _ XX The setting value will be maintained.
Output signal device selection
PD13 Hex _ _ XX PD23 Hex _ _ XX The setting value will be maintained.
1(CN1-22)
PA04 = _ _ _ 1 will be changed to
Output signal device selection _ _ 05. (MBR)
PD14 Hex _ _ XX PD24 Hex _ _ XX
2(CN1-23) Otherwise, the setting value will be
maintained.
Output signal device selection
PD15 Hex _ _ XX PD25 Hex _ _ XX The setting value will be maintained.
3(CN1-24)
Output signal device selection
PD16 Hex _ _ XX PD26 Hex _ _ XX The setting value will be maintained.
4(CN1-25)
Output signal device selection
PD18 Hex _ _ XX PD28 Hex _ _ XX The setting value will be maintained.
6(CN1-49)
_ _ _ 1 will be changed to _ _ _ 2.
_ _ _ 2 will be changed to _ _ _ 4.
PD19 Input filter setting Hex ___X PD29 Hex ___X _ _ _ 3 will be changed to _ _ _ 4.
Otherwise, the setting value will be
maintained.
PD20 Function selection D-1 Hex _ _ XX PD30 Hex _ _ XX The setting value will be maintained.
PD22 Function selection D-3 Hex ___X PD32 Hex ___X The setting value will be maintained.
PD24 Function selection D-5 Hex _ _ XX PD34 Hex _ _ XX The setting value will be maintained.
Hex: hexadecimal parameter; Dec: decimal parameter

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Part 8: Common Reference Material

2.2.6 Parameters that need to be checked after parameter conversion

Initial Setting
No. Name Description
value value
Absolute position detection system selection
When the setting before conversion is "_ _ _2: Enabled
(absolute position detection system by communication)",
PA03 Absolute position detection system - -
this parameter can be set for MR-J4-_A_ with software
version A3 or later. A parameter error will occur when the
software version A2 or earlier is used.
Forced stop deceleration function selection
To configure the same operation status as those for MR-
PA04 Function selection A-1 2000h 0_ _ _h
J3-_A_, select "Forced stop deceleration function disabled
(EM1)"
PA06 Electronic gear numerator - - For geared servo motors, the actual reduction ratio may
differ before and after replacement. If they are different,
PA07 Electronic gear denominator - - consider the actual reduction ratio when setting.
Auto tuning response setting
PA09 Auto tuning response - -
Adjust the gain value again after the replacement.
When the value is over 4095 pulses with the in-position
range unit selection ([Pr. PC24]) of MR-J3-_A_ set to "_ _
_ 1: Servo motor encoder unit", the value will be converted
PA10 In-position range - - to 65535 pulses.
To use the same in-position range as before, set "_ _ _ 0:
Command input unit" and a value within the in-position
range considering the electronic gear setting value.
RS-422 communication baud rate selection
This parameter can be set when MR-J4-_A_ with
software version A3 or later for the conversion from MR-
RS-422 Absolute position detection
PC21 - - J3-_A_. A parameter error will occur when the software
system
version A2 or earlier is used.
RS-422 communication response delay time (supported
by software version A3 or later)
Absolute position detection system/ Not converted by the parameter converter function.
PC37 - -
Analog speed limit offset Set the value as required.
Analog torque command offset/
PC38 - - Set the value as required.
Analog torque limit offset
PC39 Analog monitor 1 offset - - Set the value as required.
PC40 Analog monitor 2 offset - - Set the value as required.
When the setting before conversion has exceeded 3.55
[ms], the setting will be converted to "4: 3.555 [ms]".
PD29 Input signal filter setting - -
When MR-J4-_A_ with the software version B3 or later is
used, "6: 5.333 [ms]" can be set.

Note. For items that have no setting values listed in the table, refer to "Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_".

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Part 8: Common Reference Material

2.2.7 Conversion rules (MR-J3-_T_(DIO Command/ Serial communication operation) => MR-J4-_A_-RJ)

The following table shows the servo parameter conversion rules from MR-J3-_T_(DIO Command/ Serial
communication operation) to MR-J4- _A_-RJ.
Servo parameters not specified in the following table will be set to the initial values.

POINT
This parameter can be set when MR-J4-_A_-RJ with software version A3 or later
is used for the conversion from MR-J3-_T_. The software version can be
checked in the system configuration of MR Configurator 2.
The setting value of "parameter writing inhibit" after the conversion from MR-J3-
_T_ is as follows:
MR-J4-_A_-RJ: [Pr. PA19] = "00ABh"
Various offset parameters cannot be converted. Change the settings as
necessary.
MR-J4-_A_-RJ: [Pr. Po15]/[Pr. Po16]/[Pr. Po21]/[Pr. Po22]
Servo motor series can be selected in MR Configurator2 with software version
1.72A or later.
Because the servo parameters of MR-J3-_T _ and those of MR-J4-_A_-RJ are
not completely interchangeable, the conversion rules may not be applied. Check
the operations and review the settings as necessary.
If not using a conversion cable, disable the I/O signal assignment conversion of
the parameter converter function. The parameters related to I/O signal
assignment are not converted, so review the wiring and settings as required.
If using a conversion cable, enable the I/O signal assignment conversion of the
parameter converter function. The parameters related to I/O signal assignment
are converted in accordance with the control signal connection of the conversion
cable.
MR-J4-_A_-RJ: [Pr. PD03] to [Pr. PD28]
Contact Mitsubishi Electric System & Service Co., Ltd. for the specifications of
the conversion cable.
The parameter converter function converts the parameters related to the
input/output signal assignment of the MR-D01 extension I/O unit regardless of
whether the assignment conversion (parameter converter function) is enabled or
disabled.
MR-J4-_A_-RJ: [Pr. Po02] to [Pr. Po09]
When the geared servo motor is replaced, the reduction ratio may differ before
and after the replacement. Check the specifications of the servo motor and
review the electronic gear settings as necessary.
MR-J4-_A_-RJ: [Pr. PA06] to [Pr. PA07]
The following parameters will be converted to values according to the encoder
resolution of the servo motor.
MR-J4-_A_-RJ: [Pr. PA10]/[Pr. PA15]/[Pr. PA21]/[Pr. PC14]
When "HG series" is selected for servo motor series, the parameters will be
converted to values according to the encoder resolution of the HG motor.
When "HF-_P/HC-_P/HA-_P series" is selected for servo motor series, the
parameters will be converted to values according to the encoder resolution of
the HF-_P/HC-_P/HA-_P servo motor.

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Part 8: Common Reference Material

MR-J3-_T_ MR-J4-_A_-RJ
Conversion rule
No. Name Type Target No. Type Target
___X PT01 Hex ___X The setting value will be maintained.
When "HG series" is selected for
servo motor series, the setting value
will not be maintained.
When "HF-_P/HC-_P/HA-_P series" is
_X__ _X__ selected for servo motor series, the
PA01 Control mode Hex setting value will be converted as
PA01 Hex follows:
_ 0_ _ will be changed to _ 2_ _.
Otherwise, _ 0_ _ will be set.
0_ _ _ will be changed to _ _ _ 6.
X___ ___X The setting value other than above
will not be maintained.
PA02 Regenerative option Hex _ _ XX PA02 Hex _ _ XX The setting value will be maintained.
PA03 Absolute position detection system Hex ___X PA03 Hex ___X The setting value will be maintained.
PA04 Function selection A-1 Hex ___X PT02 Hex ___X The setting value will be maintained.
___X ___X The setting value will be maintained.
PT03 Hex
PA05 Feeding function selection Hex __X_ __X_ The setting value will be maintained.
_X__ PC29 Hex __X_ The setting value will be maintained.
Electric gear numerator Number of The setting value will be maintained.
PA06 Dec - PA06 Dec -
gear teeth on machine side
Electric gear denominator Number of The setting value will be maintained.
PA07 Dec - PA07 Dec -
gear teeth on servo motor side
PA08 Auto tuning mode Hex ___X PA08 Hex ___X The setting value will be maintained.
The value 4 is added to the setting
PA09 Auto tuning response Dec - PA09 Dec -
value.
When "HG series" is selected for
servo motor series, the setting value
will be converted as follows:
When PC24 is set to _ _ _ 0, the
setting value will be maintained.
When PC24 is set to _ _ _ 1, the
PA10 In-position range Dec - PA10 Dec -
setting value will be multiplied by 16.
The above value will be clamped at
65535.
When "HF-_P/HC-_P/HA-_P series" is
selected for servo motor series, the
setting value will be maintained.
PA11 Forward rotation torque limit Dec - PA11 Dec - The setting value will be maintained.
PA12 Reverse rotation torque limit Dec - PA12 Dec - The setting value will be maintained.
PA14 Rotation direction selection Dec - PA14 Dec - The setting value will be maintained.
When "HG series" is selected for servo
motor series, the setting value will be
converted as follows:
(1) When the setting value of PC19 is
_ _ 1 _, the value increases by 16
times.
PA15 Encoder output pulses Dec - PA15 Dec -
(2) When the setting value of PC19 is
other than _ _ 1 _, the setting
value will be maintained.
When "HF-_P/HC-_P/HA-_P series" is
selected for servo motor series, the
setting value will be maintained.
PA19 Parameter writing inhibit Hex XXXX PA19 Hex XXXX The setting value will be 00AB.
Adaptive tuning mode (adaptive filter The setting value will be maintained.
PB01 Hex ___X PB01 Hex ___X
II)
Vibration suppression control tuning The setting value will be maintained.
mode
PB02 Hex ___X PB02 Hex ___X
(advanced vibration suppression
control)
PB04 Feed forward gain Dec - PB04 Dec - The setting value will be maintained.

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Part 8: Common Reference Material

MR-J3-_T_ MR-J4-_A_-RJ
Conversion rule
No. Name Type Target No. Type Target
Ratio of load inertia to servo motor
PB06 Dec - PB06 Dec - One decimal place will be added.
inertia
PB07 Model loop gain Dec - PB07 Dec - One decimal place will be added.
PB08 Position loop gain Dec - PB08 Dec - One decimal place will be added.
PB09 Speed loop gain Dec - PB09 Dec - The setting value will be maintained.
PB10 Speed integral compensation Dec - PB10 Dec - The setting value will be maintained.
PB11 Speed differential compensation Dec - PB11 Dec - The setting value will be maintained.
Machine resonance suppression
PB13 Dec - PB13 Dec - The setting value will be maintained.
filter 1
__X_ __X_ The setting value will be maintained.
PB14 Notch shape selection 1 Hex PB14 Hex
_X__ _X__ The setting value will be maintained.
Machine resonance suppression
PB15 Dec - PB15 Dec - The setting value will be maintained.
filter 2
___X ___X The setting value will be maintained.
PB16 Notch shape selection 2 Hex __X_ PB16 Hex __X_ The setting value will be maintained.
_X__ _X__ The setting value will be maintained.
_ _ 01 will be changed to _ _ 00.
_ _ XX _ _ XX The setting value other than above
PB17 Automatic setting parameter Hex PB17 Hex
will be maintained.
_X__ _X__ The setting value will be maintained.
PB18 Low-pass filter setting Dec - PB18 Dec - The setting value will be maintained.
Vibration frequency for vibration
PB19 Dec - PB19 Dec - The setting value will be maintained.
suppression control
Resonance frequency for vibration
PB20 Dec - PB20 Dec - The setting value will be maintained.
suppression control
PB23 Low-pass filter selection Hex __X_ PB23 Hex __X_ The setting value will be maintained.
Slight vibration suppression
PB24 Hex ___X PB24 Hex ___X The setting value will be maintained.
control selection
___X ___X The setting value will be maintained.
PB26 Gain switching selection Hex PB26 Hex
__X_ __X_ The setting value will be maintained.
PB27 Gain switching condition Dec - PB27 Dec - The setting value will be maintained.
PB28 Gain switching time constant Dec - PB28 Dec - The setting value will be maintained.
Load to motor inertia ratio after
PB29 Dec - PB29 Dec - One decimal place will be added.
gain switching
Position loop gain after gain
PB30 Dec - PB30 Dec - One decimal place will be added.
switching
Speed loop gain after gain
PB31 Dec - PB31 Dec - The setting value will be maintained.
switching
Speed integral compensation after
PB32 Dec - PB32 Dec - The setting value will be maintained.
gain switching
Vibration frequency for vibration
PB33 suppression control after gain Dec - PB33 Dec - The setting value will be maintained.
switching
Resonance frequency for vibration
PB34 suppression control after gain Dec - PB34 Dec - The setting value will be maintained.
switching
PC02 Home position return type Hex ___X PT04 Hex ___X The setting value will be maintained.
PC03 Home position return direction Hex ___X PT04 Hex __X_ The setting value will be maintained.
PC04 Home position return speed Dec - PT05 Dec - The setting value will be maintained.
PC05 Creep speed Dec - PT06 Dec - The setting value will be maintained.
PC06 Home position shift distance Dec - PT07 Dec - The setting value will be maintained.
PC07 Home position return position data Dec - PT08 Dec - The setting value will be maintained.
PC08 Travel distance after proximity dog Dec - PT09 Dec - The setting value will be maintained.
Stopper type home position return
PC09 Dec - PT10 Dec - The setting value will be maintained.
stopper time
Stopper type home position return
PC10 Dec - PT11 Dec - The setting value will be maintained.
torque limit value
PC11 Rough match output range Dec - PT12 Dec - The setting value will be maintained.

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Part 8: Common Reference Material

MR-J3-_T_ MR-J4-_A_-RJ
Conversion rule
No. Name Type Target No. Type Target
PC12 Jog speed Dec - PT13 Dec - The setting value will be maintained.
S-pattern acceleration/deceleration
PC13 Dec - PC03 Dec - The setting value will be maintained.
time constants
When "HG series" is selected for
servo motor series, the setting value
will be multiplied by 16. The value will
PC14 Backlash compensation Dec - PT14 Dec - be clamped at 65535.
When "HF-_P/HC-_P/HA-_P series" is
selected for servo motor series, the
setting value will be maintained.
Electromagnetic brake sequence
PC16 Dec - PC16 Dec - The setting value will be maintained.
output
PC17 Zero speed Dec - PC17 Dec - The setting value will be maintained.
PC18 Alarm history clear Hex ___X PC18 Hex ___X The setting value will be maintained.
___X ___X The setting value will be maintained.
PC19 Encoder output pulses selection Hex PC19 Hex
__X_ __X_ The setting value will be maintained.
PC20 Station number setting Dec - PC20 Dec - The setting value will be maintained.
RS-422 communication function __X_ __X_ The setting value will be maintained.
PC21 Hex PC21 Hex
selection _X__ _X__ The setting value will be maintained.
PC22 Function selection C-1 Hex X___ PC22 Hex X___ The setting value will be maintained.
PC24 Function selection C-3 Hex ___X PC24 Hex ___X The setting value will be maintained.
PC26 Function selection C-5 Hex ___X PC26 Hex ___X The setting value will be maintained.
PC27 Function selection C-6 Hex ___X PC27 Hex ___X The setting value will be maintained.
___X ___X The setting value will be maintained.
PC28 Function selection C-7 Hex PT26 Hex
__X_ __X_ The setting value will be maintained.
PC31 Software limit + Dec - PT15 Dec - The setting value will be maintained.
PC32 Software limit + Dec - PT16 Dec - The setting value will be maintained.
PC33 Software limit - Dec - PT17 Dec - The setting value will be maintained.
PC34 Software limit - Dec - PT18 Dec - The setting value will be maintained.
PC35 Internal torque limit 2 Dec - PC35 Dec - The setting value will be maintained.
PC37 Position range output address + Dec - PT19 Dec - The setting value will be maintained.
PC38 Position range output address + Dec - PT20 Dec - The setting value will be maintained.
PC39 Position range output address - Dec - PT21 Dec - The setting value will be maintained.
PC40 Position range output address - Dec - PT22 Dec - The setting value will be maintained.
___X ___X The setting value will be maintained.
__X_ __X_ The setting value will be maintained.
PD01 Input signal automatic on selection 1 Hex PD01 Hex
_X__ _X__ The setting value will be maintained.
X___ X___ The setting value will be maintained.
___X ___X The setting value will be maintained.
PD03 Input signal automatic on selection 3 Hex __X_ PD41 Hex __X_ The setting value will be maintained.
X___ X___ The setting value will be maintained.
_X__ _X__ The setting value will be maintained.
PD04 Input signal automatic on selection 4 Hex PD42 Hex
X___ X___ The setting value will be maintained.
The setting value will be converted as
shown in table 8.1.
Input signal device selection 2 PD22
PD06 Hex _ _ XX Hex XX _ _ If the setting value is not listed in table
(CN6-2) (Note)
8.1, the value will be converted to 2B
_ _. (DOG)

Note. If the I/O signal assignment conversion is disabled, the initial value is used. If the I/O signal assignment conversion is enabled,
conversion is performed in accordance with the control signal connection of the conversion cable. Contact Mitsubishi Electric
System & Service Co., Ltd. for the specifications of the conversion cable.

8 - 70
Part 8: Common Reference Material

MR-J3-_T_ MR-J4-_A_-RJ
Conversion rule
No. Name Type Target No. Type Target
The setting value will be converted as
shown in table 8.1.
Input signal device selection 3 PD18
PD07 Hex _ _ XX Hex XX _ _ If the setting value is not listed in table
(CN6-3) (Note)
8.1, the value will be converted to 0A
_ _. (LSP)
The setting value will be converted as
shown in table 8.1.
Input signal device selection 4 PD20
PD08 Hex _ _ XX Hex XX _ _ If the setting value is not listed in table
(CN6-4) (Note)
8.1, the value will be converted to 0B
_ _. (LSN)
The setting value will be converted as
shown in table 8.2.
Output signal device selection 1 PD28
PD09 Hex _ _ XX Hex _ _ XX If the setting value is not listed in table
(CN6-14) (Note)
8.2, the value will be converted to _ _
02. (RD)
The setting value will be converted as
shown in table 8.2.
Output signal device selection 3 PD24
PD11 Hex _ _ XX Hex _ _ XX If the setting value is not listed in table
(CN6-16) (Note)
8.2, the value will be converted to _ _
24. (ZP)
PD16 Input polarity selection Hex ___X PT29 Hex ___X The setting value will be maintained.
PD19 Input filter setting Hex ___X PD29 Hex ___X The setting value will be maintained.
___X ___X The setting value will be maintained.
PD20 Function selection D-1 Hex __X_ PD30 Hex __X_ The setting value will be maintained.
_X__ _X__ The setting value will be maintained.
_ _ _ 0 will be changed to _ _ _ 2.
PD22 Function selection D-3 Hex ___X PD32 Hex ___X _ _ _ 1 will be changed to _ _ _ 0.
_ _ _ 2 will be changed to _ _ _ 1.
PD24 Function selection D-5 Hex __X_ PD34 Hex __X_ The setting value will be maintained.
The setting value will be maintained.
_ _ XX _ _ XX
The setting value will be maintained
MR-J3-D01 input signal device regardless of whether conversion of
Po02 Hex Po02 Hex
selection 1 (CN10-21，26) the input/output signal assignment
XX _ _ XX _ _ (parameter converter function) is
enabled or disabled.

Note. If the I/O signal assignment conversion is disabled, the initial value is used. If the I/O signal assignment conversion is enabled,
conversion is performed in accordance with the control signal connection of the conversion cable. Contact Mitsubishi Electric
System & Service Co., Ltd. for the specifications of the conversion cable.

8 - 71
Part 8: Common Reference Material

MR-J3-_T_ MR-J4-_A_-RJ
Conversion rule
No. Name Type Target No. Type Target
The setting value will be maintained.
_ _ XX _ _ XX
The setting value will be maintained
MR-J3-D01 input signal device regardless of whether conversion of
Po03 Hex Po03 Hex
selection 2 (CN10-27，28) the input/output signal assignment
XX _ _ XX _ _ (parameter converter function) is
enabled or disabled.
The setting value will be maintained.
_ _ XX _ _ XX
The setting value will be maintained
MR-J3-D01 input signal device regardless of whether conversion of
Po04 Hex Po04 Hex
selection 3 (CN10-29，30) the input/output signal assignment
XX _ _ XX _ _
(parameter converter function) is
enabled or disabled.
The setting value will be maintained.
_ _ XX _ _ XX
The setting value will be maintained
MR-J3-D01 input signal device regardless of whether conversion of
Po05 Hex Po05 Hex
selection 4 (CN10-31，32) the input/output signal assignment
XX _ _ XX _ _ (parameter converter function) is
enabled or disabled.
The setting value will be maintained.
_ _ XX _ _ XX
The setting value will be maintained
MR-J3-D01 input signal device regardless of whether conversion of
Po06 Hex Po06 Hex
selection 5 (CN10-33，34) the input/output signal assignment
XX _ _ XX _ _ (parameter converter function) is
enabled or disabled.
The setting value will be maintained.
_ _ XX _ _ XX
The setting value will be maintained
MR-J3-D01 input signal device regardless of whether conversion of
Po07 Hex Po07 Hex
selection 6 (CN10-35，36) the input/output signal assignment
XX _ _ XX _ _ (parameter converter function) is
enabled or disabled.
The setting value will be maintained.
_ _ XX _ _ XX
The setting value will be maintained
MR-J3-D01 output signal device regardless of whether conversion of
Po08 Hex Po08 Hex
selection 1 (CN10-46，47) the input/output signal assignment
XX _ _ XX _ _ (parameter converter function) is
enabled or disabled.
The setting value will be maintained.
_ _ XX _ _ XX
The setting value will be maintained
MR-J3-D01 output signal device regardless of whether conversion of
Po09 Hex Po09 Hex
selection 2 (CN10-48，49) the input/output signal assignment
XX _ _ XX _ _
(parameter converter function) is
enabled or disabled.
___X ___X The setting value will be maintained.
Po10 Function selection O-1 Hex _X__ Po10 Hex _X__ The setting value will be maintained.
X___ X___ The setting value will be maintained.
___X ___X The setting value will be maintained.
Po12 Function selection O-3 Hex Po12 Hex
__X_ __X_ The setting value will be maintained.
_ _ _ 0 will be changed to _ _ 00
_ _ _ 1 will be changed to _ _ 01
_ _ _ 2 will be changed to _ _ 02
_ _ _ 3 will be changed to _ _ 03
_ _ _ 4 will be changed to _ _ 04
_ _ _ 5 will be changed to _ _ 0E
_ _ _ 6 will be changed to _ _ 06
Po13 MR-J3-D01 analog monitor output 1 Hex ___X Po13 Hex _ _ XX
_ _ _ 7 will be changed to _ _ 07
_ _ _ 8 will be changed to _ _ 08
_ _ _ 9 will be changed to _ _ 09
_ _ _ A will be changed to _ _ 0A
_ _ _ B will be changed to _ _ 0B
_ _ _ C will be changed to _ _ 0C
_ _ _ D will be changed to _ _ 0D

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Part 8: Common Reference Material

MR-J3-_T_ MR-J4-_A_-RJ
Conversion rule
No. Name Type Target No. Type Target
_ _ _ 0 will be changed to _ _ 00
_ _ _ 1 will be changed to _ _ 01
_ _ _ 2 will be changed to _ _ 02
_ _ _ 3 will be changed to _ _ 03
_ _ _ 4 will be changed to _ _ 04
_ _ _ 5 will be changed to _ _ 0E
_ _ _ 6 will be changed to _ _ 06
Po14 MR-J3-D01 analog monitor output 2 Hex ___X Po14 Hex _ _ XX
_ _ _ 7 will be changed to _ _ 07
_ _ _ 8 will be changed to _ _ 08
_ _ _ 9 will be changed to _ _ 09
_ _ _ A will be changed to _ _ 0A
_ _ _ B will be changed to _ _ 0B
_ _ _ C will be changed to _ _ 0C
_ _ _ D will be changed to _ _ 0D
When "HG series" is selected for
servo motor series, the setting value
will be converted to 2 _ _ _.
- Function selection A-3 (Note) - - PA21 Hex X___ When "HF-_P/HC-_P/HA-_P series" is
selected for servo motor series, the
setting value will be converted to 0 _ _
_.

Note. Parameter name for MR-J4-_A_-RJ.

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Table 8.1 Input conversion rule ([Pr. PD_ _])

MR-J3-_T_ → MR-J4-_A_-RJ Symbol
_ _ 00 → 00 _ _ No assigned
function
_ _ 02 → 02_ _ SON
_ _ 03 → 03_ _ RES
_ _ 04 → 04_ _ PC
_ _ 05 → 05_ _ TL
_ _ 06 → 06_ _ CR
_ _ 07 → 07_ _ ST1
_ _ 08 → 08_ _ ST2
_ _ 09 → 09_ _ TL1
_ _ 0A → 0A_ _ LSP
_ _ 0B → 0B_ _ LSN
_ _ 0D → 0D_ _ CDP
_ _ 20 → 20_ _ MD0
_ _ 24 → 24_ _ TP0
_ _ 25 → 25_ _ TP1
_ _ 26 → 26_ _ OVR
_ _ 27 → 27_ _ TSTP
_ _ 28 → 28_ _ DOG
_ _ 2F → 2F_ _ SP3

Table 8.2 Output conversion rule ([Pr. PD_ _])

MR-J3-_T_ → MR-J4-_A_-RJ Symbol
_ _ 00 → 00 _ _ Always off
_ _ 02 → 02_ _ RD
_ _ 03 → 03_ _ ALM
_ _ 04 → 04_ _ INP
_ _ 05 → 05_ _ MBR
_ _ 06 → 06_ _ DB
_ _ 07 → 07_ _ TLC
_ _ 08 → 08_ _ WNG
_ _ 09 → 09_ _ BWNG
_ _ 0A → 0A_ _ SA
_ _ 0C → 0C_ _ ZSP
_ _ 0F → 0F_ _ CDPS
_ _ 23 → 23_ _ CPO
_ _ 24 → 24_ _ ZP
_ _ 25 → 25_ _ POT
_ _ 26 → 26_ _ PUS
_ _ 27 → 27_ _ MEND
_ _ 38 → 38_ _ PT0
_ _ 39 → 39_ _ PT1
_ _ 3A → 3A_ _ PT2
_ _ 3B → 3B_ _ PT3
_ _ 3C → 3C_ _ PT4
_ _ 3D → 3D_ _ PT5
_ _ 3E → 3E_ _ PT6
_ _ 3F → 3F_ _ PT7

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Part 8: Common Reference Material

2.2.8 Parameters that need to be checked after parameter conversion

The following parameters may be required to be reviewed depending on your usage.

Initial Setting
No. Name Description
value value
Forced stop deceleration function selection
To configure the same operation status as those for MR-
PA04 Function selection A-1 2000h 0_ _ _h
J3-_T_, select "0_ _ _: Forced stop deceleration function
disabled (EM1)".
PA06 Electronic gear numerator - - For geared servo motors, the actual reduction ratio may
differ before and after replacement. If they are different,
PA07 Electronic gear denominator - - consider the actual reduction ratio when setting.
When the value is over 4095 pulses with the in-position
range unit selection ([Pr. PC24]) of MR-J3-_T_ set to "_ _
_ 1: Servo motor encoder unit", the value will be converted
PA10 In-position range - - to 65535 pulses.
To use the same in-position range as before, set "_ _ _ 0:
Command input unit" and a value within the in-position
range considering the electronic gear setting value.
PA09 Auto tuning response - - Adjust the gain value again after the replacement.
The setting value after the conversion from MR-J3-_T_ is
PA19 Parameter write inhibit 00AAh 00ABh 00ABh.
Set the value as required.
If not using a conversion cable, disable the I/O signal
assignment conversion of the parameter converter
function. The parameters related to I/O signal
assignment are not converted, so review the wiring and
settings as required.
PD03 to If using a conversion cable, enable the I/O signal
I/O signal device selection - -
PD28 assignment conversion of the parameter converter
function. The parameters related to I/O signal
assignment are converted in accordance with the control
signal connection of the conversion cable.
Contact Mitsubishi Electric System & Service Co., Ltd. for
the specifications of the conversion cable.
Not converted by the parameter converter function.
Po15 MR-D01 analog monitor 1 offset - -
Set the value as required.
Not converted by the parameter converter function.
Po16 MR-D01 analog monitor 2 offset - -
Set the value as required.
Not converted by the parameter converter function.
Po21 MR-D01 override offset - -
Set the value as required.
Not converted by the parameter converter function.
Po22 MR-D01 analog torque limit offset - -
Set the value as required.
RS-422 communication - Previous model equivalent
selection
For communication commands, the status display and
reading/writing commands of input/output devices can be
PT01 Command mode selection 0000h 1_ _ _h
used with the same data numbers and bit assignment as in
MR-J3-_T_.
In this case, set "Enabled (equivalent to MR-J3-T)".
When "Enabled" is set, MR Configurator2 is not available.
When the setting value of MR-J3-_T_ is over 4095 pulses,
the value will be converted to 65535 pulses.
PT14 Backlash compensation - -
The compensation amount must be readjusted for
replacement.

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Part 8: Common Reference Material

2.2.9 Conversion rules (MR-J3-_T_ (CC-Link communication operation) ⇒ MR-J4-_GF_)

The following table lists the parameter conversion rules from MR-J3-_T_ (CC-Link communication operation)
to MR-J4-_GF_. Parameters not listed in the table use initial values.

Points
Before performing parameter conversion, set [Pr. PN03] of MR-J4-_GF_ to "_ _
_ 1" and set it to "I/O mode".
Parameter conversion from MR-J3-_T_ to MR-J4-_GF_ is available on servo
amplifiers with software version B0 or later. The software version can be
checked in the system configuration display of MR Configurator2.
The setting value for parameter writing prohibited after conversion from MR-J3-
_T_ is set as follows.
MR-J4-_GF_: [Pr. PA19] = "00ABh"
Offset parameters cannot be converted. Review the settings as required.
MR-J4-_GF_: [Pr. PC11]/[Pr. PC12]
Since the servo parameters of MR-J3-_T_ and MR-J4-_GF_ are not fully
compatible, some of the conversion rules specified below may not be applicable.
Check the operation status on customer side and review the settings as
required.
The specifications of the following parameters differ between MR-J3-_T_ and
MR-J4-_GF_. Check each servo amplifier instruction manual and review the
settings.
MR-J4-_GF_: [Pr. PA11]/[Pr. PA12]
When using servo forced stop with input signal automatic ON selection, the
setting method differs between MR-J3-_T_ and MR-J4-_GF_. Change the
setting with the following parameter.
MR-J4-_GF_: [Pr. PA04]
Some input devices cannot be automatically turned on with input signal
automatic ON selection of the following parameter. Input devices that cannot be
turned on automatically should always be turned on with the link device.
MR-J4-_GF_: [Pr. PD01]
The parameters related to I/O signal assignment are not converted, so review
the wiring and settings as required. Use a link device for I/O signals that cannot
be assigned.
MR-J4-_GF_: [Pr. PD03] to [Pr. PD05], [Pr. PD07] to [Pr. PD09]
When replacing a geared servo motor, the reduction ratio may differ before and
after the replacement. Check the servo motor specifications and review the
electronic gear settings as required.
MR-J4-_GF_: [Pr. PA06] to [Pr. PA07]
The following parameters are converted according to the encoder resolution of
the servo motor.
MR-J4-_GF_: [Pr. PA10]/[Pr. PA15]/[Pr. PA21] /[Pr. PT14]/[Pr. PT40]
When "HG series" is selected for servo motor series selection, parameters are
converted according to the encoder resolution of the HG motor.
When "HF-_P/HC-_P/HA-_P series" is selected for servo motor series selection,
parameters are converted according to the encoder resolution of the HF-_P/HC-
_P/HA-_P servo motor.

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Part 8: Common Reference Material

MR-J3-_T_ MR-J4-_GF_
Conversion rule
No. Name Type Model No. Type Model
If the setting value of PA01 is 1 _ _ _
(indexer method), the initial value will
___X PT01 Hex ___X be used.
If the setting value of PA01 is other
than the above, it will be inherited.
If "HG series" is selected for servo
motor series selection, the setting
value will not be inherited.
When "HF-_P/HC-_P/HA-_P series" is
PA01 Control mode Hex selected for servo motor series
_X__ _X__
selection, the conversion will be as
PA01 Hex follows.
_ 0_ _ will be converted to _ 2_ _.
For other than the above, _ 0_ _ will
be used.
0_ _ _ will be converted to _ _ _ 0.
X___ ___X 1_ _ _ will be converted to _ _ _ 8.
2_ _ _ will be converted to _ _ _ B.
PA02 Regenerative option Hex _ _ XX PA02 Hex _ _ XX The setting value will be inherited.
PA03 Absolute position detection system Hex ___X PA03 Hex ___X The setting value will be inherited.
PA05 Feeding function selection Hex ___X PT03 Hex ___X The setting value will be inherited.
Electronic gear numerator - Number
PA06 Dec - PA06 Dec - The setting value will be inherited.
of gear teeth on machine side
Electronic gear denominator -
PA07 Number of gear teeth on servo Dec - PA07 Dec - The setting value will be inherited.
motor side
PA08 Auto tuning mode Hex ___X PA08 Hex ___X The setting value will be inherited.
PA09 Auto tuning response Dec - PA09 Dec - 4 will be added to the setting value.
When "HG series" is selected for
servo motor series selection, the
conversion will be as follows.

When the setting value of PA01 is 0 _

_ _ (point table method)
(1) If PC24 is _ _ _ 0, the setting
value will be inherited.
(2) If PC24 is _ _ _ 1, the setting
value will be multiplied by 16.
PA10 In-position range Dec - PA10 Dec -
The above value will be clamped at
65535.

If the setting value of PA01 is other

than the above, it will be inherited.

If "HF-_P/HC-_P/HA-_P series" is
selected for servo motor series
selection, the setting value will be
inherited.
The setting value is not inherited.
MR-J3-_T_ and MR-J4-_GF_ have
PA11 Forward rotation torque limit Dec - PA11 Dec - different parameter specifications, so
check each instruction manual and
review the setting values.
The setting value is not inherited.
MR-J3-_T_ and MR-J4-_GF_ have
PA12 Reverse rotation torque limit Dec - PA12 Dec - different parameter specifications, so
check each instruction manual and
review the setting values.
Hex: Hexadecimal parameter, Dec: Decimal parameter

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Part 8: Common Reference Material

MR-J3-_T_ MR-J4-_GF_
Conversion rule
No. Name Type Model No. Type Model
PA14 Rotation direction selection Dec - PA14 Dec - The setting value will be inherited.
When "HG series" is selected for
servo motor series selection, the
conversion will be as follows.
(1) When the setting value of PC19 is
_ _ 1 _, the setting value will be
multiplied by 16.
PA15 Encoder output pulses Dec - PA15 Dec - (2) If the setting value of PC19 is
other than _ _ 1 _, the setting
value will be inherited.
If "HF-_P/HC-_P/HA-_P series" is
selected for servo motor series
selection, the setting value will be
inherited.
PA19 Parameter writing inhibit Hex XXXX PA19 Hex XXXX The setting value will be 00AB.
Adaptive tuning mode (adaptive filter
PB01 Hex ___X PB01 Hex ___X The setting value will be inherited.
II)
Vibration suppression control tuning
PB02 mode (advanced vibration Hex ___X PB02 Hex ___X The setting value will be inherited.
suppression control)
PB04 Feed forward gain Dec - PB04 Dec - The setting value will be inherited.
PB06 Load to motor inertia ratio Dec - PB06 Dec - One decimal place will be added.
PB07 Model control gain Dec - PB07 Dec - One decimal place will be added.
PB08 Position control gain Dec - PB08 Dec - One decimal place will be added.
PB09 Speed control gain Dec - PB09 Dec - The setting value will be inherited.
PB10 Speed integral compensation Dec - PB10 Dec - The setting value will be inherited.
PB11 Speed differential compensation Dec - PB11 Dec - The setting value will be inherited.
Machine resonance suppression
PB13 Dec - PB13 Dec - The setting value will be inherited.
filter 1
__X_ __X_ The setting value will be inherited.
PB14 Notch shape selection 1 Hex PB14 Hex
_X__ _X__ The setting value will be inherited.
Machine resonance suppression
PB15 Dec - PB15 Dec - The setting value will be inherited.
filter 2
___X ___X The setting value will be inherited.
PB16 Notch shape selection 2 Hex __X_ PB16 Hex __X_ The setting value will be inherited.
_X__ _X__ The setting value will be inherited.
_ _ 01 will be converted to _ _ 00.
_ _ XX _ _ XX If the setting value is other than the
PB17 Automatic setting parameter Hex PB17 Hex
above, it will be inherited.
_X__ _X__ The setting value will be inherited.
PB18 Low-pass filter setting Dec - PB18 Dec - The setting value will be inherited.
Vibration suppression control -
PB19 Dec - PB19 Dec - The setting value will be inherited.
Vibration frequency
Vibration suppression control -
PB20 Dec - PB20 Dec - The setting value will be inherited.
Resonance frequency
PB23 Low-pass filter selection Hex __X_ PB23 Hex __X_ The setting value will be inherited.
Slight vibration suppression control
PB24 Hex ___X PB24 Hex ___X The setting value will be inherited.
selection
___X ___X The setting value will be inherited.
PB26 Gain switching selection Hex PB26 Hex
__X_ __X_ The setting value will be inherited.
PB27 Gain switching condition Dec - PB27 Dec - The setting value will be inherited.
PB28 Gain switching time constant Dec - PB28 Dec - The setting value will be inherited.
Load to motor inertia ratio after gain
PB29 Dec - PB29 Dec - One decimal place will be added.
switching
Position loop gain after gain
PB30 Dec - PB30 Dec - One decimal place will be added.
switching
PB31 Speed loop gain after gain switching Dec - PB31 Dec - The setting value will be inherited.
Speed integral compensation after
PB32 Dec - PB32 Dec - The setting value will be inherited.
gain switching
Hex: Hexadecimal parameter, Dec: Decimal parameter

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Part 8: Common Reference Material

MR-J3-_T_ MR-J4-_GF_
Conversion rule
No. Name Type Model No. Type Model
Vibration frequency for vibration
PB33 suppression control after gain Dec - PB33 Dec - The setting value will be inherited.
switching
Resonance frequency for vibration
PB34 suppression control after gain Dec - PB34 Dec - The setting value will be inherited.
switching
PC02 Home position return type Hex ___X (1) When the setting value of PA01 is
0 _ _ _ (point table method)
(a) If the setting value of PC03 is _ _
_ 0, it will be converted as follows.
_ _ _ 0 will be converted to -1.
_ _ _ 1 will be converted to -2.
_ _ _ 2 will be converted to 37.
_ _ _ 3 will be converted to -4.
_ _ _ 4 will be converted to -5.
_ _ _ 5 will be converted to -6.
_ _ _ 6 will be converted to -7.
_ _ _ 7 will be converted to -8.
_ _ _ 8 will be converted to -9.
_ _ _ 9 will be converted to -10.
_ _ _ A will be converted to -11.
For other than the above, it will be
converted to the initial value.
(b) If the setting value of PC03 is _ _
_ 1, it will be converted as follows.
_ _ _ 0 will be converted to -33.
_ _ _ 1 will be converted to -34.
_ _ _ 2 will be converted to 37.
_ _ _ 3 will be converted to -36.
_ _ _ 4 will be converted to -5.
PT45 Dec - _ _ _ 5 will be converted to -38.
PC03 Homing direction Hex ___X
_ _ _ 6 will be converted to -39.
_ _ _ 7 will be converted to -40.
_ _ _ 8 will be converted to -41.
_ _ _ 9 will be converted to -42.
_ _ _ A will be converted to -43.
For other than the above, it will be
converted to the initial value.
(2) When the setting value of PA01 is
1 _ _ _ (indexer method)
(a) If the setting value of PC03 is _ _
_ 0, it will be converted as follows.
_ _ _ C will be converted to -1.
_ _ _ D will be converted to -3.
For other than the above, it will be
converted to 37 (initial value).
(b) When the setting value of PC03 is
___1
_ _ _ C will be converted to -33.
_ _ _ D will be converted to -3.
For other than the above, it will be
converted to 37 (initial value).
If the setting value of PA01 is other
than the above, it will be converted to
the initial value.
PC04 Homing speed Dec - PT05 Dec - Two decimal places will be added.
PC05 Creep speed Dec - PT06 Dec - Two decimal places will be added.
PC06 Home position shift distance Dec - PT07 Dec - The setting value will be inherited.
Hex: Hexadecimal parameter, Dec: Decimal parameter

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Part 8: Common Reference Material

MR-J3-_T_ MR-J4-_GF_
Conversion rule
No. Name Type Model No. Type Model
PT08 If PC07 is 0 or more, it will be
converted as follows.
For PT08, the setting value will be
inherited.
For PT47, the setting value will be
PC07 Homing position data Dec - Dec - converted to 0.
PT47
If PC07 is less than 0, it will be
converted as follows.
For PT08, 65536 will be added to
the setting value.
For PT47, it will be converted to -1.
PC08 Travel distance after proximity dog Dec - PT09 Dec - The setting value will be inherited.
Stopper type home position return -
PC09 Dec - PT10 Dec - The setting value will be inherited.
Stopper time
Stopper type home position
PC10 Dec - PT11 Dec - The setting value will be inherited.
return - Torque limit value
PC11 Rough match output range Dec - PT12 Dec - The setting value will be inherited.
PC12 JOG speed Dec - PT65 Dec - The setting value will be inherited.
S-pattern acceleration/deceleration
PC13 Dec - PT51 Dec - The setting value will be inherited.
time constants
When "HG series" is selected for
servo motor series selection, the
setting value will be multiplied by 16
before being converted. This value
PC14 Backlash compensation Dec - PT14 Dec - will be clamped at 65535.
If "HF-_P/HC-_P/HA-_P series" is
selected for servo motor series
selection, the setting value will be
inherited.
Electromagnetic brake sequence
PC16 Dec - PC02 Dec - The setting value will be inherited.
output
PC17 Zero speed Dec - PC07 Dec - The setting value will be inherited.
PC18 Alarm history clear Hex ___X PC21 Hex ___X The setting value will be inherited.
___X ___X The setting value will be inherited.
_ _ 2 _ will be converted to _ _ 0 _.
PC19 Encoder output pulses selection Hex PC03 Hex
__X_ __X_ If the setting value is other than the
above, it will be inherited.
PC22 Function selection C-1 Hex X___ PC04 Hex X___ The setting value will be inherited.
PC24 Function selection C-3 Hex ___X PC06 Hex ___X The setting value will be inherited.
PC26 Function selection C-5 Hex ___X PC19 Hex ___X The setting value will be inherited.
___X ___X The setting value will be inherited.
PC28 Function selection C-7 Hex PT26 Hex
__X_ __X_ The setting value will be inherited.
Remote register-based ___X ___X The setting value will be inherited.
PC30 position/speed specifying method Hex __X_ PT62 Hex __X_ The setting value will be inherited.
selection _X__ _X__ The setting value will be inherited.
The value of PC32 x 1000 + PC31 will
be converted from signed decimal to
PC31 Software limit + Dec - PT15 Dec - hexadecimal.
After the value is converted to
hexadecimal, the lower 4 digits are set.
The value of PC32 x 1000 + PC31 will
be converted from signed decimal to
hexadecimal.
PC32 Software limit + Dec - PT16 Dec -
After the value is converted to
hexadecimal, the upper 4 digits are
set.
The value of PC34 x 1000 + PC33 will
be converted from signed decimal to
PC33 Software limit - Dec - PT17 Dec - hexadecimal.
After the value is converted to
hexadecimal, the lower 4 digits are set.
Hex: Hexadecimal parameter, Dec: Decimal parameter

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Part 8: Common Reference Material

MR-J3-_T_ MR-J4-_GF_
Conversion rule
No. Name Type Model No. Type Model
The value of PC34 x 1000 + PC33 will
be converted from signed decimal to
hexadecimal.
PC34 Software limit - Dec - PT18 Dec -
After the value is converted to
hexadecimal, the upper 4 digits are
set.
The setting value is not inherited.
MR-J3-_T_ and MR-J4-_GF_ have
PC35 Internal torque limit 2 Dec - PC77 Dec - different parameter specifications, so
check each instruction manual and
review the setting values.
The value of PC38 x 1000 + PC37 will
be converted from signed decimal to
PC37 Position range output address + Dec - PT19 Dec - hexadecimal.
After the value is converted to
hexadecimal, the lower 4 digits are set.
The value of PC38 x 1000 + PC37 will
be converted from signed decimal to
hexadecimal.
PC38 Position range output address + Dec - PT20 Dec -
After the value is converted to
hexadecimal, the upper 4 digits are
set.
The value of PC40 x 1000 + PC39 will
be converted from signed decimal to
PC39 Position range output address - Dec - PT21 Dec - hexadecimal.
After the value is converted to
hexadecimal, the lower 4 digits are set.
The value of PC40 x 1000 + PC39 will
be converted from signed decimal to
hexadecimal.
PC40 Position range output address - Dec - PT22 Dec -
After the value is converted to
hexadecimal, the upper 4 digits are
set.
PC45 Function selection C-9 Hex ___X PT27 Hex __X_ The setting value will be inherited.
Number of stations/rotation for Unsigned hexadecimal will be
PC46 Hex XXXX PT28 Dec -
indexer positioning operation converted to decimal.
When "HG series" is selected for
servo motor series selection, the
conversion will be as follows.
Signed hexadecimal will be converted
to decimal. If the value is within -2000
to 2000 after conversion to decimal, it
will be multiplied by 16 before being
set.
If the setting value after conversion is
less than -2000 or more than 2000, it
Station home position shift distance will not be inherited.
PC47 Hex XXXX PT40 Dec -
for indexer positioning operation When "HF-_P/HC-_P/HA-_P series" is
selected for servo motor series
selection, the conversion will be as
follows.
Signed hexadecimal will be converted
to decimal. If the setting value is
within -2000 to 2000 after conversion
to decimal, it will be inherited.
If the setting value after conversion is
less than -2000 or more than 2000, it
will not be inherited.
PC50 Function selection C-A Hex ___X PT62 Hex X___ The setting value will be inherited.
Hex: Hexadecimal parameter, Dec: Decimal parameter

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Part 8: Common Reference Material

MR-J3-_T_ MR-J4-_GF_
Conversion rule
No. Name Type Model No. Type Model
(Bin) _ 0 _ _ will be converted to (Bin)
_ 0 _ _.
(Bin) _ 1 _ _ will be converted to (Bin)
_ 1 _ _. (LSP automatic on)
_X__ PD01 Hex _X__
(Bin) 0 _ _ _ will be converted to (Bin)
Input signal automatic ON selection 0 _ _ _.
PD01 Hex
1 (Bin) 1 _ _ _ will be converted to (Bin)
1 _ _ _. (LSN automatic on)
(Bin) _ _ _ 0 will be converted to _ 0 _
_.
X___ PA04 Hex X___
(Bin) _ _ _ 1 will be converted to _ 1 _
_. (EM2 disabled)
When the setting value of PA01 is 1 _
_ _ (indexer method)
_ _ _ 0 will be converted to (Bin) _ _ _
1. (Dog detection with off)
PD16 Input polarity selection Hex ___X PT29 Hex ___X
_ _ _ 1 will be converted to (Bin) _ _ _
0. (Dog detection with on)
If the setting value of PA01 is other
than the above, it will be inherited.
PD19 Input filter setting Hex ___X PD29 Hex ___X The setting value will be inherited.
___X ___X The setting value will be inherited.
PD20 Function selection D-1 Hex PD12 Hex
_X__ _X__ The setting value will be inherited.
_ _ _ 0 will be converted to _ _ _ 2.
PD22 Function selection D-3 Hex ___X PD42 Hex ___X _ _ _ 1 will be converted to _ _ _ 0.
_ _ _ 2 will be converted to _ _ _ 1.
PD24 Function selection D-5 Hex __X_ PD14 Hex __X_ The setting value will be inherited.
Unsigned hexadecimal will be
CC-Link/CC-Link IE communication
converted to decimal. If the value
PD25 error (A8D) detection time Hex XXXX PN02 Dec -
exceeds 1000, it will be clamped at
1000.
Unsigned hexadecimal will be
Torque limit delay time for indexer converted to decimal.
PD26 Hex XXXX PT39 Dec -
positioning operation The above value will be clamped at
1000.
When "HG series" is selected for
servo motor series selection, the
conversion will be as follows.
When the setting value of PA01 is 0
_ _ _ (point table method)
It will be converted to 2 _ _ _.
- Function selection A-3 (Note) - - PA21 Hex X___ If the setting value of PA01 is other
than the above, it will be converted
to the initial value.
When " HF-_P/HC-_P/HA-_P series "
is selected for servo motor series
selection, the setting value will be
converted to 0 _ _ _.
Hex: Hexadecimal parameter, Dec: Decimal parameter
Note. This is the parameter name on MR-J4-_GF_.

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2.2.10 Parameters requiring check after parameter conversion

The following parameters may need to be reviewed depending on how the customer uses them.
Initial Setting
No. Name Detailed explanation
value value
Servo forced stop selection
When "Forced stop (EMG)" is set to "Automatic ON" in [Pr.
_ 0 _ _h PD01] on MR-J3-_T_, it is set to "1: Disabled (the forced
stop input EM2 and EM1 are not used)" on MR-J4-_GF.
PA04 Function selection A-1 2000h Review the settings as required.
Forced stop deceleration function selection
To make the operation status similar to that of MR-J3-_T_,
0_ _ _h
set this to "0 _ _ _: Forced stop deceleration function
disabled (EM1 is used)".
PA06 Electronic gear numerator - - For geared servo motors, the actual reduction ratio may
differ before and after replacement. If they are different,
PA07 Electronic gear denominator - - consider the actual reduction ratio when setting.
PA09 Auto tuning response - - When replacing, it is necessary to adjust the gain again.
<For point table positioning operation>
If "_ _ _ 1: Servo motor detector unit" is selected for "In-
position range unit selection" in [Pr. PC24] of MR-J3-_T_
and the value exceeds 4095 [pulse], the value will be
converted to 65535 [pulse].
If using the same in-position range as before, set [Pr.
PC24] of MR-J3-_T_ to "_ _ _ 0: Command input unit" and
PA10 In-position range - - set the in-position range value considering the setting
value of the electronic gear.
<For indexer positioning operation>
It will be converted to the command input unit regardless
of the setting value of [Pr. PC24] in MR-J3-_T_.
If the setting value is out of the parameter range, it will be
converted to 65535 [pulse].
Check the device for any problems.
PA11 Forward rotation torque limit - - It will not be converted by the parameter converter function.
MR-J3-_T_ and MR-J4-_GF_ have different parameter
PA12 Reverse rotation torque limit - - specifications, so check each servo amplifier instruction
manual and review the setting values.
PC11 Analog monitor 1 offset - - It will not be converted by the parameter converter function.
PC12 Analog monitor 2 offset - - Perform the settings as required.
After conversion from MR-J3-_T_, it will be set to 00ABh.
PA19 Parameter writing inhibit 00AAh 00ABh
Perform the settings as required.
Speed monitor unit selection
It will not be converted by the parameter converter function.
PC29 Function selection C-B 0000h - MR-J3-_T_ and MR-J4-_GF_ have different parameter
specifications, so set "_ _ 0_: r/min unit" or "_ _ 1_: 0.01
r/min unit" as required.
It will not be converted by the parameter converter function.
MR-J3-_T_ and MR-J4-_GF_ have different parameter
PC77 Internal torque limit 2 - -
specifications, so check each servo amplifier instruction
manual and review the setting values.
Some input devices cannot be converted by the parameter
Input signal automatic ON converter function.
PD01 - -
selection 1 Input devices that cannot be turned on automatically
should always be turned on with the link device.
It will not be converted by the parameter converter function.
PD03 to PD05 Input device selection 1 to 3
- - Review the settings as required.
PD07 to PD09 Output device selection 1 to 3
Use a link device for I/O signals that cannot be assigned.

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Part 8: Common Reference Material

Initial Setting
No. Name Detailed explanation
value value
Sensor input method selection
It will not be converted by the parameter converter function.
On MR-J4-_GF_, the proximity dog and stroke limit input
PD41 Function selection D-4 0000h -
method cannot be selected individually.
Set "0_ _ _: Input from servo amplifier (LSP/LSN/DOG)" or
"1_ _ _: Input from controller (FLS/RLS/DOG)" as required.
If [Pr. PC24] of MR-J3-_T_ exceeds 4095 [pulse], it will be
converted to 65535 [pulse].
PT14 Backlash compensation - -
When replacing, it is necessary to adjust the compensation
again.

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Part 8: Common Reference Material

2.3 MR-J3-_B_ and MR-J3W-_B Parameter Diversion Procedure

The parameter converter functions of GX Works2 and MT Developer2 convert the servo parameters of MR-
J3-_B_ and MR-J3W-_B to those of MR-J4-_B_ MR-J4W2-_B and when the controller is changed.
(GX Works2: 1.84N or later, MT Developer2: 1.41T or later)

POINT
Parameters common to MR-J3-_B_, MR-J3W-_B, MR-J4-_B_ and MR-J4W2-_B
are the conversion targets.
The initial value of MR-J4-_B_ and MR-J4W2-_B is set for additional parameters
of MR-J4-_B_ and MR-J4W2-_B.

(Target model)
Positioning module QD75MH to Simple Motion module QD77MS/LD77MS
Motion controller Q17nHCPU/Q17nDCPU/Q170MCPU to Q17nDSCPU/Q170MSCPU(-S1)

Change controller
(parameter converter)

Project file

GX Configurator-QP GX Works2 (Simple Motion module setting tool)

SW3RNC-GSV
MT Developer2
SW6RNC-GSV
Change MR-J3-_B_/MR-J3W-_B to MR-J4-_B_/MR-J4W2-_B

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Part 8: Common Reference Material

2.3.1 Changing QD75MH to QD77MS/LD77MS

(1) Start GX Works2 and create a project.

(2) Right-click [Intelligent Function Module] in the Navigation window and select [New Module] to add the
simple motion module QD77MS/LD77MS.

(3) Double-click [Simple Motion Module Setting] of the added simple motion module to start the simple
motion module setting tool.

(4) Read the GX Configurator-QP data.

Click [Project] - [Import Other Format data] from the menu to display the screen for reading GX
Configurator-QP data. Specify and read QD75MH data.

When using QD75MH data made on GX Works2, save the QD75 data as GX Configurator-QP data on
GX Works2 and perform the above operation.

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Part 8: Common Reference Material

(5) Specify the target module.

Specify the model and the head XY address of the target module and then click the [OK] button.

(6) Execute servo parameter conversion.

Select "Conversion Target Servo Amplifier Setting" and "Conversion Target Servo Motor Series Setting",
and click the [OK] button.
The servo parameters are converted as follows in accordance with the SSCNET settings.
When "SSCNET III/H" is selected: MR-J3-_B_ is converted to MR-J4-_B_, and MR-J3W-_B is converted
to MR-J4W2-_B.
When "SSCNETⅢ" is selected: MR-J3-_B_ and MR-J3W-_B data are used without conversion.

"Conversion Target Servo Motor Series

Setting" can be used with software version
1.590Q or later of GX Works2.

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Part 8: Common Reference Material

2.3.2 Changing Q17nHCPU/Q17nDCPU/Q170MCPU to Q17nDSCPU/Q170MSCPU(-S1)

POINT
"Conversion Target Servo Motor Series Setting" is available in MT Developer2
with software version 1.150G or later.

(1) Start MT Developer2.

(2) Select the source project.

Click [Project] - [Divert File] - [Diversion of Other Format Project] from the menu to display the Diversion
of Other Format Project window. Click the [Browse] button and select a source project.
To divert an MT Developer2 project, click [Project] - [Divert File] - [Utilize MT Developer file format
Project] from the menu.

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Part 8: Common Reference Material

(3) Execute file diversion.

Select the CPU type, OS type, and Operation method in the CPU/OS selection, and click the [Diversion]
button.

(4) Execute servo parameter conversion.

"Conversion target servo amplifier setting" and "conversion target servo motor series setting" and click
the [OK] button. (The figure shows an example of two SSCNET lines.)
The servo parameters are converted as follows depending on the target servo amplifier setting.
When "SSCNET III/H" is selected, MR-J3-_B_ is converted to MR-J4-_B_, MR-J3W-_B is converted to
MR-J4W2-_B
When "SSCNET III" is selected: Utilize the MR-J3-_B_ and MR-J3W-_B data without conversion.

"Conversion Target Servo Motor

Series Setting" is available in MT
Developer2 with software version
1.150G or later.

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Part 8: Common Reference Material

2.3.3 Conversion rules (MR-J3-_B_ and MR-J3W-_B => MR-J4-_B_ and MR-J4W2-_B)

(1) Conversion rules (MR-J3-_B_ (standard) and MR-J3W-_B (standard) => MR-J4-_B_ (standard) and MR-
J4W2-_B (standard))
The following table shows the servo parameter conversion rules from MR-J3-_B_ (standard) and MR-
J3W-_B (standard) to MR-J4- _B_ (standard) and MR-J4W2-_B (standard).
Servo parameters not specified in the following table will be set to the initial values.

POINT
Because the servo parameters of MR-J3-_B_/MR-J3W-_B and those of MR-J4-
_B_/MR-J4W2-_B are not completely interchangeable, the conversion rules may
not be applied. Check the operations and review the settings as necessary.
The parameter writing inhibit after parameter conversion is the initial value (the
following setting value).
MR-J4-_B_ and MR-J3W-_B: [Pr. PA19 Parameter writing inhibit] = "00ABh"
Various offset parameters cannot be converted. Change the settings as
necessary.
MR-J4-_B_ and MR-J3W-_B: [Pr. PC11]/[Pr. PC12]
When the geared servo motor is replaced, the reduction ratio may differ before
and after the replacement. Check the specifications of the servo motor and
review the electronic gear settings as necessary. For the electronic gear
settings, refer to the controller instruction manual.
The following parameters will be converted to values according to the encoder
resolution of the servo motor.
MR-J4-_B_: [Pr. PA10]/[Pr. PA15]/[Pr. PC13]/[Pr. PC14]/[Pr. PE05]/[Pr. PE35]
When "Servo Motor for MR-J4" is selected in "Conversion Target Servo Motor
Series Setting" on the MT Developer2 screen as shown in section 2.3.2 (4), the
parameters will be converted to values according to the encoder resolution of
the HG motor.
When "Servo Motor for MR-J3" is selected in "Conversion Target Servo Motor
Series Setting"，the parameters will be converted to values according to the
encoder resolution of the HF-_P/HC-_P/HA-_P servo motor.

"Conversion Target Servo Motor Series Setting" is available in MT Developer2

with software version 1.150G or later.
Some parameters are not supported depending on the software version of the
servo amplifier. Refer to section 2.3.4 for details.
Refer to section 2.3.4 (2) for differences between the servo parameters of MR-
J3-_B_ and MR-J3W-_B.

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Part 8: Common Reference Material

MR-J3-_B_/MR-J3W-_B MR-J4-_B_/MR-J4W2-_B
Conversion rules
No. Name Type Target No. Type Target
When "Servo Motor for MR-J4" is
selected in "Conversion Target
Servo Motor Series Setting" on the
MT Developer2 screen, the setting
value will not be maintained.
When "Servo Motor for MR-J3" is
selected in "Conversion Target
Servo Motor Series Setting" on the
MT Developer2 screen, the setting
PA01 Control mode Hex _X__ PA01 Hex _X__ value will be converted as follows:
_ 0_ _ will be changed to_ 2_ _.
_ 4_ _ will be changed to_ 2_ _.
The setting value other than the
above will be _0_ _.
Selecting "Servo Motor for MR-J4" or
"Servo Motor for MR-J3" for
conversion is available in MT
Developer2 with software version
1.150G or later.
PA02 Regenerative option Hex _ _ XX PA02 Hex _ _ XX The setting value will be maintained.
PA03 Absolute position detection system Hex ___X PA03 Hex ___X The setting value will be maintained.
PA04 Function selection A-1 Hex _ X_ _ PA04 Hex _ X_ _ The setting value will be maintained.
PA08 Auto tuning mode Hex ___X PA08 Hex ___X The setting value will be maintained.
The value 4 is added to the setting
PA09 Auto tuning response Dec - PA09 Dec -
value.
When "Servo Motor for MR-J4" is
selected in "Conversion Target
Servo Motor Series Setting" on the
MT Developer2 screen, the setting
value will be converted as follows:
The setting value will increase by 16
times when it is 4095 or smaller.
The setting value other than the
above will be 65535.
PA10 In-position range Dec - PA10 Dec - When "Servo Motor for MR-J4" is
selected in "Conversion Target
Servo Motor Series Setting" on the
MT Developer2 screen, the setting
value will be maintained.
Selecting "Servo Motor for MR-J4" or
"Servo Motor for MR-J3" for
conversion is available in MT
Developer2 with software version
1.150G or later.
PA14 Rotation direction selection Dec - PA14 Dec - The setting value will be maintained.

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Part 8: Common Reference Material

MR-J3-_B_/MR-J3W-_B MR-J4-_B_/MR-J4W2-_B
Conversion rules
No. Name Type Target No. Type Target
When "Servo Motor for MR-J4" is
selected in "Conversion Target
Servo Motor Series Setting" on the
MT Developer2 screen, the setting
value will be converted as follows:
When the setting value of PC03 is _
_ 1_, the setting value of PA15 is
increased by 16 times.
However, when the value is 65535 or
larger, the setting value will be
65535.
PA15 Encoder output pulses Dec - PA15 Dec - When the setting value of PC03 is
other than _ _1_, it will be
maintained.
When "Servo Motor for MR-J4" is
selected in "Conversion Target
Servo Motor Series Setting" on the
MT Developer2 screen, the setting
value will be maintained. Selecting
"Servo Motor for MR-J4" or "Servo
Motor for MR-J3" for conversion is
available in MT Developer2 with
software version 1.150G or later.
Adaptive tuning mode
PB01 Hex ___X PB01 Hex ___X The setting value will be maintained.
(Adaptive filter II)
Vibration suppression control
PB02 tuning mode (advanced vibration Hex ___X PB02 Hex ___X The setting value will be maintained.
suppression control)
PB04 Feed forward gain Dec - PB04 Dec - The setting value will be maintained.
Ratio of load inertia moment to
PB06 Dec - PB06 Dec - One decimal place will be added.
servo motor inertia moment
PB07 Model loop gain Dec - PB07 Dec - One decimal place will be added.
PB08 Position loop gain Dec - PB08 Dec - One decimal place will be added.
PB09 Speed loop gain Dec - PB09 Dec - The setting value will be maintained.
PB10 Speed integral compensation Dec - PB10 Dec - The setting value will be maintained.
PB11 Speed differential compensation Dec - PB11 Dec - The setting value will be maintained.
PB12 Overshoot amount compensation Dec - PB12 Dec - The setting value will be maintained.
Machine resonance suppression
PB13 Dec - PB13 Dec - The setting value will be maintained.
filter 1
PB14 Notch shape selection 1 Hex _ XX_ PB14 Hex _ XX_ The setting value will be maintained.
PB15 Machine resonance suppression Dec PB15 Dec
- - The setting value will be maintained.
filter 2
PB16 Notch shape selection 2 Hex _ XXX PB16 Hex _ XXX The setting value will be maintained.
_ _ XX _ _ XX _ _ 01 will be changed to _ _ 00.
PB17 Automatic setting parameter Hex PB17 Hex Otherwise, the setting value will be
_ X_ _ _ X_ _
maintained.
PB18 Low-pass filter setting Dec - PB18 Dec - The setting value will be maintained.
Vibration suppression control
PB19 Dec - PB19 Dec - The setting value will be maintained.
vibration frequency setting
PB20 Vibration suppression control Dec - PB20 Dec -
The setting value will be maintained.
resonance frequency setting
PB23 Low-pass filter selection Hex _ _ X_ PB23 Hex _ _ X_ The setting value will be maintained.
Slight vibration suppression control
PB24 Hex _ _ XX PB24 Hex _ _ XX The setting value will be maintained.
selection
PB26 Gain changing selection Hex _ _ XX PB26 Hex _ _ XX The setting value will be maintained.
PB27 Gain changing condition Dec - PB27 Dec - The setting value will be maintained.
PB28 Gain changing time constant Dec - PB28 Dec - The setting value will be maintained.
Gain changing ratio of load inertia
PB29 moment to servo motor inertia Dec - PB29 Dec - One decimal place will be added.
moment

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Part 8: Common Reference Material

MR-J3-_B_/MR-J3W-_B MR-J4-_B_/MR-J4W2-_B
Conversion rules
No. Name Type Target No. Type Target
PB30 Gain changing position loop gain Dec - PB30 Dec - One decimal place will be added.
PB31 Gain changing speed loop gain Dec - PB31 Dec - The setting value will be maintained.
Gain changing speed integral
PB32 Dec - PB32 Dec - The setting value will be maintained.
compensation
Gain changing vibration
PB33 suppression control vibration Dec - PB33 Dec - The setting value will be maintained.
frequency setting
Gain changing vibration
PB34 suppression control resonance Dec - PB34 Dec - The setting value will be maintained.
frequency setting
PB45 Vibration suppression control filter 2 Hex _ XXX PB45 Hex _ XXX The setting value will be maintained.
PC01 Error excessive alarm level Dec - PC01 Dec - The setting value will be maintained.
Electromagnetic brake sequence
PC02 Dec - PC02 Dec - The setting value will be maintained.
output
PC03 Encoder output pulses selection Hex _ _ XX PC03 Hex _ _ XX The setting value will be maintained.
PC04 Function selection C-1 Hex X_ _ _ PC04 Hex X_ _ _ The setting value will be maintained.
PC05 Function selection C-2 Hex ___X PC05 Hex ___X The setting value will be maintained.
PC06 Function selection C-3 Hex X_ _ _ PC06 Hex X_ _ _ The setting value will be maintained.
PC07 Zero speed Dec - PC07 Dec - The setting value will be maintained.
PC09 Analog monitor 1 output Hex ___X PC09 Hex ___X The setting value will be maintained.
PC10 Analog monitor 2 output Hex ___X PC10 Hex ___X The setting value will be maintained.
When "Servo Motor for MR-J4" is
selected in "Conversion Target
Servo Motor Series Setting" on the
MT Developer2 screen, the setting
value will be converted as follows:
The lower four digits of the
calculation result of PC14 × 160000
+ PC13 × 16 will be set. However,
when the calculation result is -
99999999 or smaller, -9999 will be
Analog monitor feedback position set. When the calculation result is
PC13 Dec - PC13 Dec -
output standard data Low 99999999 or larger, 9999 will be set.
When "Servo Motor for MR-J3" is
selected in "Conversion Target
Servo Motor Series Setting" on the
MT Developer2 screen, the setting
value will be maintained.
Selecting "Servo Motor for MR-J4" or
"Servo Motor for MR-J3" for
conversion is available in MT
Developer2 with software version
1.150G or later.

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Part 8: Common Reference Material

MR-J3-_B_/MR-J3W-_B MR-J4-_B_/MR-J4W2-_B
Conversion rules
No. Name Type Target No. Type Target
When "Servo Motor for MR-J4" is
selected in "Conversion Target
Servo Motor Series Setting" on the
MT Developer2 screen, the setting
value will be converted as follows:
The integral value of the calculation
result of (PC14 × 160000 + PC13 ×
16) ÷ 10000 will be set. However,
when the calculation result is -9999
or smaller, -9999 will be set. When
Analog monitor feedback position the calculation result is 9999 or
PC14 Dec - PC14 Dec -
output standard data High larger, 9999 will be set.
When "Servo Motor for MR-J3" is
selected in "Conversion Target
Servo Motor Series Setting" on the
MT Developer2 screen, the setting
value will be maintained.
Selecting "Servo Motor for MR-J4" or
"Servo Motor for MR-J3" for
conversion is available in MT
Developer2 with software version
1.150G or later.
PC17 Function selection C-4 Hex ___X PC17 Hex ___X The setting value will be maintained.
PC20 Function selection C-7 Hex ___X PC20 Hex ___X The setting value will be maintained.
PC21 Alarm history clear Hex ___X PC21 Hex ___X The setting value will be maintained.
_ _ 0B will be changed to _ _ 05.
Output signal device selection 1
PD07 Hex _ _ XX PD07 Hex _ _ XX Otherwise, the setting value will be
(CN3-13)
maintained.
_ _ 0B will be changed to _ _ 04.
Output signal device selection 2
PD08 Hex _ _ XX PD08 Hex _ _ XX Otherwise, the setting value will be
(CN3-9)
maintained.
_ _ 0B will be changed to _ _ 03.
Output signal device selection 3
PD09 Hex _ _ XX PD09 Hex _ _ XX Otherwise, the setting value will be
(CN3-15)
maintained.
PD14 Function selection D-3 Hex _ _ X_ PD14 Hex _ _ X_ The setting value will be maintained.
PD15 Driver communication setting Hex _ _ XX PD15 Hex _ _ XX The setting value will be maintained.
Driver communication setting -
PD16 Hex _ _ XX PD16 Hex _ _ XX The setting value will be maintained.
Master - Transmit data selection 1
Driver communication setting -
PD17 Hex _ _ XX PD17 Hex _ _ XX The setting value will be maintained.
Master - Transmit data selection 2
Driver communication setting - Slave -
PD20 Dec - PD20 Dec - The setting value will be maintained.
Master axis No. selection 1
A hexadecimal value without sign will
Master-slave operation - Torque be converted into a decimal value.
PD30 Hex XXXX PD30 Dec -
command coefficient on slave When the setting value is larger than
500, it will be 500.
A hexadecimal value without sign will
Master-slave operation - Speed limit be converted into a decimal value.
PD31 Hex XXXX PD31 Dec -
coefficient on slave When the setting value is larger than
500, it will be 500.
Master-slave operation - Speed limit A hexadecimal value without sign will
PD32 Hex XXXX PD32 Dec -
adjusted value on slave be converted into a decimal value.
Hex: hexadecimal parameter; Dec: decimal parameter

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Part 8: Common Reference Material

2.3.4 Parameters that need to be checked after parameter conversion

(1) MR-J3-_B_ and MR-J3W-_B => MR-J4-_B_ and MR-J4W2-_B

Parameter Setting
Name Initial value Description
No. value
Forced stop deceleration function selection
To configure the same operation status as those for MR-
PA04 Function selection A-1 2000h -
J3-_B_, select "Forced stop deceleration function disabled
(EM1)".
Auto tuning response setting
PA09 Auto tuning response - -
Adjust the gain value again after the replacement.
In-position range
When the setting of MR-J3-_B_ is larger than 4095 pulses,
PA10 In-position range - -
it will be converted into 65535 pulses.
Check for any problems of the equipment.
Encoder output pulses
When the setting of MR-J3-_B_ is larger than 4095 pulses
PA15 Encoder output pulses - - and the output dividing ratio setting is selected, 65535
pulses will be set. Check for any problems of the
equipment.
Encoder output pulse setting selection
To use "_ _4_: Encoder pulse through output setting", use
PC03 Encoder output pulse selection - - MR-J4-_B_ with the software version A5 or later. A
parameter error will occur when the software version A4 or
earlier is used.
Not converted by the parameter converter function.
PC11 Analog monitor 1 offset - -
Set the value as required.
Not converted by the parameter converter function.
PC12 Analog monitor 2 offset - -
Set the value as required.
Analog monitor feedback position
PC13 - - Set the value as required.
output standard data Low
Analog monitor feedback position
PC14 - - Set the value as required.
output standard data High
Master axis operation selection
Slave axis operation selection
Use MR-J4-_B_ with the software version A8 or later to
PD15 Driver communication setting - -
use this function.
A parameter error will occur when MR-J4-_B_ with the
software version A7 or earlier is used.
Use MR-J4-_B_ with the software version A8 or later to
Driver communication setting - use this function.
PD16 - -
Master - Transmit data selection 1 A parameter error will occur when MR-J4-_B_ with the
software version A7 or earlier is used.
Use MR-J4-_B_ with the software version A8 or later to
Driver communication setting - use this function.
PD17 - -
Master - Transmit data selection 2 A parameter error will occur when MR-J4-_B_ with the
software version A7 or earlier is used.
Use MR-J4-_B_ with the software version A8 or later to
Driver communication setting - use this function.
PD20 - -
Slave - Master axis No. selection 1 A parameter error will occur when MR-J4-_B_ with the
software version A7 or earlier is used.
Use MR-J4-_B_ with the software version A8 or later to
Master-slave operation - Torque use this function.
PD30 - -
command coefficient on slave A parameter error will occur when MR-J4-_B_ with the
software version A7 or earlier is used.
Use MR-J4-_B_ with the software version A8 or later to
Master-slave operation - Speed limit use this function.
PD31 - -
coefficient on slave A parameter error will occur when MR-J4-_B_ with the
software version A7 or earlier is used.
Use MR-J4-_B_ with the software version A8 or later to
Master-slave operation - Speed limit use this function.
PD32 - -
adjusted value on slave A parameter error will occur when MR-J4-_B_ with the
software version A7 or earlier is used.

Note. For items that have no setting value listed in the table, refer to "Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_",
"Part 4: Review on Replacement of MR-J3W-_B_ with MR-J4W-_B_"..

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Part 8: Common Reference Material

(2) MR-J3W-_B => MR-J4W2-_B

Parameter Setting
Name Initial value Description
No. value
Although the initial values of the MR-J3-_B_ and MR-J3W-
_B are different, the same operation status is performed.
PC01 Error excessive alarm level - -
Also, the setting ranges are different. Check the setting
values and change them as necessary.
Although the initial values of the MR-J3-_B_ and MR-J3W-
_B are different, the values are overwritten with the setting
PC03 Encoder output pulse selection - -
values on the controller side (parameter of MR-J3-_B_)
after power-on.

Note. For items that have no setting value listed in the table, refer to "Part 4: Review on Replacement of MR-J3W-_B with MR-J4W2-
_B".

(3) MR-J3W-0303BN6 => MR-J4W2-0303B6

Parameter Initial Setting
Name Description
No. value value
Select a voltage to be connected to the main circuit power
supply with an MR-J4W2-0303B6 servo amplifier.
Main circuit power supply the characteristics of the servo
PC05 Function selection C-2 - - motor vary depending on whether 48 V DC or 24 V DC is
used.
[Pr. PC05]: "_ 0 _ _" DC 48 V (Initial value)
"_ 1 _ _" DC 24 V
The setting of this digit in the J3 compatibility mode is the
same as the MR-J3W-0303BN6 servo amplifier. Set it with
[Pr. Po04].
Main circuit power supply the characteristics of the servo
Po04 Main circuit power supply selection - -
motor vary depending on whether 48 V DC or 24 V DC is
used.
[Pr. Po04]: "0 _ _ _" DC 48 V (Initial value)
"1 _ _ _" DC 24 V

Note. For items that have no setting value listed in the table, refer to "Part 4: Review on Replacement of MR-J3W-_B with MR-J4W2-
_B".

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3. COMMON POINTS TO NOTE

3.1 Method for checking the software version

3.1.1 Checking with MR Configurator2 (SW1DNC-MRC2-E)

Check the software version of the servo amplifier with MR Configurator2 (SW1DNC-MRC2-E).
Start MR Configurator2. Select [Diagnosis] - [System Configuration] from the menu to display the servo
amplifier software No.

Servo amplifier software No.: BCD- 

↓ ↓
software No. software version

Checking with MR Configurator2

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4. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL)

POINT
RS-422 serial communication function is supported by servo amplifier with
software version A3 or later.
The USB communication function (CN5 connector) and the RS-422
communication function (CN3 connector) are mutually exclusive functions. They
cannot be used together.
This function is not available with MR-J4-_B_(-RJ), MR-J4-_GF_(-RJ) and MR-
J4W2-_B servo amplifiers.
For replacing MR-J3-_T_ with MR-J4-_A_-RJ, refer to "Part 6".

You can operate servo driving, parameter change, monitor function, etc. using RS-422 communication
(Mitsubishi general-purpose AC servo protocol) with the servo amplifier.

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4.1 Structure

4.1.1 Configuration diagram

(1) Single axis

Operate the single-axis servo amplifier. It is recommended to use the following cable.
Personal computer
Servo amplifier

10 m or less

CN3

To RS-232C RS-422/232C conversion cable

connector DSV-CABV (Diatrend)

(2) Multi-drop connection

(a) Diagrammatic sketch
Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus.
Servo amplifier Servo amplifier Servo amplifier

CN3 CN3 CN3

Personal computer

(Note 1) (Note 1) (Note 1)

RS-422/232C conversion cable (Note 2)

To RS-232C DSV-CABV (Diatrend)
connector

Note 1. The BMJ-8 (Hachiko Electric) is recommended as the branch connector.

2. The final axis must be terminated between RDP (pin No.3) and RDN (pin No.6) on the receiving side (servo amplifier) with a
150 Ω resistor.

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(b) Cable connection diagram

Wire the cables as follows.
(Note 3) 30 m or less

(Note 1) (Note 1) (Note 1, 7)

The first axis servo amplifier The second axis servo amplifier The n axis servo amplifier
Connector for CN3 Connector for CN3 Connector for CN3
(RJ45 Connector) (RJ45 Connector) (RJ45 Connector)
(Note 4, 5) (Note 4, 5) (Note 4, 5)
1 LG 1 LG 1 LG
2 P5D 2 P5D 2 P5D
3 RDP 3 RDP 3 RDP
4 SDN 4 SDN 4 SDN
5 SDP 5 SDP 5 SDP
6 RDN 6 RDN 6 RDN
7 LG 7 LG 7 LG
8 NC 8 NC 8 NC

1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 (Note 5) 1 2 3 4 5 6 7 8
(Note 5)
1 1 1 1 1 1
2 2 2 2 2 2
3 3 3 3 3 3 RDP
(Note 8)
4 4 4 4 4 4 (Note 2)
5 5 5 5 5 5 150
6 6 6 6 6 6 RDN
7 7 7 7 7 7
8 8 8 8 8 8

(Note 6) Branch connector (Note 6) Branch connector (Note 6) Branch connector

Note 1. Recommended connector (Hirose Electric)

Plug: TM10P-88P
Connection tool: CL250-0228-1
The following shows pin assignment viewed from connector wiring section.

7
LG
6
RDN
5
SDP
4
SDN
3
RDP
2
P5D
1
LG

2. The final axis must be terminated between RDP (pin No.3) and RDN (pin No.6) on the receiving side (servo amplifier) with
a 150 Ω resistor.
3. The overall length is 30 m or less in low-noise environment.
4. The wiring between the branch connector and servo amplifier should be as short as possible.
5. Use the EIA568-compliant cable (10BASE-T cable, etc.).
6. Recommended branch connector: BMJ-8 (Hachiko Electric)
7. n ≤ 32 (Up to 32 axes can be connected.)
8. RS-422/232C conversion cable DSV-CABV (Diatrend)

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4.1.2 Precautions for using RS-422/RS-232C/USB communication function

Note the following to prevent an electric shock and malfunction of the servo amplifier.

(1) Power connection of personal computers

Connect your personal computer with the following procedures.

(a) When you use a personal computer with AC power supply

1) When using a personal computer with a three-core power plug or power plug with grounding wire,
use a three-pin socket or ground the grounding wire.

2) When your personal computer has two-core plug and has no grounding wire, connect the
personal computer to the servo amplifier with the following procedures.

a) Disconnect the power plug of the personal computer from an AC power socket.

b) Check that the power plug was disconnected and connect the device to the servo amplifier.

c) Connect the power plug of the personal computer to the AC power socket.

(b) When you use a personal computer with battery

You can use as it is.

(2) Connection with other devices using servo amplifier communication function
When the servo amplifier is charged with electricity due to connection with a personal computer and the
charged servo amplifier is connected with other devices, the servo amplifier or the connected devices
may malfunction. Connect the servo amplifier and other devices with the following procedures.

(a) Shut off the power of the device for connecting with the servo amplifier.

(b) Shut off the power of the servo amplifier which was connected with the personal computer and check
the charge lamp is off.

(c) Connect the device with the servo amplifier.

(d) Turn on the power of the servo amplifier and the device.

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4.2 Communication specifications

4.2.1 Outline of communication

Receiving a command, this servo amplifier returns data. The device which gives the command (e.g. personal
computer) is called a master station and the device (servo amplifier) which returns data in response to the
command is called a slave station. When fetching data successively, the master station repeatedly
commands the slave station to send data.
Item Definition
9600/19200/38400/57600/115200 asynchronous
Baud rate [bps]
system
Start bit 1 bit
Data bit 8 bits
Transfer code
Parity bit 1 bit (even)
Stop bit 1 bit
Character method Half-duplex
Transfer method
communication method

(LSB) (MSB)

Next
Start 0 1 2 3 4 5 6 7 Parity Stop start

Data

1 frame (11 bits)

4.2.2 Parameter setting

When the RS-422 communication function is used to operate the servo, set the communication specifications
of the servo amplifier with the parameters.
To enable the parameter values, cycle the power after setting.

(1) Serial communication baud rate

Select the communication speed. Match this value to the communication speed of the sending end
(master station).
[Pr. PC21]

Serial communication baud rate

0: 9600 [bps] 3: 57600 [bps]
1: 19200 [bps] 4: 115200 [bps]
2: 38400 [bps]

(2) RS-422 communication response delay time

Set the time from when the servo amplifier (slave station) receives communication data to when it
returns data. Set "0" to return data in less than 800 μs or "1" to return data in 800 μs or longer.
[Pr. PC21]

RS-422 communication response delay time

0: Disabled
1: Enabled (responding after 800 s or longer delay time)

(3) Station No. setting

Set the station No. of the servo amplifier to [Pr. PC20]. The setting range is station No. 0 to 31.

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4.3 Protocol

4.3.1 Transmission data configuration

Since up to 32 axes may be connected to the bus, add a station No. to the command, data No., etc. to
determine the destination servo amplifier of data communication. Set the station No. to each servo amplifier
using the parameters. Transmission data is enabled for the servo amplifier of the specified station No.
When "*" is set as the station No. added to the transmission data, the transmission data is enabled for all
servo amplifiers connected. However, when return data is required from the servo amplifier in response to
the transmission data, set "0" to the station No. of the servo amplifier which must provide the return data.

(1) Transmission of data from the controller to the servo

10 frames + (data)

Checksum
Command

Controller side Data

SOH

STX

ETX
Date* Station No.
(master station) No.

Error code

Checksum
Servo side

STX

ETX
(slave station) Station No.

6 frames
Positive response: Error code = A
Negative response: Error code = other than A

(2) Transmission of data request from the controller to the servo

10 frames
Checksum
Command

Controller side Data

SOH

STX

ETX

Station No.
(master station) No.
Error code

Checksum
Servo side
STX

ETX

Station No. Data*

(slave station)

6 frames + (Data)

(3) Recovery of communication status by time-out

EOT causes the servo to return to the receive neutral status.
Controller side
EOT

(master station)

Servo side
(slave station)

(4) Data frames

The data length depends on the command.

Data or Data or 12 frames or 16 frames

4 frames 8 frames

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4.3.2 Character codes

(1) Control codes

Personal computer terminal
Code Hexadecimal
Description key operation
name (ASCII code)
(general)
SOH 01H start of head ctrl + A
STX 02H start of text ctrl + B
ETX 03H end of text ctrl + C
EOT 04H end of transmission ctrl + D

(2) Codes for data

ASCII unit codes are used.
b8 0 0 0 0 0 0 0 0
b7 0 0 0 0 1 1 1 1
b6 0 0 1 1 0 0 1 1
b5 0 1 0 1 0 1 0 1

b8 to b5 b4 b3 b2 b1 C 0 1 2 3 4 5 6 7
R
0 0 0 0 0 NUL DLE Space 0 @ P ` p
0 0 0 1 1 SOH DC1 ! 1 A Q a q
0 0 1 0 2 STX DC2 “ 2 B R b r
0 0 1 1 3 ETX DC3 # 3 C S c s
0 1 0 0 4 $ 4 D T d t
0 1 0 1 5 % 5 E U e u
0 1 1 0 6 6 F V f v
0 1 1 1 7 ‘ 7 G W g w
1 0 0 0 8 ( 8 H X h x
1 0 0 1 9 ) 9 I Y i y
1 0 1 0 10 : J Z j z
1 0 1 1 11 + ; K [ k {
1 1 0 0 12 , < L ¥ l |
1 1 0 1 13 - = M ] m }
1 1 1 0 14 . > N ^ n ¯
1 1 1 1 15 / ? O _ o DEL

(3) Station numbers

You may set 32 station Nos. from station 0 to station 31 and the ASCII unit codes are used to specify the
stations.
Station No. 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
ASCII code 0 1 2 3 4 5 6 7 8 9 A B C D E F

Station No. 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
ASCII code G H I J K L M N O P Q R S T U V

For example, "30H" is transmitted in hexadecimal for the station No. "0" (axis 1).

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4.3.3 Error codes

Error codes are used in the following cases and an error code of single-code length is transmitted.
Receiving data from the master station, the slave station sends the error code corresponding to that data to
the master station. The error code sent in upper case indicates that the servo is normal and the one in lower
case indicates that an alarm occurred.
Error code
Error name Explanation Remark
Servo: normal Servo: alarm
[A] [a] Normal Data transmitted was processed normally. Positive
response
[B] [b] Parity error Parity error occurred in the transmitted
data.
[C] [c] Checksum error Checksum error occurred in the
transmitted data.
[D] [d] Character error The transmitted character is out of Negative
specifications. response
[E] [e] Command error The transmitted command is out of
specifications.
[F] [f] Data No. error The transmitted data No. is out of
specifications.

4.3.4 Checksum

The checksum is an ASCII-coded hexadecimal representing the lower two digits of the sum of ASCII-coded
hexadecimal numbers up to ETX, with the exception of the first control code (STX or SOH).
Station No.
STX

ETX
[0] [A] [1] [2] [5] [F] [5] [2]
STX
or ETX Check
SOH 02H 30H 41H 31H 32H 35H 46H 03H

30H + 41H + 31H + 32H + 35H + 46H + 03H

Checksum range
= 152H

Lower 2 digits 52 is sent after conversion into ASCII code [5] [2].

4.3.5 Time-out processing

The master station transmits EOT when the slave station does not start return processing (STX is not
received) 300 [ms] after the master station has ended communication processing. 100 ms after that, the
master station retransmits the message. Time-out occurs if the slave station does not answer after the
master station has performed the above communication processing three times. (Communication error)
100 ms 100 ms 100 ms *Time-out
300 ms 300 ms 300 ms 300 ms
Message

Message

Message

Message

Controller side
EOT

EOT

EOT

(master station)

Servo side
(slave station)

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4.3.6 Retry processing

When a fault occurs in communication between the master and slave stations, the error code in the response
data from the slave station is a negative response code ([B] to [F], [b] to [f]). In this case, the master station
retransmits the message which was sent at the occurrence of the fault (retry processing). A communication
error occurs if the above processing is repeated and results in the error three or more consecutive times.
*Communication error
Message

Message

Message
Controller side
(master station)

Servo side
STX

STX

STX
(slave station)

Station No. Station No. Station No.

Similarly, when the master station detects a fault (e.g. checksum, parity) in the response data from the slave
station, the master station retransmits the message which was sent at the occurrence of the fault. A
communication error occurs if the retry processing is performed three times.

4.3.7 Initialization

After the slave station is switched on, it cannot return to communication until the internal initialization
processing terminates. Hence, at power-on, ordinary communication should be started after.

(1) Wait for 3.5 s or longer after the slave station is switched on.

(2) Check that normal communication can be made by reading the parameter or other data which does not
pose any safety problems.

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4.3.8 Communication procedure example

The following example reads the set value of alarm history (last alarm) from the servo amplifier of station 0.
Data item Value Description
Station No. 0 Servo amplifier station 0
Command 33 Reading command
Data No. 10 Alarm history (last alarm)

Start
Station No. Command Data No.
Data make-up
Data = [0] + 3 3 + STX + 1 0 + ETX
= [0] [3] [3] STX [1] [0] ETX
Checksum calculation and
addition
Checksum = 30H + 33H + 33H + 02H + 31H + 30H + 03H = FCH
Addition of SOH to make up
transmission data Transmission data = SOH + 0 + 3 3 + STX + 1 0 + ETX + F C 46H 43H

Data transmission Master station Slave station

Data receive Master station Slave station

No
Is there receive data?

Yes No
300 ms elapsed?

Yes

No
3 consecutive times?

Yes Yes 100 ms after EOT transmission Master station Slave station
Other than error code
[A] or [a]?

No No
3 consecutive times?

Yes
Receive data analysis
Error processing Error processing
End

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4.4 Command and data No. list

POINT
Even if a command or data No. is the same between different model servo
amplifiers, its description may differ.
Commands of MR-J3-_A_ are available.
The following commands are also available.
Description MR-J3/-J4 Only MR-J4
Current value of each parameter [0] [5] [1] [5]
Upper limit value of each parameter [0] [6] [1] [6]
setting range
Lower limit value of each parameter [0] [7] [1] [7]
setting range
Writing each parameter [8] [4] [9] [4]

4.4.1 Reading command

(1) Status display (command [0] [1])

MR-J3-_A_ MR-J4-_A_
Command Data No. Description Frame Frame
Status display length Status display length
[0] [1] [0] [0] Status display symbol and unit Cumulative feedback pulses 16 Cumulative feedback pulses 16
Motor-side cumu. feedback pulses
(after gear)
[0] [1] Servo motor speed Servo motor speed
[0] [2] Droop pulses Droop pulses
Motor-side droop pulses
[0] [3] Cumulative command pulses Cumulative command pulses
[0] [4] Command pulse frequency Command pulse frequency
[0] [5] Analog speed command voltage Analog speed command voltage
Analog speed limit voltage Analog speed limit voltage
[0] [6] Analog torque limit voltage Analog torque limit voltage
Analog torque command voltage Analog torque command voltage
[0] [7] Regenerative load ratio Regenerative load ratio
[0] [8] Effective load ratio Effective load ratio
[0] [9] Peak load ratio Peak load ratio
[0] [A] Instantaneous torque Instantaneous torque
[0] [B] Position within one-revolution Position within one-revolution
Motor encoder position within one-
revolution
Virtual position within one-
revolution
[0] [C] ABS counter ABS counter
Motor encoder ABS counter
Virtual ABS counter
[0] [D] Load to motor inertia ratio Load to motor inertia ratio
[0] [E] Bus voltage Bus voltage
[8] [0] Status display data value and Cumulative feedback pulses 12 Cumulative feedback pulses 12
processing information Motor-side cumu. feedback pulses
(after gear)
[8] [1] Servo motor speed Servo motor speed
[8] [2] Droop pulses
Droop pulses
Motor-side droop pulses
[8] [3] Cumulative command pulses Cumulative command pulses
[8] [4] Command pulse frequency Command pulse frequency
[8] [5] Analog speed command voltage Analog speed command voltage
Analog speed limit voltage Analog speed limit voltage
[8] [6] Analog torque limit voltage Analog torque limit voltage
Analog torque command voltage Analog torque command voltage
[8] [7] Regenerative load ratio Regenerative load ratio

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MR-J3-_A_ MR-J4-_A_
Command Data No. Description Frame Frame
Status display length Status display length
[0] [1] [8] [8] Status display data value and Effective load ratio 12 Effective load ratio 12
[8] [9] processing information Peak load ratio Peak load ratio
[8] [A] Instantaneous torque Instantaneous torque
[8] [B] Position within one-revolution Position within one-revolution
Motor encoder position within one-
revolution
Virtual position within one-
revolution
[8] [C] ABS counter ABS counter
Motor encoder ABS counter
Virtual ABS counter
[8] [D] Load to motor inertia ratio Load to motor inertia ratio
[8] [E] Bus voltage Bus voltage

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(2) Parameters (command [0] [4]/[0] [5]/[1] [5]/[0] [6]/[1] [6]/[0] [7]/[1] [7]/[0] [8]/[0] [9])
MR-J3-_A_ MR-J4-_A_
Command Data No. Frame Frame
Description Description
length length
[0] [4] [0] [1] Parameter group read 4 Parameter group reading 4
0000: Basic setting parameter ([Pr. PA_ _ ]) 0000: Basic setting parameters ([Pr. PA_ _ ])
0001: Gain filter parameter ([Pr. PB_ _ ]) 0001: Gain/filter parameters ([Pr. PB_ _ ])
0002: Extension setting parameter ([Pr. PC_ _ ]) 0002: Extension setting parameters ([Pr. PC_ _ ])
0003: I/O setting parameter ([Pr. PD_ _ ]) 0003: I/O setting parameters ([Pr. PD_ _ ])
0004: Extension setting 2 parameters
([Pr. PE_ _ ])
0005: Extension setting 3 parameters
([Pr. PF_ _ ])
[0] [5] [0] [1] to Current values of parameters 8 Current values of parameters 8
[F] [F] Reads the current values of the parameters in the Reads the current values of the parameters in the
parameter group specified with the command [8] parameter group specified with the command [8]
[5] + data No. [0] [0]. Before reading the current [5] + data No. [0] [0]. Before reading the current
values, therefore, always specify the parameter values, therefore, always specify the parameter
group with the command [8] [5] + data No. [0] [0]. group with the command [8] [5] + data No. [0] [0].
The decimal equivalent of the data No. value The decimal equivalent of the data No. value
(hexadecimal) corresponds to the parameter (hexadecimal) corresponds to the parameter No.
number. Command [1] [5]: Frame length 12 is available.
[0] [6] [0] [1] to Upper limit values of parameter setting ranges 8 Upper limit values of parameter setting ranges 8
[F] [F] Reads the permissible upper limit values of the Reads the permissible upper limit values of the
parameters in the parameter group specified with parameters in the parameter group specified with
the command [8] [5] + data No. [0] [0]. Before the command [8] [5] + data No. [0] [0]. Before
reading the upper limit values, therefore, always reading the upper limit values, therefore, always
specify the parameter group with the command [8] specify the parameter group with the command [8]
[5] + data No. [0] [0]. [5] + data No. [0] [0].
The decimal equivalent of the data No. value The decimal equivalent of the data No. value
(hexadecimal) corresponds to the parameter (hexadecimal) corresponds to the parameter No.
number. Command [1] [6]: Frame length 12 is available.
[0] [7] [0] [1] to Lower limit values of parameter setting ranges 8 Lower limit values of parameter setting ranges 8
[F] [F] Reads the permissible lower limit values of the Reads the permissible lower limit values of the
parameters in the parameter group specified with parameters in the parameter group specified with
the command [8] [5] data No. [0] [0]. Before the command [8] [5] + data No. [0] [0]. Before
reading the lower limit values, therefore, always reading the lower limit values, therefore, always
specify the parameter group with the command [8] specify the parameter group with the command [8]
[5] data No. [0] [0]. [5] + data No. [0] [0].
The decimal equivalent of the data No. value The decimal equivalent of the data No. value
(hexadecimal) corresponds to the parameter (hexadecimal) corresponds to the parameter No.
number. Command [1] [7]: Frame length 12 is available.
[0] [8] [0] [1] to Abbreviations of parameters 12 Parameter symbols 12
[F] [F] Reads the abbreviations of the parameters in the Reads the symbols of the parameters in the
parameter group specified with the command [8] parameter group specified with the command [8]
[5] + data No. [0] [0]. Before reading the [5] + data No. [0] [0]. Before reading the symbols,
abbreviations, therefore, always specify the therefore, always specify the parameter group with
parameter group with the command [8] [5] + data the command [8] [5] + data No. [0] [0].
No. [0] [0]. The decimal equivalent of the data No. value
The decimal equivalent of the data No. value (hexadecimal) corresponds to the parameter No.
(hexadecimal) corresponds to the parameter
number.
[0] [9] [0] [1] to Write enable/disable of parameters 4 Writing enable/disable of parameters 4
[F] [F] Reads write enable/disable of the parameters in Reads writing enable/disable of the parameters in
the parameter group specified with the command the parameter group specified with the command
[8] [5] + data No. [0] [0]. Before reading write [8] [5] + data No. [0] [0]. Before reading the lower
enable/disable, therefore, always specify the limit values, therefore, always specify the
parameter group with the command [8] [5] + data parameter group with the command [8] [5] + data
No. [0] [0]. No. [0] [0].
0000: Write enabled 0000: Writing enabled
0001: Write disabled 0001: Writing disabled

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(3) External I/O signals (command [1] [2])

MR-J3-_A_/ MR-J4-_A_
Command Data No. Frame length
Description
[1] [2] [0] [0] Input device status 8
[4] [0] External input pin status
[6] [0] Status of input device turned on by communication
[8] [0] Output device status
[C] [0] External output pin status

(4) Alarm history (command [3] [3])

MR-J3-_A_ MR-J4-_A_
Command Data No. Description Frame Frame
Alarm occurrence sequence length Alarm occurrence sequence length
[3] [3] [1] [0] Alarm No. in alarm history most recent alarm 4 Most recent alarm 4
[1] [1] first alarm in past First alarm in past
[1] [2] second alarm in past Second alarm in past
[1] [3] third alarm in past Third alarm in past
[1] [4] fourth alarm in past Fourth alarm in past
[1] [5] fifth alarm in past Fifth alarm in past
[1] [6] Sixth alarm in past
[1] [7] Seventh alarm in past
[1] [8] Eighth alarm in past
[1] [9] Ninth alarm in past
[1] [A] Tenth alarm in past
[1] [B] Eleventh alarm in past
[1] [C] Twelfth alarm in past
[1] [D] Thirteenth alarm in past
[1] [E] Fourteenth alarm in past
[1] [F] Fifteenth alarm in past
[2] [0] Alarm occurrence time in alarm most recent alarm 8 Most recent alarm 8
[2] [1] history First alarm in past
first alarm in past
[2] [2] second alarm in past Second alarm in past
[2] [3] third alarm in past Third alarm in past
[2] [4] fourth alarm in past Fourth alarm in past
[2] [5] fifth alarm in past Fifth alarm in past
[2] [6] Sixth alarm in past
[2] [7] Seventh alarm in past
[2] [8] Eighth alarm in past
[2] [9] Ninth alarm in past
[2] [A] Tenth alarm in past
[2] [B] Eleventh alarm in past
[2] [C] Twelfth alarm in past
[2] [D] Thirteenth alarm in past
[2] [E] Fourteenth alarm in past
[2] [F] Fifteenth alarm in past

(5) Current alarm (Command [0][2])

MR-J3-_A_/ MR-J4-_A_
Command Data No. Frame length
Description
[0] [2] [0] [0] Current alarm No. 4

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(6) Status display at alarm occurrence (command [3] [5])

MR-J3-_A_ MR-J4-_A_
Command Data No. Description Frame Frame
Status display length Status display length
[3] [5] [8] [0] Status display data value and Cumulative feedback pulses 12 Cumulative feedback pulses 12
processing information Motor-side cumu. feedback pulses
(after gear)
[8] [1] Servo motor speed Servo motor speed
[8] [2] Droop pulses Droop pulses
Motor-side droop pulses
[8] [3] Cumulative command pulses Cumulative command pulses
[8] [4] Command pulse frequency Command pulse frequency
[8] [5] Analog speed command voltage Analog speed command voltage
Analog speed limit voltage Analog speed limit voltage
[8] [6] Analog torque command voltage Analog torque command voltage
Analog torque limit voltage Analog torque limit voltage
[8] [7] Regenerative load ratio Regenerative load ratio
[8] [8] Effective load ratio Effective load ratio
[8] [9] Peak load ratio Peak load ratio
[8] [A] Instantaneous torque Instantaneous torque
[8] [B] Position within one-revolution Position within one-revolution
Motor encoder position within one-
revolution
Virtual position within one-
revolution
[8] [C] ABS counter ABS counter
Motor encoder ABS counter
Virtual ABS counter
[8] [D] Load to motor inertia ratio Load to motor inertia ratio
[8] [E] Bus voltage Bus voltage

(7) Test operation mode (command [0] [0])

MR-J3-_A_/MR-J4-_A_
Command Data No. Frame
Description length
[0] [0] [1] [2] Test operation mode reading 4
0000: Normal mode (not test operation mode)
0001: JOG operation
0002: Positioning operation
0003: Motor-less operation
0004: Output signal (DO) forced output

(8) Software version (command [0] [2])

MR-J3-_A_/MR-J4-_A_
Command Data No. Frame
Description length
[0] [2] [9] [0] Servo motor-side pulse unit absolute position 8
[9] [1] Command unit absolute position 8
[7] [0] Software version 16

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4.4.2 Writing commands

(1) Status display (command [8] [1])

MR-J3-_A_/MR-J4-_A_
Command Data No.
Description Setting range Frame length
[8] [1] [0] [0] Status display data deletion 1EA5 4

(2) Parameters (command [8] [4]/[9] [4]/[8] [5])

MR-J3-_A_ MR-J4-_A_
Command Data No.
Description Setting range Frame length Description Setting range Frame length
[8] [4] [0] [1] to Write of parameters Depending on 8 Writing each parameter Depending on 8
[F] [F] Writes the values of the the parameter Writes the values of the the parameter
parameters in the parameter parameters in the parameter
group specified with the group specified with the
command [8] [5] data No. [0] [0]. command [8] [5] + data No. [0]
Before writing the values, [0]. Before writing the values,
therefore, always specify the therefore, always specify the
parameter group with the parameter group with the
command [8] [5] data No. [0] [0]. command [8] [5] + data No. [0]
The decimal equivalent of the [0].
data No. value (hexadecimal) The decimal equivalent of the
corresponds to the parameter data No. value (hexadecimal)
number. corresponds to the parameter
No.
Command [9] [4]: Frame length
12 is available.
[8] [5] [0] [0] Parameter group write 0000 to 0003 4 Parameter group writing 0000 to 0005 4
0000: Basic setting parameter 0000: Basic setting parameters
([Pr. PA_ _ ])
([Pr. PA_ _ ])
0001: Gain/filter parameters
0001: Gain filter parameter ([Pr.
([Pr. PB_ _ ])
PB_ _ ])
0002: Extension setting
0002: Extension setting parameters ([Pr. PC_ _ ])
parameter ([Pr. PC_ _ ]) 0003: I/O setting parameters
0003: I/O setting parameter ([Pr. ([Pr. PD_ _ ])
PD_ _ ]) 0004: Extension setting 2
parameters ([Pr. PE_ _ ])
0005: Extension setting 3
parameters ([Pr. PF_ _ ])

(3) External I/O signals (command [9] [2])

MR-J3-_A_/MR-J4-_A_
Command Data No.
Description Setting range Frame length
[9] [2] [6] [0] Communication input device signal Refer to section 4.5.5. 8

(4) Alarm history (command [8] [2])

MR-J3-_A_/MR-J4-_A_
Command Data No.
Description Setting range Frame length
[8] [2] [2] [0] Alarm history clear 1EA5 4

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(5) Current alarm (command [8] [2])

MR-J3-_A_/MR-J4-_A_
Command Data No.
Description Setting range Frame length
[8] [2] [0] [0] Alarm clear 1EA5 4

(6) I/O device prohibition (command [9] [0])

MR-J3-_A_/MR-J4-_A_
Command Data No.
Description Setting range Frame length
[9] [0] [0] [0] Turns off the input device, external analog input signal or pulse 1EA5 4
train input, except EMG, LSP and LSN, independently of the
external on/off status.
[0] [3] Disables all output devices (DO).
[1] [0] Cancels the prohibition of the input device, external analog input
signal or pulse train input, except EMG, LSP and LSN.
[1] [3] Cancels the prohibition of the output device.

(7) Operation mode selection (command [8] [B])

MR-J3-_A_ MR-J4-_A_
Command Data No.
Description Setting range Frame length Description Setting range Frame length
[8] [B] [0] [0] Operation mode switching 0000 to 0004 4 Selection of test operation 0000 to 0002, 4
0000: Test operation mode mode 0004
0000: Test operation mode
cancel
cancel
0001: JOG operation
0001: JOG operation
0002: Positioning operation
0002: Positioning operation
0003: Motorless operation 0004: Output signal (DO)
0004: Output signal (DO) forced output
forced output

(8) Test operation mode data (command [9] [2], [A] [0])
MR-J3-_A_/MR-J4-_A_
Command Data No.
Description Setting range Frame length
[9] [2] [0] [0] Input signal for test operation Refer to section 8
4.5.7.
[A] [0] Forced output of signal pin Refer to section 8
4.5.9.
[A] [0] [1] [0] Writes the servo motor speed in the test operation mode (JOG operation and 0000 to 7FFF 4
positioning operation).
[1] [1] Writes the acceleration/deceleration time constant in the test operation mode (JOG 00000000 to 8
operation and positioning operation). 7FFFFFFF
[2] [0] Sets the travel distance in the test operation mode (Positioning operation). 00000000 to 8
7FFFFFFF
[2] [1] Selects the positioning direction of test operation (positioning operation). 0000 to 0101 4

0 0
0: Forward rotation direction
1: Reverse rotation direction

0: Command pulse unit

1: Encoder pulse unit

[4] [0] This is a start command for test operation (positioning operation). 1EA5 4
[4] [1] This is used to make a temporary stop during test operation (positioning operation). STOP 4
"_" in the data indicates a blank. GO _ _
STOP: Temporary stop CLR _
GO_ _: Restart for remaining distance
CLR _: Remaining distance clear

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4.5 Detailed explanations of commands

4.5.1 Data processing

When the master station transmits a command data No. or a command + data No. + data to a slave station,
the servo amplifier returns a response or data in accordance with the purpose.
When numerical values are represented in these send data and receive data, they are represented in
decimal, hexadecimal, etc.
Therefore, data must be processed in accordance with the application.
Since whether data must be processed or not and how to process data depend on the monitoring,
parameters, etc., follow the detailed explanation of the corresponding command.
The following methods are how to process send and receive data when reading and writing data.

(1) Processing a read data

When the display type is 0, the eight-character data is converted from hexadecimal to decimal and a
decimal point is placed according to the decimal point position information.
When the display type is 1, the eight-character data is used unchanged.

The following example indicates how to process the receive data "003000000929" given to show.
The receive data is as follows.

0 0 3 0 0 0 0 0 0 9 2 9
Data 32-bit length (hexadecimal representation)
(Data conversion is required as indicated in the display type.

Display type
0: Data must be converted into decimal.
1: Data is used unchanged in hexadecimal.

Decimal point position

0: No decimal point
1: First least significant digit (normally not used)
2: Second least significant digit
3: Third least significant digit
4: Forth least significant digit
5: Fifth least significant digit
6: Sixth least significant digit

Since the display type is "0" in this case, the hexadecimal data is converted into decimal.
00000929H → 2345
As the decimal point position is "3", a decimal point is placed in the third least significant digit.
Hence, "23.45" is displayed.

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(2) Writing processed data

When the data to be written is handled as decimal, the decimal point position must be specified. If it is
not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the
decimal point position.
The data to be sent is the following value.

0
Data is transferred in hexadecimal
Decimal point position
0: No decimal point
1: First least significant digit
2: Second least significant digit
3: Third least significant digit
4: Forth least significant digit
5: Fifth least significant digit

For example, here is described how to process the set data when a value of "15.5" is sent.
Since the decimal point position is the second least significant digit, the decimal point position data is "2".
As the data to be sent is hexadecimal, the decimal data is converted into hexadecimal.
155 → 9B
Hence, "0200009B" is transmitted.

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4.5.2 Status display mode

(1) Reading the status display name and unit

The following shows how to read the status display name and unit.

(a) Transmission
Transmit the command [0] [1] and the data No. corresponding to the status display item to be read,
[0] [0] to [0] [E] and [2] [0] to [2] [9]. (Refer of section 4.4.1.)

(b) Return
The slave station returns the status display name and unit requested.

0 0
Unit characters (5 digits) Name characters (9 digits)

(2) Status display data reading

The following shows how to read the status display data and processing information.

(a) Transmission
Transmit the command [0] [1] and the data No. corresponding to the status display item to be read,
[8] [0] to [8] [E] and [A] [0] to [A] [9]. (Refer of section 4.4.1.)

(b) Return
The slave station returns the status display data requested.

0 0
Data 32-bit length (hexadecimal representation)
(Data conversion is required as indicated in the display type.

Display type
0: Data must be converted into decimal.
1: Data is used unchanged in hexadecimal.

Decimal point position

0: No decimal point
1: First least significant digit (normally not used)
2: Second least significant digit
3: Third least significant digit
4: Forth least significant digit
5: Fifth least significant digit
6: Sixth least significant digit

(3) Status display data clear

To clear the cumulative feedback pulse data of the status display, send this command immediately after
reading each status display item. The data of the status display item transmitted is cleared to "0".
Command Data No. Data
[8] [1] [0] [0] 1EA5

For example, after sending command [0] [1] and data No. [8] [0] and receiving the status display data,
send command [8] [1], data No. [0] [0] and data [1EA5] to clear the cumulative feedback pulse value to
"0".

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4.5.3 Parameter

(1) Specification of the parameter group

To read or write the parameter settings, etc., the group of the parameters to be operated must be
specified in advance. Write data to the servo amplifier as follows to specify the parameter group.
Transmission
Command Data No. Parameter group
data
0000 Basic setting parameters ([Pr. PA_ _ ])
0001 Gain/filter parameters ([Pr. PB_ _ ])
0002 Extension setting parameters ([Pr. PC_ _ ])
[8] [5] [0] [0]
0003 I/O setting parameters ([Pr. PD_ _ ])
0004 Extension setting 2 parameters ([Pr. PE_ _ ])
0005 Extension setting 3 parameters ([Pr. PF_ _ ])

(2) Parameter group reading

The following shows how to read the parameter group set with slave station.

(a) Transmission
Transmit command [0] [4] and data No. [0] [1].
Command Data No.
[0] [4] [0] [1]

(b) Return
The slave station returns the preset parameter group.

0 0 0
Parameter group
0: Basic setting parameters ([Pr. PA_ _ ])
1: Gain/filter parameters ([Pr. PB_ _ ])
2: Extension setting parameters ([Pr. PC_ _ ])
3: I/O setting parameters ([Pr. PD_ _ ])
4: Extension setting 2 parameters ([Pr. PE_ _ ])
5: Extension setting 3 parameters ([Pr. PF_ _ ])

(3) Reading symbols

The following shows how to read symbols of parameters. Specify a parameter group in advance. (Refer
to (1) of this section.)

(a) Transmission
Transmit the command [0] [8] and the data No. [0] [1] to [F] [F] corresponding to the parameter No.
(Refer of section 4.4.1.)
The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value
corresponds to the parameter No.

(b) Return
The slave station returns the symbol of the parameter requested.

0 0 0
Symbol characters (9 digits)

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(4) Reading the setting

The following shows how to read the parameter setting. Specify a parameter group in advance. (Refer to
(1) of this section.)

(a) Transmission
Transmit the command [1] [5] and the data No. corresponding to the parameter No [0] [1] to [F] [F].
(Refer of section 4.4.1.)
The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value
corresponds to the parameter No.

(b) Return
The slave station returns the data and processing information of the parameter No. requested.

0
Data is transferred in hexadecimal.

Decimal point position

0: No decimal point
1: First least significant digit
2: Second least significant digit
0 3: Third least significant digit
4: Forth least significant digit
Display type 5: Fifth least significant digit
0: Data is used unchanged in hexadecimal.
1: Data must be converted into decimal.

Parameter writing type

0: Enabled after writing
1: Enabled when power is cycled after writing
Readable/unreadable
0: Readable
1: Unreadable

0 0 0
Sign
0: Sign
1: No sign

For example, data "00120000270F" means 999.9 (decimal display format) and data
"000000003ABC" means 3ABC (hexadecimal display format).
When the display type is "0" (hexadecimal) and the decimal point position is other than 0, the display
type is a special hexadecimal display format and "F" of the data value is handled as a blank. Data
"0001FFFFF053" means 053 (special hexadecimal display format).
"000000000000" is transferred when the parameter that was read is the one inaccessible for
reference in the parameter writing inhibit setting of [Pr. PA19].

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(5) Reading the setting range

The following shows how to read the parameter setting range. Specify a parameter group in advance.
(Refer to (1) of this section.)

(a) Transmission
When reading an upper limit value, transmit the command [1] [6] and the data No. [0] [1] to [F] [F]
corresponding to the parameter No. When reading a lower limit value, transmit the command [1] [7]
and the data No. [0] [1] to [F] [F] corresponding to the parameter No. (Refer of section 4.4.1.)
The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value
corresponds to the parameter No.

(b) Return
The slave station returns the data and processing information of the parameter No. requested.

Data is transferred in hexadecimal.

For example, data "FFFFFFEC" means "-20".

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(6) Writing setting values

POINT
If setting values need to be changed with a high frequency (i.e. one time or more
per one hour), write the setting values to the RAM, not the EEP-ROM. The
EEPROM has a limitation in the number of write times and exceeding this
limitation causes the servo amplifier to malfunction. Note that the number of
write times to the EEP-ROM is limited to approximately 100, 000.

Write the parameter setting into EEP-ROM of the servo amplifier. Specify a parameter group in advance.
(Refer to (1) of this section.)
Write any value within the setting enabled range. For the setting enabled range, refer to Part2/Part3 or
read the setting range by performing operation in (4) of this section.
Transmit command [9] [4], the data No., and the set data.
The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value corresponds to
the parameter No.
When the data to be written is handled as decimal, the decimal point position must be specified. If it is
not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the
decimal point position.
Check the writing data is within the upper/lower limit value before writing. To prevent an error, read the
parameter data to be written, confirm the decimal point position, and create transmission data.
On completion of writing, read the same parameter data to verify that data has been written correctly.
Command Data No. Data
[9] [4] [0] [1] to [F] [F] See below.

0 0
Data is transferred in hexadecimal.

Decimal point position

0: No decimal point
Writing mode 1: First least significant digit
0: Writing to EEP-ROM 2: Second least significant digit
3: Writing to RAM 3: Third least significant digit
When the parameter data is changed 4: Forth least significant digit
frequently through communication, 5: Fifth least significant digit
set "3" to the mode to change only the
RAM data in the servo amplifier.
When changing data frequently (once
or more within one hour), do not write
it to the EEP-ROM.

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4.5.4 External I/O signal status (DIO diagnosis)

(1) Reading input device status

The following shows how to read the status of the input devices.

(a) Transmission
Transmit command [1] [2] and data No. [0] [0].
Command Data No.
[1] [2] [0] [0]

(b) Return
The slave station returns the status of the input devices.
b31 b1b0
1: On
0: Off

Command of each bit is transmitted to the master station as hexadecimal data.

Bit Symbol Bit Symbol Bit Symbol Bit Symbol

0 SON 8 SP1 16 24
1 LSP 9 SP2 17 25
2 LSN 10 SP3 18 26
3 TL 11 ST1/RS2 19 27 CDP
4 TL1 12 ST2/RS1 20 STAB2 28
5 PC 13 CM1 21 29
6 RES 14 CM2 22 30
7 CR 15 LOP 23 31

(2) Reading external input pin status

The following shows how to read the on/off status of the external input pins.

(a) Transmission
Transmit command [1] [2] and data No. [4] [0].
Command Data No.
[1] [2] [4] [0]

(b) Return
The on/off status of the input pins are returned.
b31 b1b0
1: On
0: Off

Command of each bit is transmitted to the master station as hexadecimal data.

Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin
0 43 8 18 16 24
1 44 9 45 17 25
2 42 10 18 26
3 15 11 19 27
4 19 12 20 28
5 41 13 21 29
6 16 14 22 30
7 17 15 23 31

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(3) Reading the status of input devices switched on with communication

The following shows how to read the on/off status of the input devices switched on with communication.

(a) Transmission
Transmit command [1] [2] and data No. [6] [0].
Command Data No.
[1] [2] [6] [0]

(b) Return
The slave station returns the status of the input devices.
b31 b1b0
1: On
0: Off

Command of each bit is transmitted to the master station as hexadecimal data.

Bit Symbol Bit Symbol Bit Symbol Bit Symbol

0 SON 8 SP1 16 24
1 LSP 9 SP2 17 25
2 LSN 10 SP3 18 26
3 TL 11 ST1/RS2 19 27 CDP
4 TL1 12 ST2/RS1 20 STAB2 28
5 PC 13 CM1 21 29
6 RES 14 CM2 22 30
7 CR 15 LOP 23 31

(4) Reading external output pin status

The following shows how to read the on/off status of the external output pins.

(a) Transmission
Transmit command [1] [2] and data No. [C] [0].
Command Data No.
[1] [2] [C] [0]

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(b) Return
The slave station returns the status of the output devices.
b31 b1b0
1: On
0: Off

Command of each bit is transmitted to the master station as hexadecimal data.

Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin
0 49 8 14 (Note) 16 24
1 24 9 17 25
2 23 10 18 26
3 25 11 19 27
4 22 12 20 28
5 48 13 21 29
6 33 14 22 30
7 13 (Note) 15 23 31

Note. This is available when devices are assigned to the CN1-13 pin and CN1-14 pin with MR-J4-_A_-RJ 100 W or more servo
amplifiers with software version B3 or later.

(5) Reading output device status

The following shows how to read the on/off status of the output devices.

(a) Transmission
Transmit command [1] [2] and data No. [8] [0].
Command Data No.
[1] [2] [8] [0]

(b) Return
The slave station returns the status of the input/output devices.
b31 b1b0
1: On
0: Off

Command of each bit is transmitted to the master station as hexadecimal data.

Bit Symbol Bit Symbol Bit Symbol Bit Symbol

0 RD 8 ALM 16 24
1 SA 9 OP 17 25 CDPS
2 ZSP 10 MBR 18 26
3 TLC 11 DB 19 27 ABSV
4 VLC 12 ACD0 20 28
5 INP 13 ACD1 21 29
6 14 ACD2 22 30
7 WNG 15 BWNG 23 31

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4.5.5 Input device on/off

POINT
The on/off status of all devices in the servo amplifier are the status of the data
received at last. Therefore, when there is a device which must be kept on,
transmit data which turns the device on every time.

Each input device can be switched on/off. However, when the device to be switched off is in the external
input signal, also switch off the input signal.

Transmit command [9] [2], data No. [6] [0], and data.
Command Data No. Set data
[9] [2] [6] [0] See below.

b31 b1b0
1: On
0: Off

Command of each bit is transmitted to the master station as hexadecimal data.

Bit Symbol Bit Symbol Bit Symbol Bit Symbol

0 SON 8 SP1 16 24
1 LSP 9 SP2 17 25
2 LSN 10 SP3 18 26
3 TL 11 ST1/RS2 19 27 CDP
4 TL1 12 ST2/RS1 20 STAB2 28
5 PC 13 CM1 21 29
6 RES 14 CM2 22 30
7 CR 15 LOP 23 31

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4.5.6 Disabling/enabling I/O devices (DIO)

You can disable inputs regardless of the I/O device status. When inputs are disabled, the input signals
(devices) are recognized as follows. However, EM2 (Forced stop 2), LSP (Forward rotation stroke end), and
LSN (Reverse rotation stroke end) cannot be disabled.
Signal Status
Input device (DI) Off
External analog input signal 0V
Pulse train input None

(1) Disabling/enabling the input devices (DI), external analog input signals and pulse train inputs except
EM2 (Forced stop 2), LSP (Forward rotation stroke end), and LSN (Reverse rotation stroke end).
Transmit the following communication commands.

(a) Disabling
Command Data No. Data
[9] [0] [0] [0] 1EA5

(b) Enabling
Command Data No. Data
[9] [0] [1] [0] 1EA5

(2) Disabling/enabling the output devices (DO)

Transmit the following communication commands.

(a) Disabling
Command Data No. Data
[9] [0] [0] [3] 1EA5

(b) Enabling
Command Data No. Data
[9] [0] [1] [3] 1EA5

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4.5.7 Input devices on/off (test operation)

Each input devices can be turned on/off for test operation. However, when the device to be switched off is in
the external input signal, also switch off the input signal.

Transmit command [9] [2], data No. [0] [0], and data.
Command Data No. Set data
[9] [2] [0] [0] See below.

b31 b1b0
1: On
0: Off

Command of each bit is transmitted to the master station as hexadecimal data.

Bit Symbol Bit Symbol Bit Symbol Bit Symbol

0 SON 8 SP1 16 24
1 LSP 9 SP2 17 25
2 LSN 10 SP3 18 26
3 TL 11 ST1 19 27 CDP
4 TL1 12 ST2 20 STAB2 28
5 PC 13 CM1 21 29
6 RES 14 CM2 22 30
7 CR 15 LOP 23 31

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4.5.8 Test operation mode

POINT
The test operation mode is used to check operation. Do not use it for actual
operation.
If communication stops for longer than 0.5 s during test operation, the servo
amplifier decelerates to a stop, resulting in servo-lock. To prevent this, continue
communication all the time by monitoring the status display, etc.
Even during operation, you can switch the servo amplifier to the test operation
mode. In this case, switching to the test operation mode will shut off the base
circuit to coast the motor.

(1) How to prepare and cancel the test operation mode

(a) Preparing the test operation mode
Set the test operation mode type with the following procedure.

1) Selection of test operation mode

Send the command [8] [B] + data No. [0] [0] + data to select the test operation mode.
Transmission
Command Data No. Selection of test operation mode
data
0001 JOG operation
[8] [B] [0] [0] 0002 Positioning operation
0004 Output signal (DO) forced output (Note)

Note Refer to section 4.5.9 for output signal (DO) forced output.

2) Check of test operation mode

Read the test operation mode set for the slave station, and check that it is set correctly.

a) Transmission
Transmit command [0] [0] and data No. [1] [2].
Command Data No.
[0] [0] [1] [2]

b) Reply
The slave station returns the preset operation mode.

0 0 0
Test operation mode reading
0: Normal mode (not test operation mode)
1: JOG operation
2: Positioning operation
3: Motor-less operation
4: Output signal (DO) forced output

(b) Cancel of test operation mode

To terminate the test operation mode, send the command [8] [B] + data No. [0] [0] + data.
Transmission
Command Data No. Selection of test operation mode
data
[8] [B] [0] [0] 0000 Test operation mode cancel

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(2) JOG operation

Transmit the command, data No., and data as follows to execute JOG operation.
Start
Command: [8] [B] Select the JOG operation in the test
Data No. : [0] [0] operation mode.
Data : 0001 (JOG operation)

Servo motor speed setting

Command: [A] [0]
Data No. : [1] [0]
Data : Write the servo motor speed [r/min]
in hexadecimal.

Set the operation pattern.

Acceleration/deceleration time constant setting
Command: [A] [0]
Data No. : [1] [1]
Data : Write the acceleration/
deceleration time constant [ms] in
hexadecimal.

When LSP/LSN was turned Off by external When LSP/LSN was turned On by external
input signal input signal or automatically

Start Start
Command: [9] [2] Command: [9] [2]
Data No. : [0] [0] Data No. : [0] [0]
Data : Forward rotation direction Data : Forward rotation direction
00000807 00000801
(SON, LSP, LSN, and ST1 (SON and ST1 turned on.) Start
turned on.) Reverse rotation direction
Reverse rotation direction 00001001
00001007 (SON and ST2 turned on.)
(SON, LSP, LSN, and ST2
turned on.)

Stop Stop
Command: [9] [2] Command: [9] [2]
Data No. : [0] [0] Data No. : [0] [0] Stop
Data : 00000007 Data 00000001
(SON, LSP, and LSN turned (SON turned on.)
on.)

End
Command: [8] [B]
Data No. : [0] [0] Test operation mode is canceled.
Data 0000
(Test operation mode is
canceled.)

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(3) Positioning operation

(a) Operation procedure
Transmit the command, data No., and data as follows to execute positioning operation.
Start
Command: [8] [B] Select the JOG operation in the test
Data No. : [0] [0] operation mode.
Data : 0002 (Positioning operation)

Servo motor speed setting

Command: [A] [0]
Data No. : [1] [0]
Data : Write the speed [r/min] in
hexadecimal.

Acceleration/deceleration time constant setting

Command: [A] [0]
Data No. : [1] [1]
Data : Write the acceleration/
deceleration time constant [ms] in
hexadecimal.
Set the operation pattern.

Travel distance setting

Command: [A] [0]
Data No. : [2] [0]
Data : Write the travel distance [pulse] in
hexadecimal.

Rotation direction selection

Command: [A] [0]
Data No. : [2] [1]
Data : 0000 (Forward rotation direction)
0001 (Reverse rotation direction)
When LSP/LSN was turned Off by external When LSP/LSN was turned On by external
input signal input signal or automatically

Enable input device. Enable input device.

Command: [9] [2] Command: [9] [2]
Data No. : [0] [0] Data No. : [0] [0] Turn on SON (Servo-on) to make the
Data : 00000007 Data : 00000001 servo amplifier ready.
(SON, LSP, and LSN turned (SON turned on.)
on.)

(Note)
Start positioning operation
Command: [A] [0] Start
Data No. : [4] [0]
Data : 1EA5

End
Command: [8] [B]
Data No. : [0] [0] Test operation mode is canceled.
Data : 0000
(Test operation mode is
canceled.)

Note It has 100 ms delay.

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(b) Temporary stop/restart/remaining distance clear

Transmit the following command, data No., and data during positioning operation to make
deceleration to a stop.
Command Data No. Data
[A] [0] [4] [1] STOP

Transmit the following command, data No., and data during a temporary stop to restart.
Command Data No. (Note) Data
[A] [0] [4] [1] GO_ _

Note "_" indicates a blank.

Transmit the following command, data No., and data during a temporary stop to stop positioning
operation and erase the remaining travel distance.
Command Data No. (Note) Data
[A] [0] [4] [1] CLR_

Note "_" indicates a blank.

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4.5.9 Output signal pin on/off (output signal (DO) forced output)

In the test operation mode, the output signal pins can be turned on/off regardless of the servo status. Using
command [9] [0], disable the external output signals in advance.

(1) Selecting output signal (DO) forced output in the test operation mode
Transmit command + [8] [B] + data No. [0] [0] + data "0004" to select output signal (DO) forced output.

0 0 0 4
Selection of test operation mode
4: Output signal (DO) forced output

(2) External output signal on/off

Transmit the following communication commands.
Command Data No. Set data
[9] [2] [A] [0] See below.

b31 b1b0
1: On
0: Off

Command of each bit is transmitted to the master station as hexadecimal data.

Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin
0 49 8 14 (Note) 16 24
1 24 9 17 25
2 23 10 18 26
3 25 11 19 27
4 22 12 20 28
5 48 13 21 29
6 33 14 22 30
7 13 (Note) 15 23 31

Note The MR-J4-_A_-RJ 100 W or more servo amplifier is available with software version B3 or later.

(3) Output signal (DO) forced output

Transmit command [8] [B] + data No. [0] [0] + data to stop output signal (DO) forced output.
Transmission
Command Data No. Selection of test operation mode
data
[8] [B] [0] [0] 0000 Test operation mode cancel

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4.5.10 Alarm history

(1) Alarm No. reading

The following shows how to read alarm Nos. which occurred in the past. Alarm Nos. and occurrence
times of No. 0 (last alarm) to No. 15 (sixteenth alarm in the past) are read.

(a) Transmission
Transmit command [3] [3] + data No. [1] [0] to [1] [F]. Refer of section 4.4.1.

(b) Return
Alarm Nos. corresponding to the data No. is provided.

0 0
Alarm No. is transferred in hexadecimal

For example, "0032" means [AL. 32] and "00FF" means [AL. _ _ ] (no alarm).

(2) Alarm occurrence time reading

The following shows how to read alarm occurrence times which occurred in the past.
Alarm occurrence time corresponding to the data No. is provided in terms of the total time beginning with
operation start, with the minute unit omitted.

(a) Transmission
Transmit command [3] [3] + data No. [2] [0] to [2] [F].
Refer of section 4.4.1.

(b) Return

The alarm occurrence time is transferred in hexadecimal.

Hexadecimal must be converted into decimal.

For example, data "01F5" means that the alarm occurred in 501 hours after starting operation.

(3) Clearing the alarm history

Alarm history is cleared.
Transmit command [8] [2] and data No. [2] [0].
Command Data No. Data
[8] [2] [2] [0] 1EA5

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4.5.11 Current alarm

(1) Current alarm reading

The following shows how to read the alarm No. which is occurring currently.

(a) Transmission
Transmit command [0] [2] and data No. [0] [0].
Command Data No.
[0] [2] [0] [0]

(b) Return
The slave station returns the alarm currently occurring.

0 0
Alarm No. is transferred in hexadecimal

For example, "0032" means [AL. 32] and "00FF" means [AL. _ _ ] (no alarm).

(2) Reading status display at alarm occurrence

The following shows how to read the status display data at alarm occurrence. When the data No.
corresponding to the status display item is transmitted, the data value and data processing information
will be returned.

(a) Transmission
Transmit the command [3] [5] + the data No. corresponding to the status display item to read, [8] [0]
to [8] [E] and [A] [0] to [A] [9]. Refer of section 4.4.1.

(b) Return
The slave station returns the status display data of requested alarm at occurrence.

0 0
Data 32-bit length (hexadecimal representation)
(Data conversion is required as indicated in the display type.

Display type
0: Data must be converted into decimal.
1: Data is used unchanged in hexadecimal.

Decimal point position

0: No decimal point
1: First least significant digit (normally not used)
2: Second least significant digit
3: Third least significant digit
4: Forth least significant digit
5: Fifth least significant digit
6: Sixth least significant digit

(3) Current alarm reset

As by the reset (RES) on, reset the servo amplifier alarm to make the servo amplifier ready to operate.
After removing the cause of the alarm, reset the alarm with no command entered.
Command Data No. Data
[8] [2] [0] [0] 1EA5

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4.5.12 Other commands

(1) Servo motor-side pulse unit absolute position

The following shows how to read the absolute position in the servo motor-side pulse unit. Note that
overflow will occur in the position of 8192 or more revolutions from the home position.

(a) Transmission
Transmit command [0] [2] and data No. [9] [0].
Command Data No.
[0] [2] [9] [0]

(b) Return
The slave station returns the requested servo motor-side pulses.

Absolute position is sent back in hexadecimal in the servo motor-side pulse

(Data must be converted into decimal.)

For example, data "000186A0" is 100000 pulses in the motor-side pulse unit.

(2) Command unit absolute position

The following shows how to read the absolute position in the command unit.

(a) Transmission
Transmit command [0] [2] and data No. [9] [1].
Command Data No.
[0] [2] [9] [1]

(b) Return
The slave station returns the requested command pulses.

Absolute position is sent back in hexadecimal in the command unit.

(Data must be converted into decimal.)

For example, data "000186A0" is 100000 pulses in the command unit.

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(3) Software version

The following shows how to read the software version of the servo amplifier.

(a) Transmission
Transmit command [0] [2] and data No. [7] [0].
Command Data No.
[0] [2] [7] [0]

(b) Return
The slave station returns the requested software version.

Software version (15 digits)

Space

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Part 8: Common Reference Material

5. HF-_P/HA-_P/HC-_P MOTOR DRIVE

5.1 MR-J3 series servo motors which are available with MR-J4-_A_ , MR-J4-_B_ and MR-J4-_GF_

POINT
For the software version of the servo amplifier, refer to "3.1 Method for checking
the software version".
When you use a servo motor which is not supported, please contact your local
sales office.
When an MR-J4 series servo amplifier is used to drive the MR-J3 series servo
motor, a regenerative option of either the existing MR-J3 series or MR-J4 series
can be used. However, it is recommended to replace the existing regenerative
option with the MR-J4 series regenerative option prior to the replacement with
MR-J4 series servo motors. For details of the combinations of servo amplifiers
and regenerative options, refer to "Chapter 1: COMPARISON TABLE OF
REGENERATIVE OPTION COMBINATIONS" in "Part 10: Review on
Replacement of Optional Peripheral Equipment".
The same applies when the MR-J4-_B_ servo amplifier is set to "J3 compatibility
mode".
Even when driving the MR-J3 series servo motor with the MR-J4 series servo
amplifier, the detector resolution per rotation of the HF-_P/HC-_P/HA-_P servo
motor is 18 bits (262144 pulses/rev).

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Part 8: Common Reference Material

(1) 200 V class

The list for the servo motor/servo amplifier combination
Servo motor model Servo amplifier software version
Servo motor series (Including servo motors with Servo amplifier model (Note 1)
gear reducers/brakes) J4 mode J3 compatibility mode
MR-J4-10A(-RJ)
A8 or later
HF-KP053 MR-J4-10B(-RJ) A8 or later
MR-J4-10GF(-RJ) A0 or later
MR-J4-10A(-RJ)
A8 or later
HF-KP13 MR-J4-10B(-RJ) A8 or later
MR-J4-10GF(-RJ) A0 or later
MR-J4-20A(-RJ)
A8 or later
HF-KP series HF-KP23 MR-J4-20B(-RJ) A8 or later
MR-J4-20GF(-RJ) A0 or later
MR-J4-40A(-RJ)
A8 or later
HF-KP43 MR-J4-40B(-RJ) A8 or later
MR-J4-40GF(-RJ) A0 or later
MR-J4-70A(-RJ)
A8 or later
HF-KP73 MR-J4-70B(-RJ) A8 or later
MR-J4-70GF(-RJ) A0 or later
MR-J4-10A(-RJ)
A8 or later
HF-MP053 MR-J4-10B(-RJ) A8 or later
MR-J4-10GF(-RJ) A0 or later
MR-J4-10A(-RJ)
A8 or later
HF-MP13 MR-J4-10B(-RJ) A8 or later
MR-J4-10GF(-RJ) A0 or later
MR-J4-20A(-RJ)
A8 or later
HF-MP series HF-MP23 MR-J4-20B(-RJ) A8 or later
MR-J4-20GF(-RJ) A0 or later
MR-J4-40A(-RJ)
A8 or later
HF-MP43 MR-J4-40B(-RJ) A8 or later
MR-J4-40GF(-RJ) A0 or later
MR-J4-70A(-RJ)
A8 or later
HF-MP73 MR-J4-70B(-RJ) A8 or later
MR-J4-70GF(-RJ) A0 or later
MR-J4-11KA(-RJ)
D0 or later
HF-JP11K1M MR-4-11KB(-RJ) D0 or later
HF-JP MR-J4-11KGF(-RJ) A0 or later
1500 r/min series MR-J4-15KA(-RJ)
D0 or later
HF-JP15K1M MR-J4-15KB(-RJ) D0 or later
MR-J4-15KGF(-RJ) A0 or later
MR-J4-60A(-RJ)
A8 or later
MR-J4-60B(-RJ) D4 or later
MR-J4-60GF(-RJ) A0 or later
HF-JP53
MR-J4-100A(-RJ) (Note 2)
MR-J4-100B(-RJ) (Note 2) Unsupported Unsupported
HF-JP MR-J4-100GF(-RJ) (Note 2)
3000 r/min series MR-J4-70A(-RJ)
A8 or later
MR-J4-70B(-RJ) D0 or later
MR-J4-70GF(-RJ) A0 or later
HF-JP73
MR-J4-200A(-RJ) (Note 2)
MR-J4-200B(-RJ) (Note 2) Unsupported Unsupported
MR-J4-200GF(-RJ) (Note 2)

Note 1. Not compatible with MR-J4-_B_-RJ020.

2. The combination when torque is increased.

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Servo motor model Servo amplifier software version

Servo motor series (Including servo motors with Servo amplifier model (Note 1)
gear reducers/brakes) J4 mode J3 compatibility mode
MR-J4-100A(-RJ)
A8 or later
MR-J4-100B(-RJ) D0 or later
MR-J4-100GF(-RJ) A0 or later
HF-JP103
MR-J4-200A(-RJ) (Note 2)
MR-J4-200B(-RJ) (Note 2) Unsupported Unsupported
MR-J4-200GF(-RJ) (Note 2)
MR-J4-200A(-RJ)
A8 or later
MR-J4-200B(-RJ) D0 or later
MR-J4-200GF(-RJ) A0 or later
HF-JP153
MR-J4-350A(-RJ) (Note 2)
MR-J4-350B(-RJ) (Note 2) Unsupported Unsupported
MR-J4-350GF(-RJ) (Note 2)
MR-J4-200A(-RJ)
A8 or later
MR-J4-200B(-RJ) D0 or later
MR-J4-200GF(-RJ) A0 or later
HF-JP203
MR-J4-350A(-RJ) (Note 2)
MR-J4-350B(-RJ) (Note 2) Unsupported Unsupported
HF-JP MR-J4-350GF(-RJ) (Note 2)
3000 r/min series MR-J4-350A(-RJ)
A8 or later
MR-J4-350B(-RJ) D4 or later
MR-J4-350GF(-RJ) A0 or later
HF-JP353
MR-J4-500A(-RJ) (Note 2)
MR-J4-500B(-RJ) (Note 2) Unsupported Unsupported
MR-J4-500GF(-RJ) (Note 2)
MR-J4-500A(-RJ)
A8 or later
MR-J4-500B(-RJ) D4 or later
MR-J4-500GF(-RJ) A0 or later
HF-JP503
MR-J4-700A(-RJ) (Note 2)
MR-J4-700B(-RJ) (Note 2) Unsupported Unsupported
MR-J4-700GF(-RJ) (Note 2)
MR-J4-700A(-RJ)
A8 or later
HF-JP703 MR-J4-700B(-RJ) D0 or later
MR-J4-700GF(-RJ) A0 or later
MR-J4-11KA(-RJ)
D4 or later
HF-JP903 MR-J4-11KB(-RJ) D4 or later
MR-J4-11KGF(-RJ) A0 or later

Note 1. Not compatible with MR-J4-_B_-RJ020.

2. The combination when torque is increased.

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Part 8: Common Reference Material

Servo motor model Servo amplifier software version

Servo amplifier model
Servo motor series (Including servo motors
(Note) J4 mode J3 compatibility mode
with gear reducers/brakes)
MR-J4-60A(-RJ)
A8 or later
HF-SP51 MR-J4-60B(-RJ) A8 or later
MR-J4-60GF(-RJ) A0 or later
MR-J4-100A(-RJ)
A8 or later
HF-SP81 MR-J4-100B(-RJ) A8 or later
MR-J4-100GF(-RJ) A0 or later
MR-J4-200A(-RJ)
A8 or later
HF-SP121 MR-J4-200B(-RJ) A8 or later
HF-SP MR-J4-200GF(-RJ) A0 or later
1000 r/min series MR-J4-200A(-RJ)
A8 or later
HF-SP201 MR-J4-200B(-RJ) A8 or later
MR-J4-200GF(-RJ) A0 or later
MR-J4-350A(-RJ)
A8 or later
HF-SP301 MR-J4-350B(-RJ) A8 or later
MR-J4-350GF(-RJ) A0 or later
MR-J4-500A(-RJ)
A8 or later
HF-SP421 MR-J4-500B(-RJ) A8 or later
MR-J4-500GF(-RJ) A0 or later
MR-J4-60A(-RJ)
A8 or later
HF-SP52 MR-J4-60B(-RJ) A8 or later
MR-J4-60GF(-RJ) A0 or later
MR-J4-100A(-RJ)
A8 or later
HF-SP102 MR-J4-100B(-RJ) A8 or later
MR-J4-100GF(-RJ) A0 or later
MR-J4-200A(-RJ)
A8 or later
HF-SP152 MR-J4-200B(-RJ) A8 or later
MR-J4-200GF(-RJ) A0 or later
MR-J4-200A(-RJ)
HF-SP A8 or later
HF-SP202 MR-J4-200B(-RJ) A8 or later
2000 r/min series
MR-J4-200GF(-RJ) A0 or later
MR-J4-350A(-RJ)
A8 or later
HF-SP352 MR-J4-350B(-RJ) A8 or later
MR-J4-350GF(-RJ) A0 or later
MR-J4-500A(-RJ)
A8 or later
HF-SP502 MR-J4-500B(-RJ) A8 or later
MR-J4-500GF(-RJ) A0 or later
MR-J4-700A(-RJ)
A8 or later
HF-SP702 MR-J4-700B(-RJ) A8 or later
MR-J4-700GF(-RJ) A0 or later
MR-J4-700A(-RJ)
A8 or later
HA-LP601 MR-J4-700B(-RJ) D0 or later
MR-J4-700GF(-RJ) A0 or later
MR-J4-11KA(-RJ)
HA-LP801 MR-J4-11KB(-RJ) Unsupported Unsupported
MR-J4-11KGF(-RJ)
MR-J4-11KA(-RJ)
HA-LP D4 or later
HA-LP12K1 MR-J4-11KB(-RJ) D4 or later
1000 r/min series
MR-J4-11KGF(-RJ) A0 or later
MR-J4-15KA(-RJ)
HA-LP15K1 MR-J4-15KB(-RJ) Unsupported
MR-J4-15KGF(-RJ)
Unsupported
MR-J4-22KA(-RJ)
HA-LP20K1 MR-J4-22KB(-RJ) Unsupported
MR-J4-22KGF(-RJ)

Note. Not compatible with MR-J4-_B_-RJ020.

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Servo motor model Servo amplifier software version

Servo amplifier model
Servo motor series (Including servo motors with
(Note) J4 mode J3 compatibility mode
gear reducers/brakes)
MR-J4-22KA(-RJ)
HA-LP25K1 MR-J4-22KB(-RJ) Unsupported
MR-J4-22KGF(-RJ)
HA-LP
MR-J4-DU30KA(-RJ) Unsupported
1000 r/min series HA-LP30K1
MR-J4-DU30KB(-RJ) Unsupported
MR-J4-DU37KA(-RJ)
HA-LP37K1
MR-J4-DU37KB(-RJ) Unsupported
MR-J4-700A(-RJ)
A8 or later
HA-LP701M MR-J4-700B(-RJ) D0 or later
MR-J4-700GF(-RJ) A0 or later
MR-J4-11KA(-RJ)
D0 or later
HA-LP11K1M MR-J4-11KB(-RJ) D0 or later
MR-J4-11KGF(-RJ) A0 or later
MR-J4-15KA(-RJ)
D0 or later
HA-LP HA-LP15K1M MR-J4-15KB(-RJ) D0 or later
1500 r/min series MR-J4-15KGF(-RJ) A0 or later
MR-J4-22KA(-RJ)
D0 or later
HA-LP22K1M MR-J4-22KB(-RJ) D0 or later
MR-J4-22KGF(-RJ) A0 or later
MR-J4-DU30KA(-RJ)
HA-LP30K1M
MR-J4-DU30KB(-RJ) Unsupported
Unsupported
MR-J4-DU37KA(-RJ)
HA-LP37K1M
MR-J4-DU37KB(-RJ) Unsupported
MR-J4-500A(-RJ)
A8 or later
HA-LP502 MR-J4-500B(-RJ) D0 or later
MR-J4-500GF(-RJ) A0 or later
MR-J4-700A(-RJ)
A8 or later
HA-LP702 MR-J4-700B(-RJ) D0 or later
MR-J4-700GF(-RJ) A0 or later
MR-J4-11KA(-RJ)
D0 or later
HA-LP11K2 MR-J4-11KB(-RJ) D0 or later
MR-J4-11KGF(-RJ) A0 or later
HA-LP
MR-J4-15KA(-RJ)
2000 r/min series D0 or later
HA-LP15K2 MR-J4-15KB(-RJ) D0 or later
MR-J4-15KGF(-RJ) A0 or later
MR-J4-22KA(-RJ)
D0 or later
HA-LP22K2 MR-J4-22KB(-RJ) D0 or later
MR-J4-22KGF(-RJ) A0 or later
MR-J4-DU30KA(-RJ)
HA-LP30K2 D0 or later
MR-J4-DU30KB(-RJ) Unsupported
MR-J4-DU37KA(-RJ)
HA-LP37K2 Unsupported
MR-J4-DU37KB(-RJ) Unsupported

Note. Not compatible with MR-J4-_B_-RJ020.

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Servo motor model Servo amplifier software version

Servo amplifier model
Servo motor series (Including servo motors
(Note) J4 mode J3 compatibility mode
with gear reducers/brakes)
MR-J4-70A(-RJ)
A8 or later
HC-UP72 MR-J4-70B(-RJ) D0 or later
MR-J4-70GF(-RJ) A0 or later
MR-J4-200A(-RJ)
A7 or later
HC-UP152 MR-J4-200B(-RJ) D0 or later
MR-J4-200GF(-RJ) A0 or later
MR-J4-350A(-RJ)
A8 or later
HC-UP series HC-UP202 MR-J4-350B(-RJ) D0 or later
MR-J4-350GF(-RJ) A0 or later
MR-J4-500A(-RJ)
A8 or later
HC-UP352 MR-J4-500B(-RJ) D0 or later
MR-J4-500GF(-RJ) A0 or later
MR-J4-500A(-RJ)
A8 or later
HC-UP502 MR-J4-500B(-RJ) D0 or later
MR-J4-500GF(-RJ) A0 or later
MR-J4-60A(-RJ)
A8 or later
HC-LP52 MR-J4-60B(-RJ) D0 or later
MR-J4-60GF(-RJ) A0 or later
MR-J4-100A(-RJ)
A8 or later
HC-LP102 MR-J4-100B(-RJ) D0 or later
MR-J4-100GF(-RJ) A0 or later
MR-J4-200A(-RJ)
A8 or later
HC-LP series HC-LP152 MR-J4-200B(-RJ) D0 or later
MR-J4-200GF(-RJ) A0 or later
MR-J4-350A(-RJ)
A8 or later
HC-LP202 MR-J4-350B(-RJ) D0 or later
MR-J4-350GF(-RJ) A0 or later
MR-J4-500A(-RJ)
A8 or later
HC-LP302 MR-J4-500B(-RJ) D0 or later
MR-J4-500GF(-RJ) A0 or later
MR-J4-200A(-RJ)
A8 or later
HC-RP103 MR-J4-200B(-RJ) D0 or later
MR-J4-200GF(-RJ) A0 or later
MR-J4-200A(-RJ)
A8 or later
HC-RP153 MR-J4-200B(-RJ) D0 or later
MR-J4-200GF(-RJ) A0 or later
MR-J4-350A(-RJ)
A8 or later
HC-RP series HC-RP203 MR-J4-350B(-RJ) D0 or later
MR-J4-350GF(-RJ) A0 or later
MR-J4-500A(-RJ)
A8 or later
HC-RP353 MR-J4-500B(-RJ) D0 or later
MR-J4-500GF(-RJ) A0 or later
MR-J4-500A(-RJ)
A8 or later
HC-RP503 MR-J4-500B(-RJ) D0 or later
MR-J4-500GF(-RJ) A0 or later

Note. Not compatible with MR-J4-_B_-RJ020.

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(2) 400 V class

The list for the servo motor/servo amplifier combination
Servo amplifier model Servo amplifier software version
Servo motor series Servo motor model
(Note 1) J4 mode J3 compatibility mode
MR-J4-11KA4(-RJ)
D4 or later
HF-JP11K1M4 MR-J4-11KB4(-RJ) D4 or later
HF-JP MR-J4-11KGF4(-RJ) A0 or later
1500 r/min series MR-J4-15KA4(-RJ)
D4 or later
HF-JP15K1M4 MR-J4-15KB4(-RJ) D4 or later
MR-J4-15KGF4(-RJ) A0 or later
MR-J4-60A4(-RJ)
D0 or later
MR-J4-60B4(-RJ) D0 or later
MR-J4-60GF4(-RJ) A0 or later
HF-JP534
MR-J4-100A4(-RJ) (Note 2)
MR-J4-100B4(-RJ) (Note 2) Unsupported Unsupported
MR-J4-100GF4(-RJ) (Note 2)
MR-J4-100A4(-RJ)
D0 or later
MR-J4-100B4(-RJ) D0 or later
MR-J4-100GF4(-RJ) A0 or later
HF-JP734
MR-J4-200A4(-RJ) (Note 2)
MR-J4-200B4(-RJ) (Note 2) Unsupported Unsupported
MR-J4-200GF4(-RJ) (Note 2)
MR-J4-100A4(-RJ)
D4 or later
MR-J4-100B4(-RJ) D4 or later
MR-J4-100GF4(-RJ) A0 or later
HF-JP1034
MR-J4-200A4(-RJ) (Note 2)
MR-J4-200B4(-RJ) (Note 2) Unsupported Unsupported
MR-J4-200GF4(-RJ) (Note 2)
MR-J4-200A4(-RJ)
D0 or later
MR-J4-200B4(-RJ) D0 or later
MR-J4-200GF4(-RJ) A0 or later
HF-JP1534
MR-J4-350A4(-RJ) (Note 2)
MR-J4-350B4(-RJ) (Note 2) Unsupported Unsupported
HF-JP MR-J4-350GF4(-RJ) (Note 2)
3000 r/min series MR-J4-200A4(-RJ)
D0 or later
MR-J4-200B4(-RJ) D0 or later
MR-J4-200GF4(-RJ) A0 or later
HF-JP2034
MR-J4-350A4(-RJ) (Note 2)
MR-J4-350B4(-RJ) (Note 2) Unsupported Unsupported
MR-J4-350GF4(-RJ) (Note 2)
MR-J4-350A4(-RJ)
D0 or later
MR-J4-350B4(-RJ) D0 or later
MR-J4-350GF4(-RJ) A0 or later
HF-JP3534
MR-J4-500A4(-RJ) (Note 2)
MR-J4-500B4(-RJ) (Note 2) Unsupported Unsupported
MR-J4-500GF4(-RJ) (Note 2)
MR-J4-500A4(-RJ)
D0 or later
MR-J4-500B4(-RJ) D0 or later
MR-J4-500GF4(-RJ) A0 or later
HF-JP5034
MR-J4-700A4(-RJ) (Note 2)
MR-J4-700B4(-RJ) (Note 2) Unsupported Unsupported
MR-J4-700GF4(-RJ) (Note 2)
MR-J4-700A4(-RJ)
D0 or later
HF-JP7034 MR-J4-700B4(-RJ) D0 or later
MR-J4-700GF4(-RJ) A0 or later
MR-J4-11KA4(-RJ)
D4 or later
HF-JP9034 MR-J4-11KB4(-RJ) D4 or later
MR-J4-11KGF4(-RJ) A0 or later

Note 1. Not compatible with MR-J4-_B_-RJ020.

2. The combination when torque is increased.

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Servo amplifier model Servo amplifier software version

Servo motor series Servo motor model
(Note) J4 mode J3 compatibility mode
MR-J4-60A4(-RJ)
D0 or later
HF-SP524 MR-J4-60B4(-RJ) D0 or later
MR-J4-60GF4(-RJ) A0 or later
MR-J4-100A4(-RJ)
D0 or later
HF-SP1024 MR-J4-100B4(-RJ) D0 or later
MR-J4-100GF4(-RJ) A0 or later
MR-J4-200A4(-RJ)
D0 or later
HF-SP1524 MR-J4-200B4(-RJ) D0 or later
MR-J4-200GF4(-RJ) A0 or later
MR-J4-200A4(-RJ)
HF-SP D0 or later
HF-SP2024 MR-J4-200B4(-RJ) D0 or later
2000 r/min series
MR-J4-200GF4(-RJ) A0 or later
MR-J4-350A4(-RJ)
D0 or later
HF-SP3524 MR-J4-350B4(-RJ) D0 or later
MR-J4-350GF4(-RJ) A0 or later
MR-J4-500A4(-RJ)
D0 or later
HF-SP5024 MR-J4-500B4(-RJ) D0 or later
MR-J4-500GF4(-RJ) A0 or later
MR-J4-700A4(-RJ)
D0 or later
HF-SP7024 MR-J4-700B4(-RJ) D0 or later
MR-J4-700GF4(-RJ) A0 or later
MR-J4-700A4(-RJ)
D0 or later
HA-LP6014 MR-J4-700B4(-RJ) D0 or later
MR-J4-700GF4(-RJ) A0 or later
MR-J4-11KA4(-RJ)
D4 or later
HA-LP8014 MR-J4-11KB4(-RJ) D4 or later
MR-J4-11KGF4(-RJ) A0 or later
MR-J4-11KA4(-RJ)
D4 or later
HA-LP12K14 MR-J4-11KB4(-RJ) D4 or later
MR-J4-11KGF4(-RJ) A0 or later
MR-J4-15KA4(-RJ)
HA-LP D0 or later
HA-LP15K14 MR-J4-15KB4(-RJ) D0 or later
1000 r/min series
MR-J4-15KGF4(-RJ) A0 or later
MR-J4-22KA4(-RJ)
D4 or later
HA-LP20K14 MR-J4-22KB4(-RJ) D4 or later
MR-J4-22KGF4(-RJ) A0 or later
MR-J4-DU30KA4(-RJ)
HA-LP25K14
MR-J4-DU30KB4(-RJ) Unsupported
MR-J4-DU30KA4(-RJ)
HA-LP30K14 Unsupported
MR-J4-DU30KB4(-RJ) Unsupported
MR-J4-DU37KA4(-RJ)
HA-LP37K14
MR-J4-DU37KB4(-RJ) Unsupported

Note. Not compatible with MR-J4-_B_-RJ020.

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Servo amplifier model Servo amplifier software version

Servo motor series Servo motor model
(Note) J4 mode J3 compatibility mode
MR-J4-700A4(-RJ)
D0 or later
HA-LP701M4 MR-J4-700B4(-RJ) D0 or later
MR-J4-700GF4(-RJ) A0 or later
MR-J4-11KA4(-RJ)
D0 or later
HA-LP11K1M4 MR-J4-11KB4(-RJ) D0 or later
MR-J4-11KGF4(-RJ) A0 or later
MR-J4-15KA4(-RJ)
D0 or later
HA-LP15K1M4 MR-J4-15KB4(-RJ) D0 or later
MR-J4-15KGF4(-RJ) A0 or later
HA-LP MR-J4-22KA4(-RJ)
D0 or later
1500 r/min series HA-LP22K1M4 MR-J4-22KB4(-RJ) D0 or later
MR-J4-22KGF4(-RJ) A0 or later
MR-J4-DU30KA4(-RJ)
HA-LP30K1M4
MR-J4-DU30KB4(-RJ) Unsupported
MR-J4-DU37KA4(-RJ)
HA-LP37K1M4
MR-J4-DU37KB4(-RJ) Unsupported
Unsupported
MR-J4-DU45KA4(-RJ)
HA-LP45K1M4
MR-J4-DU45KB4(-RJ) Unsupported
MR-J4-DU55KA4(-RJ)
HA-LP50K1M4
MR-J4-DU55KB4(-RJ) Unsupported
MR-J4-11KA4(-RJ)
D0 or later
HA-LP11K24 MR-J4-11KB4(-RJ) D0 or later
MR-J4-11KGF4(-RJ) A0 or later
MR-J4-15KA4(-RJ)
D0 or later
HA-LP15K24 MR-J4-15KB4(-RJ) D0 or later
MR-J4-15KGF4(-RJ) A0 or later
MR-J4-22KA4(-RJ)
D0 or later
HA-LP22K24 MR-J4-22KB4(-RJ) D0 or later
HA-LP
MR-J4-22KGF4(-RJ) A0 or later
2000 r/min series
MR-J4-DU30KA4(-RJ)
HA-LP30K24
MR-J4-DU30KB4(-RJ) D4 or later
MR-J4-DU37KA4(-RJ)
HA-LP37K24
MR-J4-DU37KB4(-RJ) D4 or later
D4 or later
MR-J4-DU45KA4(-RJ)
HA-LP45K24
MR-J4-DU45KB4(-RJ) D4 or later
MR-J4-DU55KA4(-RJ)
HA-LP55K24
MR-J4-DU55KB4(-RJ) D4 or later

Note. Not compatible with MR-J4-_B_-RJ020.

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(3) 100 V class

The list for the servo motor/servo amplifier combination
Servo amplifier model Servo amplifier software version
Servo motor series Servo motor model
(Note) J4 mode J3 compatibility mode
MR-J4-10A1(-RJ)
D0 or later
HF-KP053 MR-J4-10B1(-RJ) D0 or later
MR-J4-10GF1(-RJ) A0 or later
MR-J4-10A1(-RJ)
D0 or later
HF-KP13 MR-J4-10B1(-RJ) D0 or later
MR-J4-10GF1(-RJ) A0 or later
HF-KP series
MR-J4-20A1(-RJ)
D0 or later
HF-KP23 MR-J4-20B1(-RJ) D0 or later
MR-J4-20GF1(-RJ) A0 or later
MR-J4-40A1(-RJ)
D0 or later
HF-KP43 MR-J4-40B1(-RJ) D0 or later
MR-J4-40GF1(-RJ) A0 or later
MR-J4-10A1(-RJ)
D0 or later
HF-MP053 MR-J4-10B1(-RJ) D0 or later
MR-J4-10GF1(-RJ) A0 or later
MR-J4-10A1(-RJ)
D0 or later
HF-MP13 MR-J4-10B1(-RJ) D0 or later
MR-J4-10GF1(-RJ) A0 or later
HF-MP series
MR-J4-20A1(-RJ)
D0 or later
HF-MP23 MR-J4-20B1(-RJ) D0 or later
MR-J4-20GF1(-RJ) A0 or later
MR-J4-40A1(-RJ)
D0 or later
HF-MP43 MR-J4-40B1(-RJ) D0 or later
MR-J4-40GF1(-RJ) A0 or later

Note. Not compatible with MR-J4-_B_-RJ020.

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5.2 MR-J3 series servo motors which are available with MR-J4W_-_B

POINT
For the software version of the servo amplifier, refer to "3.1 Method for checking
the software version".
When you use a servo motor which is not supported, please contact your local
sales office.
When an MR-J4W_-_B servo amplifier is used to drive the MR-J3 series servo
motor, a regenerative option of either the existing MR-J3W series or MR-J4
series can be used. However, it is recommended to replace the existing
regenerative option with the MR-J4 series regenerative option prior to the
replacement with MR-J4 series servo motors. For details of the combinations of
servo amplifiers and regenerative options, refer to "Chapter 1: COMPARISON
TABLE OF REGENERATIVE OPTION COMBINATIONS" in "Part 10: Review on
Replacement of Optional Peripheral Equipment".
The same applies when the MR-J4W_-_B servo amplifier is set to "J3
compatibility mode".
Even when driving the MR-J3 series servo motor with the MR-J4W_-_B servo
amplifier, the detector resolution per rotation of the HF-_P/HC-_P/HA-_P servo
motor is 18 bits (262144 pulses/rev).

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(1) 200 V class

The list for the servo motor/servo amplifier combination
Servo amplifier software version
Servo motor series Servo motor model Servo amplifier model
J4 mode J3 compatibility mode
MR-J4W2-22B
MR-J4W3-222B (Note)
HF-KP053
MR-J4W2-44B
MR-J4W3-444B (Note)
MR-J4W2-22B
MR-J4W3-222B (Note)
HF-KP13
MR-J4W2-44B
MR-J4W3-444B (Note)
MR-J4W2-22B
HF-KP series
MR-J4W3-222B (Note)
HF-KP23
MR-J4W2-44B
MR-J4W3-444B (Note)
MR-J4W2-44B
MR-J4W3-444B (Note)
HF-KP43
MR-J4W2-77B
MR-J4W2-1010B
MR-J4W2-77B
HF-KP73
MR-J4W2-1010B
D0 or later D0 or later
MR-J4W2-22B
MR-J4W3-222B (Note)
HF-MP053
MR-J4W2-44B
MR-J4W3-444B (Note)
MR-J4W2-22B
MR-J4W3-222B (Note)
HF-MP13
MR-J4W2-44B
MR-J4W3-444B (Note)
MR-J4W2-22B
HF-MP series
MR-J4W3-222B (Note)
HF-MP23
MR-J4W2-44B
MR-J4W3-444B (Note)
MR-J4W2-44B
MR-J4W3-444B (Note)
HF-MP43
MR-J4W2-77B
MR-J4W2-1010B
MR-J4W2-77B
HF-MP73
MR-J4W2-1010B
MR-J4W2-77B
HF-JP53
MR-J4W2-1010B
HF-JP
MR-J4W2-77B Unsupported Unsupported
3000 r/min series HF-JP73
MR-J4W2-1010B
HF-JP103 MR-J4W2-1010B
MR-J4W2-77B
HF-SP HF-SP51
MR-J4W2-1010B
1000 r/min series
HF-SP81 MR-J4W2-1010B
D0 or later D0 or later
MR-J4W2-77B
HF-SP HF-SP52
MR-J4W2-1010B
2000 r/min series
HF-SP102 MR-J4W2-1010B
MR-J4W2-77B
HC-UP series HC-UP72
MR-J4W2-1010B
MR-J4W2-77B Unsupported Unsupported
HC-LP52
HC-LP series MR-J4W2-1010B
HC-LP102 MR-J4W2-1010B

Note. One servo amplifier can drive three axis servo motors.

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6. APPLICATION OF FUNCTIONS

This chapter explains application of using servo amplifier functions.

POINT
The J3 compatibility mode is compatible only with MR-J4-_B_(-RJ) and MR-
J4W2-_B servo amplifiers.

6.1 J3 compatibility mode

POINT
J3 series servo motor driving in the J3 compatibility mode will be sequentially
available.
For the target models and schedule, contact your local sales office.
Specifications of the J3 compatibility mode of the servo amplifier with software
version A4 or earlier differ from those with software version A5 or later. For
details, refer to section 6.1.8.
The J3 compatibility mode is not compatible with the master-slave operation
function.
The fully closed loop control in the J3 compatibility mode is available for the
servo amplifiers with software version A3 or later.

6.1.1 J3 Outline of J3 compatibility mode

MR-J4-_B_(-RJ) servo amplifiers and MR-J4W2-_B have two operation modes. "J4 mode" is for using all
functions with full performance and "J3 compatibility mode" is compatible with MR-J3-_B_ series for using
the amplifiers as the conventional series.
When you connect an amplifier with SSCNET III/H communication for the first controller communication by
factory setting, the operation mode will be fixed to "J4 mode". For SSCNET communication, it will be fixed to
"J3 compatibility mode". When you set the mode back to the factory setting, use the application "MR Mode
Change".
The application "MR Mode Change" is packed with MR Configurator2 of software version 1.12N or later.
For the operating conditions of the application "MR Mode Change", use MR Configurator2.

6.1.2 Operation modes supported by J3 compatibility mode

The J3 compatibility mode supports the following operation modes.

Operation mode in J3 compatibility mode Model of MR-J3-_B Model of MR-J3W-_B
MR-J3-B standard control mode (rotary servo motor) MR-J3-_B MR-J3W-_B

Each operation mode has the same ordering as conventional MR-J3-B series servo amplifiers and is
compatible with their settings.
In addition, the control response characteristic in the J3 compatibility mode will be the same as that of MR-J3
series. By enabling the J3 extension function, control response will be equal to MR-J4 series using a
controller compatible with SSCNET III.

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6.1.3 J3 compatibility mode supported function list

The following shows functions which compatible with J4 mode and J3 compatibility mode. The letters such
as "A0" described after and mean servo amplifier software versions which compatible with each function.
Each function is used with servo amplifiers with these software versions or later.
Compatibility
( : J4 new, : Equivalent to J3, : Not available)
Function Name
MR-J4 series MR-J3/MR-J3W
J4 mode J3 compatibility mode series (Note 8)
Speed frequency response 2.5 kHz 2.1 kHz 2.1 kHz
Basic specification
Encoder resolution 22 bits (Note 1) 18 bits (Note 1) 18 bits
SSCNET III/H Communication baud rate 150 Mbps 50 Mbps 50 Mbps
communication or
SSCNET III Maximum distance between stations 100 m 50 m 50 m
communication
Absolute position detection system A0 A0
A3 A3
MR-J3-_B-RJ006
Fully closed loop control (Note 9) (Two-wire type only) (Two-wire type only)
MR-J3-_S
(Note 13) (Note 13)
A0 A0
(Two-wire type/ (Two-wire type/ MR-J3-_B-RJ004
Linear servo motor driving
Basic function four-wire type only) four-wire type only) MR-J3W-_B
(Note 13) (Note 13)
MR-J3-_B-RJ080W
Direct drive motor driving A0 A0
MR-J3W-_B
Motor-less operation A0 (Note 2) A0 (Note 2)
Rotation direction selection/travel
A0 A0
direction selection
A/B-phase pulse output A0 (Note 3) A0 (Note 3)
Encoder output pulses
Z-phase pulse output A0 (Note 4) A0 (Note 4) (Note 4)
Analog monitor output A0 (Note 5) A0 (Note 5)
MR-J3-_B-RJ004
Input/output
Motor thermistor A0 A0 MR-J3-_B-RJ080W
MR-J3W-_B
Position control mode A0 A0
Speed control mode A0 A0
Control mode Torque control mode A0 A0
Continuous operation to torque
A0 A0
control mode
Auto tuning mode 1 A0 A0
Auto tuning mode 2 A0 A0
2 gain adjustment mode 1
Auto tuning A0 A0
(interpolation mode)
2 gain adjustment mode 2 A0
Manual mode A0 A0
Machine resonance suppression filter
A0 A0
1
Machine resonance suppression filter
A0 A0
2
Machine resonance suppression filter
A0 B0 (Note 15)
3
Machine resonance suppression filter
A0 B0 (Note 15)
Filter function 4
Machine resonance suppression filter
A0 B0 (Note 15)
5
Shaft resonance suppression filter A0 B0 (Note 15)
Low-pass filter A0 A0
Robust disturbance compensation
A0
(Note 10)
Robust filter A0 B0 (Note 15)

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Compatibility
( : J4 new, : Equivalent to J3, : Not available)
Function Name
MR-J4 series MR-J3/MR-J3W
J4 mode J3 compatibility mode series (Note 8)
Standard mode/3 inertia mode A0 B0 (Note 15)
Vibration suppression Vibration suppression control 1 A0 A0
control Vibration suppression control 2 A0 B0 (Note 15)
Command notch filter A0 A0
Gain switching A0 A0
Slight vibration suppression control A0 A0
Overshoot amount compensation A0 A0
PI-PID switching control A0 A0
Feed forward A0 A0
Applied control Torque limit A0 A0
Master-slave operation function A8 (Note 5)
Scale measurement function A8 (Note 3)
Model adaptive control disabled B4 B4
Lost motion compensation function B4 (Note 5) (Note 5, 15)
Super trace control B4 (Note 5)
One-touch tuning A0 B0 (Note 15)
Adaptive tuning A0 A0
Adjustment function
Vibration suppression control 1 tuning A0 A0
Vibration suppression control 2 tuning A0 B0 (Note 15)
Fully closed loop electronic gear A3 A3
Dual feedback control A3 A3
Fully closed loop Semi closed/fully closed switching MR-J3-_S
control A3 A3
loop control MR-J3-_B-RJ006
Fully closed loop control error
A3 A3
detection function
Linear servo control error detection
A0 A0
function MR-J3-_B-RJ004
Linear compatible
Servo motor series/types setting MR-J3W-_B
A0 A0
function
MR-J3-_B-RJ004
Direct current exciting method
A0 A0 MR-J3-_B-RJ080W
magnetic pole detection
MR-J3W-_B
Current detection method magnetic MR-J3-_B-RJ004
Magnetic pole (Note 6) A0
pole detection MR-J3W-_B
detection
Minute position detection method
A0 A0 MR-J3-_B-RJ004
magnetic pole detection
MR-J3-_B-RJ080W
Initial magnetic pole detection error
A0 A0 MR-J3W-_B
detection function
Semi closed loop control two-wire
A0 A0
type/four-wire type selection
MR-J3-_S
Serial interface compatible linear MR-J3-_B-RJ006
A0 A0
Encoder encoder MR-J3-_B-RJ004
MR-J3W-_B
Pulse train interface (A/B/Z-phase MR-J3-_S
differential output type) compatible A5 (Note 14) A5 (Note 14) MR-J3-_B-RJ006
linear encoder MR-J3-_B-RJ004
STO function A0 A0 MR-J3-_S
Forced stop deceleration function at
A0 A0 (Note 12) MR-J3-_S
Functional safety alarm occurrence
Vertical axis freefall prevention
A0 A0 MR-J3-_S
function
SEMI-F47 function A0 B0 (Note 15, 16)
Vibration tough drive A0 B0 (Note 15)
Tough drive function
Instantaneous power failure tough
A0 B0 (Note 15)
drive
3-digit alarm display A0 A0 MR-J3W-_B
16 alarm histories supported A0 (Note 7) (Note 7)
Diagnosis function
Drive recorder function A0 B0 (Note 15)
Machine diagnosis function A0 B0 (Note 15)

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Compatibility
( : J4 new, : Equivalent to J3, : Not available)
Function Name
MR-J4 series MR-J3/MR-J3W
J4 mode J3 compatibility mode series (Note 8)
SSCNET III A0
Controller SSCNET III/H A0
Home position return function A0 A0
J4 mode/J3 compatibility mode
A0 A0
Others automatic identification (Note 11)
Power monitoring function A0 B0 (Note 15)

Note 1. The value is at the HG series servo motor driving.

2. The motor-less operation cannot be used in the fully closed loop control mode, linear servo motor control mode, or DD motor
control mode.
3. It is not available with MR-J4W3-_B servo amplifiers.
4. It is not available with the MR-J3W-_B, MR-J4W2-_B, and MR-J4W3-_B servo amplifiers.
5. It is not available with the MR-J4W2-_B and MR-J4W3-_B servo amplifiers.
6. The minute position detection method is available instead.
7. Alarm history will be saved up to six times.
8. The functions of the product with modified parts (GA) in the MR-J3-_B servo amplifiers are all covered by the J3 compatibility
mode of the MR-J4-_B servo amplifiers.
9. MR-J4W3-_B servo amplifiers do not support the fully closed loop control system.
10. For MR-J4 series, the robust filter and vibration tough drive are available instead.
11. The operation mode will be identified automatically at the first controller communication. You can change the operation mode
with the application "MR-J4(W)-B mode selection".
12. When MR-J4 is used as a replacement of MR-J3-_S, "Servo forced stop selection" in [Pr. PA04] will be "Disabled (_ 1 _ _)" in
the initial setting. Change the setting as necessary.
13. This is for MR-J4-_B servo amplifier. MR-J4-_B-RJ servo amplifier is compatible with two-wire type, four-wire type, and
A/B/Zphase differential output method.
14. It is available with only MR-J4-_B-RJ servo amplifiers. It is not available with MR-J4-_B servo amplifiers.
15. This is available when the J3 extension function is enabled. Refer to section 17.1.9 for details.
16. For servo system controllers which are available with this, contact your local sales office.

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6.1.4 Distinguishing J3 compatibility mode

Following shows the status display of the servo amplifier axis of MR-J4-_B_ and MR-J4W2-_B. In the states
of "Waiting for servo system controller power to switch on (SSCNET III/H communication)" and "Servo
system controller power off", the decimal point on the first digit LED turns off in J4 mode, and blinks in J3
compatibility mode. This function can be used with servo amplifiers with software version A5 or later.
Servo amplifier power on

System check in progress

Waiting for servo system

controller power to switch on
(SSCNET III/H communication)

Servo system controller power on

(SSCNET III/H communication begins)

J4 mode J3 compatibility
mode

A b A. b

Initial data communication with the

servo system controller A A A. A
(initialization communication)

The LED of the decimal point brinks.

When an alarm No. or warning No. is displayed

(Note) Ready-off and servo-off Example: When [AL. 50 Overload 1]
occurs at axis No. 1
Blinking
Ready-on After 0.8 s
Blinking
(Note) Ready-on and servo-off After 0.8 s
When alarm occurs, its
alarm code appears. Blank

Servo-on
Example: When [AL. E1 Overload warning 1]
occurs at axis No. 1
(Note) Ready-on and servo-on Blinking
After 0.8 s
Blinking
Ordinary operation
After 0.8 s
Blank
Servo system controller power off

During a warning that does not cause

servo-off, the decimal point on the third
digit LED shows the servo-on status.

Alarm reset or warning cleared

Servo system controller power on

Note. The segment of the last 2 digits shows the axis number.
Axis Axis Axis
No. 1 No. 2 No. 64

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6.1.5 How to switch J4 mode/J3 compatibility mode

There are two ways to switch the J4 mode/J3 compatibility mode with the MR-J4-_B_(-RJ) servo amplifier
and MR-J4W2-_B servo amplifier.

(1) Mode selection by the automatic identification of the servo amplifier

J4 mode/J3 compatibility mode is identified automatically depending on the connected controller.
When the controller makes a connection request with SSCNET III/H communication, the mode will be
"J4 mode". For SSCNET communication, it will be "J3 compatibility mode".
For the J3 compatibility mode, standard control will be identified automatically with a motor (encoder)
connected to the servo amplifier. For the J4 mode, the operation mode will be the setting of [Pr. PA01].

Standard control
J4 mode [Pr. PA01] setting (rotary servo motor)

Factory setting

J4 mode/J3 compatibility Controller

mode automatic
identification connection check

J3 compatibility Connected encoder Standard control

check (automatic
mode identification) (rotary servo motor)

(2) Mode selection using the application software "MR Mode Change"
You can set the factory setting, J4 mode/J3 compatibility mode, and operation mode with the dedicated
application.

J4 mode/J3 compatibilitymode
Factory setting
automatic identification

Standard control Fixed to the J4 mode (Standard control (rotary servo

J4 mode
(rotary servo motor) motor))

J3 compatibility Standard control Fixed to the J3 compatibility mode (Standard control

mode (rotary servo motor) (rotary servo motor)) [Equivalent to MR-J3-B]
Application
"MR Mode Change"

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6.1.6 How to use the J3 compatibility mode

(1) Setting of the controller

To use in the J3 compatibility mode, select MR-J3 series in the system setting window.
Operation mode in J3 compatibility mode System setting
MR-J3-B standard control mode (rotary servo motor) Select MR-J3-_B.

(2) Setting of setup software (SETUP221E)

To use in the J3 compatibility mode, make the system setting as follows.
Operation mode in J3 compatibility mode System setting
MR-J3-B standard control mode (rotary servo motor) Select MR-J3-_B.

Cautions for using setup software (SETUP221E)

The gain search cannot be used. You can use the advanced gain search.

(3) Setting of MR Configurator2

To use in the J3 compatibility mode, make the system setting as follows.
Operation mode in J3 compatibility mode System setting
MR-J3-B standard control mode (rotary servo motor) Select MR-J3-_B.

Cautions for using MR Configurator2

Use MR Configurator2 with software version 1.12N or later. Older version than 1.12N cannot be used.
Information about existing models (MR-J3) cannot be updated with the parameter setting range update
function. Register a new model to use.
The alarm will be displayed by 3 digits.
The robust disturbance compensation cannot be used.

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6.1.7 Cautions for switching J4 mode/J3 compatibility mode

The J3 compatibility mode of the operation mode is automatically identified by factory setting depending on a
connected encoder. If a proper encoder is not connected at the first connection, the system will not start
normally due to a mismatch with a set mode with the controller. (For the J4 mode, you can set the operation
mode with [Pr. PA01].) When the operation mode mismatches, the servo amplifier will display [AL. 3E.1
Operation mode error]. Set the mode back to the factory setting or set correctly (J4 mode/J3 compatibility
mode and operation mode) using the application "MR Mode Change".

6.1.8 Cautions for the J3 compatibility mode

The J3 compatibility mode is partly changed and has restrictions compared with MR-J3 series.

(1) The alarm display was changed from 2 digits (_ _) to 3 digits (_ _. _). The alarm detail number (._) is
displayed in addition to the alarm No (_ _). The alarm No. (_ _) is not changed.

(2) When the power of the servo amplifier is cut or fiber-optic cable is disconnected, the same type
communication can be cut regardless of connection order. When you power on/off the servo amplifier
during operation, use the connect/disconnect function of the controller. Refer to the following manuals for
detail.
MELSEC iQ-R Motion Controller Programming Manual (Common) (R16MTCPU/R32MTCPU) (IB-
0300237) "5.3.1 Connect/disconnect function of SSCNET communication"
Motion controller Q series Programming Manual (COMMON) (Q173D(S)CPU/Q172D(S)CPU) (IB-
0300134) "4.11.1 Connect/disconnect function of SSCNET communication"
MELSEC iQ-R Simple Motion Module User's Manual (Application)
(RD77MS2/RD77MS4/RD77MS8/RD77MS16) (IB-0300247) "8.12 Connect/Disconnect Function of
SSCNET Communication"
MELSEC-Q QD77MS Simple Motion Module User's Manual (IB-0300185) "14.12 Connect/disconnect
function of SSCNET communication"
MELSEC-L LD77MH Simple Motion Module User's Manual (IB-0300172) "14.13 Connect/disconnect
function of SSCNET communication"
MELSEC-L LD77MS Simple Motion Module User's Manual (Positioning Control) (IB-0300211) "14.13
Connect/disconnect function of SSCNET communication"

(3) The J3 compatibility mode has a functional compatibility. However, the operation timing may differ.
Check the operation timing on customer side to use.

(4) The J3 compatibility mode is not compatible with high-response control set by [Pr. PA01 Operation
mode]. Standard control is fixed.

(5) In J3 compatibility mode, the 350 % maximum torque setting is disabled by default for the HF-KP servo
motor. To enable the 350 % maximum torque setting for the HF-KP servo motor, set [Pr. PA01] to "_ 3 _
_" (Enabled).

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(6) The J3 compatibility mode of MR-J4W2-_B does not support [Pr. PC15 Station number selection]. Set to
"0".To set the axis that communicates with MR Configurator2, open the "New Project" window from the
"Project" menu of MR Configurator2, check "Multi-ax, unification", and select "A axis" or "B axis".The
communication axis settings are supported by MR Configurator2 with version 1.12N or later.

(7) The parameter specifications for assigning output devices to the CN3-11 pin and CN3-24 pin in the J3
compatibility mode of MR-J4W2-_B are different from those of MR-J3W-_B.
MR-J3W-_B: [Pr. PD09]
MR-J4W2-_B J3 compatibility mode: [Pr. PD08], [Pr. PD09]
The parameter specifications of the J3 compatibility mode of MR-J4W2-_B are the same as those of the
J4 mode of MR-J4W2-_B.
Refer to 5.2.4 of "MR-J4W2-_B/MR-J4W3-_B/MR-J4W2-0303B6 Servo Amplifier Instruction Manual" for
settings.

(8) In MR-J4W2-_B, the parameter number of the J3 compatibility mode has changed from "Target alarm
selection of the other axis error warning (EB)" of [Pr. Po01] in MR-J3W-_B to "Target alarm selection of
the other axis error warning" of [Pr. PF02].
The parameter specifications of the J3 compatibility mode of MR-J4W2-_B are the same as those of the
J4 mode of MR-J4W2-_B.
Refer to 5.2.6 of "MR-J4W2-_B/MR-J4W3-_B/MR-J4W2-0303B6 Servo Amplifier Instruction Manual" for
settings.

(9) The J3 compatibility mode of MR-J4W2-_B does not support [Pr. Po02 Axis selection for graphing
analog data (MR Configurator)] and [Pr. Po03 Axis selection for graphing digital data (MR Configurator)].
Set to "0000h".

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6.1.9 Change of specifications of "J3 compatibility mode" switching process

(1) Detailed explanation of "J3 compatibility mode" switching

(a) Operation when using a servo amplifier before change of specifications

For the controllers in which "Not required" is described to controller reset in table 8.3, the mode will
be switched to "J3 compatibility mode" for all axes at the first connection. However, it takes about 10
s per axis for completing the connection.
For the controllers in which "Reset required" is described in table 8.3, the operation at the first
connection is shown in table 8.4. The LED displays will be "Ab." for all axes at the first connection to
the controller as shown in table 8.4. After that, resetting controller will change the 1-axis to "b01".
The 2-axis and later will not change from "Ab.". After that, one axis will be connected per two times
of controller reset.

Table 8.3 Controller reset required/not required list (before change of specifications)
Controller reset required/not required
Controller Model Single-axis
Multi-axis connection
connection
R_MTCPU Not required Not required
Q17_DSCPU Not required Not required
Motion controller Q17_DCPU Not required Not required
Q17_HCPU Not required Not required
Q170MCPU Not required Not required
RD77MS_ Not required Not required
QD77MS_ Not required Not required
LD77MS_ Not required Not required
Simple motion module
QD75MH_ Not required Not required
Positioning module
QD74MH_ Reset required Reset required
LD77MH_ Not required Not required
FX3U-20SSC-H Not required Reset required

Table 8.4 Controller connection operation before change of specifications

Before change of specifications (software version A4 or earlier)

Controller "Ab." is displayed and stops

First connection of controller A b . A b . A b .

Axis Axis Axis
No. 1 No. 2 No. 3

Controller "b01" is displayed on axis No. 1, "Ab." is

displayed on axis No. 2 and later.

After controller reset b 0 1 A b . Ab . One axis is connected

per reset.
Axis Axis Axis
No. 1 No. 2 No. 3

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(b) Operation when using a servo amplifier after change of specifications

For the controllers in which "Not required" is described to controller reset in table 8.5, the mode will
be switched to "J3 compatibility mode" for all axes at the first connection. It takes about 10 s for
completing the connection not depending on the number of axes.
For the controllers in which "Reset required" is described in table 8.5, the operation at the first
connection is shown in table 8.6. The servo amplifier's mode will be "J3 compatibility mode" and the
LED displays will be "rST" for all axes at the first connection to the controller as shown in table 8.6.
At the status, resetting controller once will change the display to "b##" (## means axis No.) for all
axes and all axes will be ready to connect.
(One controller reset enables to all-axis connection.)

Table 8.5 Controller reset required/not required list (after change of specifications)
Controller reset required/not required
Controller Model Single-axis
Multi-axis connection
connection
R_MTCPU Not required Not required
Q17_DSCPU Not required Not required
Motion controller Q17_DCPU Not required Not required
Q17_HCPU Not required Not required
Q170MCPU Not required Not required
RD77MS_ Not required Not required
QD77MS_ Not required Not required
LD77MS_ Not required Not required
Simple motion module
QD75MH_ Not required Not required
Positioning module
QD74MH_ Reset required Reset required
LD77MH_ Not required Not required
FX3U-20SSC-H Reset required Reset required

Table 8.6 Controller connection operation after change of specifications

After change of specifications (software version A5 or above)

Controller "rST" is displayed only for the first connection

First connection of controller r S T r S T r S T

Axis Axis Axis
No. 1 No. 2 No. 3

Controller All axes are connected by one reset

After controller reset b 0 1 b 0 2 b 0 3

Axis Axis Axis
No. 1 No. 2 No. 3

(c) Using servo amplifiers before and after change of specifications simultaneously
When using servo amplifiers before change of specifications and after change of specifications
simultaneously, controller reset is necessary for number of connecting axes of servo amplifiers.

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(2) Changing the mode to "J3 compatibility mode" by using the application "MR Mode Change".
You can switch the servo amplifier's mode to "J3 compatibility mode" beforehand with the built-in
application software "MR Mode Change" of MR Configurator2. Use it for a solution when it is difficult to
reset many times with your "Reset required" controller such as "QD74MH_".
The application "MR Mode Change" has no expiration date.

Select "Change the mode".

Select "J3 compatibility mode".

Select "Standard control mode".

6.1.10 J3 extension function

POINT
The J3 extension function is used with servo amplifiers with software version B0
or later.
To enable the J3 extension function, MR Configurator2 with software version
1.25B or later is necessary.
The J3 extension function of the amplifier differs from MR-J3-B in motion.
For details of the J3 extension function, refer to each servo amplifier instruction
manual.

The J3 extension function is for using functions of J4 mode with J3 compatibility mode.
By enabling the J3 extension function, control response will be equal to MR-J4 series using a controller
compatible with SSCNET III.
J3 compatibility mode
J4 mode J3 extension function enabled: J3 extension function disabled:
[Pr. PX01] = "_ _ _ 1" [Pr. PX01] = "_ _ _ 0"
SSCNET III/H SSCNET III communication SSCNET III communication
communication The same parameter ordering as MR- The same parameter ordering as MR-
MR-J4-B function J3-B J3-B
MR-J4-B control function
Parameter added

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The following shows functions used with the J3 extension function. Refer to each servo amplifier instruction
manual for details.
Function Description
Gain switching function
(Vibration suppression control You can switch gains during rotation/stop, and can use input devices to switch gains during operation.
2 and model loop gain)
Advanced vibration
This function suppresses vibration at the arm end or residual vibration.
suppression control II
Machine resonance
suppression filter 3
Machine resonance This is a filter function (notch filter) which decreases the gain of the specific frequency to suppress the
suppression filter 4 resonance of the mechanical system.
Machine resonance
suppression filter 5
When a load is mounted to the servo motor shaft, resonance by shaft torsion during driving may
Shaft resonance suppression
generate a mechanical vibration at high frequency. The shaft resonance suppression filter suppresses
filter
the vibration.
This function provides better disturbance response in case low response level that load to motor
Robust filter
inertia ratio is high for such as roll send axes.
Gain adjustment is performed just by one click on a certain button on MR Configurator2.
One-touch tuning
MR Configurator2 is necessary for this function.
This function makes the equipment continue operating even under the condition that an alarm occurs.
Tough drive function The tough drive function includes two types: the vibration tough drive and the instantaneous power
failure tough drive.
Enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged in the capacitor
in case that an instantaneous power failure occurs during operation. Use a 3-phase for the input
SEMI-F47 function (Note 1)
power supply of the servo amplifier. Using a 1-phase 200 V AC for the input power supply will not
comply with SEMI-F47 standard.
This function continuously monitors the servo status and records the status transition before and after
an alarm for a fixed period of time. You can check the recorded data on the drive recorder window on
MR Configurator2 by clicking the "Graph" button.
However, the drive recorder will not operate on the following conditions.
Drive recorder function 1. You are using the graph function of MR Configurator2.
2. You are using the machine analyzer function.
3. [Pr. PX30] is set to "-1".
4. The controller is not connected (except the test operation mode).
5. An alarm related to the controller is occurring.
This function calculates the power running energy and the regenerative power from the data in the
servo amplifier such as speed and current. Power consumption and others are displayed on MR
Power monitoring function
Configurator2 in the system of SSCNET III/H. Since the servo amplifier sends data to a servo system
controller, you can analyze the data and display the data on a display.
From the data in the servo amplifier, this function estimates the friction and vibrational component of
the drive system in the equipment and recognizes an error in the machine parts, including a ball screw
Machine diagnosis function
and bearing.
MR Configurator2 is necessary for this function.
This function improves the response delay occurred when the machine moving direction is reversed.
Lost motion compensation
This is used with servo amplifiers with software version B4 or later. Check the software version of the
function (Note 2)
servo amplifier using MR Configurator2.

Note 1. For servo system controllers which are available with this, contact your local sales office.
2. It is not available with MR-J4W2-_B servo amplifiers.

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6.2 Master-slave operation function

Configure the circuit so that all the master and slave axes for the same machine
are stopped by the controller forced stop at the moment of a stop of a master or
slave axis due to such as a servo alarm. When they are not stopped
simultaneously by the controller forced stop, the servo motor may operate
WARNING unexpectedly and the machine can be damaged.
All the master and slave axes for the same machine should turn on/off EM1
(Forced stop 1) simultaneously. When EM1 (Forced stop 1) is not turned on/off
simultaneously, the servo motor may operate unexpectedly and the machine can
be damaged.

POINT
The master-slave operation function works only when the forced stop
deceleration function is disabled. When the forced stop deceleration function is
enabled, [AL. 37 Parameter error] will occur.
The master-slave operation function cannot be used with the continuous
operation to torque control.
Use the master-slave operation function with the following controllers. Refer to
the manuals for each servo system controller for compatible software versions,
and other details.
RD77MS/QD77MS_/LD77MS_
R_MTCPU/Q17_DSCPU
Q170MSCPU
When the function is used in vertical axis system, set the same value to the
parameters regarding the dynamic brake and electromagnetic brake to prevent a
drop of axes.
The servo-on command of the master axis and slave axis should be turned
on/off simultaneously. If the servo-on command is turned on only for a slave
axis, torque will not be generated. Therefore, an extreme load will be applied to
the electromagnetic brake of the master axis for using in vertical axis system.
The master-slave operation function is available for servo amplifier with software
version A8 or later. All servo amplifiers used in the same system connected to a
controller should be software version A8 or later.
It is not available with MR-J4W2-_B servo amplifiers.

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(1) Summary
The master-slave operation function transmits a master axis torque to slave axes using driver
communication and the torque as a command drives slave axes by torque control.
Transmission of torque data from the master axis to slave axes is via SSCNET III/H. Additional wiring is
not required.

(2) System configuration

POINT
The control modes compatible with the master-slave operation function are as
follows.

Master-slave operation function compatibility table

Forced stop
Control mode Master axis (Note) Slave axis (Note)
deceleration function
Enabled
Standard control mode
Disabled
: Available
Note. When a setting for the master-slave operation is set to an axis which is not compatible with the
master-slave operation function, [AL. 37 Parameter error] will occur.

The master axis and slave axis are recommended to use for a linked condition
on a mechanical constitution. When they are not linked, they can reach a speed
limit level. Doing so may cause [AL. 31 Overspeed].
The slave axes use the control command from the master axis. Therefore, the
controller mainly controls parameter settings, servo-on command, acquisition of
monitor information from a servo amplifier, etc. The commands regarding
absolute positioning such as setting absolute position detection and requiring
home position setting from the controller to slave axes must not be made.
Configure the circuit so that all the master and slave axes are stopped at the
moment of a stop of a master or slave axis due to such as a servo alarm.
When the STO signal of a servo amplifier is used, the master axis and slave axis
should be turned off simultaneously.

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Eight master axes can be set at most per one system of SSCNET III/H. The maximum number of slave
axes to each master axis is not limited. However, the total number of the master and slave axes should
be the maximum number of the servo amplifiers at most. In addition, when an SSCNET III/H
communication shut-off occurs due to malfunction of a servo amplifier, the malfunctioning axis and later
axis cannot be communicated. Therefore, the first amplifier from the controller via SSCNET III/H cable
should be master axis.

Master axis Slave axis 1 Slave axis 2 Slave axis 3

Controller MR-J4-_B_(-RJ) MR-J4-_B_(-RJ) MR-J4-_B_(-RJ) MR-J4-_B_(-RJ)

[Driver communication] [Driver communication] [Driver communication]

Torque command Torque command Torque command
Speed limit command Speed limit command Speed limit command

Position
command

CN2 CN2 CN2 CN2

These are for the

same machine.

(3) Parameter setting for the master-slave operation function

To use the master-slave operation function, the following parameter settings are necessary. For details
of the parameters, refer to "Part:3, section 3.6.3".
Setting value
No. Name Initial value Setting
Master axis Slave axis
Forced stop deceleration Used to disable the forced stop
PA04 2000 0___ 0___
function selection deceleration function.
Rotation direction
Used to set a torque generation
PA14 selection/travel direction 0 Refer to "Part:3, section 3.6.3".
direction.
selection
PD15 (Note) Driver communication setting 0000 0001 0010 Master and slave setting
Driver communication setting - Communication data from master to
PD16 (Note) Master - Transmit data 0000 0038 0000 slave
selection 1 Torque command
Driver communication setting - Speed limit value
PD17 (Note) Master - Transmit data 0000 003A 0000
selection 2
Master axis No. selection 1 for Master axis Master axis No. of transmitting data
PD20 (Note) 0 0
slave No.
Master-slave operation - Ratio of torque command of slave
PD30 Torque command coefficient on 0 0 axis, ratio of speed limit value, and
slave Refer to setting of speed limit minimum value
Master-slave operation - Speed "Part:3,
PD31 0 0
limit coefficient on slave section 3.6.3".
Master-slave operation - Speed
PD32 0 0
limit adjusted value on slave
Note. Always set this with servo parameters of the controller. Incorrect setting will prevent a normal SSCNET III/H communication.

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(4) Rotation direction setting

Rotation directions can be different among a controller command, master axis, and slave axes. To align
the directions, set [Pr. PA14] referring to (4) of this section. Not doing so can cause such as an overload
due to a reverse direction torque against machine system rotation direction.
Controller
[Pr. PA14]
+ + +
Master axis POL Position control Speed control Current control
- - -
0 or 1 (Note)
S

[Pr. PA14]
+
Slave axis 1 POL Current control
-
0 or 1 (Note)
[Pr. PA14]
+
Slave axis 2 POL Current control
-
0 or 1 (Note)
[Pr. PA14]
+
Slave axis 3 POL Current control
-
0 or 1 (Note)

Note. Setting "1" will reverse the polarity.

Rotation direction setting of master and slave axes with torque command method for an example of one
master axis and three slave axes

Table 8.7 Rotation direction setting parameter

No. Symbol Name and function
PA14 *POL Rotation direction selection
1. For master axis
Select a servo motor rotation direction of master axis to SSCNET controller command.
0: Servo motor CCW rotation in positioning address increase direction
1: Servo motor CW rotation in positioning address increase direction

2. For slave axis

Select servo motor rotation direction to a command from master axis.
0: Torque command polarity from master axis
1: Reverse of torque command polarity from master axis

The following shows a setting example of rotation direction for a platform truck with one master axis and
three slave axes.
To set a rotation direction of the servo motor according to the moving direction, set the torque command
polarity to the slave axis 1 the same as that to the master axis, and set the opposite polarity to the slave
axis 2 and slave axis 3 from the master axis.
Slave axis 2 Slave axis 3 [Pr. PA14] setting
CW Axis [Pr. PA14]
CW
Master axis 0
Moving direction
Slave axis 1 0
Slave axis 2 1
Slave axis 3 1

CCW CCW

Master axis Slave axis 1

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6.3 Scale measurement function

The scale measurement function transmits position information of a scale measurement encoder to the
controller by connecting the scale measurement encoder in semi closed loop control.

POINT
The scale measurement function is available for the servo amplifiers of software
version A8 or later.
When the scale measurement function is used for MR-J4-_B_or MR-J4W2-_B
servo amplifiers, the following restrictions apply. However, these restrictions will
not be applied for MR-J4-_B_-RJ servo amplifiers.
A/B/Z-phase differential output type encoder cannot be used.
The scale measurement encoder and servo motor encoder are compatible
with only the two-wire type. The four-wire type scale measurement encoder
and servo motor encoder cannot be used.
When you use the HG-KR and HG-MR series for driving and scale
measurement encoder, the optional four-wire type encoder cables (MR-
EKCBL30M-L, MR-EKCBL30M-H, MR-EKCBL40M-H, and MR-EKCBL50M-H)
cannot be used. When an encoder cable of 30 m to 50 m is needed, fabricate a
two-wire type encoder cable according to "MR-J4-_B_(-RJ)_ Servo Amplifier
Instruction Manual" or "MR-J4W2-_B/MR-J4W3-_B/MR-J4W2-0303B6 Servo
Amplifier Instruction Manual".
The scale measurement function compatible servo amplifier can be used with
any of the following controllers.
Motion controller R_MTCPU/Q17_DSCPU
Simple motion module RD77MS/QD77MS_/LD77MS_
(The MR-J4W2-_B servo amplifiers are not available with simple Motion
module.)
For settings and restrictions of controllers compatible with the scale
measurement function, refer to user's manuals for each controller.
The MR-J4W2-0303B6 servo amplifier is not compatible with the scale
measurement function.

6.3.1 Functions and configuration

(1) Function block diagram

The following shows a block diagram of the scale measurement function. The control will be performed
per servo motor encoder unit for the scale measurement function.
+ +
Controller
- - Servo motor

S
(Servo motor) +
Servo motor feedback pulses
Droop pulses - (Servo motor resolution unit)
Scale measurement encoder
(Servo motor)
Cumulative
feedback pulses Encoder pulse setting
([Pr.PA15], [Pr.PA16]
and [Pr. PC03])
Load-side feedback pulses
Cumulative (Scale resolution unit)
load-side
feedback pulses Control
Monitor

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(2) System configuration

(a) For a rotary encoder
1) MR-J4-_B_ servo amplifier
Servo amplifier

SSCNET III/H controller

SSCNET III/H Drive part

Servo motor encoder signal
Position command
Control signal To the next
servo
CN2 amplifier
(Note)
(Note) Servo motor

Load-side encoder signal Two-wire type rotary encoder

HG-KR, HG-MR servo motor (4194304 pulses/rev)

Note Use a two-wire type encoder cable. A four-wire type linear encoder cable cannot be used.

2) MR-J4W2-_B servo amplifier

Servo amplifier

SSCNET III/H controller

SSCNET III/H Servo motor encoder signal

Position command
Control signal
To the next Drive part
servo amplifier
CN2A

CN2B

(Note)
(Note) Servo motor

Load-side encoder signal

Two-wire type rotary encoder
HG-KR, HG-MR servo motor
(4194304 pulses/rev)

Note. Use a two-wire type encoder cable. A four-wire type linear encoder cable cannot be used.

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6.3.2 Scale measurement encoder

POINT
Always use the scale measurement encoder cable introduced in this section.
Using other products may cause a malfunction.
For details of the scale measurement encoder specifications, performance and
assurance, contact each encoder manufacturer.

When a rotary encoder is used, an absolute position detection system can be configured by installing the
encoder battery to the servo amplifier. In this case, the battery life will be shorter because the power
consumption is increased as the power is supplied to the two encoders of motor side and load side.

(1) Rotary encoder

When a rotary encoder is used as a scale measurement encoder, use the following servo motor or
synchronous encoder as the encoder.

Servo motor and synchronous encoder that can be used as encoder

HG-KR HG-MR
MR-J4-_B_

: Available

Servo motors used as encoders

HG-KR HG-MR
MR-J4W2-_B

Use a two-wire type encoder cable. Do not use MR-EKCBL30M-L, MR-EKCBL30M-H, MR-EKCBL40M-
H, or MR-EKCBL50M-H as they are four-wire type.
When an encoder cable of 30 m to 50 m is needed, fabricate a two-wire type encoder cable according to
"MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" or "MR-J4W2-_B/MR-J4W3-_B/MR-J4W2-0303B6
Servo Amplifier Instruction Manual".
To use the scale measurement function in the absolute position detection system ([Pr. PA22] = 1_ _ _),
the encoder battery must be installed to the servo amplifier for backing up the absolute position data of
the load side. In this case, the battery life will be shorter because the power consumption is increased as
the power is supplied to the two encoders of motor side and load side.

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(2) Configuration diagram of encoder cable

Configuration diagram for servo amplifier and scale measurement encoder is shown below. Cables vary
depending on the scale measurement encoder.

(a) Rotary encoder

Refer to "HG-MR/HG-KR/HG-SR/HG-JR/HG-RR/HG-UR/HG-AK Servo Motor Instruction Manual
(Vol. 3)" for encoder cables for rotary encoders.

1) MR-J4-_B_ servo amplifier

MR-J4FCCBL03M
Refer to (3) of thisbranch cable
section.
(Refer to (3) of this section.)
Servo amplifier
CN2 CN2 MOTOR (Note)
Encoder of rotary servo motor

SCALE

Servo motor
(Note) HG-KR Scale
HG-MR measurement
encoder

Encoder cable
(Refer to "HG-MR/HG-KR/HG-SR/HG-JR/HG-RR/HGUR/HG-AK Servo Motor Instruction Manual (Vol. 3)".)

Note Use a two-wire type encoder cable. A four-wire type linear encoder cable cannot be used.

2) MR-J4W2-_B servo amplifier

MR-J4FCCBL03M branch cable
(Refer to (3) of this section.)
Servo amplifier
CN2 MOTOR (Note)
CN2A Encoder of rotary servo motor
CN2B
SCALE

Servo motor
(Note) HG-KR Scale
HG-MR measurement
encoder

Encoder cable
(Refer to "HG-MR/HG-KR/HG-SR/HG-JR/HG-RR/HGUR/HG-AK Servo Motor Instruction Manual (Vol. 3)".)

Note. Use a two-wire type encoder cable. A four-wire type linear encoder cable cannot be used.

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(3) MR-J4FCCBL03M branch cable

Use MR-J4FCCBL03M branch cable to connect the scale measurement encoder to CN2 connector.
When fabricating the branch cable using MR-J3THMCN2 connector set, refer to "Linear Encoder
Instruction Manual".
0.3 m

(Note 1) (Note 2)
CN2_ MOTOR
SD Plate Plate SD
P5 1 1 P5
LG 2 2 LG

2 6 10 10 6 2
LG 4 THM2 8 SEL SEL 8 THM2 4 LG
MRR MXR MR 3 3 MR MRR
1 5 9 9 5 1
MRR 4 4 MRR
P5 3 THM1 7 BAT BAT 7 THM1 3 P5
MR MX THM1 5 5 THM1 MR
THM2 6 6 THM2
View seen from the wiring side. MX 7 View seen from the wiring side.
MXR 8
BAT 9 9 BAT
SEL 10 10 SEL

(Note 2)
SCALE
Plate SD
1 P5
2 LG
10 6 2
SEL 8 4 LG
MXR
9 5 1
3 MX BAT 7 3 P5
4 MXR MX
9 BAT
10 SEL View seen from the wiring side.

Note 1. Receptacle: 36210-0100PL, shell kit: 36310-3200-008 (3M)

2. Plug: 36110-3000FD, shell kit: 36310-F200-008 (3M)

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Part 8: Common Reference Material

6.3.3 How to use scale measurement function

(1) Selection of scale measurement function

The scale measurement function is set with the combination of basic setting parameters [Pr. PA01] and
[Pr. PA22].

(a) Operation mode selection

The scale measurement function can be used during semi closed loop system (standard control
mode). Set [Pr. PA01] to "_ _ 0 _".
[Pr. PA01]

1 0 0
Operation mode selection
Setting value Operation mode Control unit
Semi closed loop system Servo motor-side
0
(Standard control mode) resolution unit

(b) Scale measurement function selection

Select the scale measurement function. Select "1 _ _ _" (Used in absolute position detection system)
or "2 _ _ _" (Used in incremental system) according to the encoder you use.
[Pr. PA22]

0 0 0
Scale measurement function selection
0: Disabled
1: Used in absolute position detection system
2: Used in incremental system

(2) Selection of scale measurement encoder communication method and polarity.

For MR-J4-_B_-RJ servo amplifiers, set the following "Load-side encoder communication method
selection" of [Pr. PC26] as necessary.
The communication method differs depending on the scale measurement encoder type. Select "Four-
wire type" because there is only four-wire type for synchronous encoder.
Select the cable to be connected to CN2L connector in [Pr. PC26].
[Pr. PC26]

0 0 0
Load-side encoder cable communication method selection
0: Two-wire type
1: Four-wire type
When using a load-side encoder of A/B/Z-phase differential output method, set "0".
Incorrect setting will trigger [AL. 70 Load-side encoder initial communication error 1] and
[AL. 71 Load-side encoder normal communication error 1].
Setting "1" while using an MR-J4-_B_ servo amplifier will trigger [AL. 37 Parameter error].

Select a polarity of the scale measurement encoder with the following "Encoder pulse count polarity
selection" and "Selection of A/B/Z-phase input interface encoder Z-phase connection judgement
function" of [Pr. PC27] as necessary.

POINT
"Encoder pulse count polarity selection" in [Pr. PC27] is not related to [Pr. PA14
Rotation direction selection]. Make sure to set the parameter according to the
relationships between servo motor and linear encoder/rotary encoder.

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Part 8: Common Reference Material

(a) Parameter setting method

1) Select an encoder pulse count polarity.
This parameter is used to set the load-side encoder polarity to be connected to CN2L connector
in order to match the CCW direction of servo motor and the increasing direction of load-side
encoder feedback. Set this as necessary.
[Pr. PC27]

0 0 0
Encoder pulse count polarity selection
0: Load-side encoder pulse increasing direction in the servo motor CC
1: Load-side encoder pulse decreasing direction in the servo motor CC

Servo motor Servo motor CCW direction

Linear encoder Address increasing direction of linear encoder

2) A/B/Z-phase input interface encoder Z-phase connection judgement function (It is not available
with MR-J4W2-_B servo amplifiers.)
This function can trigger an alarm by detecting non-signal for Z phase.
The Z-phase connection judgement function is enabled by default. To disable the Z-phase
connection judgement function, set [Pr. PC27].
[Pr. PC27]

0 0 0
Selection of A/B/Z-phase input interface encoder Z-phase connection judgment functi
0: Enabled
1: Disabled

(b) How to confirm the scale measurement encoder feedback direction

You can confirm the directions of the cumulative feedback pulses of servo motor encoder and the
load-side cumulative feedback pulses are matched by moving the device (scale measurement
encoder) manually in the servo-off status. If mismatched, reverse the polarity.

(3) Confirmation of scale measurement encoder position data

Check the scale measurement encoder mounting and parameter settings for any problems.
Operate the device (scale measurement encoder) to check the data of the scale measurement encoder
is renewed correctly. If the data is not renewed correctly, check the wiring and parameter settings.
Change the scale polarity as necessary.

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Part 9: Review on Replacement of Motor

Part 9
Review on Replacement
of Motor

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Part 9: Review on Replacement of Motor

Part 9: Review on Replacement of Motor

1. SERVO MOTOR REPLACEMENT

1.1 Servo Motor Replacement Model and Compatibility

POINT
For details about the compatibility of servo motor dimensions, reducer
specifications, moment of inertia, connector specifications, and torque
characteristics, refer to "Chapter 2 COMPARISON OF SERVO MOTOR
SPECIFICATIONS".
The symbols in the table mean as follows.
(B): With brake
(4): 400 V specifications
(H): Foot-mounting
When an "HA-LP motor" shown below is used, "simultaneous replacement with
MR-J4-_A_(-RJ)/MR-J4-_B_ and an HG motor" is recommended. When an HG
motor is adopted, the capacity of the servo amplifier needs to be changed.
(Consider replacement, referring to "2.7 Comparison of Servo Motor Torque
Characteristics".)
Replacement models for simultaneous
Existing device models
replacement (example)
Servo motor Servo amplifier Servo motor Servo amplifier
HG-JR25K14
HA-LP25K14 MR-J3-DU30K_4 MR-J4-22K_4(-RJ)
HG-JR25K14R-S_ (Note)
HG-JR22K1M(4)
HA-LP30K2(4) MR-J3-DU30K_(4) MR-J4-22K_(4)(-RJ)
HG-JR22K1M(4)R-S_ (Note)
HG-JR30K1M(4)
HA-LP37K2(4) MR-J3-DU37K_(4) MR-J4-DU30K_(4)
HG-JR30K1M(4)R-S_ (Note)
HG-JR37K1M4
HA-LP45K24 MR-J3-DU45K_4 MR-J4-DU37K_4
HG-JR37K1M4R-S_ (Note)
HG-JR45K1M4
HA-LP55K24 MR-J3-DU55K_4 MR-J4-DU45K_4
HG-JR45K1M4R-S_ (Note)

Note. Only flanges and shaft ends have compatibility in mounting.

Please contact your local sales office regarding the motor model and its delivery, since it is
developed upon receipt of order.

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Part 9: Review on Replacement of Motor

(1) HF-KP series (With gears for general industrial machines with a reducer)
Example of Compatibility
Series Model Note
replacement model (: Compatible)
HF-KP053(B) HG-KR053(B)
Small capacity, low HF-KP13(B) HG-KR13(B)
inertia
HF-KP23(B) HG-KR23(B) 
HF-KP series
Standard/With brake HF-KP43(B) HG-KR43(B)
HF-KP73(B) HG-KR73(B)
HF-KP053(B)G1 1/5 HG-KR053(B)G1 1/5
HF-KP053(B)G1 1/12 HG-KR053(B)G1 1/12
HF-KP053(B)G1 1/20 HG-KR053(B)G1 1/20
HF-KP13(B)G1 1/5 HG-KR13(B)G1 1/5
HF-KP13(B)G1 1/12 HG-KR13(B)G1 1/12 Because the reduction gears
of models marked with ◆ are
HF-KP13(B)G1 1/20 HG-KR13(B)G1 1/20
Small capacity, low different from the actual
inertia HF-KP23(B)G1 1/5 HG-KR23(B)G1 1/5 reduction ratio, it is required
HF-KP series HF-KP23(B)G1 1/12 HG-KR23(B)G1 1/12 ◆  that an electronic gear be set
With gears for general HF-KP23(B)G1 1/20 HG-KR23(B)G1 1/20 ◆ up. Refer to "2.4 Comparison
industrial machines: G1 of actual reduction ratios for
HF-KP43(B)G1 1/5 HG-KR43(B)G1 1/5
geared servo motors" for the
HF-KP43(B)G1 1/12 HG-KR43(B)G1 1/12 ◆
details.
HF-KP43(B)G1 1/20 HG-KR43(B)G1 1/20 ◆
HF-KP73(B)G1 1/5 HG-KR73(B)G1 1/5
HF-KP73(B)G1 1/12 HG-KR73(B)G1 1/12 ◆
HF-KP73(B)G1 1/20 HG-KR73(B)G1 1/20

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Part 9: Review on Replacement of Motor

(2) HF-KP series (With reduction gear for precision application compliant)
Example of Compatibility
Series Model Note
replacement model (: Compatible)
HF-KP053(B)G5 1/5 HG-KR053(B)G5 1/5
HF-KP053(B)G5 1/11 HG-KR053(B)G5 1/11
HF-KP053(B)G5 1/21 HG-KR053(B)G5 1/21
HF-KP053(B)G5 1/33 HG-KR053(B)G5 1/33
HF-KP053(B)G5 1/45 HG-KR053(B)G5 1/45
HF-KP13(B)G5 1/5 HG-KR13(B)G5 1/5
HF-KP13(B)G5 1/11 HG-KR13(B)G5 1/11
HF-KP13(B)G5 1/21 HG-KR13(B)G5 1/21
HF-KP13(B)G5 1/33 HG-KR13(B)G5 1/33
HF-KP13(B)G5 1/45 HG-KR13(B)G5 1/45
Small capacity, low
HF-KP23(B)G5 1/5 HG-KR23(B)G5 1/5
inertia
HF-KP series HF-KP23(B)G5 1/11 HG-KR23(B)G5 1/11
Flange-mounting HF-KP23(B)G5 1/21 HG-KR23(B)G5 1/21 
flange output type for HF-KP23(B)G5 1/33 HG-KR23(B)G5 1/33
precision application
HF-KP23(B)G5 1/45 HG-KR23(B)G5 1/45
compliant: G5
HF-KP43(B)G5 1/5 HG-KR43(B)G5 1/5
HF-KP43(B)G5 1/11 HG-KR43(B)G5 1/11
HF-KP43(B)G5 1/21 HG-KR43(B)G5 1/21
HF-KP43(B)G5 1/33 HG-KR43(B)G5 1/33
HF-KP43(B)G5 1/45 HG-KR43(B)G5 1/45
HF-KP73(B)G5 1/5 HG-KR73(B)G5 1/5
HF-KP73(B)G5 1/11 HG-KR73(B)G5 1/11
HF-KP73(B)G5 1/21 HG-KR73(B)G5 1/21
HF-KP73(B)G5 1/33 HG-KR73(B)G5 1/33
HF-KP73(B)G5 1/45 HG-KR73(B)G5 1/45
HF-KP053(B)G7 1/5 HG-KR053(B)G7 1/5
HF-KP053(B)G7 1/11 HG-KR053(B)G7 1/11
HF-KP053(B)G7 1/21 HG-KR053(B)G7 1/21
HF-KP053(B)G7 1/33 HG-KR053(B)G7 1/33
HF-KP053(B)G7 1/45 HG-KR053(B)G7 1/45
HF-KP13(B)G7 1/5 HG-KR13(B)G7 1/5
HF-KP13(B)G7 1/11 HG-KR13(B)G7 1/11
HF-KP13(B)G7 1/21 HG-KR13(B)G7 1/21
HF-KP13(B)G7 1/33 HG-KR13(B)G7 1/33
HF-KP13(B)G7 1/45 HG-KR13(B)G7 1/45
Small capacity, low
HF-KP23(B)G7 1/5 HG-KR23(B)G7 1/5
inertia
HF-KP series HF-KP23(B)G7 1/11 HG-KR23(B)G7 1/11
Flange-mounting HF-KP23(B)G7 1/21 HG-KR23(B)G7 1/21 
shaft output type for HF-KP23(B)G7 1/33 HG-KR23(B)G7 1/33
precision application
HF-KP23(B)G7 1/45 HG-KR23(B)G7 1/45
compliant: G7
HF-KP43(B)G7 1/5 HG-KR43(B)G7 1/5
HF-KP43(B)G7 1/11 HG-KR43(B)G7 1/11
HF-KP43(B)G7 1/21 HG-KR43(B)G7 1/21
HF-KP43(B)G7 1/33 HG-KR43(B)G7 1/33
HF-KP43(B)G7 1/45 HG-KR43(B)G7 1/45
HF-KP73(B)G7 1/5 HG-KR73(B)G7 1/5
HF-KP73(B)G7 1/11 HG-KR73(B)G7 1/11
HF-KP73(B)G7 1/21 HG-KR73(B)G7 1/21
HF-KP73(B)G7 1/33 HG-KR73(B)G7 1/33
HF-KP73(B)G7 1/45 HG-KR73(B)G7 1/45

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Part 9: Review on Replacement of Motor

(3) HF-MP series (With gears for general industrial machines)

Example of Compatibility
Series Model Note
replacement model (: Compatible)
HF-MP053(B) HG-MR053(B)
Small capacity, HF-MP13(B) HG-MR13(B)
ultralow inertia HF-
HF-MP23(B) HG-MR23(B) 
MP series
Standard/With brake HF-MP43(B) HG-MR43(B)
HF-MP73(B) HG-MR73(B)
HF-MP053(B)G1 1/5 HG-KR053(B)G1 1/5
HF-MP053(B)G1 1/12 HG-KR053(B)G1 1/12
The HG-MR series does not
HF-MP053(B)G1 1/20 HG-KR053(B)G1 1/20
support the geared model.
HF-MP13(B)G1 1/5 HG-KR13(B)G1 1/5 The geared model is
HF-MP13(B)G1 1/12 HG-KR13(B)G1 1/12 supported with the HG-KR
Small capacity, HF-MP13(B)G1 1/20 HG-KR13(B)G1 1/20 series.
ultralow inertia HF- HF-MP23(B)G1 1/5 HG-KR23(B)G1 1/5 Because the reduction gears
MP series of models marked with ◆ are
HF-MP23(B)G1 1/12 HG-KR23(B)G1 1/12 ◆ 
With gears for different from the actual
HF-MP23(B)G1 1/20 HG-KR23(B)G1 1/20 ◆
general industrial reduction ratio, it is required
machines: G1 HF-MP43(B)G1 1/5 HG-KR43(B)G1 1/5 that an electronic gear be set
HF-MP43(B)G1 1/12 HG-KR43(B)G1 1/12 ◆ up. Refer to "2.4 Comparison
HF-MP43(B)G1 1/20 HG-KR43(B)G1 1/20 ◆ of actual reduction ratios for
geared servo motors" for the
HF-MP73(B)G1 1/5 HG-KR73(B)G1 1/5
details.
HF-MP73(B)G1 1/12 HG-KR73(B)G1 1/12 ◆
HF-MP73(B)G1 1/20 HG-KR73(B)G1 1/20

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Part 9: Review on Replacement of Motor

(4) HF-MP series (With reduction gear for precision application compliant)
Example of Compatibility
Series Model Note
replacement model (: Compatible)
HF-MP053(B)G5 1/5 HG-KR053(B)G5 1/5
HF-MP053(B)G5 1/11 HG-KR053(B)G5 1/11
HF-MP053(B)G5 1/21 HG-KR053(B)G5 1/21
HF-MP053(B)G5 1/33 HG-KR053(B)G5 1/33
HF-MP053(B)G5 1/45 HG-KR053(B)G5 1/45
HF-MP13(B)G5 1/5 HG-KR13(B)G5 1/5
HF-MP13(B)G5 1/11 HG-KR13(B)G5 1/11
HF-MP13(B)G5 1/21 HG-KR13(B)G5 1/21
HF-MP13(B)G5 1/33 HG-KR13(B)G5 1/33
Small capacity, HF-MP13(B)G5 1/45 HG-KR13(B)G5 1/45
ultralow inertia HF- HF-MP23(B)G5 1/5 HG-KR23(B)G5 1/5
MP series HF-MP23(B)G5 1/11 HG-KR23(B)G5 1/11
With flange-output
HF-MP23(B)G5 1/21 HG-KR23(B)G5 1/21 
type gear reducer for
high precision HF-MP23(B)G5 1/33 HG-KR23(B)G5 1/33
applications, flange HF-MP23(B)G5 1/45 HG-KR23(B)G5 1/45
mounting: G5 HF-MP43(B)G5 1/5 HG-KR43(B)G5 1/5
HF-MP43(B)G5 1/11 HG-KR43(B)G5 1/11
HF-MP43(B)G5 1/21 HG-KR43(B)G5 1/21
HF-MP43(B)G5 1/33 HG-KR43(B)G5 1/33
HF-MP43(B)G5 1/45 HG-KR43(B)G5 1/45
HF-MP73(B)G5 1/5 HG-KR73(B)G5 1/5
HF-MP73(B)G5 1/11 HG-KR73(B)G5 1/11
HF-MP73(B)G5 1/21 HG-KR73(B)G5 1/21
HF-MP73(B)G5 1/33 HG-KR73(B)G5 1/33 The HG-MR series does not
HF-MP73(B)G5 1/45 HG-KR73(B)G5 1/45 support the geared model.
HF-MP053(B)G7 1/5 HG-KR053(B)G7 1/5 The geared model is supported
HF-MP053(B)G7 1/11 HG-KR053(B)G7 1/11 with the HG-KR series.
HF-MP053(B)G7 1/21 HG-KR053(B)G7 1/21
HF-MP053(B)G7 1/33 HG-KR053(B)G7 1/33
HF-MP053(B)G7 1/45 HG-KR053(B)G7 1/45
HF-MP13(B)G7 1/5 HG-KR13(B)G7 1/5
HF-MP13(B)G7 1/11 HG-KR13(B)G7 1/11
HF-MP13(B)G7 1/21 HG-KR13(B)G7 1/21
HF-MP13(B)G7 1/33 HG-KR13(B)G7 1/33
Small capacity, HF-MP13(B)G7 1/45 HG-KR13(B)G7 1/45
ultralow inertia HF- HF-MP23(B)G7 1/5 HG-KR23(B)G7 1/5
MP series HF-MP23(B)G7 1/11 HG-KR23(B)G7 1/11
With flange-output
HF-MP23(B)G7 1/21 HG-KR23(B)G7 1/21 
type gear reducer for
high precision HF-MP23(B)G7 1/33 HG-KR23(B)G7 1/33
applications, flange HF-MP23(B)G7 1/45 HG-KR23(B)G7 1/45
mounting: G7 HF-MP43(B)G7 1/5 HG-KR43(B)G7 1/5
HF-MP43(B)G7 1/11 HG-KR43(B)G7 1/11
HF-MP43(B)G7 1/21 HG-KR43(B)G7 1/21
HF-MP43(B)G7 1/33 HG-KR43(B)G7 1/33
HF-MP43(B)G7 1/45 HG-KR43(B)G7 1/45
HF-MP73(B)G7 1/5 HG-KR73(B)G7 1/5
HF-MP73(B)G7 1/11 HG-KR73(B)G7 1/11
HF-MP73(B)G7 1/21 HG-KR73(B)G7 1/21
HF-MP73(B)G7 1/33 HG-KR73(B)G7 1/33
HF-MP73(B)G7 1/45 HG-KR73(B)G7 1/45

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Part 9: Review on Replacement of Motor

(5) HF-SP series (With gears for general industrial machines)

Example of Compatibility
Series Model Note
replacement model (: Compatible)
HF-SP51(B) HG-SR51(B)
HF-SP81(B) HG-SR81(B)
HF-SP121(B) HG-SR121(B)
HF-SP201(B) HG-SR201(B)
HF-SP301(B) HG-SR301(B)
Medium capacity, HF-SP421(B) HG-SR421(B)
medium inertia HF-
HF-SP52(4)(B) HG-SR52(4)(B) 
SP series
Standard/With brake HF-SP102(4)(B) HG-SR102(4)(B)
HF-SP152(4)(B) HG-SR152(4)(B)
HF-SP202(4)(B) HG-SR202(4)(B)
HF-SP352(4)(B) HG-SR352(4)(B)
HF-SP502(4)(B) HG-SR502(4)(B)
HF-SP702(4)(B) HG-SR702(4)(B)
HF-SP52(4)(B)G1(H) 1/6 HG-SR52(4)(B)G1(H) 1/6
HF-SP52(4)(B)G1(H) 1/11 HG-SR52(4)(B)G1(H) 1/11
HF-SP52(4)(B)G1(H) 1/17 HG-SR52(4)(B)G1(H) 1/17
HF-SP52(4)(B)G1(H) 1/29 HG-SR52(4)(B)G1(H) 1/29
HF-SP52(4)(B)G1(H) 1/35 HG-SR52(4)(B)G1(H) 1/35
HF-SP52(4)(B)G1(H) 1/43 HG-SR52(4)(B)G1(H) 1/43
HF-SP52(4)(B)G1(H) 1/59 HG-SR52(4)(B)G1(H) 1/59
HF-SP102(4)(B)G1(H) 1/6 HG-SR102(4)(B)G1(H) 1/6
HF-SP102(4)(B)G1(H) 1/11 HG-SR102(4)(B)G1(H) 1/11
The total length of the
HF-SP102(4)(B)G1(H) 1/17 HG-SR102(4)(B)G1(H) 1/17 motor will be shorter, so
HF-SP102(4)(B)G1(H) 1/29 HG-SR102(4)(B)G1(H) 1/29 confirm that the motor
HF-SP102(4)(B)G1(H) 1/35 HG-SR102(4)(B)G1(H) 1/35 connector does not
HF-SP102(4)(B)G1(H) 1/43 HG-SR102(4)(B)G1(H) 1/43 interfere with the device
side.
HF-SP102(4)(B)G1(H) 1/59 HG-SR102(4)(B)G1(H) 1/59
HF-SP152(4)(B)G1(H) 1/6 HG-SR152(4)(B)G1(H) 1/6
Medium capacity, HF-SP152(4)(B)G1(H) 1/11 HG-SR152(4)(B)G1(H) 1/11
medium inertia HF-SP152(4)(B)G1(H) 1/17 HG-SR152(4)(B)G1(H) 1/17
HF-SP series
HF-SP152(4)(B)G1(H) 1/29 HG-SR152(4)(B)G1(H) 1/29 
With gears for
general industrial HF-SP152(4)(B)G1(H) 1/35 HG-SR152(4)(B)G1(H) 1/35
machines: G1 HF-SP152(4)(B)G1(H) 1/43 HG-SR152(4)(B)G1(H) 1/43
HF-SP152(4)(B)G1(H) 1/59 HG-SR152(4)(B)G1(H) 1/59
HF-SP202(4)(B)G1(H) 1/6 HG-SR202(4)(B)G1(H) 1/6
HF-SP202(4)(B)G1(H) 1/11 HG-SR202(4)(B)G1(H) 1/11
HF-SP202(4)(B)G1(H) 1/17 HG-SR202(4)(B)G1(H) 1/17
HF-SP202(4)(B)G1(H) 1/29 HG-SR202(4)(B)G1(H) 1/29
HF-SP202(4)(B)G1(H) 1/35 HG-SR202(4)(B)G1(H) 1/35
HF-SP202(4)(B)G1(H) 1/43 HG-SR202(4)(B)G1(H) 1/43
HF-SP202(4)(B)G1(H) 1/59 HG-SR202(4)(B)G1(H) 1/59
HF-SP352(4)(B)G1(H) 1/6 HG-SR352(4)(B)G1(H) 1/6
HF-SP352(4)(B)G1(H) 1/11 HG-SR352(4)(B)G1(H) 1/11
HF-SP352(4)(B)G1(H) 1/17 HG-SR352(4)(B)G1(H) 1/17
HF-SP352(4)(B)G1(H) 1/29 HG-SR352(4)(B)G1(H) 1/29
HF-SP352(4)(B)G1(H) 1/35 HG-SR352(4)(B)G1(H) 1/35
HF-SP352(4)(B)G1(H) 1/43 HG-SR352(4)(B)G1(H) 1/43
HF-SP352(4)(B)G1(H) 1/59 HG-SR352(4)(B)G1(H) 1/59

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Part 9: Review on Replacement of Motor

(6) HF-SP series (With gears for general industrial machines/With flange-output type gear reducer for high
precision applications, flange mounting)
Example of Compatibility
Series Model Note
replacement model (: Compatible)
HF-SP502(4)(B)G1(H) 1/6 HG-SR502(4)(B)G1(H) 1/6
HF-SP502(4)(B)G1(H) 1/11 HG-SR502(4)(B)G1(H) 1/11
HF-SP502(4)(B)G1(H) 1/17 HG-SR502(4)(B)G1(H) 1/17
HF-SP502(4)(B)G1(H) 1/29 HG-SR502(4)(B)G1(H) 1/29
Medium capacity, HF-SP502(4)(B)G1(H) 1/35 HG-SR502(4)(B)G1(H) 1/35
medium inertia HF-SP502(4)(B)G1(H) 1/43 HG-SR502(4)(B)G1(H) 1/43
HF-SP series
HF-SP502(4)(B)G1(H) 1/59 HG-SR502(4)(B)G1(H) 1/59
With gears for 
HF-SP702(4)(B)G1(H) 1/6 HG-SR702(4)(B)G1(H) 1/6
general industrial
machines with a HF-SP702(4)(B)G1(H) 1/11 HG-SR702(4)(B)G1(H) 1/11
reducer G1 HF-SP702(4)(B)G1(H) 1/17 HG-SR702(4)(B)G1(H) 1/17
HF-SP702(4)(B)G1(H) 1/29 HG-SR702(4)(B)G1(H) 1/29
HF-SP702(4)(B)G1(H) 1/35 HG-SR702(4)(B)G1(H) 1/35
HF-SP702(4)(B)G1(H) 1/43 HG-SR702(4)(B)G1(H) 1/43
HF-SP702(4)(B)G1(H) 1/59 HG-SR702(4)(B)G1(H) 1/59
HF-SP52(4)(B)G5 1/5 HG-SR52(4)(B)G5 1/5
HF-SP52(4)(B)G5 1/11 HG-SR52(4)(B)G5 1/11
HF-SP52(4)(B)G5 1/21 HG-SR52(4)(B)G5 1/21
HF-SP52(4)(B)G5 1/33 HG-SR52(4)(B)G5 1/33
The total length of the
HF-SP52(4)(B)G5 1/45 HG-SR52(4)(B)G5 1/45 motor will be shorter, so
HF-SP102(4)(B)G5 1/5 HG-SR102(4)(B)G5 1/5 confirm that the motor
HF-SP102(4)(B)G5 1/11 HG-SR102(4)(B)G5 1/11 connector does not
HF-SP102(4)(B)G5 1/21 HG-SR102(4)(B)G5 1/21 interfere with the device
side.
HF-SP102(4)(B)G5 1/33 HG-SR102(4)(B)G5 1/33
HF-SP102(4)(B)G5 1/45 HG-SR102(4)(B)G5 1/45
Medium capacity,
HF-SP152(4)(B)G5 1/5 HG-SR152(4)(B)G5 1/5
medium inertia
HF-SP series HF-SP152(4)(B)G5 1/11 HG-SR152(4)(B)G5 1/11
With flange-output HF-SP152(4)(B)G5 1/21 HG-SR152(4)(B)G5 1/21

type gear reducer for HF-SP152(4)(B)G5 1/33 HG-SR152(4)(B)G5 1/33
high precision HF-SP152(4)(B)G5 1/45 HG-SR152(4)(B)G5 1/45
applications, flange
HF-SP202(4)(B)G5 1/5 HG-SR202(4)(B)G5 1/5
mounting: G5
HF-SP202(4)(B)G5 1/11 HG-SR202(4)(B)G5 1/11
HF-SP202(4)(B)G5 1/21 HG-SR202(4)(B)G5 1/21
HF-SP202(4)(B)G5 1/33 HG-SR202(4)(B)G5 1/33
HF-SP202(4)(B)G5 1/45 HG-SR202(4)(B)G5 1/45
HF-SP352(4)(B)G5 1/5 HG-SR352(4)(B)G5 1/5
HF-SP352(4)(B)G5 1/11 HG-SR352(4)(B)G5 1/11
HF-SP352(4)(B)G5 1/21 HG-SR352(4)(B)G5 1/21
HF-SP502(4)(B)G5 1/5 HG-SR502(4)(B)G5 1/5
HF-SP502(4)(B)G5 1/11 HG-SR502(4)(B)G5 1/11
HF-SP702(4)(B)G5 1/5 HG-SR702(4)(B)G5 1/5

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Part 9: Review on Replacement of Motor

(7) HF-SP series (With shaft-output type gear reducer for high precision applications)
Example of Compatibility
Series Model Note
replacement model (: Compatible)
HF-SP52(4)(B)G7 1/5 HG-SR52(4)(B)G7 1/5
HF-SP52(4)(B)G7 1/11 HG-SR52(4)(B)G7 1/11
HF-SP52(4)(B)G7 1/21 HG-SR52(4)(B)G7 1/21
HF-SP52(4)(B)G7 1/33 HG-SR52(4)(B)G7 1/33
HF-SP52(4)(B)G7 1/45 HG-SR52(4)(B)G7 1/45
HF-SP102(4)(B)G7 1/5 HG-SR102(4)(B)G7 1/5
HF-SP102(4)(B)G7 1/11 HG-SR102(4)(B)G7 1/11
HF-SP102(4)(B)G7 1/21 HG-SR102(4)(B)G7 1/21
HF-SP102(4)(B)G7 1/33 HG-SR102(4)(B)G7 1/33
HF-SP102(4)(B)G7 1/45 HG-SR102(4)(B)G7 1/45
Medium capacity,
HF-SP152(4)(B)G7 1/5 HG-SR152(4)(B)G7 1/5
medium inertia The total length of the
HF-SP series HF-SP152(4)(B)G7 1/11 HG-SR152(4)(B)G7 1/11 motor will be shorter, so
With shaft-output type HF-SP152(4)(B)G7 1/21 HG-SR152(4)(B)G7 1/21 confirm that the motor

gear reducer for high HF-SP152(4)(B)G7 1/33 HG-SR152(4)(B)G7 1/33 connector does not
precision HF-SP152(4)(B)G7 1/45 HG-SR152(4)(B)G7 1/45 interfere with the device
applications, flange side.
HF-SP202(4)(B)G7 1/5 HG-SR202(4)(B)G7 1/5
mounting: G7
HF-SP202(4)(B)G7 1/11 HG-SR202(4)(B)G7 1/11
HF-SP202(4)(B)G7 1/21 HG-SR202(4)(B)G7 1/21
HF-SP202(4)(B)G7 1/33 HG-SR202(4)(B)G7 1/33
HF-SP202(4)(B)G7 1/45 HG-SR202(4)(B)G7 1/45
HF-SP352(4)(B)G7 1/5 HG-SR352(4)(B)G7 1/5
HF-SP352(4)(B)G7 1/11 HG-SR352(4)(B)G7 1/11
HF-SP352(4)(B)G7 1/21 HG-SR352(4)(B)G7 1/21
HF-SP502(4)(B)G7 1/5 HG-SR502(4)(B)G7 1/5
HF-SP502(4)(B)G7 1/11 HG-SR502(4)(B)G7 1/11
HF-SP702(4)(B)G7 1/5 HG-SR702(4)(B)G7 1/5

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Part 9: Review on Replacement of Motor

(8) HC-RP series

Example of Compatibility
Series model Note
replacement model (: Compatible)
HC-RP103(B) HG-RR103(B)
Medium capacity, HC-RP153(B) HG-RR153(B)
ultra-low inertia HC-RP203(B) HG-RR203(B) 
HC-RP series HC-RP353(B) HG-RR353(B)
HC-RP503(B) HG-RR503(B)
HC-RP103(B)G5 1/5◇ HG-SR102(B)G5 1/5
HC-RP103(B)G5 1/11◇ HG-SR102(B)G5 1/11
HC-RP103(B)G5 1/21◇ HG-SR102(B)G5 1/21
HC-RP103(B)G5 1/33◇ HG-SR102(B)G5 1/33
HC-RP103(B)G5 1/45◇ HG-SR102(B)G5 1/45
HC-RP153(B)G5 1/5 HG-SR152(B)G5 1/5
HC-RP153(B)G5 1/11 HG-SR152(B)G5 1/11
HC-RP153(B)G5 1/21 HG-SR152(B)G5 1/21
Medium capacity,
HC-RP153(B)G5 1/33 HG-SR152(B)G5 1/33
ultra-low inertia
HC-RP series HC-RP153(B)G5 1/45 HG-SR152(B)G5 1/45
With flange-output HC-RP203(B)G5 1/5◇ HG-SR202(B)G5 1/5
(Note)
type gear reducer for HC-RP203(B)G5 1/11◇ HG-SR202(B)G5 1/11
high precision HC-RP203(B)G5 1/21◇ HG-SR202(B)G5 1/21
applications, flange
HC-RP203(B)G5 1/33◇ HG-SR202(B)G5 1/33
mounting: G5 The HG-RR series does not
HC-RP203(B)G5 1/45◇ HG-SR202(B)G5 1/45
support the geared model.
HC-RP353(B)G5 1/5◇ HG-SR352(B)G5 1/5 The geared model is
HC-RP353(B)G5 1/11◇ HG-SR352(B)G5 1/11 supported with the HG-SR
HC-RP353(B)G5 1/21◇ HG-SR352(B)G5 1/21 series.
HC-RP353(B)G5 1/33◇ HG-SR352(B)G5 1/21 ◆ Check the output torque
because the reduction ratio of
HC-RP503(B)G5 1/5 HG-SR502(B)G5 1/5
models marked with ◆ is
HC-RP503(B)G5 1/11 HG-SR502(B)G5 1/11 greatly different.
HC-RP503(B)G5 1/21 HG-SR502(B)G5 1/11 ◆ The capacity of the
HC-RP103(B)G7 1/5◇ HG-SR102(B)G7 1/5 corresponding servo amplifier
HC-RP103(B)G7 1/11◇ HG-SR102(B)G7 1/11 will be different if a model
marked with ◇ is replaced.
HC-RP103(B)G7 1/21◇ HG-SR102(B)G7 1/21
The corresponding servo
HC-RP103(B)G7 1/33◇ HG-SR102(B)G7 1/33 amplifier for HG-SR102 is
HC-RP103(B)G7 1/45◇ HG-SR102(B)G7 1/45 MR-J4-100_(-RJ),
HC-RP153(B)G7 1/5 HG-SR152(B)G7 1/5 for HG-SR202 is
HC-RP153(B)G7 1/11 HG-SR152(B)G7 1/11 MR-J4-200_(-RJ), and for
HG-SR352 is
HC-RP153(B)G7 1/21 HG-SR152(B)G7 1/21
Medium capacity, MR-J4-350_(-RJ).
HC-RP153(B)G7 1/33 HG-SR152(B)G7 1/33
ultra-low inertia
HC-RP series HC-RP153(B)G7 1/45 HG-SR152(B)G7 1/45
With shaft-output type HC-RP203(B)G7 1/5◇ HG-SR202(B)G7 1/5
(Note)
gear reducer for high HC-RP203(B)G7 1/11◇ HG-SR202(B)G7 1/11
precision HC-RP203(B)G7 1/21◇ HG-SR202(B)G7 1/21
applications, flange
HC-RP203(B)G7 1/33◇ HG-SR202(B)G7 1/33
mounting: G7
HC-RP203(B)G7 1/45◇ HG-SR202(B)G7 1/45
HC-RP353(B)G7 1/5◇ HG-SR352(B)G7 1/5
HC-RP353(B)G7 1/11◇ HG-SR352(B)G7 1/11
HC-RP353(B)G7 1/21◇ HG-SR352(B)G7 1/21
HC-RP353(B)G7 1/33◇ HG-SR352(B)G7 1/21 ◆
HC-RP503(B)G7 1/5 HG-SR502(B)G7 1/5
HC-RP503(B)G7 1/11 HG-SR502(B)G7 1/11
HC-RP503(B)G7 1/21 HG-SR502(B)G7 1/11 ◆

Note. For mounting dimensions, refer to "2.3 Comparison of Mounting Dimensions for Geared Servo Motors".

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Part 9: Review on Replacement of Motor

(9) HC-LP/HC-UP/HF-JP series

Example of Compatibility
Series model Note
replacement model (: Compatible)

The capacity of the

HC-LP52(B) ◇ HG-JR73(B) corresponding servo amplifier
will be different if a model
marked with is replaced.
HG-JR73 is MR-J4-70_(-RJ),
HG-JR153 is
HC-LP102(B) ◇ HG-JR153(B) ◆
MR-J4-200_(-RJ), HG-JR353
is MR-J4-350_(-RJ).
Check the dimensions and
Medium capacity, others of the servo amplifier
low inertia HC-LP152(B) ◇ HG-JR353(B) (Note) (drive unit) since the capacity
HC-LP series is changed.
Models shown with "◆" do
not have supporting multi-
axis amplifiers.
HC-LP202(B) HG-JR353(B)
The power supply and
electromagnetic brake
connector differ. For further
details, refer to "2.6
HC-LP302(B) HG-JR503(B) Comparison of Servo Motor
Connector Specifications".

HC-UP72(B) HG-UR72(B)
Medium capacity, flat HC-UP152(B) HG-UR152(B)
type HC-UP202(B) HG-UR202(B) 
HC-UP series HC-UP352(B) HG-UR352(B)
HC-UP502(B) HG-UR502(B)
HF-JP53(4)(B) HG-JR53(4)(B)
HF-JP73(4)(B) HG-JR73(4)(B)
HF-JP103(4)(B) HG-JR103(4)(B)
HF-JP153(4)(B) HG-JR153(4)(B)
Large capacity, low HF-JP203(4)(B) HG-JR203(4)(B)
inertia HF-JP353(4)(B) HG-JR353(4)(B) 
HF-JP series HF-JP503(4)(B) HG-JR503(4)(B)
HF-JP703(4)(B) HG-JR703(4)(B)
HF-JP903(4)(B) HG-JR903(4)(B)
HF-JP11K1M(4)(B) HG-JR11K1M(4)(B)
HF-JP15K1M(4)(B) HG-JR15K1M(4)(B)

Note. For mounting dimensions,Refer to "2.2 Detailed comparison of servo motor mounting dimensions.

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Part 9: Review on Replacement of Motor

(10) HA-LP series

Example of Compatibility
Series Model Note
replacement model (: Compatible)
HA-LP601(4)(B) HG-JR601(4)(B)
HA-LP801(4)(B) HG-JR801(4)(B)
HA-LP12K1(4)(B) HG-JR12K1(4)(B)
HA-LP15K1(4) ◇ HG-JR15K1(4)
(Note 1)
HA-LP20K1(4) ◇ HG-JR20K1(4)
HA-LP25K1(4) ◇ ◆ HG-JR25K1(4)
Large capacity, low HA-LP30K1(4) ◇ HG-JR30K1(4)
inertia HA-LP37K1(4) ◇ HG-JR37K1(4)
HA-LP HA-LP601(4)(B) HG-JR601(4)R(B)-S_
1000 r/min series HA-LP801(4)(B) HG-JR801(4)R(B)-S_
HA-LP12K1(4)(B) HG-JR12K1(4)R(B)-S_
HA-LP15K1(4) ◇ HG-JR15K1(4)R-S_ 
HA-LP20K1(4) ◇ HG-JR20K1(4)R-S_ (Note 2) Replacement from a model
HA-LP25K1(4) ◇ ◆ marked with ◇ requires a
HG-JR25K1(4)R-S_
new encoder cable wiring
HA-LP30K1(4) ◇ HG-JR30K1(4)R-S_ because the motor thermal
HA-LP37K1(4) ◇ HG-JR37K1(4)R-S_ wiring differs.
HA-LP701M(4)(B) HG-JR701M(4)(B) The capacity of the
HA-LP11K1M(4)(B) HG-JR11K1M(4)(B) corresponding drive unit
HA-LP15K1M(4)(B) HG-JR15K1M(4)(B) will be different if a model
marked with ◆ is replaced.
HA-LP22K1M(4) ◇ HG-JR22K1M(4)
(Note 1) HG-JR25K14 is
HA-LP30K1M(4) ◇ HG-JR30K1M(4) MR-J4-22K_4(-RJ) or
HA-LP37K1M(4) ◇ HG-JR37K1M(4) MR-J4-DU22KB4(-RJ),
Large capacity, low HA-LP45K1M4 ◇ HG-JR45K1M4 HG-JR22K1M(4) is
inertia HA-LP50K1M4 ◇ HG-JR55K1M4 MR-J4-22K_(4)(-RJ) or
HA-LP MR-J4-DU22KB(4),
HA-LP701M(4)(B) HG-JR701M(4)R(B)-S_
HG-JR30K1M(4) is
1500 r/min series HA-LP11K1M(4)(B) HG-JR11K1M(4)R(B)-S_(250) MR-J4-DU30K_(4),
HA-LP15K1M(4)(B) HG-JR15K1M(4)R(B)-S_ HG-JR37K1M4 is
HA-LP22K1M(4) ◇ HG-JR22K1M(4)R-S_  MR-J4-DU37K_4,
HA-LP30K1M(4) ◇ HG-JR30K1M(4)R-S_ (Note 2) HG-JR45K1M4 is
HA-LP37K1M(4) ◇ MR-J4-DU45K_4.
HG-JR37K1M(4)R-S_
When replacing to
HA-LP45K1M4 ◇ HG-JR45K1M4R-S_
MR-J4-DU22KB (4), refer to
HA-LP50K1M4 ◇ HG-JR55K1M4R-S_ the manufacturer catalog
HA-LP502 HG-SR502 and instruction manual. Only
HA-LP702 HG-SR702 MR-CV is available to
HA-LP11K2(4)(B) MR-J4-DU22KB(4).
HG-JR11K1M(4)(B) Check the dimensions and
HA-LP15K2(4)(B)
others of the servo amplifier
HA-LP22K2(4)(B) HG-JR15K1M(4)(B) (Note 1) (drive unit) since the
HA-LP30K2(4) ◇ ◆ HG-JR22K1M(4) capacity is changed.
HA-LP37K2(4) ◇ ◆ HG-JR30K1M(4)
Large capacity, low HA-LP45K24 ◇ ◆ HG-JR37K1M4
inertia HA-LP55K24 ◇ ◆ HG-JR45K1M4
HA-LP HA-LP502 HG-SR502R-S_
2000 r/min series HA-LP702 HG-SR702R-S_
HA-LP11K2(4)(B) HG-JR11K1M(4)R(B)-S_(200)
HA-LP15K2(4)(B) HG-JR11K1M(4)R(B)-S_(250)

HA-LP22K2(4)(B) HG-JR15K1M(4)R(B)-S_
(Note 2)
HA-LP30K2(4) ◇ ◆ HG-JR22K1M(4)R-S_
HA-LP37K2(4) ◇ ◆ HG-JR30K1M(4)R-S_
HA-LP45K24 ◇ ◆ HG-JR37K1M4R-S_
HA-LP55K24 ◇ ◆ HG-JR45K1M4R-S_

Note 1. For mounting dimensions,Refer to "2.2 Detailed comparison of servo motor mounting dimensions.
2. Only flanges and shaft ends have compatibility in mounting.
Please contact your local sales office regarding the servo motor model and its delivery, since it is developed upon receipt of
order.

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Part 9: Review on Replacement of Motor

2. COMPARISON OF SERVO MOTOR SPECIFICATIONS

2.1 Comparison of Servo Motor Mounting Dimensions

POINT
As for the dimensions not listed here, refer to the catalog or instruction manual.
The symbols in the table mean as follows.
(B): With brake
The value in the parenthesis shows the value with brake.

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Part 9: Review on Replacement of Motor

(1) HF-KP/HF-MP/HF-SP/HC-RP series

[Unit: mm]

Target models Replacement models

Note
Model L LD Example of replacement model L LD
HF-KP053(B) HG-KR053(B)
66.4 (107.5) 66.4 (107)
HF-MP053(B) HG-MR053(B)
40 40
HF-KP13(B) HG-KR13(B)
82.4 (123.5) 82.4 (123)
HF-MP13(B) HG-MR13(B)
HF-KP23(B) HG-KR23(B)
76.6 (116.1) 76.6 (113.4)
HF-MP23(B) HG-MR23(B)
60 60
HF-KP43(B) HG-KR43(B)
98.5 (138) 98.3 (135.1) (Note)
HF-MP43(B) HG-MR43(B)
HF-KP73(B) HG-KR73(B)
113.8 (157) 80 112 (152.3) 80
HF-MP73(B) HG-MR73(B)
HF-SP51(B) 140.5 (175) HG-SR51(B) 132.5 (167)
130 130
HF-SP81(B) 162.5 (197) HG-SR81(B) 146.5 (181)
HF-SP121(B) 143.5 (193) HG-SR121(B) 138.5 (188)
HF-SP201(B) 183.5 (233) HG-SR201(B) 162.5 (212)
176 176
HF-SP301(B) 203.5 (253) HG-SR301(B) 178.5 (228)
HF-SP421(B) 263.5 (313) HG-SR421(B) 218.5 (268)
HF-SP52(B) HG-SR52(B)
118.5 (153) 118.5 (153)
HF-SP524(B) HG-SR524(B)
HF-SP102(B) HG-SR102(B)
140.5 (175) 130 132.5 (167) 130
HF-SP1024(B) HG-SR1024(B)
HF-SP152(B) HG-SR152(B)
162.5 (197) 146.5 (181)
HF-SP1524(B) HG-SR1524(B)
HF-SP202(B) HG-SR202(B)
143.5 (193) 138.5 (188)
HF-SP2024(B) HG-SR2024(B)
HF-SP352(B) HG-SR352(B)
183.5 (233) 162.5 (212)
HF-SP3524(B) HG-SR3524(B)
176 176
HF-SP502(B) HG-SR502(B)
203.5 (253) 178.5 (228)
HF-SP5024(B) HG-SR5024(B)
HF-SP702(B) HG-SR702(B)
263.5 (313) 218.5 (268)
HF-SP7024(B) HG-SR7024(B)
HC-RP103(B) 145.5 (183.5) HG-RR103(B) 145.5 (183)
HC-RP153(B) 170.5 (208.5) 100 HG-RR153(B) 170.5 (208) 100
HC-RP203(B) 195.5 (233.5) HG-RR203(B) 195.5 (233)
HC-RP353(B) 215.5 (252.5) HG-RR353(B) 215.5 (252)
130 130
HC-RP503(B) 272.5 (309.5) HG-RR503(B) 272.5 (309)

Note. Some mounting dimensions have differences. Refer to "2.2 Detailed Comparison of Servo Motor Mounting Dimensions" for
detailed dimensions.

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Part 9: Review on Replacement of Motor

(2) HC-LP/HC-UP/HF-JP series

[Unit: mm]

Target models Replacement models

Note
Model L LD Example of replacement model L LD
HC-LP52(B) 144 (177) HG-JR73(B) 145.5 (191)
90
HC-LP102(B) 164 (197) 130 HG-JR153(B) 199.5 (245)
HC-LP152(B) 191.5 (224.5) HG-JR353(B) 213 (251.5) (Note)
HC-LP202(B) 198.5 (246.5) HG-JR353(B) 213 (251.5) 130
176
HC-LP302(B) 248.5 (296.5) HG-JR503(B) 267 (305.5)
HC-UP72(B) 109 (142.5) HG-UR72(B) 109 (142.5)
176 176
HC-UP152(B) 118.5 (152) HG-UR152(B) 118.5 (152)
HC-UP202(B) 116.5 (159.5) HG-UR202(B) 116.5 (159.5)
HC-UP352(B) 140.5 (183.5) 220 HG-UR352(B) 140.5 (183.5) 220
HC-UP502(B) 164.5 (207.5) HG-UR502(B) 164.5 (207.5)
HF-JP53(B) HG-JR53(B)
127.5 (173) 127.5 (173)
HF-JP534(B) HG-JR534(B)
HF-JP73(B) HG-JR73(B)
145.5 (191) 145.5 (191)
HF-JP734(B) HG-JR734(B)
HF-JP103(B) HG-JR103(B)
163.5 (209) 90 163.5 (209) 90
HF-JP1034(B) HG-JR1034(B)
HF-JP153(B) HG-JR153(B)
199.5 (245) 199.5 (245)
HF-JP1534(B) HG-JR1534(B)
HF-JP203(B) HG-JR203(B)
235.5 (281) 235.5 (281)
HF-JP2034(B) HG-JR2034(B)
HF-JP353(B) HG-JR353(B)
213 (251.5) 213 (251.5)
HF-JP3534(B) HG-JR3534(B)
130 130
HF-JP503(B) HG-JR503(B)
267 (305.5) 267 (305.5)
HF-JP5034(B) HG-JR5034(B)
HF-JP703(B) HG-JR703(B)
263.5 (313) 263.5 (313)
HF-JP7034(B) HG-JR7034(B)
176 176
HF-JP903 HG-JR903
303.5 (353) 303.5 (353)
HF-JP9034(B) HG-JR9034(B)
HF-JP11K1M(B) HG-JR11K1M(B)
339.5 (412) 339.5 (412)
HF-JP11K1M4(B) HG-JR11K1M4(B)
220 220
HF-JP15K1M(B) HG-JR15K1M(B)
439.5 (512) 439.5 (512)
HF-JP15K1M4(B) HG-JR15K1M4(B)

Note. Without attachment compatibility. Refer to "2.2 Detailed Comparison of Servo Motor Mounting Dimensions" for detailed
dimensions.

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Part 9: Review on Replacement of Motor

(3) HA-LP 1000 r/min series

[Unit: mm]

Target models Replacement models

Note
Model L LD Example of replacement model L LD
HG-JR601(B)
299.5 (372) 220 (Note)
HA-LP601(B) HG-JR6014(B)
480 (550) 200
HA-LP6014(B) HG-JR601R(B)-S_
399 (472) 200
HG-JR6014R(B)-S_
HG-JR801(B)
339.5 (412) 220 (Note)
HA-LP801(B) HG-JR8014(B)
495 (610)
HA-LP8014(B) HG-JR801R(B)-S_
354 (427) 250
HG-JR8014R(B)-S_
250
HG-JR12K1(B)
439.5 (512) 220 (Note)
HA-LP12K1(B) HG-JR12K14(B)
555 (670)
HA-LP12K14(B) HG-JR12K1R(B)-S_
454 (527) 250
HG-JR12K14R(B)-S_
HG-JR15K1
476 250 (Note)
HA-LP15K1 HG-JR15K14
605
HA-LP15K14 HG-JR15K1R-S_
493 280
HG-JR15K14R-S_
280
HG-JR20K1
538 250 (Note)
HA-LP20K1 HG-JR20K14
650
HA-LP20K14 HG-JR20K1R-S_
555 280
HG-JR20K14R-S_
HG-JR25K1
600 250 (Note)
HA-LP25K1 HG-JR25K14
640
HA-LP25K14 HG-JR25K1R-S_
617 350
HG-JR25K14R-S_
HG-JR30K1
600 280 (Note)
HA-LP30K1 HG-JR30K14
685 350
HA-LP30K14 HG-JR30K1R-S_
610 350
HG-JR30K14R-S_
HG-JR37K1
664 280 (Note)
HA-LP37K1 HG-JR37K14
785
HA-LP37K14 HG-JR37K1R-S_
674 350
HG-JR37K14R-S_

Note. Without attachment compatibility. Refer to "2.2 Detailed Comparison of Servo Motor Mounting Dimensions" for detailed
dimensions.

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Part 9: Review on Replacement of Motor

(4) HA-LP 1500 r/min series

[Unit: mm]

Target models Replacement models

Note
Model L LD Example of replacement model L LD
HG-JR701M(B)
299.5 (372) 220 (Note)
HA-LP701M(B) HG-JR701M4(B)
480 (550) 200
HA-LP701M4(B) HG-JR701MR(B)-S_
399 (472) 200
HG-JR701M4R(B)-S_
HG-JR11K1M(B)
339.5 (412) 220 (Note)
HA-LP11K1M(B) HG-JR11K1M4(B)
495 (610)
HA-LP11K1M4(B) HG-JR11K1MR(B)-S_(250)
354 (427) 250
HG-JR11K1M4R(B)-S_(250)
250
HG-JR15K1M(B)
439.5 (512) 220 (Note)
HA-LP15K1M(B) HG-JR15K1M4(B)
555 (670)
HA-LP15K1M4(B) HG-JR15K1MR(B)-S_
454 (526.5) 250
HG-JR15K1M4R(B)-S_
HG-JR22K1M
476 250 (Note)
HA-LP22K1M HG-JR22K1M4
605
HA-LP22K1M4 HG-JR22K1MR-S_
493 280
HG-JR22K1M4R-S_
280
HG-JR30K1M 538 250 (Note)
HA-LP30K1M 660
HG-JR30K1MR-S_ 555 280
HG-JR30K1M4 538 250 (Note)
HA-LP30K1M4 650
HG-JR30K1M4R-S_ 555 280
HG-JR37K1M
600 250 (Note)
HA-LP37K1M HG-JR37K1M4
640
HA-LP37K1M4 HG-JR37K1MR-S_
617 350
HG-JR37K1M4R-S_
350
HG-JR45K1M4 600 280 (Note)
HA-LP45K1M4 685
HG-JR45K1M4R-S_ 610 350
HG-JR55K1M4 664 280 (Note)
HA-LP50K1M4 785
HG-JR55K1M4R-S_ 674 350

Note. Without attachment compatibility. Refer to "2.2 Detailed Comparison of Servo Motor Mounting Dimensions" for detailed
dimensions.

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Part 9: Review on Replacement of Motor

(5) HA-LP 2000 r/min series

[Unit: mm]

Target models Replacement models

Note
Model L LD Example of replacement model L LD
HG-SR502 178.5 176 (Note)
HA-LP502 298
HG-SR502R-S_ 205 204
HG-SR702 218.5 176 (Note)
HA-LP702 340
HG-SR702R-S_ 245 204
200
HG-JR11K1M(B)
339.5 (412) 220 (Note)
HA-LP11K2(B) HG-JR11K1M4(B)
480 (550)
HA-LP11K24(B) HG-JR11K1MR(B)-S_(200)
439 (512) 200
HG-JR11K1M4R(B)-S_(200)
HG-JR11K1M(B)
339.5 (412) 220 (Note)
HA-LP15K2(B) HG-JR11K1M4(B)
495 (610)
HA-LP15K24(B) HG-JR11K1MR(B)-S_(250)
354 (427) 250
HG-JR11K1M4R(B)-S_(250)
250
HG-JR15K1M(B)
439.5 (512) 220 (Note)
HA-LP22K2(B) HG-JR15K1M4(B)
555 (670)
HA-LP22K24(B) HG-JR15K1MR(B)-S_
454 (526.5) 250
HG-JR15K1M4R(B)-S_
HG-JR22K1M 476 250 (Note)
HA-LP30K2 615
HG-JR22K1MR-S_ 493 280
HG-JR22K1M4 476 250 (Note)
HA-LP30K24 605
HG-JR22K1M4R-S_ 493 280
280
HG-JR30K1M 538 250 (Note)
HA-LP37K2 660
HG-JR30K1MR-S_ 555 280
HG-JR30K1M4 538 250 (Note)
HA-LP37K24 650
HG-JR30K1M4R-S_ 555 280
HG-JR37K1M4 600 250 (Note)
HA-LP45K24 640
HG-JR37K1M4R-S_ 617 350
350
HG-JR45K1M4 600 280 (Note)
HA-LP55K24 685
HG-JR45K1M4R-S_ 610 350

Note. Without attachment compatibility. Refer to "2.2 Detailed Comparison of Servo Motor Mounting Dimensions" for detailed
dimensions.

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Part 9: Review on Replacement of Motor

2.2 Detailed Comparison of Servo Motor Mounting Dimensions

POINT
As for the dimensions not listed here, refer to the catalog or Instruction Manual.
Dimensions with differences are shown with shading.
The symbols in the table mean as follows.
(B): With brake

(1) HF-KP/HF-MP/HF-SP/HC-RP series

[Unit: mm]

Target models Replacement models

Example of
Model LA LB LR Q S Z LA LB LR Q S Z
replacement model
HF-KP053(B) HG-KR053(B)
46 30 25 21.5 8 4.5 46 30 25 21.5 8 4.5
HF-MP053(B) HG-MR053(B)
HF-KP13(B) HG-KR13(B)
46 30 25 21.5 8 4.5 46 30 25 21.5 8 4.5
HF-MP13(B) HG-MR13(B)
HF-KP23(B) HG-KR23(B)
70 50 30 27 14 5.8 70 50 30 26 14 5.8
HF-MP23(B) HG-MR23(B)
HF-KP43(B) HG-KR43(B)
70 50 30 27 14 5.8 70 50 30 26 14 5.8
HF-MP43(B) HG-MR43(B)
HF-KP73(B) HG-KR73(B)
90 70 40 37 19 6.6 90 70 40 36 19 6.6
HF-MP73(B) HG-MR73(B)
HF-SP51(B) 145 110 55 50 24 9 HG-SR51(B) 145 110 55 50 24 9
HF-SP81(B) 145 110 55 50 24 9 HG-SR81(B) 145 110 55 50 24 9
HF-SP121(B) 200 114.3 79 75 35 13.5 HG-SR121(B) 200 114.3 79 75 35 13.5
HF-SP201(B) 200 114.3 79 75 35 13.5 HG-SR201(B) 200 114.3 79 75 35 13.5
HF-SP301(B) 200 114.3 79 75 35 13.5 HG-SR301(B) 200 114.3 79 75 35 13.5
HF-SP421(B) 200 114.3 79 75 35 13.5 HG-SR421(B) 200 114.3 79 75 35 13.5
HF-SP52(B) HG-SR52(B)
145 110 55 50 24 9 145 110 55 50 24 9
HF-SP524(B) HG-SR524(B)
HF-SP102(B) HG-SR102(B)
145 110 55 50 24 9 145 110 55 50 24 9
HF-SP1024(B) HG-SR1024(B)
HF-SP152(B) HG-SR152(B)
145 110 55 50 24 9 145 110 55 50 24 9
HF-SP1524(B) HG-SR1524(B)
HF-SP202(B) HG-SR202(B)
200 114.3 79 75 35 13.5 200 114.3 79 75 35 13.5
HF-SP2024(B) HG-SR2024(B)
HF-SP352(B) HG-SR352(B)
200 114.3 79 75 35 13.5 200 114.3 79 75 35 13.5
HF-SP3524(B) HG-SR3524(B)
HF-SP502(B) HG-SR502(B)
200 114.3 79 75 35 13.5 200 114.3 79 75 35 13.5
HF-SP5024(B) HG-SR5024(B)
HF-SP702(B) HG-SR702(B)
200 114.3 79 75 35 13.5 200 114.3 79 75 35 13.5
HF-SP7024(B) HG-SR7024(B)
HC-RP103(B) 115 95 45 40 24 9 HG-RR103(B) 115 95 45 40 24 9
HC-RP153(B) 115 95 45 40 24 9 HG-RR153(B) 115 95 45 40 24 9
HC-RP203(B) 115 95 45 40 24 9 HG-RR203(B) 115 95 45 40 24 9
HC-RP353(B) 145 110 63 58 28 9 HG-RR353(B) 145 110 63 58 28 9
HC-RP503(B) 145 110 63 58 28 9 HG-RR503(B) 145 110 63 58 28 9

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Part 9: Review on Replacement of Motor

(2) HC-LP/HC-UP/HF-JP series

[Unit: mm]

Target models Replacement models

Example of
Model LA LB LR Q S Z replacement model LA LB LR Q S Z
(Note)
HC-LP52(B) 145 110 55 50 24 9 HG-JR73(B) 100 80 40 30 16 6.6
HC-LP102(B) 145 110 55 50 24 9 HG-JR153(B) 100 80 40 30 16 6.6
HC-LP152(B) 145 110 55 50 24 9 HG-JR353(B) 145 110 55 50 28 9
HC-LP202(B) 200 114.3 79 75 35 13.5 HG-JR353(B) 145 110 55 50 28 9
HC-LP302(B) 200 114.3 79 75 35 13.5 HG-JR503(B) 145 110 55 50 28 9
HC-UP72(B) 200 114.3 55 50 22 13.5 HG-UR72(B) 200 114.3 55 50 22 13.5
HC-UP152(B) 200 114.3 55 50 28 13.5 HG-UR152(B) 200 114.3 55 50 28 13.5
HC-UP202(B) 235 200 65 60 35 13.5 HG-UR202(B) 235 200 65 60 35 13.5
HC-UP352(B) 235 200 65 60 35 13.5 HG-UR352(B) 235 200 65 60 35 13.5
HC-UP502(B) 235 200 65 60 35 13.5 HG-UR502(B) 235 200 65 60 35 13.5
HF-JP53(B) HG-JR53(B)
100 80 40 30 16 6.6 100 80 40 30 16 6.6
HF-JP534(B) HG-JR534(B)
HF-JP73(B) HG-JR73(B)
100 80 40 30 16 6.6 100 80 40 30 16 6.6
HF-JP734(B) HG-JR734(B)
HF-JP103(B) HG-JR103(B)
100 80 40 30 16 6.6 100 80 40 30 16 6.6
HF-JP1034(B) HG-JR1034(B)
HF-JP153(B) HG-JR153(B)
100 80 40 30 16 6.6 100 80 40 30 16 6.6
HF-JP1534(B) HG-JR1534(B)
HF-JP203(B) HG-JR203(B)
100 80 40 30 16 6.6 100 80 40 30 16 6.6
HF-JP2034(B) HG-JR2034(B)
HF-JP353(B) HG-JR353(B)
145 110 55 50 28 9 145 110 55 50 28 9
HF-JP3534(B) HG-JR3534(B)
HF-JP503(B) HG-JR503(B)
145 110 55 50 28 9 145 110 55 50 28 9
HF-JP5034(B) HG-JR5034(B)
HF-JP703(B) HG-JR703(B)
200 114.3 79 75 35 13.5 200 114.3 79 75 35 13.5
HF-JP7034(B) HG-JR7034(B)
HF-JP903(B) HG-JR903(B)
200 114.3 79 75 35 13.5 200 114.3 79 75 35 13.5
HF-JP9034(B) HG-JR9034(B)
HF-JP11K1M(B) HG-JR11K1M(B)
235 200 116 110 55 13.5 235 200 116 110 55 13.5
HF-JP11K1M4(B) HG-JR11K1M4(B)
HF-JP15K1M(B) HG-JR15K1M(B)
235 200 116 110 55 13.5 235 200 116 110 55 13.5
HF-JP15K1M4(B) HG-JR15K1M4(B)

Note. Motor foot cannot be mounted to HG-JR series.

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Part 9: Review on Replacement of Motor

(3) HA-LP series

[Unit: mm]

Target models Replacement models

Example of
Model LA LB LR Q S Z replacement model LA LB LR Q S Z
(Note)
HA-LP601(B) HG-JR601(B)
215 180 85 80 42 14.5 235 200 85 79 42 13.5
HA-LP6014(B) HG-JR6014(B)
HA-LP801(B) HG-JR801(B)
265 230 110 100 55 14.5 235 200 116 110 55 13.5
HA-LP8014(B) HG-JR8014(B)
HA-LP12K1(B) HG-JR12K1(B)
265 230 110 100 55 14.5 235 200 116 110 55 13.5
HA-LP12K14(B) HG-JR12K14(B)
HA-LP15K1 HG-JR15K1
300 250 140 140 60 19 265 230 140 130 65 24
HA-LP15K14 HG-JR15K14
HA-LP20K1 HG-JR20K1
300 250 140 140 60 19 265 230 140 130 65 24
HA-LP20K14 HG-JR20K14
HA-LP25K1 HG-JR25K1
350 300 140 140 65 19 265 230 140 130 65 24
HA-LP25K14 HG-JR25K14
HA-LP30K1 HG-JR30K1
350 300 140 140 65 19 300 250 140 140 80 24
HA-LP30K14 HG-JR30K14
HA-LP37K1 HG-JR37K1
350 300 170 170 80 19 300 250 140 140 80 24
HA-LP37K14 HG-JR37K14
HA-LP701M(B) HG-JR701M(B)
215 180 85 80 42 14.5 235 200 85 79 42 13.5
HA-LP701M4(B) HG-JR701M4(B)
HA-LP11K1M(B) HG-JR11K1M(B)
265 230 110 100 55 14.5 235 200 116 110 55 13.5
HA-LP11K1M4(B) HG-JR11K1M4(B)
HA-LP15K1M(B) HG-JR15K1M(B)
265 230 110 100 55 14.5 235 200 116 110 55 13.5
HA-LP15K1M4(B) HG-JR15K1M4(B)
HA-LP22K1M HG-JR22K1M
300 250 140 140 60 19 265 230 140 130 65 24
HA-LP22K1M4 HG-JR22K1M4
HA-LP30K1M HG-JR30K1M
300 250 140 140 60 19 265 230 140 130 65 24
HA-LP30K1M4 HG-JR30K1M4
HA-LP37K1M HG-JR37K1M
350 300 140 140 65 19 265 230 140 130 65 24
HA-LP37K1M4 HG-JR37K1M4
HA-LP45K1M4 350 300 140 140 65 19 HG-JR45K1M4 300 250 140 140 80 24
HA-LP50K1M4 350 300 170 170 80 19 HG-JR55K1M4 300 250 140 140 80 24
HA-LP502 215 180 85 80 42 14.5 HG-SR502 200 114.3 79 75 35 13.5
HA-LP702 215 180 85 80 42 14.5 HG-SR702 200 114.3 79 75 35 13.5
HA-LP11K2(B) HG-JR11K1M(B)
215 180 85 80 42 14.5 235 200 116 110 55 13.5
HA-LP11K24(B) HG-JR11K1M4(B)
HA-LP15K2(B) HG-JR11K1M(B)
265 230 110 100 55 14.5 235 200 116 110 55 13.5
HA-LP15K24(B) HG-JR11K1M4(B)
HA-LP22K2(B) HG-JR15K1M(B)
265 230 110 100 55 14.5 235 200 116 110 55 13.5
HA-LP22K24(B) HG-JR15K1M4(B)
HA-LP30K2 HG-JR22K1M
300 250 140 140 60 19 265 230 140 130 65 24
HA-LP30K24 HG-JR22K1M4
HA-LP37K2 HG-JR30K1M
300 250 140 140 60 19 265 230 140 130 65 24
HA-LP37K24 HG-JR30K1M4
HA-LP45K24 350 300 140 140 65 19 HG-JR37K1M4 265 230 140 130 65 24
HA-LP55K24 350 300 140 140 65 19 HG-JR45K1M4 300 250 140 140 80 24

Note. Motor foot cannot be mounted to HG-JR series.

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Part 9: Review on Replacement of Motor

2.3 Comparison of Mounting Dimensions for Geared Servo Motors

Servo motor series whose mounting dimensions of the reducer are the same before and after the
replacement is omitted.

POINT
As for the dimensions not listed here, refer to the catalog or Instruction Manual.
Dimensions with differences are shown with shading.
The value in the parenthesis shows the value with brake.

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Part 9: Review on Replacement of Motor

(1) HC-RP_G5 series (With reduction gear for precision application compliant)
[Unit: mm]

Output HC-RP series (G5) HG-SR series (G5)

(kW) Reduction ratio L LR LA LB LC LD Z Reduction ratio L LR LA LB LC LD Z
227.5 227.5
1/5 27 105 85 59 90 9 1/5 27 105 85 59 90 9
(265.5) (262)
227.5 239.5
1/11 27 105 85 59 90 9 1/11 35 135 115 84 120 11
(265.5) (274)
255.5 239.5
1.0 1/21 35 135 115 84 120 11 1/21 35 135 115 84 120 11
(293.5) (274)
255.5 255.5
1/33 35 135 115 84 120 11 1/33 53 190 165 122 170 14
(293.5) (290)
268.5 255.5
1/45 53 190 165 122 170 14 1/45 53 190 165 122 170 14
(306.5) (290)
252.5 241.5
1/5 27 105 85 59 90 9 1/5 27 105 85 59 90 9
(290) (276)
280.5 253.5
1/11 35 135 115 84 120 11 1/11 35 135 115 84 120 11
(318.5) (288)
280.5 269.5
1.5 1/21 35 135 115 84 120 11 1/21 53 190 165 122 170 14
(318.5) (304)
293.5 269.5
1/33 53 190 165 122 170 14 1/33 53 190 165 122 170 14
(331.5) (304)
293.5 269.5
1/45 53 190 165 122 170 14 1/45 53 190 165 122 170 14
(331.5) (304)
277.5 267.5
1/5 27 105 85 59 90 9 1/5 35 135 115 84 120 11
(315.5) (317)
305.5 267.5
1/11 35 135 115 84 120 11 1/11 35 135 115 84 120 11
(343.5) (317)
318.5 287.5
2.0 1/21 53 190 165 122 170 14 1/21 53 190 165 122 170 14
(365.5) (337)
318.5 287.5
1/33 53 190 165 122 170 14 1/33 53 190 165 122 170 14
(365.5) (337)
318.5 287.5
1/45 53 190 165 122 170 14 1/45 53 190 165 122 170 14
(365.5) (337)
344.5 291.5
1/5 35 135 115 84 120 11 1/5 35 135 115 84 120 11
(381.5) (341)
344.5 311.5
1/11 35 135 115 84 120 11 1/11 53 190 165 122 170 14
(381.5) (361)
3.5
364.5 311.5
1/21 53 190 165 122 170 14 1/21 53 190 165 122 170 14
(401.5) (361)
364.5 311.5
1/33 53 190 165 122 170 14 1/21 53 190 165 122 170 14
(401.5) (361)
401.5 327.5
1/5 35 135 115 84 120 11 1/5 53 190 165 122 170 14
(438.5) (377)
421.5 327.5
5.0 1/11 53 190 165 122 170 14 1/11 53 190 165 122 170 14
(458.5) (377)
421.5 327.5
1/21 53 190 165 122 170 14 1/11 53 190 165 122 170 14
(458.5) (377)

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Part 9: Review on Replacement of Motor

(2) HC-RP_G7 series (With reduction gear for precision application compliant)
[Unit: mm]

HC-RP series (G7) HG-SR series (G7)

Output
Reduction Reduction
(kW) L LR Q S LA LB LD Z L LR Q S LA LB LD Z
ratio ratio
227.5 227.5
1/5 80 42 25 105 85 90 9 1/5 80 42 25 105 85 90 9
(265.5) (262)
227.5 239.5
1/11 80 42 25 105 85 90 9 1/11 133 82 40 135 115 120 11
(265.5) (274)
255.5 239.5
1.0 1/21 133 82 40 135 115 120 11 1/21 133 82 40 135 115 120 11
(293.5) (274)
255.5 255.5
1/33 133 82 40 135 115 120 11 1/33 156 82 50 190 165 170 14
(293.5) (290)
268.5 255.5
1/45 156 82 50 190 165 170 14 1/45 156 82 50 190 165 170 14
(306.5) (290)
252.5 241.5
1/5 80 42 25 105 85 90 9 1/5 80 42 25 105 85 90 9
(290.5) (276)
280.5 253.5
1/11 133 82 40 135 115 120 11 1/11 133 82 40 135 115 120 11
(318.5) (288)
280.5 269.5
1.5 1/21 133 82 40 135 115 120 11 1/21 156 82 50 190 165 170 14
(318.5) (304)
293.5 269.5
1/33 156 82 50 190 165 170 14 1/33 156 82 50 190 165 170 14
(331.5) (304)
293.5 269.5
1/45 156 82 50 190 165 170 14 1/45 156 82 50 190 165 170 14
(331.5) (304)
277.5 267.5
1/5 80 42 25 105 85 90 9 1/5 133 82 40 135 115 120 11
(315.5) (317)
305.5 267.5
1/11 133 82 40 135 115 120 11 1/11 133 82 40 135 115 120 11
(343.5) (317)
318.5 287.5
2.0 1/21 156 82 50 190 165 170 14 1/21 156 82 50 190 165 170 14
(356.5) (337)
318.5 287.5
1/33 156 82 50 190 165 170 14 1/33 156 82 50 190 165 170 14
(356.5) (337)
318.5 287.5
1/45 156 82 50 190 165 170 14 1/45 156 82 50 190 165 170 14
(356.5) (337)
344.5 291.5
1/5 133 82 40 135 115 120 11 1/5 133 82 40 135 115 120 11
(381.5) (341)
344.5 311.5
1/11 133 82 40 135 115 120 11 1/11 156 82 50 190 165 170 14
(381.5) (361)
3.5
364.5 311.5
1/21 156 82 50 190 165 170 14 1/21 156 82 50 190 165 170 14
(401.5) (361)
364.5 311.5
1/33 156 82 50 190 165 170 14 1/21 156 82 50 190 165 170 14
(401.5) (361)
401.5 327.5
1/5 133 82 40 135 115 120 11 1/5 156 82 50 190 165 170 14
(438.5) (377)
421.5 327.5
5.0 1/11 156 82 50 190 165 170 14 1/11 156 82 50 190 165 170 14
(458.5) (377)
421.5 327.5
1/21 156 82 50 190 165 170 14 1/11 156 82 50 190 165 170 14
(458.5) (377)

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Part 9: Review on Replacement of Motor

2.4 Comparison of Actual Reduction Ratios for Geared Servo Motors

POINT
The HG-MR series does not support the geared model. The geared
model is supported with the HG-KR series.
Actual reduction ratios with differences are shown with shading.

HF-KP_G1/HF-MP_G1(With gears for general industrial machines with a reducer) series

Because the actual reduction ratio for some models is different when replacing HF-KP_G1 or HF-MP_G1
with HG-KR_G1, it is required that an electronic gear be set up.
Actual reduction ratio
Output (W) Reduction ratio
HF-KP/HF-MP series (G1) HG-KR series (G1)
1/5 9/44 9/44
50 1/12 49/576 49/576
1/20 25/484 25/484
1/5 9/44 9/44
100 1/12 49/576 49/576
1/20 25/484 25/484
1/5 19/96 19/96
200 1/12 25/288 961/11664
1/20 253/5000 513/9984
1/5 19/96 19/96
400 1/12 25/288 961/11664
1/20 253/5000 7/135
1/5 1/5 1/5
750 1/12 525/6048 7/87
1/20 625/12544 625/12544

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Part 9: Review on Replacement of Motor

2.5 Comparison of Moment of Inertia

POINT
As for the motor specifications not listed here, refer to the catalog or
Instruction Manual.
If the load inertia moment ratio is exceeded, please ask the sales
contact.
The symbols in the table mean as follows.
(B): With brake
(4): 400 V specifications
(H): Foot-mounting
The value in the parenthesis shows the value with brake.

(1) HF-KP series (With gears for general industrial machines with a reducer)
Target models Replacement model
Series Moment of Moment of
Load inertia Example of Load inertia
Model inertia J inertia J
moment ratio replacement model moment ratio
× 10-4 kg•m2 × 10-4 kg•m2
HF-KP053(B) 0.052 (0.054) 15 times HG-KR053(B) 0.0450 (0.0472) 17 times
HF-KP13(B) 0.088 (0.090) or less HG-KR13(B) 0.0777 (0.0837) or less
24 times 26 times
Small capacity, HF-KP23(B) 0.24 (0.31) HG-KR23(B) 0.221 (0.243)
or less or less
low inertia
HF-KP series 22 times 25 times
HF-KP43(B) 0.42 (0.50) HG-KR43(B) 0.371 (0.393)
or less or less
15 times 17 times
HF-KP73(B) 1.43 (1.63) HG-KR73(B) 1.26 (1.37)
or less or less
HF-KP053(B)G1 1/5 0.089 (0.091) HG-KR053(B)G1 1/5 0.0820 (0.0840)
HF-KP053(B)G1 1/12 0.111 (0.113) HG-KR053(B)G1 1/12 0.104 (0.106)
HF-KP053(B)G1 1/20 0.093 (0.095) 5 times HG-KR053(B)G1 1/20 0.0860 (0.0880) 5 times
HF-KP13(B)G1 1/5 0.125 (0.127) or less HG-KR13(B)G1 1/5 0.115 (0.121) or less
HF-KP13(B)G1 1/12 0.147 (0.149) HG-KR13(B)G1 1/12 0.137 (0.143)
Small capacity,
HF-KP13(B)G1 1/20 0.129 (0.131) HG-KR13(B)G1 1/20 0.119 (0.125)
low inertia
HF-KP series HF-KP23(B)G1 1/5 0.400 (0.470) HG-KR23(B)G1 1/5 0.375 (0.397)
For general HF-KP23(B)G1 1/12 0.450 (0.520) HG-KR23(B)G1 1/12 0.418 (0.440)
industrial HF-KP23(B)G1 1/20 0.420 (0.490) 7 times HG-KR23(B)G1 1/20 0.391 (0.413) 7 times
machine with a or less or less
HF-KP43(B)G1 1/5 0.570 (0.650) HG-KR43(B)G1 1/5 0.525 (0.547)
reducer: G1
HF-KP43(B)G1 1/12 0.620 (0.700) HG-KR43(B)G1 1/12 0.568 (0.590)
HF-KP43(B)G1 1/20 0.930 (1.01) HG-KR43(B)G1 1/20 0.881 (0.903)
HF-KP73(B)G1 1/5 1.85 (2.05) HG-KR73(B)G1 1/5 1.68 (1.79)
5 times 5 times
HF-KP73(B)G1 1/12 2.52 (2.72) HG-KR73(B)G1 1/12 2.35 (2.46)
or less or less
HF-KP73(B)G1 1/20 2.58 (2.78) HG-KR73(B)G1 1/20 2.41 (2.52)

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Part 9: Review on Replacement of Motor

(2) HF-KP series (With reduction gear for precision application compliant)
Target product Replacement model
Moment of Moment of
Series Load inertia Example of Load inertia
Model inertia J inertia J
moment ratio replacement model moment ratio
× 10-4 kg•m2 × 10-4 kg•m2
HF-KP053(B)G5 1/5 0.120 (0.122) HG-KR053(B)G5 1/5 0.113 (0.115)
HF-KP053(B)G5 1/11 0.112 (0.114) HG-KR053(B)G5 1/11 0.105 (0.107)
HF-KP053(B)G5 1/21 0.103 (0.105) HG-KR053(B)G5 1/21 0.0960 (0.0980)
HF-KP053(B)G5 1/33 0.097 (0.099) HG-KR053(B)G5 1/33 0.0900 (0.0920)
HF-KP053(B)G5 1/45 0.097 (0.099) 10 times HG-KR053(B)G5 1/45 0.0900 (0.0920) 10 times
HF-KP13(B)G5 1/5 0.156 (0.158) or less HG-KR13(B)G5 1/5 0.146 (0.152) or less
HF-KP13(B)G5 1/11 0.148 (0.150) HG-KR13(B)G5 1/11 0.138 (0.144)
HF-KP13(B)G5 1/21 0.139 (0.141) HG-KR13(B)G5 1/21 0.129 (0.135)
Small capacity, HF-KP13(B)G5 1/33 0.150 (0.152) HG-KR13(B)G5 1/33 0.140 (0.146)
low inertia HF-KP13(B)G5 1/45 0.149 (0.151) HG-KR13(B)G5 1/45 0.139 (0.145)
HF-KP series HF-KP23(B)G5 1/5 0.441 (0.511) HG-KR23(B)G5 1/5 0.422 (0.444)
With flange-
HF-KP23(B)G5 1/11 0.443 (0.513) HG-KR23(B)G5 1/11 0.424 (0.446)
output type
gear reducer for HF-KP23(B)G5 1/21 0.738 (0.808) HG-KR23(B)G5 1/21 0.719 (0.741)
high precision HF-KP23(B)G5 1/33 0.692 (0.762) HG-KR23(B)G5 1/33 0.673 (0.695)
applications, HF-KP23(B)G5 1/45 0.691 (0.761) 14 times HG-KR23(B)G5 1/45 0.672 (0.694) 14 times
flange or less or less
HF-KP43(B)G5 1/5 0.621 (0.701) HG-KR43(B)G5 1/5 0.572 (0.594)
mounting: G5
HF-KP43(B)G5 1/11 0.996 (1.08) HG-KR43(B)G5 1/11 0.947 (0.969)
HF-KP43(B)G5 1/21 0.918 (0.998) HG-KR43(B)G5 1/21 0.869 (0.891)
HF-KP43(B)G5 1/33 0.970 (1.05) HG-KR43(B)G5 1/33 0.921 (0.943)
HF-KP43(B)G5 1/45 0.964 (1.04) HG-KR43(B)G5 1/45 0.915 (0.937)
HF-KP73(B)G5 1/5 2.08 (2.28) HG-KR73(B)G5 1/5 1.91 (2.02)
HF-KP73(B)G5 1/11 1.99 (2.19) HG-KR73(B)G5 1/11 1.82 (1.93)
10 times 10 times
HF-KP73(B)G5 1/21 2.18 (2.38) HG-KR73(B)G5 1/21 2.01 (2.12)
or less or less
HF-KP73(B)G5 1/33 1.96 (2.16) HG-KR73(B)G5 1/33 1.79 (1.90)
HF-KP73(B)G5 1/45 1.96 (2.16) HG-KR73(B)G5 1/45 1.79 (1.90)
HF-KP053(B)G7 1/5 0.126 (0.128) HG-KR053(B)G7 1/5 0.119 (0.121)
HF-KP053(B)G7 1/11 0.113 (0.115) HG-KR053(B)G7 1/11 0.106 (0.108)
HF-KP053(B)G7 1/21 0.103 (0.105) HG-KR053(B)G7 1/21 0.0960 (0.0980)
HF-KP053(B)G7 1/33 0.097 (0.099) HG-KR053(B)G7 1/33 0.0900 (0.0920)
HF-KP053(B)G7 1/45 0.097 (0.099) 10 times HG-KR053(B)G7 1/45 0.0900 (0.0920) 10 times
HF-KP13(B)G7 1/5 0.162 (0.164) or less HG-KR13(B)G7 1/5 0.152 (0.158) or less
HF-KP13(B)G7 1/11 0.149 (0.151) HG-KR13(B)G7 1/11 0.139 (0.145)
HF-KP13(B)G7 1/21 0.139 (0.141) HG-KR13(B)G7 1/21 0.129 (0.135)
HF-KP13(B)G7 1/33 0.151 (0.153) HG-KR13(B)G7 1/33 0.141 (0.147)
Small capacity,
low inertia HF-KP13(B)G7 1/45 0.149 (0.151) HG-KR13(B)G7 1/45 0.139 (0.145)
HF-KP series HF-KP23(B)G7 1/5 0.447 (0.517) HG-KR23(B)G7 1/5 0.428 (0.450)
With shaft- HF-KP23(B)G7 1/11 0.443 (0.513) HG-KR23(B)G7 1/11 0.424 (0.446)
output type
HF-KP23(B)G7 1/21 0.740 (0.810) HG-KR23(B)G7 1/21 0.721 (0.743)
gear reducer for
high precision HF-KP23(B)G7 1/33 0.693 (0.763) HG-KR23(B)G7 1/33 0.674 (0.696)
applications, HF-KP23(B)G7 1/45 0.691 (0.761) 14 times HG-KR23(B)G7 1/45 0.672 (0.694) 14 times
flange HF-KP43(B)G7 1/5 0.627 (0.707) or less HG-KR43(B)G7 1/5 0.578 (0.600) or less
mounting :G7
HF-KP43(B)G7 1/11 1.00 (1.08) HG-KR43(B)G7 1/11 0.955 (0.977)
HF-KP43(B)G7 1/21 0.920 (1.00) HG-KR43(B)G7 1/21 0.871 (0.893)
HF-KP43(B)G7 1/33 0.976 (1.06) HG-KR43(B)G7 1/33 0.927 (0.949)
HF-KP43(B)G7 1/45 0.967 (1.05) HG-KR43(B)G7 1/45 0.918 (0.940)
HF-KP73(B)G7 1/5 2.12 (2.32) HG-KR73(B)G7 1/5 1.95 (2.06)
HF-KP73(B)G7 1/11 2.00 (2.20) HG-KR73(B)G7 1/11 1.83 (1.94)
10 times 10 times
HF-KP73(B)G7 1/21 2.20 (2.40) HG-KR73(B)G7 1/21 2.03 (2.14)
or less or less
HF-KP73(B)G7 1/33 1.97 (2.17) HG-KR73(B)G7 1/33 1.80 (1.91)
HF-KP73(B)G7 1/45 1.96 (2.16) HG-KR73(B)G7 1/45 1.79 (1.90)

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Part 9: Review on Replacement of Motor

(3) HF-MP series (With gears for general industrial machines)

Target models Replacement models
Moment of Moment of
Series Load inertia Example of Load inertia
Model inertia J inertia J
moment ratio replacement model moment ratio
× 10-4 kg•m2 × 10-4 kg•m2
35 times
HF-MP053(B) 0.019 (0.025) HG-MR053(B) 0.0162 (0.0224)
or less
Small capacity, HF-MP13(B) 0.032 (0.039) HG-MR13(B) 0.0300 (0.0362)
30 times
ultra-low inertia
HF-MP23(B) 0.088 (0.12) or less HG-MR23(B) 0.0865 (0.109) 32 times
HF-MP series
HF-MP43(B) 0.15 (0.18) HG-MR43(B) 0.142 (0.164) or less
HF-MP73(B) 0.60 (0.70) HG-MR73(B) 0.586 (0.694)
HF-MP053(B)G1 1/5 0.056 (0.062) HG-KR053(B)G1 1/5 0.0820 (0.0840)
HF-MP053(B)G1 1/12 0.078 (0.084) HG-KR053(B)G1 1/12 0.104 (0.106)
HF-MP053(B)G1 1/20 0.060 (0.066) HG-KR053(B)G1 1/20 0.0860 (0.0880) 5 times
HF-MP13(B)G1 1/5 0.069 (0.076) HG-KR13(B)G1 1/5 0.115 (0.121) or less
HF-MP13(B)G1 1/12 0.091 (0.089) HG-KR13(B)G1 1/12 0.137 (0.143)
Small capacity, HF-MP13(B)G1 1/20 0.073 (0.080) HG-KR13(B)G1 1/20 0.119 (0.125)
ultra-low inertia HF-MP23(B)G1 1/5 0.248 (0.280) HG-KR23(B)G1 1/5 0.375 (0.397)
HF-MP series 25 times
HF-MP23(B)G1 1/12 0.298 (0.330) HG-KR23(B)G1 1/12 0.418 (0.440)
With gears for or less
general industrial HF-MP23(B)G1 1/20 0.268 (0.300) HG-KR23(B)G1 1/20 0.391 (0.413) 7 times
machines: G1 HF-MP43(B)G1 1/5 0.300 (0.330) HG-KR43(B)G1 1/5 0.525 (0.547) or less
HF-MP43(B)G1 1/12 0.350 (0.380) HG-KR43(B)G1 1/12 0.568 (0.590)
HF-MP43(B)G1 1/20 0.660 (0.690) HG-KR43(B)G1 1/20 0.881 (0.903)
HF-MP73(B)G1 1/5 1.02 (1.12) HG-KR73(B)G1 1/5 1.68 (1.79)
5 times
HF-MP73(B)G1 1/12 1.69 (1.79) HG-KR73(B)G1 1/12 2.35 (2.46)
or less
HF-MP73(B)G1 1/20 1.75 (1.85) HG-KR73(B)G1 1/20 2.41 (2.52)

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Part 9: Review on Replacement of Motor

(4) HF-MP series (With reduction gear for precision application compliant)
Target models Replacement models
Moment of Moment of
Series Load inertia Example of Load inertia
Model inertia J inertia J
moment ratio replacement model moment ratio
× 10-4 kg•m2 × 10-4 kg•m2
HF-MP053(B)G5 1/5 0.087 (0.093) HG-KR053(B)G5 1/5 0.113 (0.115)
HF-MP053(B)G5 1/11 0.079 (0.085) HG-KR053(B)G5 1/11 0.105 (0.107)
HF-MP053(B)G5 1/21 0.070 (0.076) HG-KR053(B)G5 1/21 0.0960 (0.0980)
HF-MP053(B)G5 1/33 0.064 (0.070) HG-KR053(B)G5 1/33 0.0900 (0.0920)
HF-MP053(B)G5 1/45 0.064 (0.070) HG-KR053(B)G5 1/45 0.0900 (0.0920) 10 times
HF-MP13(B)G5 1/5 0.100 (0.107) HG-KR13(B)G5 1/5 0.146 (0.152) or less
HF-MP13(B)G5 1/11 0.092 (0.099) HG-KR13(B)G5 1/11 0.138 (0.144)
HF-MP13(B)G5 1/21 0.083 (0.090) HG-KR13(B)G5 1/21 0.129 (0.135)
HF-MP13(B)G5 1/33 0.094 (0.101) HG-KR13(B)G5 1/33 0.140 (0.146)
Small capacity,
ultra-low inertia HF-MP13(B)G5 1/45 0.093 (0.100) HG-KR13(B)G5 1/45 0.139 (0.145)
HF-MP series HF-MP23(B)G5 1/5 0.289 (0.321) HG-KR23(B)G5 1/5 0.422 (0.444)
With flange- HF-MP23(B)G5 1/11 0.291 (0.323) HG-KR23(B)G5 1/11 0.424 (0.446)
output type gear 25 times
HF-MP23(B)G5 1/21 0.586 (0.618) HG-KR23(B)G5 1/21 0.719 (0.741)
reducer for high or less
precision HF-MP23(B)G5 1/33 0.540 (0.572) HG-KR23(B)G5 1/33 0.673 (0.695)
applications, HF-MP23(B)G5 1/45 0.539 (0.571) HG-KR23(B)G5 1/45 0.672 (0.694) 14 times
flange mounting: HF-MP43(B)G5 1/5 0.351 (0.381) HG-KR43(B)G5 1/5 0.572 (0.594) or less
G5
HF-MP43(B)G5 1/11 0.726 (0.756) HG-KR43(B)G5 1/11 0.947 (0.969)
HF-MP43(B)G5 1/21 0.648 (0.678) HG-KR43(B)G5 1/21 0.869 (0.891)
HF-MP43(B)G5 1/33 0.700 (0.730) HG-KR43(B)G5 1/33 0.921 (0.943)
HF-MP43(B)G5 1/45 0.694 (0.724) HG-KR43(B)G5 1/45 0.915 (0.937)
HF-MP73(B)G5 1/5 1.25 (1.35) HG-KR73(B)G5 1/5 1.91 (2.02)
HF-MP73(B)G5 1/11 1.16 (1.26) HG-KR73(B)G5 1/11 1.82 (1.93)
10 times
HF-MP73(B)G5 1/21 1.35 (1.45) HG-KR73(B)G5 1/21 2.01 (2.12)
or less
HF-MP73(B)G5 1/33 1.13 (1.23) HG-KR73(B)G5 1/33 1.79 (1.90)
HF-MP73(B)G5 1/45 1.13 (1.23) HG-KR73(B)G5 1/45 1.79 (1.90)
HF-MP053(B)G7 1/5 0.093 (0.099) HG-KR053(B)G7 1/5 0.119 (0.121)
HF-MP053(B)G7 1/11 0.080 (0.086) HG-KR053(B)G7 1/11 0.106 (0.108)
HF-MP053(B)G7 1/21 0.070 (0.076) HG-KR053(B)G7 1/21 0.0960 (0.0980)
HF-MP053(B)G7 1/33 0.064 (0.070) HG-KR053(B)G7 1/33 0.0900 (0.0920)
HF-MP053(B)G7 1/45 0.064 (0.070) HG-KR053(B)G7 1/45 0.0900 (0.0920) 10 times
HF-MP13(B)G7 1/5 0.106 (0.113) HG-KR13(B)G7 1/5 0.152 (0.158) or less
HF-MP13(B)G7 1/11 0.093 (0.100) HG-KR13(B)G7 1/11 0.139 (0.145)
HF-MP13(B)G7 1/21 0.083 (0.090) HG-KR13(B)G7 1/21 0.129 (0.135)
HF-MP13(B)G7 1/33 0.095 (0.102) HG-KR13(B)G7 1/33 0.141 (0.147)
Small capacity,
ultra-low inertia HF-MP13(B)G7 1/45 0.093 (0.100) HG-KR13(B)G7 1/45 0.139 (0.145)
HF-MP series HF-MP23(B)G7 1/5 0.295 (0.327) HG-KR23(B)G7 1/5 0.428 (0.450)
With shaft-output HF-MP23(B)G7 1/11 0.291 (0.323) HG-KR23(B)G7 1/11 0.424 (0.446)
type gear 25 times
HF-MP23(B)G7 1/21 0.588 (0.620) HG-KR23(B)G7 1/21 0.721 (0.743)
reducer for high or less
precision HF-MP23(B)G7 1/33 0.541 (0.573) HG-KR23(B)G7 1/33 0.674 (0.696)
applications, HF-MP23(B)G7 1/45 0.539 (0.571) HG-KR23(B)G7 1/45 0.672 (0.694) 14 times
flange mounting: HF-MP43(B)G7 1/5 0.357 (0.387) HG-KR43(B)G7 1/5 0.578 (0.600) or less
G7
HF-MP43(B)G7 1/11 0.734 (0.764) HG-KR43(B)G7 1/11 0.955 (0.977)
HF-MP43(B)G7 1/21 0.650 (0.680) HG-KR43(B)G7 1/21 0.871 (0.893)
HF-MP43(B)G7 1/33 0.706 (0.736) HG-KR43(B)G7 1/33 0.927 (0.949)
HF-MP43(B)G7 1/45 0.697 (0.727) HG-KR43(B)G7 1/45 0.918 (0.940)
HF-MP73(B)G7 1/5 1.29 (1.39) HG-KR73(B)G7 1/5 1.95 (2.06)
HF-MP73(B)G7 1/11 1.17 (1.27) HG-KR73(B)G7 1/11 1.83 (1.94)
10 times
HF-MP73(B)G7 1/21 1.37 (1.47) HG-KR73(B)G7 1/21 2.03 (2.14)
or less
HF-MP73(B)G7 1/33 1.14 (1.24) HG-KR73(B)G7 1/33 1.80 (1.91)
HF-MP73(B)G7 1/45 1.13 (1.23) HG-KR73(B)G7 1/45 1.79 (1.90)

9 - 29
Part 9: Review on Replacement of Motor

(5) HF-SP series

Target models Replacement models
Moment of Moment of
Series Load inertia Example of Load inertia
Model inertia J inertia J
moment ratio replacement model moment ratio
× 10-4 kg•m2 × 10-4 kg•m2
HF-SP51(B) 11.9 (14.0) HG-SR51(B) 11.6 (13.8) 17 times
HF-SP81(B) 17.8 (20.0) HG-SR81(B) 16.0 (18.2) or less
HF-SP121(B) 38.3 (47.9) HG-SR121(B) 46.8 (56.5)
HF-SP201(B) 75.0 (84.7) HG-SR201(B) 78.6 (88.2)
HF-SP301(B) 97.0 (107) HG-SR301(B) 99.7 (109) 15 times
HF-SP421(B) 154 (164) HG-SR421(B) 151 (161) or less
HF-SP52(B) HG-SR52(B)
6.1 (8.3) 7.26 (9.48)
HF-SP524(B) HG-SR524(B)
Medium HF-SP102(B) HG-SR102(B)
capacity, 11.9 (14.0) 11.6 (13.8)
HF-SP1024(B) 15 times HG-SR1024(B) 17 times
medium inertia or less or less
HF-SP152(B) HG-SR152(B)
HF-SP series 17.8 (20.0) 16.0 (18.2)
HF-SP1524(B) HG-SR1524(B)
HF-SP202(B) HG-SR202(B)
38.3 (47.9) 46.8 (56.5)
HF-SP2024(B) HG-SR2024(B)
HF-SP352(B) HG-SR352(B)
75.0 (84.7) 78.6 (88.2)
HF-SP3524(B) HG-SR3524(B) 15 times
HF-SP502(B) HG-SR502(B) or less
97.0 (107) 99.7 (109)
HF-SP5024(B) HG-SR5024(B)
HF-SP702(B) HG-SR702(B)
154 (164) 151 (161)
HF-SP7024(B) HG-SR7024(B)

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Part 9: Review on Replacement of Motor

(6) HF-SP series (For general industrial machine with a reducer)

Target models Replacement models
Moment of Moment of Load inertia
Series Load inertia Example of replacement
Model inertia J inertia J moment
moment ratio model
× 10-4 kg•m2 × 10-4 kg•m2 ratio
HF-SP52(4)(B)G1(H) 1/6 7.10 (9.30) HG-SR52(4)(B)G1(H) 1/6 8.08 (10.3)
HF-SP52(4)(B)G1(H) 1/11 6.70 (8.80) HG-SR52(4)(B)G1(H) 1/11 7.65 (9.85)
HF-SP52(4)(B)G1(H) 1/17 6.60 (8.70) HG-SR52(4)(B)G1(H) 1/17 7.53 (9.73)
HF-SP52(4)(B)G1(H) 1/29 6.50 (8.70) HG-SR52(4)(B)G1(H) 1/29 7.47 (9.67)
HF-SP52(4)(B)G1(H) 1/35 7.30 (9.40) HG-SR52(4)(B)G1(H) 1/35 8.26 (10.5)
HF-SP52(4)(B)G1(H) 1/43 7.30 (9.40) HG-SR52(4)(B)G1(H) 1/43 8.22 (10.4)
HF-SP52(4)(B)G1(H) 1/59 7.20 (9.40) HG-SR52(4)(B)G1(H) 1/59 8.18 (10.4)
HF-SP102(4)(B)G1(H) 1/6 15.4 (17.5) HG-SR102(4)(B)G1(H) 1/6 14.8 (17.0)
HF-SP102(4)(B)G1(H) 1/11 13.9 (16.0) HG-SR102(4)(B)G1(H) 1/11 13.3 (15.5)
HF-SP102(4)(B)G1(H) 1/17 13.5 (15.6) HG-SR102(4)(B)G1(H) 1/17 12.9 (15.1)
HF-SP102(4)(B)G1(H) 1/29 13.2 (15.3) HG-SR102(4)(B)G1(H) 1/29 12.6 (14.8)
HF-SP102(4)(B)G1(H) 1/35 13.2 (15.3) HG-SR102(4)(B)G1(H) 1/35 12.6 (14.8)
HF-SP102(4)(B)G1(H) 1/43 14.3 (16.5) HG-SR102(4)(B)G1(H) 1/43 13.8 (16.0)
HF-SP102(4)(B)G1(H) 1/59 20.3 (22.4) HG-SR102(4)(B)G1(H) 1/59 19.1 (21.3)
HF-SP152(4)(B)G1(H) 1/6 21.3 (23.4) HG-SR152(4)(B)G1(H) 1/6 19.2 (21.4)
HF-SP152(4)(B)G1(H) 1/11 19.8 (21.9) HG-SR152(4)(B)G1(H) 1/11 17.7 (19.9)
HF-SP152(4)(B)G1(H) 1/17 19.4 (21.6) HG-SR152(4)(B)G1(H) 1/17 17.3 (19.5)
HF-SP152(4)(B)G1(H) 1/29 20.4 (22.6) HG-SR152(4)(B)G1(H) 1/29 18.4 (20.6)
HF-SP152(4)(B)G1(H) 1/35 20.4 (22.5) HG-SR152(4)(B)G1(H) 1/35 18.3 (20.5)
HF-SP152(4)(B)G1(H) 1/43 26.3 (28.4) HG-SR152(4)(B)G1(H) 1/43 23.6 (25.8)
HF-SP152(4)(B)G1(H) 1/59 26.2 (28.3) HG-SR152(4)(B)G1(H) 1/59 23.5 (25.7)
HF-SP202(4)(B)G1(H) 1/6 42.1 (51.7) HG-SR202(4)(B)G1(H) 1/6 50.0 (59.4)
Medium capacity, HF-SP202(4)(B)G1(H) 1/11 40.5 (50.2) HG-SR202(4)(B)G1(H) 1/11 48.4 (57.8)
medium inertia
HF-SP202(4)(B)G1(H) 1/17 40.2 (49.8) HG-SR202(4)(B)G1(H) 1/17 48.1 (57.5)
HF-SP series 4 times 4 times
HF-SP202(4)(B)G1(H) 1/29 46.9 (56.6) HG-SR202(4)(B)G1(H) 1/29 54.8 (64.2)
With gears for or less or less
HF-SP202(4)(B)G1(H) 1/35 46.7 (56.4) HG-SR202(4)(B)G1(H) 1/35 54.5 (63.9)
general industrial
machines: G1 HF-SP202(4)(B)G1(H) 1/43 46.4 (56.1) HG-SR202(4)(B)G1(H) 1/43 54.3 (63.7)
HF-SP202(4)(B)G1(H) 1/59 46.4 (56.0) HG-SR202(4)(B)G1(H) 1/59 54.2 (63.6)
HF-SP352(4)(B)G1(H) 1/6 84.4 (94.0) HG-SR352(4)(B)G1(H) 1/6 87.1 (96.5)
HF-SP352(4)(B)G1(H) 1/11 80.1 (89.8) HG-SR352(4)(B)G1(H) 1/11 82.8 (92.2)
HF-SP352(4)(B)G1(H) 1/17 78.8 (88.5) HG-SR352(4)(B)G1(H) 1/17 81.5 (90.9)
HF-SP352(4)(B)G1(H) 1/29 83.9 (93.6) HG-SR352(4)(B)G1(H) 1/29 86.6 (96.0)
HF-SP352(4)(B)G1(H) 1/35 83.7 (93.3) HG-SR352(4)(B)G1(H) 1/35 86.3 (95.7)
HF-SP352(4)(B)G1(H) 1/43 101.9 (111.5) HG-SR352(4)(B)G1(H) 1/43 105 (114)
HF-SP352(4)(B)G1(H) 1/59 101.3 (110.9) HG-SR352(4)(B)G1(H) 1/59 104 (113)
HF-SP502(4)(B)G1(H) 1/6 121.2 (130.8) HG-SR502(4)(B)G1(H) 1/6 126 (135)
HF-SP502(4)(B)G1(H) 1/11 108.9 (118.5) HG-SR502(4)(B)G1(H) 1/11 114 (123)
HF-SP502(4)(B)G1(H) 1/17 104.8 (114.5) HG-SR502(4)(B)G1(H) 1/17 110 (119)
HF-SP502(4)(B)G1(H) 1/29 135.6 (145.3) HG-SR502(4)(B)G1(H) 1/29 141 (150)
HF-SP502(4)(B)G1(H) 1/35 135.1 (144.8) HG-SR502(4)(B)G1(H) 1/35 140 (150)
HF-SP502(4)(B)G1(H) 1/43 134.1 (143.8) HG-SR502(4)(B)G1(H) 1/43 139 (149)
HF-SP502(4)(B)G1(H) 1/59 132.9 (142.6) HG-SR502(4)(B)G1(H) 1/59 138 (147)
HF-SP702(4)(B)G1(H) 1/6 177.4 (187.0) HG-SR702(4)(B)G1(H) 1/6 177 (187)
HF-SP702(4)(B)G1(H) 1/11 190.2 (199.9) HG-SR702(4)(B)G1(H) 1/11 190 (199)
HF-SP702(4)(B)G1(H) 1/17 182.7 (192.4) HG-SR702(4)(B)G1(H) 1/17 182 (192)
HF-SP702(4)(B)G1(H) 1/29 192.3 (202.0) HG-SR702(4)(B)G1(H) 1/29 192 (202)
HF-SP702(4)(B)G1(H) 1/35 191.8 (201.5) HG-SR702(4)(B)G1(H) 1/35 192 (201)
HF-SP702(4)(B)G1(H) 1/43 269.8 (278.3) HG-SR702(4)(B)G1(H) 1/43 267 (277)
HF-SP702(4)(B)G1(H) 1/59 268.0 (276.5) HG-SR702(4)(B)G1(H) 1/59 266 (275)

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Part 9: Review on Replacement of Motor

(7) HF-SP series (With reduction gear for precision application compliant)
Target models Replacement models
Moment of Moment of Load inertia
Series Load inertia Example of replacement
Model inertia J inertia J moment
moment ratio model
× 10-4 kg•m2 × 10-4 kg•m2 ratio
HF-SP52(4)(B)G5 1/5 6.75 (8.95) HG-SR52(4)(B)G5 1/5 7.91 (10.1)
HF-SP52(4)(B)G5 1/11 6.66 (8.86) HG-SR52(4)(B)G5 1/11 7.82 (10.0)
HF-SP52(4)(B)G5 1/21 9.00 (11.2) HG-SR52(4)(B)G5 1/21 10.2 (12.4)
HF-SP52(4)(B)G5 1/33 8.80 (11.0) HG-SR52(4)(B)G5 1/33 9.96 (12.2)
HF-SP52(4)(B)G5 1/45 8.80 (11.0) HG-SR52(4)(B)G5 1/45 9.96 (12.2)
HF-SP102(4)(B)G5 1/5 12.6 (14.7) HG-SR102(4)(B)G5 1/5 12.3 (14.5)
HF-SP102(4)(B)G5 1/11 15.2 (17.3) HG-SR102(4)(B)G5 1/11 14.9 (17.1)
HF-SP102(4)(B)G5 1/21 14.8 (16.9) HG-SR102(4)(B)G5 1/21 14.5 (16.7)
HF-SP102(4)(B)G5 1/33 16.6 (18.7) HG-SR102(4)(B)G5 1/33 16.3 (18.5)
Medium capacity, HF-SP102(4)(B)G5 1/45 16.5 (18.6) HG-SR102(4)(B)G5 1/45 16.2 (18.4)
medium inertia HF-SP152(4)(B)G5 1/5 18.5 (20.7) HG-SR152(4)(B)G5 1/5 16.7 (18.9)
HF-SP series HF-SP152(4)(B)G5 1/11 21.1 (23.3) HG-SR152(4)(B)G5 1/11 19.3 (21.5)
With flange-output HF-SP152(4)(B)G5 1/21 23.5 (25.7) HG-SR152(4)(B)G5 1/21 21.7 (23.9)
10 times 10 times
type gear reducer or less or less
HF-SP152(4)(B)G5 1/33 22.5 (24.7) HG-SR152(4)(B)G5 1/33 20.7 (22.9)
for high precision
applications, HF-SP152(4)(B)G5 1/45 22.4 (24.6) HG-SR152(4)(B)G5 1/45 20.6 (22.8)
flange mounting: HF-SP202(4)(B)G5 1/5 42.9 (52.5) HG-SR202(4)(B)G5 1/5 51.4 (61.1)
G5 HF-SP202(4)(B)G5 1/11 42.7 (52.3) HG-SR202(4)(B)G5 1/11 51.2 (60.9)
HF-SP202(4)(B)G5 1/21 44.7 (54.3) HG-SR202(4)(B)G5 1/21 53.2 (62.9)
HF-SP202(4)(B)G5 1/33 43.7 (53.3) HG-SR202(4)(B)G5 1/33 52.2 (61.9)
HF-SP202(4)(B)G5 1/45 43.7 (53.3) HG-SR202(4)(B)G5 1/45 52.2 (61.9)
HF-SP352(4)(B)G5 1/5 79.6 (89.3) HG-SR352(4)(B)G5 1/5 83.2 (92.8)
HF-SP352(4)(B)G5 1/11 83.1 (92.8) HG-SR352(4)(B)G5 1/11 86.7 (96.3)
HF-SP352(4)(B)G5 1/21 81.4 (91.1) HG-SR352(4)(B)G5 1/21 85.0 (94.6)
HF-SP502(4)(B)G5 1/5 107.1 (117.1) HG-SR502(4)(B)G5 1/5 110 (119)
HF-SP502(4)(B)G5 1/11 105.1 (115.1) HG-SR502(4)(B)G5 1/11 108 (117)
HF-SP702(4)(B)G5 1/5 164.1 (174.1) HG-SR702(4)(B)G5 1/5 161 (171)
HF-SP52(4)(B)G7 1/5 6.79 (8.99) HG-SR52(4)(B)G7 1/5 7.95 (10.2)
HF-SP52(4)(B)G7 1/11 6.66 (8.86) HG-SR52(4)(B)G7 1/11 7.82 (10.0)
HF-SP52(4)(B)G7 1/21 9.00 (11.2) HG-SR52(4)(B)G7 1/21 10.2 (12.4)
HF-SP52(4)(B)G7 1/33 8.80 (11.0) HG-SR52(4)(B)G7 1/33 9.96 (12.2)
HF-SP52(4)(B)G7 1/45 8.80 (11.0) HG-SR52(4)(B)G7 1/45 9.96 (12.2)
HF-SP102(4)(B)G7 1/5 12.6 (14.7) HG-SR102(4)(B)G7 1/5 12.3 (14.5)
HF-SP102(4)(B)G7 1/11 15.3 (17.4) HG-SR102(4)(B)G7 1/11 15.0 (17.2)
HF-SP102(4)(B)G7 1/21 14.8 (16.9) HG-SR102(4)(B)G7 1/21 14.5 (16.7)
HF-SP102(4)(B)G7 1/33 16.6 (18.7) HG-SR102(4)(B)G7 1/33 16.3 (18.5)
Medium capacity, HF-SP102(4)(B)G7 1/45 16.6 (18.7) HG-SR102(4)(B)G7 1/45 16.3 (18.5)
medium inertia HF-SP152(4)(B)G7 1/5 18.5 (20.7) HG-SR152(4)(B)G7 1/5 16.7 (18.9)
HF-SP series HF-SP152(4)(B)G7 1/11 21.2 (23.4) HG-SR152(4)(B)G7 1/11 19.4 (21.6)
With shaft-output HF-SP152(4)(B)G7 1/21 23.5 (25.7) HG-SR152(4)(B)G7 1/21 21.7 (23.9)
10 times 10 times
type gear reducer or less or less
HF-SP152(4)(B)G7 1/33 22.5 (24.7) HG-SR152(4)(B)G7 1/33 20.7 (22.9)
for high precision
applications, HF-SP152(4)(B)G7 1/45 22.5 (24.7) HG-SR152(4)(B)G7 1/45 20.7 (22.9)
flange mounting: HF-SP202(4)(B)G7 1/5 43.2 (52.8) HG-SR202(4)(B)G7 1/5 51.7 (61.4)
G7 HF-SP202(4)(B)G7 1/11 42.8 (52.4) HG-SR202(4)(B)G7 1/11 51.3 (61.0)
HF-SP202(4)(B)G7 1/21 44.8 (54.4) HG-SR202(4)(B)G7 1/21 53.3 (63.0)
HF-SP202(4)(B)G7 1/33 43.7 (53.3) HG-SR202(4)(B)G7 1/33 52.2 (61.9)
HF-SP202(4)(B)G7 1/45 43.7 (53.3) HG-SR202(4)(B)G7 1/45 52.2 (61.9)
HF-SP352(4)(B)G7 1/5 79.9 (89.6) HG-SR352(4)(B)G7 1/5 83.5 (93.1)
HF-SP352(4)(B)G7 1/11 83.4 (93.1) HG-SR352(4)(B)G7 1/11 87.0 (96.6)
HF-SP352(4)(B)G7 1/21 81.5 (91.2) HG-SR352(4)(B)G7 1/21 85.1 (94.7)
HF-SP502(4)(B)G7 1/5 108.5 (118.5) HG-SR502(4)(B)G7 1/5 111 (121)
HF-SP502(4)(B)G7 1/11 105.4 (115.4) HG-SR502(4)(B)G7 1/11 108 (117)
HF-SP702(4)(B)G7 1/5 165.5 (175.5) HG-SR702(4)(B)G7 1/5 163 (173)

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Part 9: Review on Replacement of Motor

(8) HC-RP series

Target models Replacement models
Moment of Moment of Load inertia
Series Load inertia Example of replacement
Model inertia J inertia J moment
moment ratio model
× 10-4 kg•m2 × 10-4 kg•m2 ratio
HC-RP103(B) 1.50 (1.85) HG-RR103(B) 1.50 (1.85)
Medium capacity, HC-RP153(B) 1.90 (2.25) HG-RR153(B) 1.90 (2.25)
5 times 5 times
ultra-low inertia HC-RP203(B) 2.30 (2.65) HG-RR203(B) 2.30 (2.65)
or less or less
HC-RP series HC-RP353(B) 8.30 (11.8) HG-RR353(B) 8.30 (11.8)
HC-RP503(B) 12.0 (15.5) HG-RR503(B) 12.0 (15.5)
HC-RP103(B)G5 1/5 2.33 (2.68) HG-SR102(B)G5 1/5 12.3 (14.5)
HC-RP103(B)G5 1/11 2.25 (2.60) HG-SR102(B)G5 1/11 14.9 (17.1)
HC-RP103(B)G5 1/21 4.40 (4.75) HG-SR102(B)G5 1/21 14.5 (16.7)
HC-RP103(B)G5 1/33 4.20 (4.55) HG-SR102(B)G5 1/33 16.3 (18.5)
HC-RP103(B)G5 1/45 6.10 (6.45) HG-SR102(B)G5 1/45 16.2 (18.4)
HC-RP153(B)G5 1/5 2.73 (3.08) HG-SR152(B)G5 1/5 16.7 (18.9)
HC-RP153(B)G5 1/11 5.20 (5.55) HG-SR152(B)G5 1/11 19.3 (21.5)
Medium capacity, HC-RP153(B)G5 1/21 4.80 (5.15) HG-SR152(B)G5 1/21 21.7 (23.9)
ultra-low inertia
HC-RP153(B)G5 1/33 6.60 (6.95) HG-SR152(B)G5 1/33 20.7 (22.9)
HC-RP series
HC-RP153(B)G5 1/45 6.50 (6.85) HG-SR152(B)G5 1/45 20.6 (22.8)
With flange-output
type gear reducer HC-RP203(B)G5 1/5 3.13 (3.48) 5 times HG-SR202(B)G5 1/5 51.4 (61.1) 10 times
for high precision HC-RP203(B)G5 1/11 5.60 (5.95) or less HG-SR202(B)G5 1/11 51.2 (60.9) or less
applications, HC-RP203(B)G5 1/21 8.00 (8.35) HG-SR202(B)G5 1/21 53.2 (62.9)
flange
HC-RP203(B)G5 1/33 7.00 (7.35) HG-SR202(B)G5 1/33 52.2 (61.9)
mounting:G5
HC-RP203(B)G5 1/45 6.90 (7.25) HG-SR202(B)G5 1/45 52.2 (61.9)
HC-RP353(B)G5 1/5 13.2 (16.7) HG-SR352(B)G5 1/5 83.2 (92.8)
HC-RP353(B)G5 1/11 13.0 (16.5) HG-SR352(B)G5 1/11 86.7 (96.3)
HC-RP353(B)G5 1/21 15.0 (18.5)
HG-SR352(B)G5 1/21 85.0 (94.6)
HC-RP353(B)G5 1/33 14.1 (17.6)
HC-RP503(B)G5 1/5 16.9 (20.4) HG-SR502(B)G5 1/5 110 (119)
HC-RP503(B)G5 1/11 20.5 (24.0)
HG-SR502(B)G5 1/11 108 (117)
HC-RP503(B)G5 1/21 18.7 (22.2)
HC-RP103(B)G7 1/5 2.37 (2.72) HG-SR102(B)G7 1/5 12.3 (14.5)
HC-RP103(B)G7 1/11 2.25 (2.60) HG-SR102(B)G7 1/11 15.0 (17.2)
HC-RP103(B)G7 1/21 4.40 (4.75) HG-SR102(B)G7 1/21 14.5 (16.7)
HC-RP103(B)G7 1/33 4.20 (4.55) HG-SR102(B)G7 1/33 16.3 (18.5)
HC-RP103(B)G7 1/45 6.20 (6.55) HG-SR102(B)G7 1/45 16.3 (18.5)
HC-RP153(B)G7 1/5 2.77 (3.12) HG-SR152(B)G7 1/5 16.7 (18.9)
HC-RP153(B)G7 1/11 5.30 (5.65) HG-SR152(B)G7 1/11 19.4 (21.6)
Medium capacity, HC-RP153(B)G7 1/21 4.80 (5.15) HG-SR152(B)G7 1/21 21.7 (23.9)
ultra-low inertia HC-RP153(B)G7 1/33 6.60 (6.95) HG-SR152(B)G7 1/33 20.7 (22.9)
HC-RP series HC-RP153(B)G7 1/45 6.60 (6.95) HG-SR152(B)G7 1/45 20.7 (22.9)
With shaft-output HC-RP203(B)G7 1/5 3.17 (3.52) HG-SR202(B)G7 1/5 51.7 (61.4)
5 times 10 times
type gear reducer
HC-RP203(B)G7 1/11 5.70 (6.05) or less HG-SR202(B)G7 1/11 51.3 (61.0) or less
for high precision
applications, HC-RP203(B)G7 1/21 8.00 (8.35) HG-SR202(B)G7 1/21 53.3 (63.0)
flange mounting: HC-RP203(B)G7 1/33 7.00 (7.35) HG-SR202(B)G7 1/33 52.2 (61.9)
G7 HC-RP203(B)G7 1/45 7.00 (7.35) HG-SR202(B)G7 1/45 52.2 (61.9)
HC-RP353(B)G7 1/5 13.5 (17.0) HG-SR352(B)G7 1/5 83.5 (93.1)
HC-RP353(B)G7 1/11 13.1 (16.6) HG-SR352(B)G7 1/11 87.0 (96.6)
HC-RP353(B)G7 1/21 15.1 (18.6)
HG-SR352(B)G7 1/21 85.1 (94.7)
HC-RP353(B)G7 1/33 14.1 (17.6)
HC-RP503(B)G7 1/5 17.2 (20.7) HG-SR502(B)G7 1/5 111 (121)
HC-RP503(B)G7 1/11 20.7 (24.2)
HG-SR502(B)G7 1/11 108 (117)
HC-RP503(B)G7 1/21 18.8 (22.3)

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Part 9: Review on Replacement of Motor

(9) HC-LP/HC-UP/HF-JP series

Target models Replacement models
Moment of Moment of
Series Load inertia Example of Load inertia
Model inertia J inertia J
moment ratio replacement model moment ratio
× 10-4 kg•m2 × 10-4 kg•m2
HC-LP52(B) 3.10 (5.20) HG-JR73(B) 2.09 (2.59)
Medium HC-LP102(B) 4.62 (6.72) HG-JR153(B) 3.79 (4.29)
capacity, low 10 times 10 times
HC-LP152(B) 6.42 (8.52)
inertia or less HG-JR353(B) 13.2 (15.4) or less
HC-LP series HC-LP202(B) 22.0 (32.0)
HC-LP302(B) 36.0 (46.0) HG-JR503(B) 19.0 (21.2)
HC-UP72(B) 10.4 (12.5) HG-UR72(B) 10.4 (12.5)
Medium HC-UP152(B) 22.1 (24.2) HG-UR152(B) 22.1 (24.2)
capacity, flat 15 times 15 times
HC-UP202(B) 38.2 (46.8) HG-UR202(B) 38.2 (46.8)
type or less or less
HC-UP series HC-UP352(B) 76.5 (85.1) HG-UR352(B) 76.5 (85.1)
HC-UP502(B) 115 (124) HG-UR502(B) 115 (124)
HF-JP53(B) HG-JR53(B)
1.52 (2.02) 1.52 (2.02)
HF-JP534(B) HG-JR534(B)
HF-JP73(B) HG-JR73(B)
2.09 (2.59) 2.09 (2.59)
HF-JP734(B) HG-JR734(B)
HF-JP103(B) HG-JR103(B)
2.65 (3.15) 2.65 (3.15)
HF-JP1034(B) HG-JR1034(B)
HF-JP153(B) HG-JR153(B)
3.79 (4.29) 3.79 (4.29)
HF-JP1534(B) HG-JR1534(B)
HF-JP203(B) HG-JR203(B)
4.92 (5.42) 4.92 (5.42)
HF-JP2034(B) HG-JR2034(B)
Large capacity,
HF-JP353(B) 10 times HG-JR353(B) 10 times
low inertia 13.2 (15.4) 13.2 (15.4)
HF-JP3534(B) or less HG-JR3534(B) or less
HF-JP series
HF-JP503(B) HG-JR503(B)
19.0 (21.2) 19.0 (21.2)
HF-JP5034(B) HG-JR5034(B)
HF-JP703(B) HG-JR703(B)
43.3 (52.9) 43.3 (52.9)
HF-JP7034(B) HG-JR7034(B)
HF-JP903(B) HG-JR903(B)
55.8 (65.4) 55.8 (65.4)
HF-JP9034(B) HG-JR9034(B)
HF-JP11K1M(B) HG-JR11K1M(B)
220 (240) 220 (240)
HF-JP11K1M4(B) HG-JR11K1M4(B)
HF-JP15K1M(B) HG-JR15K1M(B)
315 (336) 315 (336)
HF-JP15K1M4(B) HG-JR15K1M4(B)

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Part 9: Review on Replacement of Motor

(10) HA-LP series

Target models Replacement models
Moment of Moment of
Series Load inertia Example of Load inertia
Model inertia J inertia J
moment ratio replacement model moment ratio
× 10-4 kg•m2 × 10-4 kg•m2
HA-LP601(B) HG-JR601(B)
105 (113) 176 (196)
HA-LP6014(B) HG-JR6014(B)
HA-LP801(B) HG-JR801(B)
220 (293) 220 (240)
HA-LP8014(B) HG-JR8014(B)
HA-LP12K1(B) HG-JR12K1(B)
295 (369) 315 (336)
HA-LP12K14(B) HG-JR12K14(B)
Large capacity,
low inertia HA-LP15K1 HG-JR15K1
550 489
HA-LP15K14 HG-JR15K14
HA-LP
1000 r/min HA-LP20K1 HG-JR20K1
650 627
series HA-LP20K14 HG-JR20K14
HA-LP25K1 HG-JR25K1
1080 764
HA-LP25K14 HG-JR25K14
HA-LP30K1 HG-JR30K1
1310 1377
HA-LP30K14 HG-JR30K14
HA-LP37K1 HG-JR37K1 10 times
1870 1637
HA-LP37K14 HG-JR37K14 or less
HA-LP701M(B) HG-JR701M(B)
105 (113) 176 (196)
HA-LP701M4(B) HG-JR701M4(B)
HA-LP11K1M(B) HG-JR11K1M(B)
220 (293) 220 (240)
HA-LP11K1M4(B) HG-JR11K1M4(B)
HA-LP15K1M(B) HG-JR15K1M(B)
Large capacity, 295 (369) 315 (336)
HA-LP15K1M4(B) 10 times HG-JR15K1M4(B)
low inertia
HA-LP22K1M or less HG-JR22K1M
HA-LP 550 489
HA-LP22K1M4 HG-JR22K1M4
1500 r/min
series HA-LP30K1M HG-JR30K1M
650 627
HA-LP30K1M4 HG-JR30K1M4
HA-LP37K1M HG-JR37K1M
1080 764
HA-LP37K1M4 HG-JR37K1M4
HA-LP45K1M4 1310 HG-JR45K1M4 1377
HA-LP50K1M4 1870 HG-JR55K1M4 1637
HA-LP502 74.0 HG-SR502 99.7 15 times
HA-LP702 94.2 HG-SR702 151 or less
HA-LP11K2(B)
105 (113)
HA-LP11K24(B) HG-JR11K1M(B)
220 (240)
HA-LP15K2(B) HG-JR11K1M4(B)
Large capacity, 220 (293)
HA-LP15K24(B)
low inertia
HA-LP22K2(B) HG-JR15K1M(B)
HA-LP 295 (369) 315 (336)
HA-LP22K24(B) HG-JR15K1M4(B) 10 times
2000 r/min
HA-LP30K2 HG-JR22K1M or less
series 550 489
HA-LP30K24 HG-JR22K1M4
HA-LP37K2 HG-JR30K1M
650 627
HA-LP37K24 HG-JR30K1M4
HA-LP45K24 1080 HG-JR37K1M4 764
HA-LP55K24 1310 HG-JR45K1M4 1377

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Part 9: Review on Replacement of Motor

(11) HA-LP series (compatible product)

Only flanges and shaft ends have compatibility in mounting. Please contact your local sales office
egarding the servo motor model and its delivery, since it is developed upon receipt of order.
Target product Replacement product
Moment of Moment of
Series Load moment Load moment
Model inertia J Model inertia J
inertia ratio inertia ratio
× 10-4 kg•m2 × 10-4 kg•m2
HA-LP601(B) HG-JR601R(B)-S_
105 (113) 198 (218)
HA-LP6014(B) HG-JR6014R(B) -S_
HA-LP801(B) HG-JR801R(B)-S_
220 (293) 228 (248)
HA-LP8014(B) HG-JR8014R(B)-S_
HA-LP12K1(B) HG-JR12K1R(B)-S_
295 (369) 323 (344)
HA-LP12K14(B) HG-JR12K14R(B)-S_
Large capacity, HA-LP15K1 HG-JR15K1R-S_
low inertia 550 487
HA-LP15K14 HG-JR15K14R-S_
HA-LP HA-LP20K1 HG-JR20K1R-S_
1000 r/min series HA-LP20K14 650 625
HG-JR20K14R-S_
HA-LP25K1 HG-JR25K1R-S_
1080 767
HA-LP25K14 HG-JR25K14R-S_
HA-LP30K1 HG-JR30K1R-S_
1310 1356
HA-LP30K14 HG-JR30K14R-S_
HA-LP37K1 HG-JR37K1R-S_
1870 1650
HA-LP37K14 HG-JR37K14R-S_ 10 times
HA-LP701M(B) HG-JR701MR(B)-S_ or less
105 (113) 198 (218)
HA-LP701M4(B) HG-JR701M4R(B)-S_
HG-JR11K1MR(B)-
HA-LP11K1M(B) S_(250)
220 (293) 228 (248)
HA-LP11K1M4(B) HG-JR11K1M4R(B)-
S_(250)
Large capacity, HA-LP15K1M(B) HG-JR15K1MR(B)-S_
295 (369) 323 (344)
low inertia HA-LP15K1M4(B) HG-JR15K1M4R(B)-S_
HA-LP HA-LP22K1M HG-JR22K1MR-S_
550 10 times 487
1500 r/min series HA-LP22K1M4 HG-JR22K1M4R-S_
or less
HA-LP30K1M HG-JR30K1MR-S_
650 625
HA-LP30K1M4 HG-JR30K1M4R-S_
HA-LP37K1M HG-JR37K1MR-S_
1080 767
HA-LP37K1M4 HG-JR37K1M4R-S_
HA-LP45K1M4 1310 HG-JR45K1M4R-S_ 1356
HA-LP50K1M4 1870 HG-JR55K1M4R-S_ 1651
HA-LP502 74.0 HG-SR502R-S_ 104 15 times
HA-LP702 94.2 HG-SR702R-S_ 155 or less
HG-JR11K1MR(B)-
HA-LP11K2(B) S_(200)
105 (113) 236 (256)
HA-LP11K24(B) HG-JR11K1M4R(B)-
S_(200)
HG-JR11K1MR(B)-
Large capacity, HA-LP15K2(B) S_(250)
220 (293) 228 (248)
low inertia HA-LP15K24(B) HG-JR11K1M4R(B)-
HA-LP S_(250)
10 times
2000 r/min series HA-LP22K2(B) HG-JR15K1MR(B)-S_
or less
295 (369) HG-JR15K1M4R(B)- 323 (344)
HA-LP22K24(B)
S_
HA-LP30K2 HG-JR22K1MR-S_
550 487
HA-LP30K24 HG-JR22K1M4R-S_
HA-LP37K2 HG-JR30K1MR-S_
650 625
HA-LP37K24 HG-JR30K1M4R-S_
HA-LP45K24 1080 HG-JR37K1M4R-S_ 767
HA-LP55K24 1310 HG-JR45K1M4R-S_ 1356

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Part 9: Review on Replacement of Motor

2.6 Comparison of Servo Motor Connector Specifications

(1) HF-KP/HF-MP series

Servo amplifier series MR-J3 series MR-J4 series
Servo motor series HF-KP/HF-MP HG-KR/HG-MR

Motor appearance

Power connector Power connector

Electromagnetic brake connector Electromagnetic brake connector
Encoder connector Encoder connector

Power connector Power connector

Pin assignment Pin assignment
1 Pin No. Signal name 1 Pin No. Signal name
Power connector
2 1 Earth 2 1 Earth
2 U 2 U
3 3 V 3 3 V
4 W 4 W
4 4

1 Encoder connector 1 Encoder connector

Pin assignment Pin assignment
2 2
3 Pin No. Signal name 3 Pin No. Signal name
4 1
4 1
6 5 6 5
Encoder connector 2 BAT 2 BAT

8 7 3 P5
8 7 3 P5
4 MRR 4 MRR
9 5 MR
9 5 MR
6 LG 6 LG
7 7
8 8
9 SHD 9 SHD

Electromagnetic brake Electromagnetic brake Electromagnetic brake

connector
(Power connector)
1 connector Pin assignment
1 connector Pin assignment
Pin No. Signal name Pin No. Signal name
1 B1 1 B1
2 2 B2 2 2 B2

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Part 9: Review on Replacement of Motor

(2) HF-SP series

Servo amplifier series MR-J3 series MR-J4 series
Servo motor series HF-SP HG-SR
HF-SP51(B)/HF-SP81(B)/ HG-SR51(B)/HG-SR81(B)/
Target models
HF-SP52(4)(B) to HF-SP152(4)(B) HG-SR52(4)(B) toHG-SR152(4)(B)

Motor appearance

Power connector Power connector

Electromagnetic brake connector Electromagnetic brake connector
Encoder connector Encoder connector

MS3102A18-10P MS3102A18-10P

Power connector
Power connector Power connector
Pin assignment Pin assignment
C D Pin No. Signal name C D Pin No. Signal name
A U A U
B V B V
B A B A
C W C W
D Earth D Earth

CM10-R10P CMV1-R10P

Encoder connector Encoder connector

Pin assignment Pin assignment
7 Pin No. Signal name
7 Pin No. Signal name
10 3 10 3
6 1 MR 6 1 MR
Encoder connector
(Note) 9 2 2 MRR 9 2 2 MRR
5 3 5 3
8 1 4 BAT 8 1 4 BAT
4 5 LG 4 5 LG
6 6
7 7
8 P5 8 P5
9 9
10 SHD 10 SHD

CM10-R2P CMV1-R2P

Electromagnetic brake Power connector (with brake) Power connector (with brake)
connector Pin assignment Pin assignment
(Note) Pin No. Signal name Pin No. Signal name
2 1 1 B1 2 1 1 B1
2 B2 2 B2

Note. Although the types of encoder and electromagnetic brake connector differ, they can be wired with the existing cables because the
connector specifications have compatibility in wiring.
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Part 9: Review on Replacement of Motor

Servo amplifier series MR-J3 series MR-J4 series

Servo motor series HF-SP HG-SR
HF-SP121(B) to HF-SP421(B)/ HG-SR121(B) to HG-SR421(B)/
Target models
HF-SP202(4)(B) to HF-SP702(4)(B) HG-SR202(4)(B) to HG-SR702(4)(B)

Motor appearance

Power connector Power connector

Electromagnetic brake connector Electromagnetic brake connector
Encoder connector Encoder connector

MS3102A22-22P (3.5 kW or less, 5 kW) MS3102A22-22P (3.5 kW or less, 5 kW)

MS3102A32-17P (4.2 kW, 7 kW) MS3102A32-17P (4.2 kW, 7 kW)

Power connector Power connector Power connector

Pin assignment Pin assignment
C D Pin No. Signal name C D Pin No. Signal name
A U A U
B V B V
B A C W
B A C W
D Earth D Earth

CM10-R10P CMV1-R10P

Encoder connector Encoder connector

Pin assignment Pin assignment
7 7
10 3 Pin No. Signal name 10 3 Pin No. Signal name
Encoder connector 6 1 MR 6 1 MR

(Note) 9 2 2 MRR 9 2 2 MRR

5 3 5 3
8 1 4 BAT 8 1 4 BAT
4 5 LG 4 5 LG
6 6
7 7
8 P5 8 P5
9 9
10 SHD 10 SHD

CM10-R2P CMV1-R2P

Electromagnetic brake Electromagnetic brake Electromagnetic brake

connector connector Pin assignment connector Pin assignment
(Note) Pin No. Signal name Pin No. Signal name
1 B1 1 B1
2 1 2 1
2 B2 2 B2

Note. Although the types of encoder and electromagnetic brake connector differ, they can be wired with the existing cables because the
connector specifications have compatibility in wiring.

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Part 9: Review on Replacement of Motor

(3) HC-RP series

Servo amplifier series MR-J3 series MR-J4 series
Servo motor series HC-RP HG-RR
Target models HC-RP103(B) to HC-RP203(B) HG-RR103(B) to HG-RR203(B)

Motor appearance

Power connector (with brake) Power connector (with brake)

Encoder connector Encoder connector

CE05-2A22-23P CE05-2A22-23P

Power connector Power connector

Pin assignment Pin assignment
Power connector G A Pin No. Signal name G A Pin No. Signal name
F A U F A U
H B B V H B B V
E C W E C W
C D Earth C D Earth
D D
E E
F F
G G
H H

CM10-R10P CMV1-R10P

Encoder connector Encoder connector

Pin assignment Pin assignment
7 7
10 3 Pin No. Signal name 10 3 Pin No. Signal name
Encoder connector 6 1 MR 6 1 MR
9 2 2 MRR 9 2 2 MRR
(Note) 5 5
3 3
8 1 4 BAT 8 1 4 BAT
4 5 LG
4 5 LG
6 6
7 7
8 P5 8 P5
9 9
10 SHD 10 SHD

CE05-2A22-23P CE05-2A22-23P

Power connector (with brake) Power connector (with brake)

Electromagnetic brake Pin assignment Pin assignment
connector G A Pin No. Signal name G A Pin No. Signal name
(Power connector) F A U F A U
H B B V H B B V
E C W E C W
C D Earth C D Earth
D D
E E
F F
G B1 G B1
H B2 H B2

Note. Although the encoder connector type differs, it can be wired with the existing cables because the connector specifications have
compatibility in wiring.

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Part 9: Review on Replacement of Motor

Servo amplifier series MR-J3 series MR-J4 series

Servo motor series HC-RP HG-RR
Target models HC-RP353(B)/HC-RP503(B) HG-RR353(B)/HG-RR503(B)

Motor appearance

Power connector Power connector

(With electromagnetic brake) (With electromagnetic brake)
Encoder connector Encoder connector

CE05-2A24-10P CE05-2A24-10P

Power connector Power connector

Pin assignment Pin assignment
Power connector Pin No. Signal name Pin No. Signal name
F A F A
A U A U
E G B B V E G B B V
D C C W D C C W
D Earth D Earth
E E
F F
G G

CM10-R10P CMV1-R10P

Encoder connector Encoder connector

7 Pin assignment 7 Pin assignment
10 3 Pin No. Signal name 10 3 Pin No. Signal name
Encoder connector 6 1 MR 6 1 MR
(Note) 9 2 2 MRR 9 2 2 MRR
5 3
5 3
8 1 8 1
4 4 BAT 4 4 BAT
5 LG 5 LG
6 6
7 7
8 P5 8 P5
9 9
10 SHD 10 SHD

CE05-2A24-10P CE05-2A24-10P

Power connector (with brake) Power connector (with brake)

Electromagnetic brake Pin assignment Pin assignment
connector Pin No. Signal name Pin No. Signal name
F A F A
(Power connector) A U A U
E G B B V E G B B V
C W C W
D C D C
D Earth D Earth
E B1 E B1
F B2 F B2
G G

Note. Although the encoder connector type differs, it can be wired with the existing cables because the connector specifications have
compatibility in wiring.

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Part 9: Review on Replacement of Motor

(4) HC-LP series

Servo amplifier series MR-J3 series MR-J4 series
Servo motor series HC-LP HG-JR
Target models HC-LP52(B)/HC-LP102(B) HG-JR73(B)/HG-JR153(B)

Motor appearance

Power connector
Power connector Electromagnetic brake connector
(With electromagnetic brake)
Encoder connector
Encoder connector

CE05-2A22-23P
MS3102A18-10P

Power connector Power connector

Power connector Pin assignment Pin assignment
(Note 1) G Pin No. Signal name Pin No. Signal name
A
F A U C D A U
H B B V B V
E C W C W
C D Earth B A D Earth
D E
F
G
H

CM10-R10P CMV1-R10P

Encoder connector Encoder connector

Pin assignment Pin assignment
7 Pin No. Signal name
7 Pin No. Signal name
10 3 10 3
Encoder connector 6 1 MR 6 1 MR
(Note 2) 9 2 2 MRR 9 2 2 MRR
5 3 5 3
8 1 4 BAT 8 1 4 BAT
4 5 LG 4 5 LG
6 6
7 7
8 P5 8 P5
9 9
10 SHD 10 SHD

CE05-2A22-23P CMV1-R2P

Power connector (with brake) Electromagnetic brake

Electromagnetic brake Pin assignment connector Pin assignment
connector Pin No. Signal name Pin No. Signal name
G A
(Power connector) F A U 1 B1
H B B V 2 1 2 B2
E C W
C D Earth
D E
F
G B1
H B2

Note 1. The capacity of the servo amplifier is changed. Another power cable is required.
2. Although the encoder connector type differs, it can be wired with the existing cables because the connector specifications
have compatibility in wiring.

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Part 9: Review on Replacement of Motor

Servo amplifier series MR-J3 series MR-J4 series

Servo motor series HC-LP HG-JR
Target models HC-LP152(B) HG-JR353(B)

Motor appearance

Power connector Electromagnetic brake connector

(With electromagnetic brake) Power connector
Encoder connector Encoder connector

MS3102A22-22P

CE05-2A22-23P

Power connector Power connector

Pin assignment Pin assignment
Power connector G A Pin No. Signal name Pin No. Signal name
(Note 1) F C D
A U A U
H B B V B V
E C W B A C W
C
D D Earth D Earth
E
F
G
H

CM10-R10P CMV1-R10P

Encoder connector Encoder connector

Pin assignment Pin assignment
7 7
10 3 Pin No. Signal name 10 3 Pin No. Signal name
6 1 MR 6 1 MR
Encoder connector 9 2 9 2
2 MRR 2 MRR
(Note 2) 5 3 5 3
8 1 8 1
4 BAT 4 BAT
4 4
5 LG 5 LG
6 6
7 7
8 P5 8 P5
9 9
10 SHD 10 SHD

CE05-2A22-23P CMV1-R2P

Power connector (with brake) Electromagnetic brake

Electromagnetic brake Pin assignment connector Pin assignment
connector G Pin No. Signal name Pin No. Signal name
A
(Power connector) F A U 1 B1
H B B V 2 1 2 B2
E C W
C D Earth
D E
F
G B1
H B2

Note 1. The capacity of the servo amplifier is changed. Another power cable is required.
2. Although the encoder connector type differs, it can be wired with the existing cables because the connector specifications
have compatibility in wiring.

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Part 9: Review on Replacement of Motor

Servo amplifier series MR-J3 series MR-J4 series

Servo motor series HC-LP HG-JR
Target models HC-LP202(B)/HC-LP302(B) HG-JR353(B)/HG-JR503(B)

Motor appearance

Power connector Electromagnetic brake connector

Electromagnetic brake connector
Power connector
Encoder connector Encoder connector

MS3102A22-22P

CE05-2A24-10P

Power connector Power connector

Pin assignment Pin assignment
Power connector Pin No. Signal name Pin No. Signal name
F A C D
A U A U
E G B B V B V
D C C W B A C W
D Earth D Earth
E
F
G

CM10-R10P CMV1-R10P

Encoder connector Encoder connector

Pin assignment Pin assignment
7 7
Pin No. Signal name Pin No. Signal name
10 3 10 3
6 1 MR 6 1 MR
Encoder connector
9 2 2 MRR 9 2 2 MRR
(Note) 5 3 5 3
8 1 4 BAT 8 1
4 BAT
4 4
5 LG 5 LG
6 6
7 7
8 P5 8 P5
9 9
10 SHD 10 SHD

MS3102A10SL-4P CMV1-R2P

Electromagnetic brake Electromagnetic brake Electromagnetic brake

connector Pin assignment connector Pin assignment
connector
Pin No. Signal name Pin No. Signal name
A B1 1 B1
A B B B2 2 1 2 B2

Note. Although the encoder connector type differs, it can be wired with the existing cables because the connector specifications have
compatibility in wiring.

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Part 9: Review on Replacement of Motor

(5) HC-UP series

Servo amplifier series MR-J3 series MR-J4 series
Servo motor series HC-UP HG-UR
Target models HC-UP72(B)/HC-UP152(B) HG-UR72(B)/HG-UR152(B)

Motor appearance

Power connector Power connector

(With electromagnetic brake) (With electromagnetic brake)

Encoder connector Encoder connector

CE05-2A22-23P CE05-2A22-23P

Power connector Power connector

Pin assignment Pin assignment
G A Pin No. Signal name G A Pin No. Signal name
Power connector
F A U F A U
H B B V H B B V
E C W E C W
C C
D D Earth D D Earth
E E
F F
G G
H H

CM10-R10P CMV1-R10P

Encoder connector Encoder connector

Pin assignment Pin assignment
7 Pin No. Signal name
7 Pin No. Signal name
10 3 10 3
6 1 MR 6 1 MR
Encoder connector
9 2 2 MRR 9 2 2 MRR
(Note) 5 3 5 3
8 1 4 BAT 8 1 4 BAT
4 5 LG
4 5 LG
6 6
7 7
8 P5 8 P5
9 9
10 SHD 10 SHD

CE05-2A22-23P CE05-2A22-23P

Power connector (with brake) Power connector (with brake)

Electromagnetic brake Pin assignment Pin assignment
connector G A Pin No. Signal name G A Pin No. Signal name
(Power connector) F A U F A U
H B B V H B B V
E C W E C W
C D Earth C D Earth
D D
E E
F F
G B1 G B1
H B2 H B2

Note. Although the encoder connector type differs, it can be wired with the existing cables because the connector specifications have
compatibility in wiring.

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Part 9: Review on Replacement of Motor

Servo amplifier series MR-J3 series MR-J4 series

Servo motor series HC-UP HG-UR
Target models HC-UP202(B) to HC-UP502(B) HG-UR202(B) to HG-UR502(B)

Motor appearance

Power connector Power connector

Electromagnetic brake connector Electromagnetic brake connector

Encoder connector Encoder connector

CE05-2A24-10P CE05-2A24-10P

Power connector Power connector

Pin assignment Pin assignment
Power connector
F A Pin No. Signal name F A Pin No. Signal name
A U A U
E G B B V E G B B V
D C C W D C C W
D Earth D Earth
E E
F F
G G

CM10-R10P CMV1-R10P

Encoder connector Encoder connector

Pin assignment Pin assignment
7 Pin No. Signal name
7 Pin No. Signal name
10 3 10 3
6 1 MR 6 1 MR
Encoder connector
9 2 2 MRR 9 2 2 MRR
(Note) 5 3 5 3
8 1 4 BAT 8 1 4 BAT
4 5 LG
4 5 LG
6 6
7 7
8 P5 8 P5
9 9
10 SHD 10 SHD

MS3102A10SL-4P MS3102A10SL-4P

Electromagnetic brake Electromagnetic brake Electromagnetic brake

connector connector Pin assignment connector Pin assignment
(Note) Pin No. Signal name Pin No. Signal name
A B1 A B1
A B B B2 A B B B2

Note. Although the encoder connector type differs, it can be wired with the existing cables because the connector specifications have
compatibility in wiring.

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Part 9: Review on Replacement of Motor

(6) HF-JP series

Servo amplifier series MR-J3 series MR-J4 series
Servo motor series HF-JP HG-JR
Target models HF-JP53(4)(B) to HF-JP203(4)(B) HG-JR53(4)(B) to HG-JR203(4)(B)

Motor appearance
Power connector Power connector

Electromagnetic brake connector Electromagnetic brake connector

Encoder connector Encoder connector

MS3102A18-10P MS3102A18-10P

Power connector Power connector Power connector

Pin assignment Pin assignment
C D Pin No. Signal name C D Pin No. Signal name
A U A U
B V B V
B A C W B A C W
D Earth D Earth

CM10-R10P CMV1-R10P

Encoder connector Encoder connector

Pin assignment Pin assignment
7 Pin No. Signal name
7 Pin No. Signal name
10 3 10 3
6 1 MR 6 1 MR
Encoder connector
9 2 2 MRR 9 2 2 MRR
(Note) 5 3 5 3
8 1 4 BAT 8 1 4 BAT
4 5 LG
4 5 LG
6 6
7 7
8 P5 8 P5
9 9
10 SHD 10 SHD

CM10-R2P CMV1-R2P

Electromagnetic brake Electromagnetic brake Electromagnetic brake

connector connector Pin assignment connector Pin assignment
(Note) Pin No. Signal name Pin No. Signal name
1 B1 1 B1
2 1 2 1
2 B2 2 B2

Note. Although the types of encoder and electromagnetic brake connector differ, they can be wired with the existing cables because
the connector specifications have compatibility in wiring.

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Part 9: Review on Replacement of Motor

Servo amplifier series MR-J3 series MR-J4 series

Servo motor series HF-JP HG-JR
Target models HF-JP353(B)/HF-JP503(B) HG-JR353(B)/HG-JR503(B)

Motor appearance

Electromagnetic brake connector Electromagnetic brake connector

Power connector Power connector
Encoder connector Encoder connector

MS3102A22-22P MS3102A22-22P

Power connector Power connector

Power connector Pin assignment Pin assignment
C D Pin No. Signal name C D Pin No. Signal name
A U A U
B V B V
B A C W B A C W
D Earth D Earth

CM10-R10P CMV1-R10P

Encoder connector Encoder connector

Pin assignment Pin assignment
7 Pin No. Signal name
7 Pin No. Signal name
10 3 10 3
Encoder connector 6 1 MR 6 1 MR
(Note) 9 2 2 MRR 9 2 2 MRR
5 3 5 3
8 1 4 BAT 8 1 4 BAT
4 5 LG
4 5 LG
6 6
7 7
8 P5 8 P5
9 9
10 SHD 10 SHD

CM10-R2P CMV1-R2P

Electromagnetic brake Electromagnetic brake Electromagnetic brake

connector connector Pin assignment connector Pin assignment
(Note) Pin No. Signal name Pin No. Signal name
1 B1 1 B1
2 1 2 1
2 B2 2 B2

Note. Although the types of encoder and electromagnetic brake connector differ, they can be wired with the existing cables because
the connector specifications have compatibility in wiring.

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Part 9: Review on Replacement of Motor

Servo amplifier series MR-J3 series MR-J4 series

Servo motor series HF-JP HG-JR
Target models HF-JP3534(B)/HF-JP5034(B) HG-JR3534(B)/HG-JR5034(B)

Motor appearance

Power connector Power connector

Electromagnetic brake connector Electromagnetic brake connector
Encoder connector Encoder connector

MS3102A18-10P MS3102A18-10P

Power connector Power connector Power connector

Pin assignment Pin assignment
C D Pin No. Signal name C D Pin No. Signal name
A U A U
B V B V
B A C W B A C W
D Earth D Earth

CM10-R10P CMV1-R10P

Encoder connector Encoder connector

Pin assignment Pin assignment
7 Pin No. Signal name
7 Pin No. Signal name
10 3 10 3
Encoder connector 6 1 MR 6 1 MR
(Note) 9 2 2 MRR 9 2 2 MRR
5 3 5 3
8 1 4 BAT 8 1 4 BAT
4 5 LG
4 5 LG
6 6
7 7
8 P5 8 P5
9 9
10 SHD 10 SHD

CM10-R2P CMV1-R2P

Electromagnetic brake Electromagnetic brake Electromagnetic brake

connector connector Pin assignment connector Pin assignment
(Note) Pin No. Signal name Pin No. Signal name
1 B1 1 B1
2 1 2 1
2 B2 2 B2

Note. Although the types of encoder and electromagnetic brake connector differ, they can be wired with the existing cables because
the connector specifications have compatibility in wiring.

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Part 9: Review on Replacement of Motor

Servo amplifier series MR-J3 series MR-J4 series

Servo motor series HF-JP HG-JR
Target models HF-JP703(4)(B)/HF-JP903(4)(B) HG-JR703(4)(B)/HG-JR903(4)(B)

Motor appearance

Electromagnetic brake connector Electromagnetic brake connector

Power connector Power connector

Encoder connector Encoder connector

MS3102A32-17P MS3102A32-17P

Power connector Power connector

Power connector Pin assignment Pin assignment
Pin No. Signal name Pin No. Signal name
C D C D
A U A U
B V B V
B A C W B A C W
D Earth D Earth

CM10-R10P CMV1-R10P

Encoder connector Encoder connector

Pin assignment Pin assignment
7 Pin No. Signal name
7 Pin No. Signal name
10 3 10 3
Encoder connector 6 1 MR 6 1 MR
(Note) 9 2 2 MRR 9 2 2 MRR
5 3 5 3
8 1 4 BAT 8 1 4 BAT
4 5 LG
4 5 LG
6 6
7 7
8 P5 8 P5
9 9
10 SHD 10 SHD

CM10-R2P CMV1-R2P

Electromagnetic brake Electromagnetic brake Electromagnetic brake

connector connector Pin assignment connector Pin assignment
(Note) Pin No. Signal name Pin No. Signal name
1 B1 1 B1
2 1 2 1
2 B2 2 B2

Note. Although the types of encoder and electromagnetic brake connector differ, they can be wired with the existing cables because
the connector specifications have compatibility in wiring.

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Part 9: Review on Replacement of Motor

Servo amplifier series MR-J3 series MR-J4 series

Servo motor series HF-JP HG-JR
Target models HF-JP11K1M(4)(B)/HF-JP15K1M(4)(B) HG-JR11K1M(4)(B)/HG-JR15K1M(4)(B)

Motor appearance

Power connector Power connector

Electromagnetic brake connector Electromagnetic brake connector
Encoder connector Encoder connector

MS3102A32-17P MS3102A32-17P

Power connector Power connector Power connector

Pin assignment Pin assignment
C D Pin No. Signal name C D Pin No. Signal name
A U A U
B V B V
B A C W B A C W
D Earth D Earth

MS3102A20-29P MS3102A20-29P

Encoder connector Encoder connector

Pin assignment Pin assignment
M A B Pin No. Signal name M A B Pin No. Signal name
L C L C
N A N A
K T P D B K T P D B
J S R E C MR J S R E C MR
Encoder connector D MRR D MRR
H G F H G F
E E
F BAT F BAT
G LG G LG
H H
J J
K K
L L
M M
N SHD N SHD
P P
R LG R LG
S P5 S P5
T T

MS3102A10SL-4P MS3102A10SL-4P

Electromagnetic brake
connector Electromagnetic brake Electromagnetic brake
(Note) connector Pin assignment connector Pin assignment
Pin No. Signal name Pin No. Signal name
A B A B1 A B A B1
B B2 B B2

Note. Although the types of encoder and electromagnetic brake connector differ, they can be wired with the existing cables because
the connector specifications have compatibility in wiring.
9 - 51
Part 9: Review on Replacement of Motor

(7) HA-LP series

Servo amplifier series MR-J3 series MR-J4 series
Servo motor series HA-LP HG-SR
Target models HA-LP502 HG-SR502

Encoder connector
Power connector

Motor appearance

Power connector

Encoder connector

CE05-2A24-10P
MS3102A22-22P

Power connector Power connector

Pin assignment Pin assignment
Power connector
Pin No. Signal name Pin No. Signal name
F A C D
A U A U
E G B B V B V
C W B A C W
D C
D Earth D Earth
E
F
G

CM10-R10P CMV1-R10P

Encoder connector Encoder connector

Pin assignment Pin assignment
7 Pin No. Signal name
7 Pin No. Signal name
10 3 10 3
Encoder connector 6 1 MR 6 1 MR
(Note) 9 2 2 MRR 9 2 2 MRR
5 3 5 3
8 1 4 BAT 8 1 4 BAT
4 5 LG
4 5 LG
6 6
7 7
8 P5 8 P5
9 9
10 SHD 10 SHD

Note. Although the encoder connector type differs, it can be wired with the existing cables because the connector specifications have
compatibility in wiring.

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Part 9: Review on Replacement of Motor

Servo amplifier series MR-J3 series MR-J4 series

Servo motor series HA-LP HG-SR
Target models HA-LP702 HG-SR702

Encoder connector
Power connector

Motor appearance

Power connector

Encoder connector

CE05-2A32-17P MS3102A32-17P

Power connector Power connector

Pin assignment Pin assignment
Power connector Pin No. Signal name Pin No. Signal name
D A C D
A U A U
B V B V
C B C W B A C W
D Earth D Earth

CM10-R10P CMV1-R10P

Encoder connector Encoder connector

Pin assignment Pin assignment
7 Pin No. Signal name
7 Pin No. Signal name
10 3 10 3
Encoder connector 6 1 MR 6 1 MR
(Note) 9 2 2 MRR 9 2 2 MRR
5 3 5 3
8 1 4 BAT 8 1 4 BAT
4 5 LG
4 5 LG
6 6
7 7
8 P5 8 P5
9 9
10 SHD 10 SHD

Note. Although the encoder connector type differs, it can be wired with the existing cables because the connector specifications have
compatibility in wiring.

9 - 53
Part 9: Review on Replacement of Motor

Servo amplifier series MR-J3 series MR-J4 series

Servo motor series HA-LP HG-JR
HA-LP601(4)(B)/HA-LP701M(4)(B)/ HG-JR601(4)(B)/HG-JR701M(4)(B)/
Target models
HA-LP11K2(4)(B) HG-JR11K1M(4)(B)
Power supply terminal block
Electromagnetic brake connector

Motor appearance

Power connector

Electromagnetic brake connector

Encoder connector
Encoder connector

Earth terminal M6 screw Power supply terminal block

U/V/W terminals, M8 screw

MS3102A32-17P
U
Ｕ
Ｖ

Ｖ
Power connector
Power connector
OHS1

W
(Enlarged view of
Ｗ

Pin assignment
OHS2

terminal box)
BU BV

Pin No. Signal name

C D
A U
B V
Terminal block for thermal B A C W
Terminal block for cooling fan OHS1/OHS2, M4 screw
D Earth
BU/BV terminal, M4 screw

CM10-R10P MS3102A20-29P

Encoder connector Encoder connector

Pin assignment Pin assignment
7 Pin No. Signal name M A B Pin No. Signal name
10 3 L C
6 1 MR N A
K T P D B
9 2 2 MRR
5 3 J S R E C MR
Encoder connector 8 1 4 BAT H
D MRR
G F
4 5 LG
E
F BAT
6 G LG
7 H
8 P5 J
9 K
10 SHD L
M
N SHD
P
R LG
S P5
T

MS3102A10SL-4P MS3102A10SL-4P

Electromagnetic brake
connector Electromagnetic brake Electromagnetic brake
connector Pin assignment connector Pin assignment
(Note)
Pin No. Signal name Pin No. Signal name
A B1 A B1
A B A B
B B2 B B2

9 - 54
Part 9: Review on Replacement of Motor

Servo amplifier series MR-J3 series MR-J4 series

Servo motor series HA-LP HG-JR
HA-LP801(4)(B)/HA-LP12K1(4)(B)/
HG-JR801(4)(B)/HG-JR12K1(4)(B)/
Target models HA-LP11K1M(4)(B)/HA-LP15K1M(4)(B)/
HG-JR11K1M(4)(B)/HG-JR15K1M(4)(B)
HA-LP15K2(4)(B)/HA-LP22K2(4)(B)
Power supply terminal block
Electromagnetic brake
connector

Motor appearance
Power connector

Electromagnetic brake connector

Encoder connector Encoder connector
Terminal block for cooling fan
Earth terminal M6 screw BU/BV terminal, M4 screw

MS3102A32-17P
BU
BV BW
U

Power connector
OHS1 OHS 2

(Enlarged view of 電源コネクタピン配列

V

ピン番号 信号名
terminal box)
W

C D A U
B V
C W
B A D アース
Power supply terminal block Terminal block for thermal
U/V/W terminals, M8 screw OHS1/OHS2, M4 screw

CM10-R10P MS3102A20-29P

Encoder connector Encoder connector

Pin assignment Pin assignment
7 Pin No. Signal name M A B Pin No. Signal name
10 3 L C
6 1 MR N A
K T P D B
9 2 2 MRR
5 3 J S R E C MR
8 1 D MRR
Encoder connector 4 BAT H G F
4 5 LG
E
F BAT
6 G LG
7 H
8 P5 J
9 K
10 SHD L
M
N SHD
P
R LG
S P5
T

MS3102A10SL-4P MS3102A10SL-4P

Electromagnetic brake
connector Electromagnetic brake Electromagnetic brake
(Note) connector Pin assignment connector Pin assignment
Pin No. Signal name Pin No. Signal name
A B1 A A B1
A B B
B B2 B B2

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Part 9: Review on Replacement of Motor

Servo amplifier series MR-J3 series MR-J4 series

Servo motor series HA-LP HG-JR
HA-LP15K1(4)/HA-LP20K1(4)/HA-LP22K1M(4)/ HG-JR15K1(4)/HG-JR20K1(4)/
Target models
HA-LP30K1M4/HA-LP30K24/HA-LP37K24 HG-JR22K1M(4)/HG-JR30K1M4
Power supply terminal block Cooling fan connector Power supply terminal block

Motor appearance

Encoder connector Encoder connector

Power supply terminal block
U/V/W terminals, M8 screw Power supply terminal block
Earth terminal M6 screw U/V/W terminals, M10 screw
U

Power connector
V

(Enlarged view of
W

terminal box)
BU BV BW
OHS1 OHS2

Terminal block for thermal Terminal block for cooling fan

Earth terminal M10 screw
OHS1/OHS2, M4 screw BU/BV terminal, M4 screw

CM10-R10P MS3102A20-29P

Encoder connector Encoder connector

Pin assignment Pin assignment
7 Pin No. Signal name M A B Pin No. Signal name
10 3 L C
1 MR N A
6 K D B
9 2 2 MRR T P
J C MR
5 3 S R E D MRR
Encoder connector
8 1 4 BAT H F E
4 G
5 LG F BAT
6 G LG
H
7
J
8 P5 K
9 L
10 SHD M
N SHD
P
R LG
S P5
T

CE05-2A14S-2P

Electromagnetic brake Cooling fan connector

connector Pin assignment
(Note) D A Pin No. Signal name
A BU
B BV
C B C BW
D

Note. The new setting of a encoder cable is required since the thermistor is added to the encoder-side connector.

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Part 9: Review on Replacement of Motor

Servo amplifier series MR-J3 series MR-J4 series

Servo motor series HA-LP HG-JR
HA-LP25K1(4) to HA-LP37K1(4)/ HA-LP30K1M/ HG-JR25K1(4) to HG-JR 37K1(4)/HG-JR22K1M/
Target models HA-LP37K1M(4)/HA-LP45K1M4/HA-LP50K1M4/ HG-JR 30K1M/HG-JR 37K1M(4)/HG-JR45K1M4/
HA-LP30K2/HA-LP37K2/HA-LP45K24/HA-LP55K24 HG-JR55K1M4
Power supply terminal block Encoder connector
Encoder connector Cooling fan connector
Power supply terminal block

Motor appearance

Power supply terminal block Power supply terminal block

Earth terminal M6 screw U/V/W terminals, M8 screw U/V/W terminals, M10 screw
U

Power connector
V

(Enlarged view of
W

terminal box)
BU BV BW
OHS1 OHS2

Terminal block for thermal Terminal block for cooling fan Earth terminal M10 screw
OHS1/OHS2, M4 screw BU/BV terminal, M4 screw

CM10-R10P MS3102A20-29P

Encoder connector Encoder connector

Pin assignment Pin assignment
7 Pin No. Signal name M A B Pin No. Signal name
10 3 L C
6 1 MR N A
K T P D B
9 2 2 MRR
5 3 J S R E C MR
8 1 D MRR
Encoder connector 4 BAT H G F
4 5 LG
E
F BAT
6 G LG
7 H
8 P5 J
9 K
10 SHD L
M
N SHD
P
R LG
S P5
T

CE05-2A14S-2P

Electromagnetic brake Cooling fan connector

connector Pin assignment
(Note) D A Pin No. Signal name
A BU
B BV
C B C BW
D

9 - 57
Part 9: Review on Replacement of Motor

2.7 Comparison of Servo Motor Torque Characteristics

(1) HF-KP series

Same torque characteristics

HF-KP053 → HG-KR053 HF-KP13 → HG-KR13 HF-KP23 → HG-KR23 HF-KP43 → HG-KR43 HF-KP73 → HG-KR73

0.7 1.4 2.5 5 9

4.5 8
0.6 1.2
2 4 7
0.5 1 3.5
Torque [N•m]

Torque [N•m]

Torque [N•m]
Torque [N•m]

Torque [N•m]
6
1.5 3
0.4 Short-duration 0.8 Short-duration 5 Short-duration
running range 2.5 running range running range
0.3 0.6
Short-duration Short-duration 4
running range 1
running range 2
3
0.2 0.4 1.5

0.5 1 2
0.1 Continuous 0.2 Continuous Continuous 0.5
Continuous 1 Continuous
running range running range running range running range running range
0 0 0 0 0
0 1000 3000 5000 0 1000 3000 5000 0 1000 3000 5000 0 1000 3000 5000 0 1000 3000 5000
2000 4000 6000 2000 4000 6000 2000 4000 6000 2000 4000 6000 2000 4000 6000
Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min]

Note 1. For the 3-phase 200 V AC and 1-phase 230 V AC power supplies, the torque characteristic is indicated by the heavy lines.
2. For the 1-phase 200 V AC power supply, part of the torque characteristic is indicated by the thin line.
3. For the 1-phase 100 V AC power supply, part of the torque characteristic is indicated by the broken line.
4. The torque characteristics of the HF-KP series are the value of the maximally increased torque.

(2) HF-MP series

Same torque characteristics

HF-MP053 → HG-MR053 HF-MP13 → HG-MR13 HF-MP23 → HG-MR23 HF-MP43 → HG-MR43 HF-MP73 → HG-MR73
0.6 1.2 2.5 8
4.5

4 7
0.5 1
2
3.5 6
Torque [N•m]
Torque [N•m]

Torque [N•m]

Torque [N•m]

0.4 0.8
Torque [N•m]

3
1.5 5
Short-duration 2.5
0.3 running range 0.6 4
Short-duration 2
Short-duration
running range 1 Short-duration Short-duration running range
3
0.2 0.4 running range 1.5 running range
1 2
0.5
0.1 0.2 Continuous
Continuous Continuous Continuous 0.5 1 Continuous
running range running range running range running range running range
0 0 0 0
0 1000 3000 5000 0
0 1000 3000 5000 0 1000 3000 5000 0 1000 3000 5000 2000 4000 6000 0 1000 3000 5000
2000 4000 6000 2000 4000 6000 2000 4000 6000 2000 4000 6000
Speed [r/min]
Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min]

Note 1. For the 3-phase 200 V AC and 1-phase 230 V AC power supplies, the torque characteristic is indicated by the heavy lines.
2. For the 1-phase 200 V AC power supply, part of the torque characteristic is indicated by the thin line.
3. For the 1-phase 100 V AC power supply, part of the torque characteristic is indicated by the broken line.

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Part 9: Review on Replacement of Motor

(3) HF-SP series 200 V class

Same torque characteristics

HF-SP51 → HG-SR51 HF-SP81 → HG-SR81 HF-SP121 → HG-SR121 HF-SP201 → HG-SR201 HF-SP301 → HG-SR301
16 30 40 70 90

14 35 60
25
12 30
50
Torque [N•m]

Torque [N•m]

Torque [N•m]

Torque [N•m]
Torque [N•m]

20 60
10 25
Short-duration Short-duration Short-duration 40 Short-duration Short-duration
8 running range 15 running range 20 running range running range running range
30
6 15
10 30
20
4 10
5
2 Continuous Continuous 5 Continuous 10 Continuous Continuous
running range running range running range running range running range
0 0 0 0 0
0 500 1000 1500 0 500 1000 1500 0 500 1000 1500 0 500 1000 1500 0 500 1000 1500

Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min]

HF-SP421 → HG-SR421 HF-SP52 → HG-SR52 HF-SP102 → HG-SR102 HF-SP152 → HG-SR152 HF-SP202 → HG-SR202
150 8 15 25 30

20
6
Torque [N•m]

Torque [N•m]

Torque [N•m]

Torque [N•m]

Torque [N•m]
100 10 20
15
Short-duration Short-duration Short-duration Short-duration Short-duration
running range 4 running range running range running range running range
10
50 5 10
2
5
Continuous Continuous Continuous Continuous Continuous
running range running range running range running range running range
0 0 0 0 0
0 500 1000 1500 0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000

Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min]

HF-SP352 → HG-SR352 HF-SP502 → HG-SR502 HF-SP702 → HG-SR702

60 80 120

70
50 100
60
Torque [N•m]

Torque [N•m]

Torque [N•m]

40 80
50
Short-duration Short-duration Short-duration
30 running range 40 running range 60 running range
30
20 40
20
10 20
Continuous 10 Continuous Continuous
running range running range running range
0 0 0
0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000

Speed [r/min] Speed [r/min] Speed [r/min]

Note 1. For the 3-phase 200 V AC and 1-phase 230 V AC power supplies, the torque characteristic is indicated by the heavy lines.
2. For the 1-phase 200 V AC power supply, part of the torque characteristic is indicated by the thin line.

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Part 9: Review on Replacement of Motor

(4) HF-SP series 400 V class

Same torque characteristics

HF-SP524 → HG-SR524 HF-SP1024 → HG-SR1024 HF-SP1524 → HG-SR1524 HF-SP2024 → HG-SR2024 HF-SP3524 → HG-SR3524
9 15 24 30 60
Torque [N•m]

Torque [N•m]

Torque [N•m]

Torque [N•m]

Torque [N•m]
6 10 16 20 40
Short-duration Short-duration Short-duration Short-duration Short-duration
running range running range running range running range running range

3 5 8 10 20

Continuous Continuous Continuous Continuous Continuous

running range running range running range running range running range
0 0 0 0 0
0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000
Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min]

HF-SP5024 → HG-SR5024 HF-SP7024 → HG-SR7024

80 120

70
100
60
Torque [N•m]

Torque [N•m]

80
50
Short-duration Short-duration
40 running range 60 running range
30
40
20
20
10 Continuous Continuous
running range running range
0 0
0 1000 2000 3000 0 1000 2000 3000
Speed [r/min] Speed [r/min]

Note 1. For the 3-phase 400 V AC power supply, the torque characteristic is indicated by the heavy line.
2. For the 1-phase 380 V AC power supply, part of the torque characteristic is indicated by the thin line.

(5) HC-RP series

Same torque characteristics

HC-RP103 → HG-RR103 HC-RP153 → HG-RR153 HC-RP203 → HG-RR203 HC-RP353 → HG-RR353 HC-RP503 → HG-RR503
9 15 18 30 45
Torque [N•m]

Torque [N•m]

Torque [N•m]

Torque [N•m]

Torque [N•m]

6 10 12 20 30
Short-duration Short-duration Short-duration Short-duration Short-duration
running range running range running range running range running range

3 5 6 10 15

Continuous Continuous Continuous Continuous Continuous

running range running range running range running range running range
0 0 0 0 0
0 1000 2000 3000 40004500 0 1000 2000 3000 40004500 0 1000 2000 3000 40004500 0 1000 2000 3000 40004500 0 1000 2000 3000 40004500

Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min]

Note. The above torque characteristics are for 3-phase 200 V AC.

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Part 9: Review on Replacement of Motor

(6) HC-LP series ( : HG-JR， : HC-LP)

HC-LP52 ⇒ HG-JR73 (Note 2) HC-LP102→HG-JR153 HC-LP152 ⇒ HG-JR353

Torque (N•m)
Torque (N•m)

Torque (N•m)
Short-duration Short-duration
running range running range Short-duration
running range

Continuous Continuous
running range running range
Continuous
running range

Speed (r/min) Speed (r/min) Speed (r/min)

HC-LP202 ⇒ HG-JR353 HC-LP302 ⇒ HG-JR503

Torque (N•m)
Torque (N•m)

Short-duration
running range Short-duration
running range

Continuous Continuous
running range running range

Speed (r/min) Speed (r/min)

Note 1. The above torque characteristics are for 3-phase 200 V AC.
2. For the 1-phase 230 V AC power supply, please contact your local sales office.

(7) HC-UP series

Same torque characteristics

HC-UP72 → HG-UR72 HC-UP152 → HG-UR152 HC-UP202 → HG-UR202 HC-UP352 → HG-UR352 HC-UP502 → HG-UR502
12 24 30 60 80

60
Torque [N•m]

Torque [N•m]

Torque [N•m]

Torque [N•m]
Torque [N•m]

8 16 20 40

Short-duration Short-duration Short-duration Short-duration Short-duration

running range running range running range running range 40 running range

4 8 10 20
20

Continuous Continuous Continuous Continuous Continuous

running range running range running range running range running range
0 0 0 0 0
0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 2500 0 1000 2000 2500
Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min]

Note 1. The above torque characteristics are for 3-phase 200 V AC.
2. For the 1-phase 200 V AC power supply, part of the torque characteristic is indicated by the thin line.

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Part 9: Review on Replacement of Motor

(8) HF-JP series

Same torque characteristics

HF-JP53 → HG-JR53 HF-JP73 → HG-JR73 HF-JP103 → HG-JR103 HF-JP153 → HG-JR153 HF-JP203 → HG-JR203
7 10 14 20 28
(Note 3)
(Note 3) (Note 3)
6 (Note 3) (Note3)
15
10 20
Torque [N•m]

Torque [N•m]

Torque [N•m]

Torque [N•m]

Torque [N•m]
6
4
Short-duration
running range 6 Short-duration 9
Short-duration 12
Short-duration running range running range Short-duration
2 running range running range
2
Continuous 2 Continuous 3 Continuous 4 Continuous
Continuous
running range running range running range running range running range
0 0 0 0 0
0 1000 3000 5000 6000 0 1000 3000 5000 6000 0 1000 3000 5000 6000 0 1000 3000 5000 6000 0 1000 3000 5000 6000

Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min]

HF-JP353 → HG-JR353 HF-JP503 → HG-JR503 HF-JP703 → HG-JR703 HF-JP903 → HG-JR903

45 70 70 90
(Note 3)
(Note 3)
40 80

50 50
Torque [N•m]

Torque [N•m]

Torque [N•m]

Torque [N•m]
30 60

Short-duration Short-duration
20 running range 40
running range
30 30
Short-duration Short-duration
running range running range
10 20
Continuous 10 Continuous 10 Continuous Continuous
running range running range running range running range
0 0 0 0
0 1000 3000 5000 6000 0 1000 3000 5000 6000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000

Speed [r/min] Speed [r/min] Speed [r/min] Speed [r/min]

HF-JP11K1M → HG-JR11K1M HF-JP15K1M → HG-JR15K1M

250 350

300
200
Torque [N•m]

Torque [N•m]

Short-duration 200
running range Short-duration
running range
100

100

Continuous Continuous
running range running range
0 0
0 1000 2000 3000 0 1000 2000 3000

Speed [r/min] Speed [r/min]

Note 1. For the 3-phase 200 V AC and 1-phase 230 V AC power supplies, the torque characteristic is indicated by the heavy lines.
2. For the 1-phase 200 V AC power supply, part of the torque characteristic is indicated by the thin line.
3. Value at the maximum torque 400%.

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Part 9: Review on Replacement of Motor

(9) HA-LP series ( : HG-JR/HG-SR， : HA-LP)

POINT
When servo motors are replaced with HG-JR_R_-S_ motors (compatible
product), the torque characteristics differ. Please contact your local sales office.

(a) HA-LP 1000 r/min series 200 V class

HA-LP601 ⇒ HG-JR601 HA-LP801 ⇒ HG-JR801 HA-LP12K1 ⇒ HG-JR12K1

Torque (N•m)

Short-duration

Torque (N•m)
Torque (N•m)

Short-duration Short-duration
running range running range running range

Continuous Continuous Continuous

running range running range running range

Speed (r/min) Speed (r/min) Speed (r/min)

HA-LP15K1 ⇒ HG- (Note 2) HA-LP20K1 ⇒ HG-JR20K1 HA-LP25K1 ⇒ HG-JR25K1

Short-duration
Torque (N•m)

Torque (N•m)
Torque (N•m)

running range Short-duration Short-duration

running range running range

Continuous Continuous Continuous

running range running range running range

Speed (r/min) Speed (r/min) Speed (r/min)

HA-LP30K1 ⇒ HG-JR30K1 HA-LP37K1 ⇒ HG-JR37K1

Torque (N•m)
Torque (N•m)

Short-duration Short-duration
running range running range

Continuous Continuous
running range running range

Speed (r/min) Speed (r/min)

Note 1. The above torque characteristics are for 3-phase 200 V AC.
2. Please contact your local sales office if the compatibility of torque characteristics is required.

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Part 9: Review on Replacement of Motor

(b) HA-LP 1000 r/min series 400 Vclass

HA-LP6014 ⇒ HG-JR6014 HA-LP8014 ⇒ HG-JR8014 HA-LP12K14 ⇒ HG-JR12K14

Short-duration
running range Short-duration
Short-duration running range
running range

Torque (N•m)
Torque (N•m)
Torque (N•m)

Continuous Continuous
running range Continuous
running range running range

Speed (r/min) Speed (r/min) Speed (r/min)

HA-LP15K14 ⇒ HG-JR15K14 (Note 3) HA-LP20K14 ⇒ HG-JR20K14 HA-LP25K14 ⇒ HG-JR25K14 (Note 3)

Short-duration
running range
Torque (N•m)

Torque (N•m)
Short-duration Short-duration
Torque (N•m)

running range running range

Continuous Continuous
running range Continuous
running range
running range

Speed (r/min) Speed (r/min) Speed (r/min)

HA-LP30K14 ⇒ HG-JR30K14 HA-LP37K14 ⇒ HG-JR37K14

Torque (N•m)

Short-duration Short-duration
Torque (N•m)

running range running range

Continuous Continuous
running range running range

Speed (r/min) Speed (r/min)

Note 1. The above torque characteristics are for 3-phase 400 V AC.
2. As for 3-phase 380 V AC, refer to the catalog or instruction manual.
3. Please contact your local sales office if the compatibility of torque characteristics is required.

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Part 9: Review on Replacement of Motor

(c) HA-LP 1500 r/min series 200 V class

HA-LP11K1M ⇒ HG-JR11K1M HA-LP701M ⇒ HG-JR701M HA-LP15K1M ⇒ HG-JR15K1M

Short-duration
Short-duration Short-duration running range
running range running range

Torque (N•m)
Torque (N•m)

Torque (N•m)
Continuous Continuous Continuous
running range running range running range

Speed (r/min) Speed (r/min) Speed (r/min)

HA-LP22K1M ⇒ HG-JR22K1M (Note 2) HA-LP30K1M ⇒ HG-JR30K1M HA-LP37K1M ⇒ HG-JR37K1M

Short-duration Short-duration Short-duration

Torque (N•m)

Torque (N•m)

running range running range

Torque (N•m)
running range

Continuous Continuous Continuous

running range running range running range

Speed (r/min) Speed (r/min) Speed (r/min)

Note 1. The above torque characteristics are for 3-phase 200 V AC.
2. Please contact your local sales office if the compatibility of torque characteristics is required.

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Part 9: Review on Replacement of Motor

(d) HA-LP 1500 r/min series 400 V class

HA-LP701M4 ⇒ HG-JR701M4 HA-LP11K1M4 ⇒ HG-JR11K1M4 HA-LP15K1M4 ⇒ HG-JR15K1M4

Short-duration Short-duration
Short-duration running range
running range
running range
Torque (N•m)

Torque (N•m)

Torque (N•m)
Continuous Continuous Continuous
running range running range running range

Speed (r/min) Speed (r/min) Speed (r/min)

HA-LP22K1M4 ⇒ HG-JR22K1M4 (Note 3) HA-LP30K1M4 ⇒ HG-JR30K1M4 HA-LP37K1M4 ⇒ HG-JR37K1M4

Short-duration
Torque (N•m)

Short-duration Short-duration

Torque (N•m)
Torque (N•m)

running range running range running range

Continuous Continuous Continuous

running range running range running range

Speed (r/min) Speed (r/min) Speed (r/min)

HA-LP45K1M4 ⇒ HG-JR45K1M4 HA-LP50K1M4 ⇒ HG-JR55K1M4

Short-duration
Short-duration
Torque (N•m)

Torque (N•m)

running range
running range

Continuous Continuous
running range running range

Speed (r/min) Speed (r/min)

Note 1. The above torque characteristics are for 3-phase 400 V AC.
2. As for 3-phase 380V AC, refer to the catalog or Instruction Manual.
3. Please contact your local sales office if the compatibility of torque characteristics is required.

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Part 9: Review on Replacement of Motor

(e) HA-LP 2000 r/min series 200 V class

HA-LP502 ⇒ HG-SR502 HA-LP702 ⇒ HG-SR702 HA-LP11K2 ⇒ HG-JR11K1M

Short-duration
running range Short-duration
running range
Torque (N•m)

Torque (N•m)
Torque (N•m)
Short-duration
running range

Continuous Continuous
running range running range Continuous
running range

Speed (r/min) Speed (r/min) Speed (r/min)

HA-LP15K2 ⇒ HG-JR11K1M (Note 2) HA-LP22K2 ⇒ HG-JR15K1M (Note2) HA-LP30K2 ⇒ HG-JR22K1M (Note 2)

Short-duration Short-duration
running range running range Short-duration

Torque (N•m)
Torque (N•m)

running range
Torque (N•m)

Continuous Continuous Continuous

running range running range running range

Speed (r/min) Speed (r/min) Speed (r/min)

HA-LP37K2 ⇒ HG-JR30K1M

Short-duration
Torque (N•m)

running range

Continuous
running range

Speed (r/min)

Note 1. The above torque characteristics are for 3-phase 200 V AC.
2. Please contact your local sales office if the compatibility of torque characteristics is required.

9 - 67
Part 9: Review on Replacement of Motor

(f) HA-LP 2000 r/min series 400 V class

HA-LP11K24 ⇒ HG-JR11K1M4 HA-LP15K24 ⇒ HG-JR11K1M4 (Note 3) HA-LP22K24 ⇒ HG-JR15K1M4 (Note 3)

Short-duration Short-duration
running range running range
Torque (N•m)

Torque (N•m)
Torque (N•m)
Short-duration
running range

Continuous Continuous
Continuous running range running range
running range

Speed (r/min) Speed (r/min) Speed (r/min)

HA-LP30K24 ⇒ HG-JR22K1M4 (Note 3) HA-LP37K24 ⇒ HG-JR30K1M4 HA-LP45K24 ⇒ HG-JR37K1M4

Torque (N•m)
Short-duration
Torque (N•m)

Short-duration
Torque (N•m)

running range Short-duration

running range running range

Continuous Continuous Continuous

running range running range running range

Speed (r/min) Speed (r/min) Speed (r/min)

HA-LP55K24 ⇒ HG-JR45K1M4
Torque (N•m)

Short-duration
running range

Continuous
running range

Speed (r/min)

Note 1. The above torque characteristics are for 3-phase 400V AC.
2. As for 3-phase 380V AC, refer to the catalog or instruction manual.
3. Please contact your local sales office if the compatibility of torque characteristics is required.

9 - 68
Part 10: Review on Replacement of Optional Peripheral Equipment

Part 10
Review on Replacement of
Optional Peripheral
Equipment

10 - 1
Part 10: Review on Replacement of Optional Peripheral Equipment

Part 10: Review on Replacement of Optional Peripheral Equipment

1. COMPARISON TABLE OF REGENERATIVE OPTION COMBINATIONS

POINT
The MR-J4 series provides the new regenerative options shown in the table
below.
When an MR-J3/MR-J3W series regenerative resistor is used as it is with a
motor combined, an alarm may occur.
Use the MR-J4 series in combination with the regenerative resistor for MR-J4
series.
Do not use regenerative options newly provided by the MR-J4 series with the
MR-J3/MR-J3W series because use of them causes a servo amplifier
malfunction.

List of new regenerative options

Servo amplifier model Regenerative option MR-RB Accessory regenerative resistor
MR-J4-350_(-RJ) 3N 5N
MR-J4-11K_(-RJ) 5R GRZG400-0.8Ω × 4
MR-J4-15K_(-RJ) 9F GRZG400-0.6Ω × 5
MR-J4-22K_(-RJ) 9T GRZG400-0.5Ω × 5
MR-J4-700_4(-RJ) 3U-4 5U-4
MR-J4-11K_4(-RJ) 5K-4 GRZG400-2.5Ω × 4
MR-J4-15K_4(-RJ) 6K-4 GRZG400-2Ω × 5
MR-J4-DU30K_4
MR-J4-DU37K_4
137-4 13V-4
MR-J4-DU45K_4
MR-J4-DU55K_4
MR-J4W2-77B
3N
MR-J4W2-1010B

10 - 2
Part 10: Review on Replacement of Optional Peripheral Equipment

1.1 Regenerative Options 200 V class /100 V class

1.1.1 Combination and regenerative power for the MR-J3/MR-J3W series

List of regenerative options

Permissible regenerative power of regenerative option [W] MR-RB
Built-in
Servo amplifier model regenerative (Note 1) (Note 1) (Note 1)
032 12 30 3N 31 32
resistor [W] 50 5N 51
[40 Ω] [40 Ω] [13 Ω] [9 Ω] [6.7 Ω] [40 Ω]
[13 Ω] [9 Ω] [6.7 Ω]
MR-J3-10_(1) 30
MR-J3-20_(1) 10 30 100
MR-J3-40_(1) 10 30 100
MR-J3-60_ 10 30 100
MR-J3-70_ 20 30 100 300
MR-J3-100_ 20 30 100 300
MR-J3-200_(N)(-RT) 100 300 500
MR-J3-350_ 100 300 500
MR-J3-500_ 130 300 500
MR-J3-700_ 170 300 500

Permissible regenerative power of regenerative option [W]

Built-in (Note 2) MR-RB
Servo amplifier model regenerative Standard accessories (Note 2) (Note 2) (Note 2) (Note 2) (Note 2) (Note 3)
139
resistor [W] [External] 5E 5R 9P 9F 9T 137
[1.3 Ω]
[6 Ω] [3.2 Ω] [4.5 Ω] [3 Ω] [2.5 Ω] [1.3 Ω]
GRZG400-1.5Ω × 4 500
MR-J3-11K_
500 (800) (800)
GRZG400-0.8Ω × 4 500
MR-J3-11K_-LR
500 (800) (800)
GRZG400-0.9Ω × 5 850
MR-J3-15K_
850 (1300) (1300)
850
MR-J3-15K_-LR
GRZG400-0.6Ω × 5 (1300)
850 (1300) 850
MR-J3-22K_
(1300)
MR-J3-DU30K_ 1300 3900
MR-J3-DU37K_ 1300 3900

Note 1. Always install a cooling fan.

2. The values in the parentheses are applied to when a cooling fan is installed.
3. This values are the resultant resistance of three MR-RB137.

Permissible regenerative power of regenerative

Built-in option [W] MR-RB
Servo amplifier model regenerative
14 34 3B
resistor [W]
[26 Ω] [26 Ω] [20 Ω]
MR-J3W-22B 100
10
MR-J3W-44B 100
MR-J3W-77B 300
100
MR-J3W-1010B 300
MR-J3W-0303BN6 (Note) 1.3

Note. MR-J3W-0303BN6 servo amplifier is not compatible with regenerative option.

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Part 10: Review on Replacement of Optional Peripheral Equipment

1.1.2 Combination and regenerative power for MR-J4 series (replacement model)

POINT
Changed items are shown with shading.
Parameter settings may be required depending on the regenerative option model.

List of regenerative options

Built-in Permissible regenerative power of regenerative option [W] MR-RB
regenerative (Note 1) (Note 1) (Note 1)
Servo amplifier model resistor 032 12 30 3N 31 32
50 5N 51
[W] [40 Ω] [40 Ω] [13 Ω] [9 Ω] [6.7 Ω] [40 Ω]
[13 Ω] [9 Ω] [6.7 Ω]
MR-J4-10_(1)(-RJ) 30
MR-J4-20_(1)(-RJ) 10 30 100
MR-J4-40_(1)(-RJ) 10 30 100
MR-J4-60_(-RJ) 10 30 100
MR-J4-70_(-RJ) 20 30 100 300
MR-J4-100_(-RJ) 20 30 100 300
MR-J4-200_(-RJ) 100 300 500
MR-J4-350_(-RJ) 100 300 500
MR-J4-500_(-RJ) 130 300 500
MR-J4-700_(-RJ) 170 300 500

Built-in Permissible regenerative power of regenerative option [W] MR-RB

(Note 2)
Servo amplifier regenerative (Note 2) (Note 2) (Note 2) (Note 2) (Note 2) (Note 3)
Standard accessories 139
model resistor 5E 5R 9P 9F 9T 137
[W] [External] [1.3 Ω]
[6 Ω] [3.2 Ω] [4.5 Ω] [3 Ω] [2.5 Ω] [1.3 Ω]
GRZG400-0.8Ω × 4 500
MR-J4-11K_(-RJ)
500 (800) (800)
GRZG400-0.6Ω × 5 850
MR-J4-15K_(-RJ)
850 (1300) (1300)
GRZG400-0.5Ω × 5 850
MR-J4-22K_(-RJ)
850 (1300) (1300)
MR-J4-DU30K_ 1300 3900
MR-J4-DU37K_ 1300 3900

Note 1. Always install a cooling fan.

2. The values in the parentheses are applied to when a cooling fan is installed.
3. This values are the resultant resistance of three MR-RB137.

Built-in Permissible regenerative power of

regenerative regenerative option [W] MR-RB
Servo amplifier model resistor 14 3N
[W] [26 Ω] [9 Ω]
MR-J4W2-22B 100
20
MR-J4W2-44B 100
MR-J4W2-77B 300
100
MR-J4W2-1010B 300
MR-J4W2-0303B6 (Note) 1.3

Note. MR-J4W2-0303B6 servo amplifier is not compatible with regenerative option.

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Part 10: Review on Replacement of Optional Peripheral Equipment

1.1.3 External Form Comparison

MR-J3/MR-J3W series MR-J4 series
350_ MR-RB30/MR-RB31/MR-RB34/MR-RB3B MR-RB30/MR-RB31/MR-RB34/MR-RB3N
Cooling fan mounting Cooling fan mounting
screw (2-M4 screw) screw (2-M4 screw)

8.5
8.5

125

82.5
150
142
82.5
125

150
142
G4 G3 C P

30
30

8.5
7 101.5 82.5
8.5

101.5 82.5
10 90 17 318 10 90 17 318
100 335 100 335

Approx. 30
Intake
Air intake
(30)

79
79

350_ MR-RB50/MR-RB51 MR-RB50/MR-RB51/MR-RB5N

Cooling fan mounting Cooling fan mounting
screw (2-M3 screw) screw (2-M3 screw)
On opposite side On opposite side
7 × 14

12.5
49 82.5 slotted hole
12.5

49 82.5
162.5

162.5
7×14
slot
82.5
82.5

Air
350
Intake
350

intake

162.5
162.5

133
133

2.3 7 2.3 7
12.5
12.5

200 17 12 108 Approx. 30 200 17 12 108 Approx. 30

217 120 8 217 120 8

11K_ MR-RB5E/MR-RB9P/MR-RB9F MR-RB5R/MR-RB9F/MR-RB9T

15K_ 2- 10 2-φ10 mounting hole
22K_
10

mounting hole
30
427
480
500

43

Cooling fan intake

Air intake
2.3 10 2.3
10

10 15 230 15 197 15
15 230 15 197 15
260 215 260 215
15 15 230 15
15 230
Cooling fan mounting screw Screw for mounting cooling fan
4-M3 screw 4-M3 screw
82.5
Approx. 42

82.5 82.5 82.5 82.5

10 - 5
Part 10: Review on Replacement of Optional Peripheral Equipment

1.2 Regenerative Options 400 V class

1.2.1 Combination and regenerative power for the MR-J3 series

List of regenerative options

Built-in Permissible regenerative power of regenerative option [W] MR-RB
regenerative (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1)
Servo amplifier model resistor 1H-4
3M-4 3G-4 34-4 3U-4 5G-4 54-4 5U-4
[W] [82 Ω]
[120 Ω] [47 Ω] [26 Ω] [22 Ω] [47 Ω] [26 Ω] [22 Ω]
MR-J3-60_4 15 100 300
MR-J3-100_4 15 100 300
MR-J3-200_4 100 300 500
MR-J3-350_4 100 300 500
MR-J3-500_4 130 300 500
MR-J3-700_4 170 300 500

Built-in (Note 2) Permissible regenerative power of regenerative option [W] MR-RB

regenerative Standard (Note 2) (Note 2) (Note 2) (Note 2) (Note3)
Servo amplifier model 136-4
resistor accessories 5K-4 6B-4 60-4 6K-4 138-4
[W] [5 Ω]
[External] [10 Ω] [20 Ω] [12.5 Ω] [10 Ω] [5 Ω]
GRZG400-5Ω × 4 500
MR-J3-11K_4
500(800) (800)
GRZG400-2.5Ω × 4 500
MR-J3-11K_4-LR
500 (800) (800)
GRZG400-2.5Ω × 5 850
MR-J3-15K_4
850 (1300) (1300)
850
MR-J3-15K_4-LR
GRZG400-2Ω × 5 (1300)
850 (1300) 850
MR-J3-22K_4
(1300)
MR-J3-DU30K_4 1300 3900
MR-J3-DU37K_4 1300 3900
MR-J3-DU45K_4 1300 3900
MR-J3-DU55K_4 1300 3900

Note 1. Always install a cooling fan.

2. The values in the parentheses are applied to when a cooling fan is installed.
3. The composite resistor value of three options is 5 Ω. The resistor value of one option is 15 Ω.

10 - 6
Part 10: Review on Replacement of Optional Peripheral Equipment

1.2.2 Combination and regenerative power for MR-J4 series (replacement model)

POINT
Changed items are shown with shading.
Parameter settings may be required depending on the regenerative option model.

List of regenerative options

Built-in Permissible regenerative power of regenerative option [W] MR-RB
regenerative (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1)
Servo amplifier model 1H-4
resistor 3M-4 3G-4 34-4 3U-4 5G-4 54-4 5U-4
[W] [82 Ω]
[120 Ω] [47 Ω] [26 Ω] [22 Ω] [47 Ω] [26 Ω] [22 Ω]
MR-J4-60_4(-RJ) 15 100 300
MR-J4-100_4(-RJ) 15 100 300
MR-J4-200_4(-RJ) 100 300 500
MR-J4-350_4(-RJ) 100 300 500
MR-J4-500_4(-RJ) 130 300 500
MR-J4-700_4(-RJ) 170 300 500

Permissible regenerative power of regenerative option [W]

Built-in MR-RB
(Note 2)
Servo amplifier regenerative
Standard accessories (Note 2) (Note 2) (Note 2) (Note 2) (Note 3)
model resistor 137-4
[External] 5K-4 6B-4 60-4 6K-4 13V-4
[W] [4 Ω]
[10 Ω] [20 Ω] [12.5 Ω] [10 Ω] [4 Ω]
GRZG400-2.5Ω × 4 500
MR-J4-11K_4(-RJ)
500 (800) (800)
GRZG400-2.0Ω × 5 850
MR-J4-15K_4(-RJ)
850 (1300) (1300)
GRZG400-2.0Ω × 5 850
MR-J4-22K_4(-RJ)
850 (1300) (1300)
MR-J4-DU30K_4 1300 3900
MR-J4-DU37K_4 1300 3900
MR-J4-DU45K_4 1300 3900
MR-J4-DU55K_4 1300 3900

Note 1. Always install a cooling fan.

2. The values in the parentheses are applied to when a cooling fan is installed.
3. The composite resistor value of three options is 4 Ω. The resistor value of one option is 12 Ω.

10 - 7
Part 10: Review on Replacement of Optional Peripheral Equipment

1.2.3 External Form Comparison

MR-J3 series MR-J4 series
700_4 MR-RB34-4 MR-RB3U-4
Cooling fan mounting
screw (2-M4 screw)
8.5

Cooling fan mounting

screw (2-M4 screw)

8.5
82.5
150
142
125

G4G3 C P
P

125
G4 G3 C

82.5
150
142
30

30
101.5 82.5
8.5

10 90 23 318 7

8.5
101.5 82.5
100 341 10 90 23 318
100 341
Air intake

Approx. 30
Intake
(30)
79

79
200_4 MR-RB5G-4/MR-RB54-4 MR-RB5G-4/MR-RB54-4/MR-RB5U-4
500_4
700_4 Cooling fan mounting Cooling fan mounting
screw (2-M3 screw) screw (2-M3 screw)
On opposite side On opposite side
7 × 14

12.5
12.5

49 82.5 49 82.5 slotted hole

162.5

7 × 14 162.5
slot
350

82.5
82.5

Air
350

Intake
intake
162.5

162.5
133

133

2.3 7 2.3 7
12.5
12.5

200 23 12 108 Approx. 30 200 23 12 108 Approx. 30

223 120 8 223 120 8

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Part 10: Review on Replacement of Optional Peripheral Equipment

MR-J3 series MR-J4 series

11K_4 MR-RB6B-4/MR-RB60-4/MR-RB6K-4 MR-RB5K-4/MR-RB6K-4
15K_4 2- 10 2-φ10 mounting hole

10
mounting hole

3
0
480
500

42
7
4
3
Cooling fan intake

2.3

10
Air intake
2.3 10
10 15 230 15 197 15
15 230 15 197 15
260 215
260 215 15
15 230 15 15 230
Cooling fan mounting screw Screw for mounting cooling fan
4-M3 screw 4-M3 screw

82.
5
Approx. 42
82.5 82.5 82.5 82.5

30K_4 MR-RB136-4/MR-RB138-4 MR-RB137-4/MR-RB13V-4

37K_4 2-φ10 mounting hole
2-φ10 mounting hole
10
45K_4
10

55K_4

30
30

427
480

500
427
480

500

Intake
43

Intake
43

10 2.3
10 2.3
10
10

15 230 15 197 15
15 230 15 197 15
260 215
260 215
15 230 15
15 230 15

Cooling fan (Note 1)

Cooling fan (Note 1)

Note 1. One cooling fan for MR-RB136-4/MR-RB138-4/MR-RB137-4/MR-RB13V-4.

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Part 10: Review on Replacement of Optional Peripheral Equipment

2. COMPARISON TABLE OF DYNAMIC BRAKE OPTION COMBINATIONS

POINT
When an MR-J4-22K(-RJ) servo amplifier and an HG-JR22K1M servo motor are
combined, the coasting distance will be longer. Therefore, use a dynamic brake
option, DBU-22K-R1.
Changed items are shown with shading.

Dynamic brake option combination

Model Applicable servo amplifier
DBU-11K MR-J3-11K_ MR-J4-11K_(-RJ)
DBU-15K MR-J3-15K_ MR-J4-15K_(-RJ)
DBU-22K MR-J3-22K_
DBU-22K-R1 MR-J4-22K_(-RJ)
MR-J3-DU30K_
DBU-37K
MR-J3-DU37K
MR-J4-DU30K_
DBU-37K-R1
MR-J4-DU37K_
DBU-11K-4 MR-J3-11K_4 MR-J4-11K_4(-RJ)
MR-J3-15K_4 MR-J4-15K_4(-RJ)
DBU-22K-4
MR-J3-22K_4 MR-J4-22K_4(-RJ)
MR-J3-DU30K_4
MR-J3-DU37K_4
DBU-55K-4
MR-J3-DU45K_4
MR-J3-DU55K_4
MR-J4-DU30K_4
MR-J4-DU37K_4
DBU-55K-4-R5
MR-J4-DU45K_4
MR-J4-DU55K_4

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Part 10: Review on Replacement of Optional Peripheral Equipment

2.1 External Form Comparison

MR-J3 series MR-J4 series
22K_ DBU-22K DBU-22K-R1
5 5

E
B
A

B
A
5 G 2.3 5 G 2.3
E

E
D 100 D F D 100 D F
C C

Mass
External dynamic brake A B C D E F G
[kg]
DBU-22K 250 238 150 25 6 235 228 6
DBU-22K-R1 250 238 150 25 6 235 228 6

MR-J3 series MR-J4 series

30K_ DBU-37K/DBU55K_4 DBU-37K-R1/ DBU-55K-4-R5
37K_
2-φ10 mounting hole [Unit: mm] 2-φ10 mounting hole [Unit: mm]
10

10

30K_4
30

30

37K_4
45K_4
55K_4
370

390

330

370

390

330
30

30

TE2 TE1 TE2 TE1

10 2.3 10 2.3
10

10

15 230 15 220 15 15 230 15 220 15

260 235 260 235

15 230 15 15 230 15

External dynamic brake Mass [kg] External dynamic brake Mass [kg]

DBU-37K 8 DBU-37K-R1 8
DBU-55K4 11 DBU-55K-4-R5 11

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Part 10: Review on Replacement of Optional Peripheral Equipment

3. COMPARISON TABLE OF CABLE OPTION COMBINATIONS

3.1 Changes from MR-J3 series to MR-J4 series

Cable option combinations

Compatibility
Application MR-J3 series MR-J4 series Note
(Note 6)
MR-J3ENCBL_M-A_-_ Use the same combination.
MR-J3JCBL03M-A_-L _M: Cable length
MR-EKCBL_M-_ A_: Leading direction
MR-J3JSCBL03M-A_-L -_: Bending life
MR-J3ENSCBL_M-_
Use the same cables for the
Encoder cable MR-ENECBL_M-H models other than the ones
shown below.
It is required when using 15
MR-ENECBL_M-H (Note 1) kW or more HG-JR 1000
r/min series or 22 kW or
MR-ENECBL_M-H-MTH
more HG-JR 1500 r/min
series.
_: Cable length
MR-ECNM Use the same combination.
Use the same cables for the
MR-J3SCNS (Note 1) models other than the ones
shown below.
It is required when using 15
MR-J3SCNS kW or more HG-JR 1000
Encoder connector set MR-ENECNS (Note 1) r/min series or 22 kW or
more HG-JR 1500 r/min
series.
MR-ENCNS2 The screw-type is added.
MR-J3SCNSA Use the same combination.
MR-J3SCNSA
MR-ENCNS2A The screw-type is added.
MR-ENECNS Use the same combination.
MR-J3BUS_M Use the same combination.
SSCNET optical communication
_M: Cable length
cable MR-J3BUS_M-_
-_: Bending life
Connector set for SSCNET optical
MR-J3BCN1 Use the same combination.
communication
Junction
Use the same combination.
terminal block General- MR-J2M-CN1TBL_M
_: Cable length
cable Purpose
connector set interface MR-J3CN1 Use the same combination.
Junction CN1
MR-TB50 Use the same combination.
terminal block
Junction
SSCNET Use the same combination.
terminal block MR-J2HBUS_M
interface _: Cable length
cable
CN3
connector set MR-CCN1 Use the same combination.
Junction
DIO command /
terminal block MR-TBNATBL_M MR-J2M-CN1TBL_M ×
cable Serial Newly required.
communication For CN1 of MR-J4-_A_-RJ
connector set MR-J2CMP2 MR-J3CN1 ×
operation _: Cable length
Junction
CN6 MR-TB26A MR-TB50 ×
terminal block
Junction terminal
CC-Link MR-J2HBUS_M ×
block cable Newly required.
communication
connector set MR-J2CMP2 MR-CCN1 × For CN3 of MR-J4-_GF_
operation
Junction terminal CN6 PS7DW-20V14B-F _: Cable length
×
block (Recommended product)
MR-PWS1CBL_M-A_-_ Use the same combination.
_M: Cable length
Servo motor power supply cable
MR-PWS2CBL03M-A_-L A_: Leading direction
-_: Bending life

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Part 10: Review on Replacement of Optional Peripheral Equipment

Compatibility
Application MR-J3 series MR-J4 series Note
(Note 6)

MR-PWCNS4

MR-PWCNS5
Power connector set
(Servo motor side power MR-PWCNS3 Use the same combination.
connector)
MR-PWCNS1

MR-PWCNS2

Use the same combination.

MR-BKS1CBL_M-A_-_
_M: Cable length
Electromagnetic brake cable
A_: Leading direction
MR-BKS2CBL03M-A_-L
-_: Bending life
MR-BKCNS1 Use the same combination.
MR-BKCNS1
MR-BKCNS2 The screw-type is added.
Electromagnetic brake
MR-BKCNS1A Use the same combination.
connector set MR-BKCNS1A
MR-BKCNS2A The screw-type is added.
MR-BKCN Use the same combination.
Servo amplifier power CNP1 54928-0670 06JFAT-SAXGDK-H7.5 (Note 2)
connector CNP2 54927-0520 05JFAT-SAXGDK-H5.0 (Note 2)
(1 kW or less) CNP3 54928-0370 03JFAT-SAXGDK-H7.5 (Note 2)
721-207/026-000
CNP1 06JFAT-SAXGFK-XL (Note 2) Connector shape is
(PC4/6-STF-7.62-CRWH)
Servo amplifier power changed because the
721-205/026-000
connector CNP2 05JFAT-SAXGDK-H5.0 (Note 2) manufacturer is changed.
(54927-0520)
(2 kW)
721-203/026-000 ( ) is for MR-J3-200_(-RT).
CNP3 03JFAT-SAXGFK-XL (Note 2)
(PC4/3-STF-7.62-CRWH)
Servo amplifier power CNP1 PC4/6-STF-7.62-CRWH 06JFAT-SAXGFK-XL (Note 2)
connector CNP2 54927-0520 05JFAT-SAXGDK-H5.0 (Note 2)
(3.5 kW) CNP3 PC4/3-STF-7.62-CRWH 03JFAT-SAXGFK-XL (Note 2)
CN5 communication cable MR-J3USBCBL3M Use the same combination.
Battery for junction battery Use the dedicated battery of
MR-J3BTCBL03M MR-BT6VCBL03M (Note 3)
cable each series.
Use the same combination.
When MR-J3-_T_ is
Monitor cable MR-J3CN6CBL1M
replaced, prepare a new
one.
Protection coordination cable MR-J3CDL05M Use the same combination.
(30 kW or more)
MR-J2CN1-A Use the same combination.
CN40/CN40A connector set
Termination connector MR-J3-TM Not required
Use the same combination.
Magnetic contactor wiring
Socket:
connector
GFKC 2.5/2-STF-7.62
(Note 4) Use the same combination.
connector:
Digital I/O connector
17JE23090-02(D8A)K11-
CG
When not using the STO
function, attach the short-
STO cable MR-D05UDL3M-B (Note 5)
circuit connector came with
the servo amplifier to CN8.

Note 1. When using 15 kW or more HG-JR 1000 r/min series or 22 kW or more HG-JR 1500 r/min series, replace with the MR-
ENECBL_M-H-MTH cable or MR-ENECNS connector set.
2. These replacement models do not have compatibility in mounting. The power connector is supplied with a servo amplifier for
MR-J4 series. Replace the existing connectors with the ones supplied with the servo amplifier.
3. Use the dedicated battery of each series.
4. Supplied with converter unit.
5. MR-D05UDL3M-B is in production.
6. : Compatible, △: Compatible with condition, ×: Not compatible

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Part 10: Review on Replacement of Optional Peripheral Equipment

3.2 Changes from MR-J3W series to MR-J4W2-_B Servo amplifier

Cable option combinations

MR-J4W2-B Compatibility
Application MR-J3W series Note
Servo amplifier (Note 3)
MR-J3ENCBL_M-A_-_ Use the same combination.
MR-J3JCBL03M-A_-L _M: Cable length
Encoder cable MR-EKCBL_M-_ A_: Leading direction
MR-J3JSCBL03M-A_-L -_: Bending life
MR-J3ENSCBL_M-_
MR-ECNM Use the same combination
Encoder connector set MR-J3SCNS Use the same combination
MR-J3SCNSA Use the same combination
MR-J3BUS_M Use the same combination
SSCNET optical communication
_M: Cable length
cable MR-J3BUS_M-_ -_: Bending life
Connector set for SSCNET optical
MR-J3BCN1 Use the same combination
communication
Junction
Use the same combination
terminal block SSCNET III/H MR-TBNATBL_M
_M: Cable length
cable interface
CN3 MR-J2CMP2
connector set
MR-ECN1
Use the same combination
MR-PWS1CBL_M-A_-_
_M: Cable length
Servo motor power supply cable
A_: Leading direction
MR-PWS2CBL03M-A_-L
-_: Bending life
Power connector set MR-PWCNS1
(Servo motor side power MR-PWCNS4 Use the same combination
connector) MR-PWCNS5
Use the same combination
MR-BKS1CBL_M-A_-_
_M: Cable length
Electromagnetic brake cable
A_: Leading direction
MR-BKS2CBL03M-A_-L
-_: Bending life
Electromagnetic brake connector MR-BKCNS1 Use the same combination
set MR-BKCNS1A Use the same combination
For MR-J3WCNP123- SP 03JFAT-SAXGFK-43
CNP1 connector set (Note 1)
CNP1 Replace the existing
Servo amplifier
: 03JFAT-AXGFK-43 06JFAT-SAXYGG-F-KK connectors with the ones
power CNP2
CNP2 (Note 1) supplied with the servo
connector
: 06JFAT-SAXYGG-F-KK amplifier.
CNP3A/3B 04JFAT-SAGG-G-KK
CNP3A/CNP3B
: 04JFAT-SAGG-G-KK (Note 1)
CN5 communication cable MR-J3USBCBL3M Use the same combination
＜DC 48 V/24 V model＞
Encoder cable MR-J3W03ENCBL_M-A-H Use the same combination.
_M: Cable length
MR-J3W03CN2-2P ＜DC 48 V/24 V model＞
Encoder connector set
MR-J3W03CN2-20P Use the same combination.
MR-J3W03PWCBL_M-
MR-J4W03PWCBL_M-A-H (Note2)
A-H ＜DC 48 V/24 V model＞
Servo motor power cable MR- _M: Cable length
MR-J4W03PWBRCBL_M-
J3W03PWBRCBL_M- (Note2) -_: Bending life
A-H
A-H
MR-J3W03CNP2-2P MR-J4W03CNP2-2P (Note2)
Power connector set ＜DC 48 V/24 V model＞
MR-J3W03CNP2-20P MR-J4W03CNP2-20P (Note2)

Note 1. These replacement models do not have compatibility in mounting. The power connector is supplied with a servo amplifier for
MR-J4W2-_B servo amplifier.
2. These replacement models do not have compatibility in mounting. The power connector is supplied with a servo amplifier for
MR-J4 series.
3. : Compatible, △: Compatible with condition, ×: Not compatible

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Part 10: Review on Replacement of Optional Peripheral Equipment

4. POWER SUPPLY WIRE SIZE

4.1 Selection of Power Supply Wire Size (Example)

4.1.1 MR-J3 series power supply wire size

POINT
Wires indicated in this section are separated wires. When using a cable for
power line (U/V//W) between the servo amplifier and servo motor, use a 600 V
grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT). For
selection of cables, refer to each servo amplifier instruction manual.
To comply with the UL/C-UL (CSA) Standard, use the wires shown in the servo
amplifier for wiring. To comply with other standards, use a wire that is complied
with each standard.
Selection condition of wire size is as follows.
Construction condition: One wire is constructed in the air
Wire length: 30 m or less

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Part 10: Review on Replacement of Optional Peripheral Equipment

(1) Wires for power supply wiring

POINT
Use 600 V Grade heat-resistant polyvinyl chloride insulated wires (HIV wires) for
HF-JP series servo motor.

The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.

In this case, the power supply wire used is a 600 V plastic one and the wiring distance is 30 m or less.
When the wiring distance exceeds 30 m, select another wire size in consideration of the voltage drop.
The alphabet letters (a/b/c) on the table correspond to crimp terminals used when wiring a servo
amplifier.
The method of wiring a servo motor differs depending on the type and capacity of the servo motor.
To comply with the UL/cUL (CSA) standard, use UL-approved copper wires rated at 60˚C or higher for
wiring.
1) Main circuit power supply lead 3) Motor power supply lead

Servo amplifier Servo motor

Power supply

L1 U U
L2 V V
L3 (Note) W W Motor
2) Control power supply lead
L11
8) Power regenerative L21 4) Electromagnetic
5)
converter lead brake lead

B1 Electro-
magnetic
Power regenerative N B2 brake
converter C
Regenerative option
P
C
Encoder
P

Encoder cable
4) Regenerative option lead Cooling fan
Power supply
BU
BV
BW

6) Cooling fan lead Thermal

OHS1
OHS2
7) Thermal

Note There is no L3 for 1-phase 100 to 120 V AC power supply.

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Part 10: Review on Replacement of Optional Peripheral Equipment

Wire size selection example 1 (IV wire)

Recommended wire
Power supply wire [mm2] (Note 1, 4)
Servo amplifier
1) L1/L2/L3/ 2) L11/L21 3) U/V/W/ 4) P/C 5) B1/B2 6) BU/BV/BW 7) OHS1/OHS2
MR-J3-10_(1)
MR-J3-20_(1)
MR-J3-40_(1) 1.25 (AWG16)
MR-J3-60_ 2 (AWG14)
1.25 (AWG16) 2 (AWG14)
MR-J3-70_
MR-J3-100_
2 (AWG14)
MR-J3-200_
MR-J3-350_ 3.5 (AWG12) 3.5 (AWG12)
MR-J3-500_
5.5 (AWG10): a 5.5 (AWG10): a 2 (AWG14): g
(Note 2)
1.25 (AWG16): h
MR-J3-700_ 2 (AWG14) 1.25 (AWG16)
8 (AWG8): b 8 (AWG8): b 3.5 (AWG12): a
(Note 2) (Note 3) (Note 3)
MR-J3-11K_
14 (AWG6): c 22 (AWG4): d
(Note 2)
5.5 (AWG10): j 1.25 (AWG16)
MR-J3-15K_
22 (AWG4): d 1.25 (AWG16): g 30 (AWG2): e 2 (AWG14) 1.25 (AWG16)
(Note 2)
MR-J3-22K_
50 (AWG1/0): f 60 (AWG2/0): f 5.5 (AWG10): k
(Note 2)
MR-J3-60_4
1.25 (AWG16)
MR-J3-100_4 2 (AWG14) 1.25 (AWG16) 2 (AWG14)
MR-J3-200_4 2 (AWG14)
MR-J3-350_4 2 (AWG14): g 2 (AWG14): g
MR-J3-500_4
(Note 2) 1.25 (AWG16): h 2 (AWG14): g
5.5 (AWG10): a 5.5 (AWG10): a
MR-J3-700_4 2 (AWG14) 1.25 (AWG16)
(Note 2) (Note 3) (Note 3)
MR-J3-11K_4
8 (AWG8): l 8 (AWG8): l 3.5 (AWG12): j
(Note 2)
MR-J3-15K_4
14 (AWG6): c 1.25 (AWG16): g 22 (AWG4): d 5.5 (AWG10): j 2 (AWG14) 1.25 (AWG16)
(Note 2)
MR-J3-22K_4
14 (AWG6): m 22 (AWG4): n 5.5 (AWG10): k
(Note 2)

Note 1. Alphabets in the table indicate crimping tools. For crimping terminals and applicable tools, refer to Section 4.2.1 of this
document.
2. When connecting to the terminal block, be sure to use the screws which are provided with the terminal block.
3. For the servo motor with a cooling fan.
4. Wires are selected based on the highest rated current among combining servo motors.

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Part 10: Review on Replacement of Optional Peripheral Equipment

Wire size selection example (HIV wire)

Power supply wire [mm2] (Note 1, 4)
Servo amplifier
1) L1/L2/L3/ 2) L11/L21 3) U/V/W/ 4) P/C 5) B1/B2 6) BU/BV/BW 7) OHS1/OHS2
MR-J3-10_(1)
MR-J3-20_(1)
MR-J3-40_(1) 1.25 (AWG16)
MR-J3-60_ 2 (AWG14)
1.25 (AWG16) 2 (AWG14)
MR-J3-70_
MR-J3-100_ 1.25 (AWG16)
MR-J3-200_ 2 (AWG14)
MR-J3-350_ 3.5 (AWG12) 3.5 (AWG12)
MR-J3-500_
5.5 (AWG10): a 5.5 (AWG10): a 2 (AWG14): g
(Note 2)
1.25 (AWG16): h
MR-J3-700_ 1.25 (AWG16) 1.25 (AWG16)
8 (AWG8): b 8 (AWG8): b 2 (AWG14): g
(Note 2) (Note 3) (Note 3)
MR-J3-11K_
14 (AWG6): c 14 (AWG6): c
(Note 2)
3.5 (AWG12): j 1.25 (AWG16)
MR-J3-15K_
22 (AWG4): d 1.25 (AWG16): g 22 (AWG4): d 1.25 (AWG16) 1.25 (AWG16)
(Note 2)
MR-J3-22K_
38 (AWG1): p 38 (AWG1): p 5.5 (AWG10): k
(Note 2)
MR-J3-60_4
1.25 (AWG16)
MR-J3-100_4 2 (AWG14) 1.25 (AWG16) 2 (AWG14)
MR-J3-200_4 2 (AWG14)
MR-J3-350_4 2 (AWG14): g 2 (AWG14): g
MR-J3-500_4
3.5 (AWG12): a
(Note 2) 1.25 (AWG16): h 2 (AWG14): g
3.5 (AWG12): a
MR-J3-700_4 1.25 (AWG16) 1.25 (AWG16)
5.5 (AWG10): a
(Note 2) (Note 3) (Note 3)
MR-J3-11K_4
5.5 (AWG10): j 8 (AWG8): l 2 (AWG14): q
(Note 2)
MR-J3-15K_4
8 (AWG8): l 1.25 (AWG16): g 14 (AWG6): c 3.5 (AWG12): j 1.25 (AWG16) 1.25 (AWG16)
(Note 2)
MR-J3-22K_4
14 (AWG6): m 14 (AWG6): m 3.5 (AWG12): k
(Note 2)

Note 1. Alphabets in the table indicate crimping tools. For crimping terminals and applicable tools, refer to Section 4.2.1 of this
document.
2. To connect these models to a terminal block, make sure to use the screws that come with the terminal block.
3. For the servo motor with a cooling fan.
4. Wires are selected based on the highest rated current among combining servo motors.

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Part 10: Review on Replacement of Optional Peripheral Equipment

4.1.2 MR-J4 series power supply wire size

POINT
To comply with the IEC/EN/UL/CSA standard, use the wires shown in the
instruction manuals of the servo amplifier in use for wiring. To comply with other
standards, use a wire that is complied with each standard.
Selection conditions of wire size are as follows.
Construction condition: Single wire set in midair
Wire length: 30 m or less

The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
1) Main circuit power supply lead

Servo amplifier
Power supply
L1 U
L2 V M
L3 W
2) Control circuit power supply lead
L11
4) Servo motor power supply lead
L21
5) Power regeneration converter lead

Power regeneration N-
converter
Regenerative option
C
P+

3) Regenerative option lead

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Part 10: Review on Replacement of Optional Peripheral Equipment

(1) Example of selecting the wire sizes

POINT
Use the HIV wire for the replacement with MR-J4.

For the power supply wire, use a 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire).
The table below shows selection examples of power supply wire sizes.

Wire size selection example (HIV wire)

Recommended wire
Power supply wire [mm2] (Note 1)
Servo amplifier
1) L1/L2/L3/ 2) L11/L21 3) P+/C 4) U/V/W/ (Note 3)
MR-J4-10_(1) (-RJ)
MR-J4-20_(1) (-RJ)
MR-J4-40_(1) (-RJ)
AWG 18 to 14 (Note 4)
MR-J4-60_(-RJ) 2 (AWG 14) 1.25 to 2
2 (AWG 14)
MR-J4-70_(-RJ) (AWG 16 to 14) (Note 4)
MR-J4-100_(-RJ)
MR-J4-200_(-RJ)
AWG 16 to 10
MR-J4-350_(-RJ) 3.5 (AWG 12)
2 (AWG 14): c
MR-J4-500_(-RJ)
5.5 (AWG 10): a 3.5 (AWG 12): a
(Note 2)
5.5 (AWG 10): a
1.25 (AWG 16): a
2 (AWG 14): c 2 (AWG 14): c
2 (AWG 14): d (Note 4)
MR-J4-700_(-RJ) 3.5 (AWG 12): a
8 (AWG 8): b
(Note 2) 5.5 (AWG 10): a
8 (AWG 8): b
14 (AWG 6): f
MR-J4-11K_(-RJ)
14 (AWG 6): f 3.5 (AWG 12): g 5.5 (AWG 10): g
(Note 2)
8 (AWG 8): k
1.25 (AWG 16): c
MR-J4-15K_(-RJ) 22 (AWG 4): h
22 (AWG 4): h 2 (AWG 14): c 5.5 (AWG 10): g
(Note 2) 8 (AWG 8): k
MR-J4-22K_(-RJ)
38 (AWG 2): i 5.5 (AWG 10): j 38 (AWG 2): i
(Note 2)
MR-J4-60_4(-RJ)/
MR-J4-100_4(-RJ) 1.25 to 2
2 (AWG 14) 2 (AWG 14) AWG 16 to 14
MR-J4-200_4(-RJ) (AWG 16 to 14) (Note 4)
MR-J4-350_4(-RJ)
MR-J4-500_4(-RJ)
2 (AWG 14): b 3.5 (AWG 12): a
(Note 2) 1.25 (AWG 16): a
2 (AWG 14): b
MR-J4-700_4(-RJ) 2 (AWG 14): c (Note 4)
3.5 (AWG 12): a 5.5 (AWG 10): a
(Note 2)
MR-J4-11K_4(-RJ)
5.5 (AWG 10): d 2 (AWG 14): f
(Note 2)
8 (AWG 8): g
MR-J4-15K_4(-RJ)
8 (AWG 8): g 1.25 (AWG 16): b 3.5 (AWG 12): d
(Note 2)
2 (AWG 14): b (Note 4)
5.5 (AWG 10): e
MR-J4-22K_4(-RJ)
14 (AWG 6): i 3.5 (AWG 12): e 8 (AWG 8):h
(Note 2)
14 (AWG 6): i

Note 1. Alphabets in the table indicate crimping tools. For crimp terminals and applicable tools, refer to 4.2.2 (1), (2) of this document.
2. To connect these models to a terminal block, make sure to use the screws that come with the terminal block.
3. This wire size is applicable to the servo amplifier connector and terminal block. For wires connecting to the servo motor, refer
to "HG-MR/HG-KR/HG-SR/HG-JR/HG-RR/HG-UR/HG-AK Servo Motor Instruction Manual (Vol. 3)".
4. To comply with the IEC/EN/UL/CSA standard, use a wire of 2 mm2.

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Part 10: Review on Replacement of Optional Peripheral Equipment

4.1.3 MR-J3W series power supply wire size

POINT
Wires indicated in this section are separated wires.
To comply with the UL/CSA Standard, use the wires shown in appendix 4 for
wiring.
To comply with other standards, use a wire that is complied with each standard.
Selection condition of wire size is as follows.
Construction condition: One wire is constructed in the air
Wire length: 30 m or less

(1) 200 V class wires for power supply wiring

The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
1) Main circuit power supply lead 3) Motor power supply lead

Power supply Servo amplifier Servo motor

L1 U U
L2 V V
Motor
L3 W W

2) Control circuit power supply lead

L11
L21 6) Electromagnetic
brake lead

B1 Electr-
magnetic
B2 brake

5) Encoder cable
Regenerative option D
C Encoder
P
THM1 G1
4) Regenerative option lead THM2 G2

7) Thermistor lead

The following table shows selection examples of cable sizes. These sizes are common for the 600V
Polyvinyl chloride insulated wire (IV wire) and for the 600V Grade heat-resistant polyvinyl chloride
insulated wire (HIV wire).

Wire size selection example 1 (IV/HIV wire)

Wires [mm2] (Note 1)
Servo amplifier 1) L1/L2/L3/ 3) U/V/W/ 6) B1/B2
2) L11/L21 4) P+/C 5) P/+/D 7) THM1/THM2
(Note 3) (Note 2, 3) (Note 2)
MR-J3W-22B
MR-J3W-44B
2 (AWG14) 1.25 (AWG16) 0.2 (AWG24)
MR-J3W-77B
MR-J3W-1010B
Note 1. Wires are selected based on the highest rated current among combining servo motors.
2. This wire size indicates the size of cable extension which is used when the wiring length exceeds 10 m.
3. Use the crimping terminal specified as below for the PE terminal of the servo amplifier.
Crimping terminal : FVD2-4
Tool (body) : YNT-1614
Manufacturer : JST (J.S.T. Mfg. Co.,Ltd.)
Tightening torque : 1.2 [N•m]

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Part 10: Review on Replacement of Optional Peripheral Equipment

(2) DC 48 V/24 V class wires for power supply wiring

The following diagram shows the wires used for wiring. Use the wires or equivalent given in this section.
These sizes are common for the 600V Polyvinyl chloride insulated wire (IV wire) and for the 600V Grade
heat-resistant polyvinyl chloride insulated wire (HIV wire).
Servo amplifier Servo motor

24VDC power 1)
supply Encoder cable
CNP1
CN2A
24
0
PM Motor power
48VDC power supply cable
supply CNP2A
2)
B1

B2
Servo motor
3)

Encoder cable
CN2B

Motor power
supply cable
CNP2B

B1

B2

3)

Wire size selection example (IV/HIV wire)

Wire (Note 1)
Servo amplifier
1) 24/0/PM/ 2) U/V/W/ 3) B1/B2
MR-J3W-0303BN6 AWG16 (Note 2, 3) AWG19 1.25 mm2 (AWG16)

Note 1. This is a selection example when HG-AK0336(B) are used for two axes.
2. Insulator OD: 2.9 mm
3. Voltage drop will occur according to line impedance and current supplied
to the servo amplifier. Be sure to use this wire.

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Part 10: Review on Replacement of Optional Peripheral Equipment

4.1.4 MR-J4W2-_B servo amplifier, power supply wire size

POINT
To comply with the IEC/EN/UL/CSA standard, use the wires shown in servo
amplifier instruction manual for wiring. To comply with other standards, use a
wire that is complied with each standard.
Selection conditions of wire size are as follows.
Construction condition: One wire is constructed in the air
Wire length: 30 m or less

(1) 200 V class wires for power supply wiring

The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
1) Main circuit power supply lead
Servo amplifier
Power supply
L1 U

L2 V M

L3 W

2) Control circuit power supply lead

L11
4) Servo motor power supply lead
L12

D
Regenerative option
C

P+

3) Regenerative option lead

The following table shows the wire size selection example.

Wire size selection example (HIV wire)
Wires [mm2]
Servo amplifier 1) L1/L2/L3/ 4) U/V/W/
2) L11/L21 3) P+/C/D
(Note 1) (Note 2)
MR-J4W2-22B
MR-J4W2-44B
2 (AWG 14) AWG 18 to 14
MR-J4W2-77B
MR-J4W2-1010B

Note 1. Use the crimp terminal specified as below for the PE terminal of the servo amplifier.
Crimp terminal: FVD2-4
Tool: YNT-1614
Manufacturer: JST (J.S.T. Mfg. Co.,Ltd.)
Tightening torque: 1.2 [N•m]
2. The wire size shows applicable size of the servo amplifier connector. For wires connecting to
the servo motor, refer to "HG-MR/HG-KR/HG-SR/HG-JR/HG-RR/HG-UR/HG-AK Servo Motor
Instruction Manual (Vol. 3)".

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Part 10: Review on Replacement of Optional Peripheral Equipment

(2) DC 48 V/24 V class wires for power supply wiring

The following diagram shows the wires used for wiring. Use the wires or equivalent given in this section.
1) Main/control circuit power supply lead
24 V DC Servo amplifier
power supply

+ 24 U1
- 0 V1
M
PM W1
48 V DC
power supply E1

+
- 2) Servo motor power lead

U2
V2
M
W2
E2

The following shows the wire size selection example.

Wire size selection example (HIV wire)

Wire [mm2]
Servo amplifier 2) U1/V1/W1/E1/U2/V2/W2/E2
1) 24/0/PM/
(Note)
MR-J4W2-0303B6 AWG 16 AWG 19

Note. The wire size shows applicable size of the servo amplifier connector. For wires
connecting to the servo motor, refer to "HG-MR/HG-KR/HG-SR/HG-JR/HG-RR/HG-
UR/HG-AK Servo Motor Instruction Manual (Vol. 3)".

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Part 10: Review on Replacement of Optional Peripheral Equipment

4.2 Selection Example of Crimp Terminals

4.2.1 MR-J3 series crimp terminal

Recommended crimp terminals

Servo amplifier-side crimp terminals
Symbol Crimp terminal Applicable tool
Manufacturer
(Note 2) Body Head Dice
a FVD5.5-4 YNT-1210S
b
8-4NS YHT-8S
(Note 1)
DH-122
c FVD14-6
YF-1 DH-112
YNE-38
E-4 DH-123
d FVD22-6
DH-113
YPT-60-21
e TD-124
38-6 YF-1
(Note 1) YET-60-1 TD-112
E-4
YPT-60-21
f TD-125
R60-8 YF-1
(Note 1) YET-60-1 TD-113
E-4
g FVD2-4 JST
YNT-1614 (J.S.T. Mfg. Co., Ltd.)
h FVD2-M3
j FVD5.5-6
YNT-1210S
k FVD5.5-8
DH-121
l FVD8-6
DH-111
YF-1 DH-122
m FVD14-8 YNE-38
E-4 DH-112
DH-123
n FVD22-8
DH-113
YPT-60-21
p TD-124
R38-8 YF-1
(Note 1) YET-60-1 TD-112
E-4
q FVD2-6 YNT-1614

Note 1. Coat the crimping part with an insulation tube.

2. Some crimp terminals may not be mounted depending on the size. Make sure to use the
recommended ones or equivalent ones.

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Part 10: Review on Replacement of Optional Peripheral Equipment

4.2.2 MR-J4 series crimp terminal

(1) Selection example of crimp terminals 200 V class/100 V class

The table below shows selection examples of a crimp terminal for a servo amplifier terminal block.

Recommended crimp terminals

Servo amplifier-side crimp terminals
Symbol Crimp terminal Applicable tool
Manufacturer
(Note 2) Body Head Dice
a FVD5.5-4 YNT-1210S
b
8-4NS YHT-8S
(Note 1)
c FVD2-4
YNT-1614
d FVD2-M3
e FVD1.25-M3 YNT-2216
DH-122
f FVD14-6 YF-1 YNE-38 JST
DH-112
(J.S.T. Mfg. Co., Ltd.)
g FVD5.5-6 YNT-1210S
DH-123
h FVD22-6 YF-1 YNE-38
DH-113
DH-124
i FVD38-8 YF-1 YNE-38
DH-114
j FVD5.5-8 YNT-1210S
YF-1 DH-121
k FVD8-6 YNE-38
E-4 DH-111

Note 1. Cover the crimped portion with an insulating tape.

2. Installation of a crimp terminal may be impossible depending on the size, so make sure to use the
recommended crimp terminal or one equivalent to it.

(2) Selection example of crimp terminals 400 V class

The table below shows selection examples of a crimp terminal for a servo amplifier terminal block.

Recommended crimp terminals

Servo amplifier-side crimp terminals
Symbol Crimp terminal Applicable tool Manufacturer
(Note) Body Head Dice
a FVD5.5-4 YNT-1210S
b FVD2-4
YNT-1614
c FVD2-M3
d FVD5.5-6 YNT-1210S
e FVD5.5-8 YNT-1210S JST
(J.S.T. Mfg. Co., Ltd.)
f FVD2-6 YNT-1614
g FVD8-6 DH-121
h FVD8-8 DH-111
YF-1 YNE-38
DH-122
i FVD14-8
DH-112

Note. Installation of a crimp terminal may be impossible depending on the size, so make sure to use the
recommended crimp terminal or one equivalent to it.

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Part 10: Review on Replacement of Optional Peripheral Equipment

4.3 Selection of Molded-Case Circuit Breaker, Fuse, and Magnetic Contactor (Example)

4.3.1 MR-J3 series, molded-case circuit breakers, fuses, and magnetic contactors

Select a molded-case circuit breaker with a short shut-off time to prevent smoking
and fire from the servo amplifier.
CAUTION Always use one molded-case circuit breaker and one magnetic contactor with one
servo amplifier.

When using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in
this section.

Molded-case circuit breakers, fuses, and magnetic contactors

Molded-case circuit breaker (Note 3) Fuse
Magnetic
Current
Servo amplifier Voltage Class Voltage contactor
Not using power factor Using power factor Current
AC (Note 1) AC (Note 2)
improving reactor improving reactor
MR-J3-10_(1) 30 A frame 5 A 30 A frame 5 A 10 A
MR-J3-20_ 30 A frame 5 A 30 A frame 5 A 10 A
MR-J3-20_1 30 A frame 10 A 30 A frame 10 A 15 A S-N10
MR-J3-40_ 30 A frame 10 A 30 A frame 5 A 15 A
MR-J3-60_/70_/100_/40_1 30 A frame 15 A 30 A frame 10 A 20 A
MR-J3-200_ 30 A frame 20 A 30 A frame 15 A 40 A S-N18
240 V 300 V
MR-J3-350_ 30 A frame 30 A 30 A frame 30 A 70 A S-N20
MR-J3-500_ 50 A frame 50 A 50 A frame 40 A 125 A S-N35
MR-J3-700_ 100 A frame 75 A 50 A frame 50 A 150 A S-N50
MR-J3-11K_ 100 A frame 100 A 100 A frame 75 A 200 A S-N65
MR-J3-15K_ 225 A frame 125 A 100 A frame 100 A T 250 A S-N95
MR-J3-22K_ 225 A frame 175 A 225 A frame 150 A 350 A S-N125
MR-J3-60_4 30 A frame 5 A 30 A frame 5 A 10 A
MR-J3-100_4 30 A frame 10 A 30 A frame 10 A 15 A S-N10
MR-J3-200_4 30 A frame 15 A 30 A frame 15 A 25 A
MR-J3-350_4 30 A frame 20 A 30 A frame 20 A 35 A
S-N18
MR-J3-500_4 30 A frame 30 A 30 A frame 30 A 600 Y/347 V 50 A 600 V
MR-J3-700_4 50 A frame 40 A 50 A frame 30 A 65 A S-N20
MR-J3-11K_4 60 A frame 60 A 50 A frame 50 A 100 A S-N25
MR-J3-15K_4 100 A frame 75 A 60 A frame 60 A 150 A S-N35
MR-J3-22K_4 225 A frame 125 A 100 A frame 100 A 175 A S-N65

Note 1. When not using the servo amplifier as a UL/CSA Standard compliant product, K5 class fuse can be used.
2. Be sure to use a magnetic contactor with an operation delay time of 80 ms or less.
3. Use a molded-case circuit breaker which has the same or more operation characteristics than our lineup.

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4.3.2 MR-J4 series, molded-case circuit breakers, fuses, and magnetic contactors (recommended)

(1) For main circuit power supply

Select a molded-case circuit breaker with a short shut-off time to prevent smoking
and fire from the servo amplifier.
Always use one molded-case circuit breaker and one magnetic contactor with one
CAUTION servo amplifier.
Since recommended products vary between MR-J3 and MR-J4, use the
recommended products of MR-J4-_.

When using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in
this section.

Molded-case circuit breakers, fuses, and magnetic contactors

Molded-case circuit breaker (Note 1) Fuse
Magnetic
Frame, rated current
Servo amplifier Voltage Current Voltage contactor
Power factor improving Power factor improving Class
AC [V] [A] AC [V] (Note 2)
reactor is not used reactor is used
MR-J4-10_(1)(-RJ)
30 A frame 5 A 30 A frame 5 A 10
MR-J4-20_(-RJ)
MR-J4-20_1(-RJ) 30 A frame 10 A 30 A frame 10 A
15
MR-J4-40_(-RJ) 30 A frame 10 A 30 A frame 5 A
MR-J4-60_(-RJ)
S-N10
MR-J4-70_(-RJ)
S-T10
MR-J4-40_1(-RJ) 30 A frame 15 A 30 A frame 10 A 20
MR-J4-100_(-RJ)
(3-phase power supply input)
MR-J4-100_(-RJ)
30 A frame 15 A 30 A frame 15 A 30
(1-phase power supply input) 240 300
S-N20
MR-J4-200_(-RJ) 30 A frame 20 A 30 A frame 20 A 40 (Note 3)
S-T21
S-N20
MR-J4-350_(-RJ) 30 A frame 30 A 30 A frame 30 A 70
S-T21
T
MR-J4-500_(-RJ) 50 A frame 50 A 50 A frame 50 A 125 S-N35
MR-J4-700_(-RJ) 100 A frame 75 A 60 A frame 60 A 150
S-N50
MR-J4-11K_(-RJ) 100 A frame 100 A 100 A frame 100 A 200
MR-J4-15K_(-RJ) 125 A frame 125 A 125 A frame 125 A 250 S-N65
MR-J4-22K_(-RJ) 225 A frame 175 A 225 A frame 175 A 350 S-N95
MR-J4-60_4(-RJ) 30 A frame 5 A 30 A frame 5 A 10
S-N10
MR-J4-100_4(-RJ) 30 A frame 10 A 30 A frame 5 A 15
S-T10
MR-J4-200_4(-RJ) 30 A frame 15 A 30 A frame 10 A 25
MR-J4-350_4(-RJ) 30 A frame 20 A 30 A frame 15 A 35 S-N20
(Note 3)
MR-J4-500_4(-RJ) 30 A frame 20 A 30 A frame 20 A 50
480 600 S-T21
S-N20
MR-J4-700_4(-RJ) 30 A frame 30 A 30 A frame 30 A 65
S-T21
MR-J4-11K_4(-RJ) 50 A frame 50 A 50 A frame 50 A 100 S-N25
MR-J4-15K_4(-RJ) 60 A frame 60 A 60 A frame 60 A 150 S-N35
MR-J4-22K_4(-RJ) 100 A frame 100 A 100 A frame 100 A 175 S-N50

Note 1. In order for the servo amplifier to comply with the UL/CSA standard, refer to the applicable "Servo amplifier instruction
manual".
2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less.
3. S-N18 can be used when auxiliary contact is not required.

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Part 10: Review on Replacement of Optional Peripheral Equipment

(2) For control circuit power supply

When the wiring for the control circuit power supply (L11, L21) is thinner than that for the main circuit
power supply (L1, L2, L3), install an overcurrent protection device (molded-case circuit breaker or fuse)
to protect the branch circuit.

Molded-case circuit breaker, fuse

Molded-case circuit breaker (Note) Fuse (Class T) Fuse (Class K5)
Servo amplifier
Frame, rated current Voltage AC [V] Current [A] Voltage AC [V] Current [A] Voltage AC [V]
MR-J4-10_(-RJ)
MR-J4-20_(-RJ)
MR-J4-40_(-RJ)
MR-J4-60_(-RJ)
MR-J4-70_(-RJ)
MR-J4-100_(-RJ)
MR-J4-200_(-RJ) 30 A frame 5 A 240 1 300 1 250
MR-J4-350_(-RJ)
MR-J4-500_(-RJ)
MR-J4-700_(-RJ)
MR-J4-11K_ (-RJ)
MR-J4-15K_(-RJ)
MR-J4-22K_(-RJ)
MR-J4-60_4(-RJ)
MR-J4-100_4(-RJ)
MR-J4-200_4(-RJ)
MR-J4-350_4(-RJ)
MR-J4-500_4(-RJ) 30 A frame 5 A 480 1 600 1 600
MR-J4-700_4(-RJ)
MR-J4-11K_4(-RJ)
MR-J4-15K_4(-RJ)
MR-J4-22K_4(-RJ)
MR-J4-10_1(-RJ)
MR-J4-20_1(-RJ) 30 A frame 5 A 240 1 300 1 250
MR-J4-40_1(-RJ)

Note. In order for the servo amplifier to comply with the UL/CSA standard, refer to each servo amplifier instruction manual.

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Part 10: Review on Replacement of Optional Peripheral Equipment

4.3.3 MR-J3W series, no-fuse breakers, fuses, magnetic contactors

Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier. When
using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this
section.
When using two different types of motors in combination from a rotary servo motor, a select a molded-case
circuit breaker, a fuse or a magnetic contactor temporarily assuming that the same type of the motors are
used for both axes. After selecting for the two types, use the larger molded-case circuit breaker, fuse or
magnetic contactor.
Molded-case circuit breaker Fuse
Current Magnetic
Total output of rotary servo motor Not using power Using power Voltage Class Current Voltage contactor
factor improving factor improving AC [V] (Note 1) [A] AC [V] (Note 2)
AC reactor AC reactor
300 W or less 30 A frame 5 A 30 A frame 5 A 15
From over 300 W to 600 W 30 A frame 10 A 30 A frame 10 A 20 S-N10
240 K5 300
From over 600 W to 1 kW 30 A frame 15 A 30 A frame 10 A 20
From over 1 kW to 2 kW 30 A frame 20 A 30 A frame 15 A 30 S-N18
Note 1. In order for the servo amplifier to comply with the UL/CSA standard, refer to the applicable "Servo amplifier instruction
manual".
2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less.

Servo amplifier Power supply specification Circuit protector (Note)

MR-J3W-0303BN6 Control circuit power supply (24 V DC) CP30-BA 1P 1-M 1A
Main circuit power supply (48 V DC) CP30-BA 1P 1-M 5A
Control circuit power supply/main circuit CP30-BA 1P 1-M 10A
power supply (24 V DC)

Note. For operation characteristics, use an intermediate speed type.

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Part 10: Review on Replacement of Optional Peripheral Equipment

4.3.4 MR-J4W2-_B servo amplifier, no-fuse breakers, fuses, magnetic contactors

Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier. When
using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this
section.
When using a combination of the rotary servo motor select a molded-case circuit breaker, a fuse or a
magnetic contactor tentatively, assuming one type of the servo motors are used for two axes. After the
tentative selections are made for all types of the servo motors, use the largest among all molded-case circuit
breakers, fuses, or magnetic contactors.

(1) For main circuit power supply

To prevent the servo amplifier from smoke and a fire, select a molded-case circuit
breaker which shuts off with high speed.
CAUTION Always use one molded-case circuit breaker and one magnetic contactor with one
servo amplifier.

(a) For MR-J4W2-_B

Molded-case circuit breaker
Fuse Magnetic
(Note 5, 6)
Total output of rotary servo motors Contactor
Voltage Class Current Voltage
Frame, rated current (Note 2)
AC [V] (Note 1) [A] AC [V]
300 W or less 50 A frame 5 A (Note 3) 15
S-N10
From over 300 W to 600 W 50 A frame 10 A (Note 3) 20
S-T10
From over 600 W to 1 kW 50 A frame 15 A (Note 3) 20
240 T 300
S-N20
From over 1 kW to 2 kW 50 A frame 20 A (Note 3) 30 (Note 4)
S-T21

Note 1. In order for the servo amplifier to comply with the UL/CSA standard, refer to the applicable "Servo amplifier
instruction manual".
2. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until
closure of contacts) of 80 ms or less.
3. When not using the servo amplifier as an EC/EN/UL/CSA standard compliant product, molded-case circuit breaker
of 30 A frame can be used.
4. S-N18 can be used when auxiliary contact is not required.
5. A molded-case circuit breaker will not change to select regardless of use of a power factor improving AC reactor.
6. Use a molded-case circuit breaker having the operation characteristics equal to or higher than Mitsubishi Electric
general-purpose products.

(2) For control circuit power supply

When the wiring for the control circuit power supply (L11/L21) is thinner than that for the main circuit
power supply (L1/L2/L3), install an overcurrent protection device (molded-case circuit breaker or fuse) to
protect the branch circuit.
Molded-case circuit breaker Fuse (Class T) Fuse (Class K5)
Servo amplifier
Frame, rated current Voltage AC [V] Current [A] Voltage AC [V] Current [A] Voltage AC [V]
MR-J4W2-22B
MR-J4W2-44B
50 A frame 5 A (Note) 240 1 300 1 250
MR-J4W2-77B
MR-J4W2-1010B

Note. When not using the servo amplifier as an EC/EN/UL/CSA standard compliant product, molded-case circuit breaker of 30 A
frame can be used.

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Part 10: Review on Replacement of Optional Peripheral Equipment

(3) DC 24 V/DC 48 V class servo amplifier

Servo amplifier Power supply specification Circuit protector (Note)
Control circuit power supply (24 V DC) CP30-BA 1P 1-M 1A
MR-J4W2-0303BN6 Main circuit power supply (48 V DC) CP30-BA 1P 1-M 5A
Main circuit power supply (24 V DC) CP30-BA 1P 1-M 10A

Note. For operation characteristics, use an intermediate speed type.

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Part 10: Review on Replacement of Optional Peripheral Equipment

5. BATTERY

POINT
Refer to each servo amplifier instruction manual for the replacement procedure
of the battery.
Disconnecting the encoder cable will erase the absolute position data. After
disconnecting the encoder cable, always execute home position setting and then
positioning operation.
The battery MR-J3BAT for MR-J3 series is unavailable because the voltage
specification of the battery differs from that for MR-J4 series.
The battery MR-BAT for MR-J3W series is unavailable because the voltage
specification of the battery differs from that for MR-J4 series.
The internal circuits of the servo amplifier may be damaged by static electricity.
Always take the following precautions.
Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical
parts, directly by hand.

Before replacing a battery, turn off the main circuit power and wait for 15 minutes
or longer (when 30 kW or more is used, 20 minutes or more) until the charge lamp
turns off. Then, check the voltage between P+ and N- with a voltage tester or
others. Otherwise, an electric shock may occur. In addition, when confirming
WARNING whether the charge lamp is off or not, always confirm it from the front of the servo
amplifier.
If [AL. 25 Absolute position erased] or [AL. E3 Absolute position counter warning]
has occurred, always perform home position setting again. Otherwise, it may
cause an unexpected operation.

5.1 Combinations of batteries and the servo amplifier

MR-J4 series MR-J3W MR-J4W2
MR-J3 series servo
Model Name Built-in battery MR-J4-_A_ MR-J4-_GF_
series amplifier
MR-J4-_B_
MR-J3BAT Battery (Note 2)
MR-BAT6V1SET Battery
MR-BAT6V1
MR-BAT6V1SET-A Battery (Note 3)
Battery
MR-BAT6V1BJ Battery for junction (Note 5)
battery cable
MR-BT6VCASE Battery case MR-BAT6V1 (Note 1) (Note 4)
MR-BTCASE Battery case MR-BAT (Note 1)

Note 1. Please purchase the battery separately.

2. It is available with MR-J3W-0303BN6.
3. It is available with MR-J4W2-0303B6.
4. MR-BT6VCASE cannot be used for MR-J4W2-0303B6 servo amplifiers.
5. For support with MR-J4-350GF4 (-RJ), contact your local sales office.

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5.2 MR-J3 series Battery

(1) Purpose of use for MR-J3BAT

This battery is used to construct an absolute position detection system. Refer to each servo amplifier
instruction manual for the fitting method, etc..

(2) Year and month when MR-J3BAT is manufactured

Production year and month of the MR-J3BAT are indicated in a serial number on the rating plate of the
battery back face.
The year and month of manufacture are indicated by the last one digit of the year and 1 to 9, X (10), Y
(11), Z (12).
For October 2004, the Serial No. is like, "SERIAL_4X_ _ _ _ _ _ ".

MELSERVO MR-J3BAT
3.6V,2000mAh
SERIAL 4X
MITSUBISHI ELECTRIC CORPORATION
MADE IN JAPAN

The year and month of manufacture

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Part 10: Review on Replacement of Optional Peripheral Equipment

5.3 MR-J4 series Battery

5.3.1 Battery replacement procedure

Model: MR-BAT6V1SET, MR-BAT6V1SET-A, MR-BAT6V1BJ, MR-BT6VCASE

Before replacing a battery, turn off the main circuit power and wait for 15 minutes
or longer until the charge lamp turns off. Then, check the voltage between P+ and
WARNING N- with a voltage tester or others. Otherwise, an electric shock may occur. In
addition, when confirming whether the charge lamp is off or not, always confirm it
from the front of the servo amplifier.

The internal circuits of the servo amplifier may be damaged by static electricity.
Always take the following precautions.
Ground your body and the work bench.
Do not touch the conductive areas, such as connector pins and electrical parts,
CAUTION directly by hand.
The built-in battery for the MR-BAT6V1BJ battery for junction battery cable cannot
be replaced. Therefore, do not disassemble the MR-BAT6V1BJ battery for
junction battery cable. Doing so may cause a malfunction.

POINT
When using the BAT6V1SET battery , the MR-BAT6V1SET-A and the MR-
BT6VCASE battery case are used
Replacing a battery with the control circuit power supply turned off will erase the
absolute position data.
When using the MR-BAT6V1BJ battery for junction battery cable
In order to prevent the absolute position data from being erased, replace the
MR-BAT6V1BJ battery for junction battery cable according to the procedure
described in each instruction manual.
Verify that the battery for replacement is within its service life.
Refer to each instruction manual for battery transportation and the new EU
Battery Directive.

Replace the old battery with only the control circuit power supply turned on. Replacing a battery with the
control circuit power supply turned on will cause [AL.9F.1 low battery] but will not erase the absolute position
data.
Refer to each servo amplifier instruction manual for the procedure for mounting the battery on the servo
amplifier.

MR-BAT6V1SET MR-BAT6V1SET-A

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Part 10: Review on Replacement of Optional Peripheral Equipment

POINT
Four types of batteries are used to construct the absolute position detection
system: MR-BAT6V1SET battery, MR-BAT6V1SET-A battery, MR-BAT6V1BJ
battery for junction battery cable, and MR-BT6VCASE battery case. The use of
the MR-BAT6V1BJ battery for junction battery cable has the following
characteristics distinctive from other batteries.
The encoder cable can be removed from the servo amplifier.
A battery can be replaced with the control circuit power supply turned off.
If the encoder lost the absolute position data, always perform home position
setting before operation. The encoder will lose the absolute position data in the
following cases. In addition, the absolute position data may be erased if the
battery is used outside of the specification.
When using the MR-BAT6V1SET battery, the MR-BAT6V1SET-A battery and
the MR-BT6VCASE battery case
Encoder cable is removed.
A battery is replaced with the control circuit power supply turned off.
When using the MR-BAT6V1BJ battery for junction battery cable
The connector and the cable are removed between the servo motor and the
battery.
A battery is replaced in a procedure different from the procedure described in
each instruction manual.
A single MR-BT6VCASE battery case can retain the absolute position data of up
to eight axes of servo motors.

5.3.2 When using the MR-BAT6V1SET battery and the MR-BAT6V1SET-A battery

(a) Battery connection

Connect according to the following figure.
The figure shows the case where the MR-BAT6V1SET battery is used.
Servo amplifier

Encoder cable
CN2
CN4

MR-BAT6V1SET
Servo motor

(b) Year and month of manufacture of battery

The manufacture date of an MR-BAT6V1 battery installed in MR-BAT6V1SET and MR-BAT6V1SET-
A is written on the name plate attached to the MR-BAT6V1 battery.

Rating plate 2CR17335A WK17

11-04
6V 1650mAh
The year and month of manufacture

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Part 10: Review on Replacement of Optional Peripheral Equipment

5.3.3 When using MR-BAT6V1BJ battery for junction battery cable

(a) Battery mounting

Connect the MR-BAT6V1BJ using the MR-BT6VCBL03M junction battery cable as follows.
Servo amplifier

MR-BT6VCBL03M Encoder cable

CN2
CN4

MR-BAT6V1BJ Black: Connector for branch cable

Orange: Connector for servo amplifier HG series servo motors

(b) Battery manufacture year and month

The manufacture year and month are described in the manufacturer's (SERIAL) number marked on
the rating name plate. The second digit of the manufacturer's number indicates the first digit of the
Christian Era and the third digit indicates the manufacture month (X for October, Y for November,
and Z for December). For example, November 2013 is indicated as "SERIAL:_3Y_ _ _ _ _ _".
Orange: Connector for servo amplifier

Case
Black: Connector for branch cable

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Part 10: Review on Replacement of Optional Peripheral Equipment

5.3.4 When using MR-BT6VCASE battery case

(a) Battery connection

Servo amplifier Servo amplifier Servo amplifier Servo amplifier

CN4
CN4 CN4 CN4
MR-BT6VCASE MR-BT6VCASE
CN10 CN10 MR-BT6V2CBL_M MR-BT6V2CBL_M

MR-BT6V1CBL_M MR-BT6V1CBL_M

Connection to a single unit of servo amplifier Connection to eight axes of servo amplifiers

A single MR-BT6VCASE battery case can retain the absolute position data of up to eight axes of
servo motors. Servo motors in the incremental system are included in the number of axes. Refer to
the following table for the number of connectable axes of each servo motor.
Servo motor Number of axes
Rotary servo motor 0 1 2 3 4 5 6 7 8

The battery case accommodates five connected batteries. The battery case contains no batteries.
Batteries need to be prepared separately.

(b) Battery manufacture year and month

The manufacture year and month of a MR-BAT6V1 to be housed in the MR-BT6VCASE battery case
is written on the name plate attached to the MR-BAT6V1 battery.

Rating plate 2CR17335A WK17

11-04
6V 1650mAh
The year and month of manufacture

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Part 10: Review on Replacement of Optional Peripheral Equipment

5.4 MR-J3W series Battery

5.4.1 MR-BTCASE battery case and MR-BAT battery

POINT
Refer to "Servo amplifier instruction manual" for battery transportation and the
new EU Battery Directive.
Always install eight MR-BAT batteries to an MR-BTCASE battery case.

These are used to configure an absolute position detection system. An MR-BTCASE battery case is a case
that stores eight MR-BAT batteries by connector connections. An MR-BTCASE battery case can be used by
four MR-J3W-B servo amplifiers (eight axes) at maximum. To connect an MR-BTCASE battery case to a
servo amplifier, the MR-J3BT1CBL_M battery cable is required. To connect multiple servo amplifiers to an
MR-BTCASE battery case, use the MR-J3BT2CBL_M junction battery cable. When using an MR-J3W-B
servo amplifier in the incremental system, MR-BTCASE and MR-BAT are not required.
Battery backup time (battery life without charging) is 30,000 hours for one servo amplifier (two axes) and
10,000 hours for four servo amplifiers (eight axes). Refer to servo amplifier instruction manual for the usage.
[Unit: mm]

25 Approx. 70 130
2- 5mounting hole
4.6 5

(Note)

Note. Leave this open.

Mass: 0.3 [kg]

Outline dimension drawing of MR-BTCASE Appearance of

MR-BAT

The next table shows model names of battery cables. The numbers in the Cable length column in the table
go into "_" of the cable model names.

Cable length
Cable model Fiex life Application / Remark
0.3 m 1m
MR-J3BT1CBL_M 03 1 Standard
MR-J3BT2CBL_M 03 1 Standard For junction

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5.5 MR-J4W2-_B servo amplifier, battery

POINT
Refer to "Servo amplifier instruction manual" for battery transportation and the
new EU Battery Directive.

This battery is used to construct an absolute position detection system. Refer to "Servo amplifier instruction
manual" for construction of the absolute position detection system.

5.5.1 MR-BT6VCASE battery case

POINT
Use an MR-BT6VCASE for 200 W or more MR-J4W_-_B servo amplifiers. MR-
BT6VCASE cannot be used for MR-J4W2-0303B6 servo amplifiers.
The battery unit consists of an MR-BT6VCASE battery case and five MR-
BAT6V1 batteries.
For the specifications and year and month of manufacture of MR-BAT6V1
battery, refer to "Servo amplifier instruction manual".

MR-BT6VCASE is a case used for connecting and mounting five MR-BAT6V1 batteries. A battery case does
not have any batteries. Please prepare MR-BAT6V1 batteries separately.

(1) The number of connected servo motors

One MR-BT6VCASE holds absolute position data up to eight axes servo motors.
Servo motors in the incremental system are included as the axis Nos. Refer to the following table. for the
number of connectable axes of each servo motor.

(2) Dimensions
[Unit: mm]

2- 5 mounting
hole 2-M4 screw
Approx. 5

Approx. 25
Approx. 70 130
25 4.6 5 5
5

Approx. 130
120 ± 0.5
130

120
5

Approx. 5

Mounting hole process drawing

Mounting screw
Screw size: M4

[Mass: 0.18 kg]

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Part 10: Review on Replacement of Optional Peripheral Equipment

(3) Battery mounting

POINT
One battery unit can be connected to up to 8-axis servo motors. Servo motors in
the incremental system are included as the axis Nos.
The MR-J4W_-_B servo amplifiers can be combined with MR-J4-_B_(-RJ) servo
amplifiers.

(a) When using 1-axis servo amplifier

Servo amplifier

CN1A
Cap
CN1B

CN4
MR-BT6VCASE
CN10

MR-BT6V1CBL_M

(b) When using up to 8-axis servo amplifiers

Servo amplifier Servo amplifier Servo amplifier
(First) (Second) (Last)

CN4 CN4 CN4

MR-BT6VCASE
CN10 MR-BT6V2CBL_M MR-BT6V2CBL_M

MR-BT6V1CBL_M

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Part 10: Review on Replacement of Optional Peripheral Equipment

(4) Battery replacement procedure

Before replacing a battery, turn off the main circuit power and wait for 15 minutes
or longer until the charge lamp turns off. Then, check the voltage between P+ and
WARNING N- with a voltage tester or others. Otherwise, an electric shock may occur. In
addition, when confirming whether the charge lamp is off or not, always confirm it
from the front of the servo amplifier.

The internal circuits of the servo amplifier may be damaged by static electricity.
Always take the following precautions.
CAUTION Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical parts,
directly by hand.

POINT
Replacing battery with the control circuit power off will erase the absolute
position data.
Before replacing batteries, check that the new battery is within battery life.

Replace the battery while only control circuit power is on. Replacing battery with the control circuit power
on triggers [AL. 9F.1 Low battery]. However, the absolute position data will not be erased.

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Part 10: Review on Replacement of Optional Peripheral Equipment

(a) Assembling a battery unit

Do not mount new and old batteries together.

CAUTION When you replace a battery, replace all batteries at the same time.

POINT
Always install five MR-BAT6V1 batteries to an MR-BT6VCASE battery case.

1) Required items
Product name Model Quantity Remark
Battery case MR-BT6VCASE 1 MR-BT6VCASE is a case used for connecting and
mounting five MR-BAT6V1 batteries.
Battery MR-BAT6V1 5 Lithium battery (primary battery, nominal + 6 V)

2) Disassembly and assembly of the battery case MR-BT6VCASE

a) Disassembly of the case
MR-BT6VCASE is shipped assembled. To mount MR-BAT6V1 batteries, the case needs to be
disassembled.

Threads
Remove the two screws using a
Phillips screwdriver.

Parts identification

BAT1

BAT2 BAT3

CON2

CON3
Cover BAT4 BAT5
Remove the cover. CON1

CON4

CON5

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Part 10: Review on Replacement of Optional Peripheral Equipment

b) Mounting MR-BAT6V1

Securely mount an MR-BAT6V1 to the BAT1 holder.

BAT1

Insert the MR-BAT6V1 connector mounted on BAT1

holder to CON1.
Confirm the click sound at this point.
The connector has to be connected in the right direction.
If the connector is pushed forcefully in the incorrect
CON1 direction, the connector will break.
Click Place the MR-BAT6V1 lead wire to the duct designed to
store lead wires.
Insert MR-BAT6V1 to the holder in the same procedure in
the order from BAT2 to BAT5.

Bring out the lead wire from the space between the ribs, and bend it as
shown above to store it in the duct. Connect the lead wire to the
connector. Be careful not to get the lead wire caught in the case or
other parts.
When the lead wire is damaged, external short circuit may occur, and
the battery can become hot.

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Part 10: Review on Replacement of Optional Peripheral Equipment

c) Assembly of the case

After all MR-BAT6V1 batteries are mounted, fit the cover and insert screws into the two holes
and tighten them. Tightening torque is 0.71 N•m.

POINT
When assembling the case, be careful not to get the lead wires caught in the
fitting parts or the screwing parts.

Threads

d) Precautions for removal of battery

The connector attached to the MR-BAT6V1 battery has the lock release lever. When removing
the connector, pull out the connector while pressing the lock release lever.

3) Battery cable removal

Pulling out the connector of the MR-BT6V1CBL and the MR-BT6V2CBL without
CAUTION the lock release lever pressed may damage the CN4 connector of the servo
amplifier or the connector of the MR-BT6V1CBL or MR-BT6V2CBL.

Battery cable

While pressing the lock release

lever, pull out the connector.

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Part 10: Review on Replacement of Optional Peripheral Equipment

5.5.2 MR-BAT6V1 battery

The MR-BAT6V1 battery is a primary lithium battery for replacing MR-BAT6V1SET-A and MR-BAT6V1SET
and a primary lithium battery built-in MR-BT6VCASE. Store the MR-BAT6V1 in the case to use.
The year and month of manufacture of MR-BAT6V1 battery have been described to the rating plate put on
an MR-BAT6V1 battery.

Rating plate 2CR17335A WK17

11-04
6V 1650mAh
The year and month of manufacture

Item Description
Battery pack 2CR17335A (CR17335A × 2 pcs. in series)
Nominal voltage [V] 6
Nominal capacity [mAh] 1650
Storage temperature [°C] 0 to 55
Operating temperature [°C] 0 to 55
Lithium content [g] 1.2
Mercury content Less than 1 ppm
Not subject to the dangerous goods (Class 9)
Dangerous goods class
Refer to app. 2 for details.
Operating humidity and
5 %RH to 90 %RH (non-condensing)
storage humidity
Battery life (Note) 5 years from date of manufacture
Mass [g] 34

Note. Quality of the batteries degrades by the storage condition. The battery life is 5 years from
the production date regardless of the connection status.

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Part 10: Review on Replacement of Optional Peripheral Equipment

5.5.3 MR-BAT6V1SET-A battery (MR-J4W2-0303B6 only)

POINT
Use MR-BAT6V1SET-A for MR-J4W2-0303B6 servo amplifier. The MR-
BAT6V1SET- A cannot be used for MR-J4W_-B servo amplifiers other than MR-
J4W2-0303B6.

(1) Parts identification and dimensions

[Unit: mm]
27.4 51

37.5
Case
Connector for servo amplifier

Mass: 55 [g] (including MR-BAT6V1 battery)

(2) Battery mounting

Connect as follows.
MR-J4W2-0303B6

CN4

MR-BAT6V1SET-A

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Part 10: Review on Replacement of Optional Peripheral Equipment

(3) Battery replacement procedure

(a) Installation procedure

Insert the connector of the battery

into CN4.

Insert the battery along the rails.

(b) Removal procedure

Pulling out the connector of the battery without the lock release lever pressed may
CAUTION damage the CN4 connector of the servo amplifier or the connector of the battery.

While pressing the lock release

lever, pull out the connector.

While pressing the lock release lever,

slide the battery case toward you.

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Part 10: Review on Replacement of Optional Peripheral Equipment

(4) Replacement procedure of the built-in battery

When the MR-BAT6V1SET-A reaches the end of its life, replace the built-in MR-BAT6V1 battery.
Tab 1) While pressing the locking part, open the cover.

Cover

2) Replace the battery with a new MR-BAT6V1 battery.

3) Press the cover until it is fixed with the projection of

the locking part to close the cover.

Projection
(four places)

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Part 10: Review on Replacement of Optional Peripheral Equipment

6. EMC FILTER (RECOMMENDED)

6.1 MR-J3/MR-J3W/MR-J4 series EMC Filter (recommended) (100 V/200 V/400 V class)

It is recommended that one of the following filters be used to comply with EN EMC directive. Some EMC
filters have large in leakage current.
When using an EMC filter, always use one for each servo amplifier.

Combination with the servo amplifier

Recommended filter (Soshin Electric)
Servo amplifier Rated voltage Leakage current Mass [kg]
Model Rated current [A]
[V AC] [mA]
MR-J3-10_ to MR-J3-100_
MR-J3-10_1 to MR-J3-40_1
MR-J4-10_(-RJ) to MR-J4-100_(-RJ) HF3010A-UN
MR-J4-10_1(-RJ) to MR-J4-40_1(-RJ) (Note)
10 3.5
MR-J3W-22B/MR-J3W-44B
MR-J4W2-22B
HF3010A-UN2
MR-J4W2-44B
(Note) 5
MR-J3-200_N/MR-J3-350_
MR-J4-200_(-RJ)
MR-J4-350_(-RJ)
HF3030A-UN
MR-J3W-77B 30 5.5
(Note)
MR-J3W-1010B Max. 250
MR-J4W2-77B
MR-J4W2-1010B
MR-J3-500_
MR-J3-700_ HF3040A-UN
40 6
MR-J4-500_(-RJ) (Note)
6.5
MR-J4-700_(-RJ)
MR-J3-11K_ to MR-J3-22K_ HF3100A-UN
100 12
MR-J4-11K_(-RJ) to MR-J4-22K_(-RJ) (Note)
MR-J3-DU30K_
MR-J3-DU37K_ HF3200A-UN
200 9 18
MR-J4-DU30K_ (Note)
MR-J4-DU37K_
MR-J3-60_4
MR-J3-100_4 5
TF3005C-TX
MR-J4-60_4(-RJ)
6
MR-J4-100_4(-RJ)
MR-J3-200_4 to MR-J3-700_4
TF3020C-TX 20
MR-J4-200_4(-RJ) to MR-J4-700_4(-RJ)
MR-J3-11K_4
TF3030C-TX 30 Max. 500 5.5 7.5
MR-J4-11K_4(-RJ)
MR-J3-15K_4
TF3040C-TX 40
MR-J4-15K_4(-RJ)
12.5
MR-J3-22K_4
TF3060C-TX 60
MR-J4-22K_4(-RJ)
MR-J3-DU30K_4 to MR-J3-DU55K_4
TF3150C-TX 150 31
MR-J4-DU30K_4 to MR-J4-DU55K_4

Note. This surge protector is separately required to use any of these EMC filters.

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Part 10: Review on Replacement of Optional Peripheral Equipment

6.1.1 Connection example

(1) MR-J3/MR-J3W series

EMC filter Servo amplifier

NFB MC
1 4 L1
(Note 1)
Power supply 2 5 L2
3 6 L3

E L11
L21

1 (Note 2)
Surge protector 1
2 (RAV-781BYZ-2)
3 (OKAYA Electric Industries Co., Ltd.)

(Note 2)
1 2 3 Surge protector 2
(RAV-781BXZ-4)
(OKAYA Electric Industries Co., Ltd.)

Note 1. For 1-phase 200 to 230V AC power supply, connect the power supply to L1, L2
and leave L3 open.
There is no L3 for 1-phase 100 to 120 V AC power supply.
2. The example is when a surge protector is connected.

(2) MR-J4 series 200 V/100 V class

EMC filter Servo amplifier
MCCB MC
1 4 L1
(Note 1)
Power supply 2 5 L2
3 6 L3
E L11
L21

1 2 3 (Note 2)
Surge protector

Note 1. For 1-phase 200 to 240V AC power supply, connect the power supply to L1, L3
and leave L2 open.
There is no L2 for 1-phase 100 to 120 V AC power supply.
2. The example is when a surge protector is connected.

(3) MR-J4 series 400 V class

EMC filter
EMCフィルタ Servo
サーボアンプamplifier

MCCB MC
1 4 L1
電源
Power supply 2 5 L2
3 6 L3
E L11
L21

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Part 10: Review on Replacement of Optional Peripheral Equipment

6.1.2 Dimensions

(1) EMC filter

HF3010A-UN/HF3010A-UN2
[Unit: mm]
3-M4 4-5.5 × 7 3-M4 M4

32 ± 2

110 ± 4
85 ± 2
IN
Approx. 41
258 ± 4
65 ± 4
273 ± 2
288 ± 4
300 ± 5

HF3030A-UN/HF3040A-UN
[Unit: mm]
6-R3.25 length: 8

3-M5 3-M5
125 ± 2
140 ± 1
155 ± 2
44 ± 1

M4

85 ± 1 85 ± 1 70 ± 2

210 ± 2 140 ± 2
260 ± 5

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Part 10: Review on Replacement of Optional Peripheral Equipment

HF3100A-UN
[Unit: mm]

2-6.5 × 8 2-φ6.5
M8
M8

145 ± 1
165 ± 3
380 ± 1 M6
400 ± 5

160 ± 3
TF3005C-TX/TF3020C-TX/TF3030C-TX
[Unit: mm]
3-M4 6-R3.25 length8 M4 M4 3-M4
M4
Approx. 12.2

125 ± 2
140 ± 1
155 ± 2
16 16

IN

Approx. 67.5
100 ± 1 100 ± 1 ±3

290 ± 2 150 ± 2

308 ± 5 Approx. 160

332 ± 5 170 ± 5

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Part 10: Review on Replacement of Optional Peripheral Equipment

TF3040C-TX/TF3060C-TX
[Unit: mm]

8-R3.25 Length 8 (for M6)

3-M6 M4 M4 3-M6
M6
Approx. 17

145 ± 2
160 ± 1
175 ± 2
22 22

IN
Approx.
100 ± 1 100 ± 1 100 ± 1 91.5

390 ± 2 180 ± 2

412 ± 5 Approx. 190

438 ± 5 200 ± 5

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Part 10: Review on Replacement of Optional Peripheral Equipment

(2) Surge protector

RAV-781BYZ-2 [Unit: mm]

5.5 1

11 1
4.2 0.2

1) 2) 3)

28.5 1.0
Black Black Black

UL-1015AWG16

30
0
200
1 2 3

4.5 0.5
28 1.0

41 1.0

RAV-781BXZ-4 [Unit: mm]

5.5 1

11 1

4.2 0.2
28.5 1.0

① ② ③ ④

UL-1015AWG16
30
0
200

1 2 3
4.5 0.5
28 1.0

41 1.0

RSPD-250-U4 [Unit: mm]

5.5 ± 1

11 ± 1

φ4.2 ± 0.5
28.5 ± 1

Resin
1 2 3

Lead
+30
0
200

1 2 3
4.5 ± 0.5
28 ± 1

Case

41 ± 1

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Part 10: Review on Replacement of Optional Peripheral Equipment

7. POWER FACTOR IMPROVING DC REACTOR/POWER FACTOR IMPROVING AC REACTOR

7.1 MR-J3 series Power Factor Improving DC Reactor

POINT
For the 100V AC power supply type (MR-J3-_A1) and MR-J3W series, the
power factor improving DC reactor cannot be used.

The power factor improving DC reactor increases the form factor of the servo amplifier's input current to
improve the power factor. It can decrease the power supply capacity. As compared to the power factor
improving AC reactor (FR-BAL-(H)), it can decrease the loss. The input power factor is improved to about 95 .
It is also effective to reduce the input side harmonics.
When connecting the power factor improving DC reactor to the servo amplifier, always disconnect P1 and P2
(For 11k to 22kW, disconnect P1 and P). If it remains connected, the effect of the power factor improving DC
reactor is not produced.
When used, the power factor improving DC reactor generates heat. To release heat, therefore, leave a 10 cm
or more clearance at each of the top and bottom, and a 5 cm or more clearance on each side.

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Part 10: Review on Replacement of Optional Peripheral Equipment

Rating plate Terminal box - screw size G Rating plate (Note 1) Terminal cover
Screw size G
Servo amplifier

C or less
FR-BEL-(H)
P1 Servo amplifier

C or less
(Note 2)
FR-BEL-(H)
P2
P1
(Note 2) (No te 3)
5 m or less P2
D

E H
A or less B or less 5 m or less
2-F L notch E H

D
A or less B or less
L

F Mounting leg 2-F L notch

L
F Mounting leg

Fig. 10.1 Fig. 10.2

Note 1. Since the terminal cover is supplied, attach it after connecting a wire.
2. When using power factor improving DC reactor, disconnect P1 and P2.
3. When 11k to 22kW, "P2" becomes "P", respectively.

Power factor Dimensions [mm]

Outline Mounting Mass Wire [mm2]
Servo amplifier improving DC
drawing A B C D E F L G H screw size [kg (lb)] (Note)
reactor
MR-J3-10_
FR-BEL-0.4K 110 50 94 1.6 95 6 12 M3.5 25 M5 0.5
MR-J3-20_
MR-J3-40_ FR-BEL-0.75K 120 53 102 1.6 105 6 12 M4 25 M5 0.7
MR-J3-60_
FR-BEL-1.5K 130 65 110 1.6 115 6 12 M4 30 M5 1.1 2 (AWG14)
MR-J3-70_ Fug. 10.1
MR-J3-100_ FR-BEL-2.2K 130 65 110 1.6 115 6 12 M4 30 M5 1.2
MR-J3-200_ FR-BEL-3.7K 150 75 102 2.0 135 6 12 M4 40 M5 1.7
MR-J3-350_ FR-BEL-7.5K 150 75 126 2.0 135 6 12 M5 40 M5 2.3 3.5 (AWG12)
MR-J3-500_ FR-BEL-11K 170 93 132 2.3 155 6 14 M5 50 M5 3.1 5.5 (AWG10)
MR-J3-700_ 8 (AWG8)
FR-BEL-15K 170 93 170 2.3 155 6 14 M8 56 M5 3.8
MR-J3-11K_ 22 (AWG4)
Fug. 10.2
MR-J3-15K_ FR-BEL-22K 185 119 182 2.6 165 7 15 M8 70 M6 5.4 30 (AWG2)
MR-J3-22K_ FR-BEL-30K 185 119 201 2.6 165 7 15 M8 70 M6 6.7 60 (AWG2/0)
MR-J3-60_4 FR-BEL-H1.5K 130 63 89 1.6 115 6 12 M3.5 32 M5 0.9
MR-J3-100_4 FR-BEL-H2.2K 130 63 101 1.6 115 6 12 M3.5 32 M5 1.1
2 (AWG14)
MR-J3-200_4 FR-BEL-H3.7K Fug. 10.1 150 75 102 2 135 6 12 M4 40 M5 1.7
MR-J3-350_4 FR-BEL-H7.5K 150 75 124 2 135 6 12 M4 40 M5 2.3
MR-J3-500_4 FR-BEL-H11K 170 93 132 2.3 155 6 14 M5 50 M5 3.1 5.5 (AWG10)
MR-J3-700_4
FR-BEL-H15K 170 93 160 2.3 155 6 14 M6 56 M5 3.7 8 (AWG8)
MR-J3-11K_4
Fug. 10.2
MR-J3-15K_4 FR-BEL-H22K 185 119 171 2.6 165 7 15 M6 70 M6 5.0
22 (AWG4)
MR-J3-22K_4 FR-BEL-H30K 185 119 189 2.6 165 7 15 M6 70 M6 6.7

Note. Selection condition of wire size is as follows.

Wire type: 600 V Polyvinyl chloride insulated wire (IV wire)
Construction condition: One wire is constructed in the air

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Part 10: Review on Replacement of Optional Peripheral Equipment

Terminal block (M3.5 screw)

For thermal sensor Terminal screw
Terminal cover
P1 P2

H or less
X 1.5
1.5
Approx. W1
Mounting hole
D or less for M8 W or less

Power factor improving Dimensions [mm] Terminal Mass

Drive unit
DC reactor W D H W1 X screw [kg (lb)]
MR-J3-DU30K_ MR-DCL30K 9.5
255 215 80 232 M12
MR-J3-DU37K_ MR-DCL37K (20.94)
6.5
MR-J3-DU30K_4 MR-DCL30K-4 205 75 175
(14.33)
7
MR-J3-DU37K_4 MR-DCL37K-4 135 225 200 197
(15.43)
M8
7.5
MR-J3-DU45K_4 MR-DCL45K-4 240 80 212
(16.54)
9.5
MR-J3-DU55K_4 MR-DCL55K-4 260 215 232
(20.94)

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Part 10: Review on Replacement of Optional Peripheral Equipment

7.2 MR-J3/MR-J3W series Power Factor Improving AC Reactor

The power factor improving reactors improve the phase factor by increasing the form factor of servo
amplifier's input current.
It can reduce the power capacity.
The input power factor is improved to be about 90%. For use with a 1-phase power supply, it may be slightly
lower than 90%.
In addition, it reduces the higher harmonic of input side.
When using power factor improving AC reactors for two or more servo amplifiers, be sure to connect a power
factor improving AC reactor to each servo amplifier.
If using only one power factor improving AC reactor, enough improvement effect of phase factor cannot be
obtained unless all servo amplifiers are operated.
Servo amplifier
3-phase 200 V class
or
3-phase 400 V class
FR-BAL-(H)
MCCB MC R X
3-phase L1
200 to 230 V AC S Y
or L2
H±5

3-phase T Z
380 to 480 V AC L3

Servo amplifier
1-phase 200 V class
FR-BAL
W MCCB MC R X
D1 (Note) L1
Installation screw 1-phase S Y
200 to 230 V AC L2
T Z
L3
D±5

RX S Y T Z
Servo amplifier
C W1 1-phase 100 V class
FR-BAL
MCCB MC R X
1-phase L1
100 to 120 V AC S Y
Blank
T Z Z
L2

Note. For the 1-phase 200 to 230 V AC power supply, Connect the power supply to L1, L2 and leave L3 open.

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Part 10: Review on Replacement of Optional Peripheral Equipment

MR-J3 series
Power factor Dimensions [mm] Mounting Terminal Mass
Servo amplifier improving AC
W W1 H D D1 C screw size screw size [kg (lb)]
reactor
MR-J3-10_
0
MR-J3-10_1 FR-BAL-0.4K 135 120 115 59 45 -2.5 7.5 M4 M3.5 2.0
MR-J3-20_
MR-J3-20_1 0
FR-BAL-0.75K 135 120 115 69 57 -2.5 7.5 M4 M3.5 2.8
MR-J3-40_
MR-J3-40_1
0
MR-J3-60_ FR-BAL-1.5K 160 145 140 71 55 -2.5 7.5 M4 M3.5 3.7
MR-J3-70_
0
MR-J3-100_ FR-BAL-2.2K 160 145 140 91 75 -2.5 7.5 M4 M3.5 5.6
0
MR-J3-200_ FR-BAL-3.7K 220 200 192 90 70 -2.5 10 M5 M4 8.5
0
MR-J3-350_ FR-BAL-7.5K 220 200 194 120 100 -2.5 10 M5 M5 14.5
0
MR-J3-500_ FR-BAL-11K 280 255 220 135 100 -2.5 12.5 M6 M6 19
MR-J3-700_ 0
FR-BAL-15K 295 270 275 133 110 -2.5 12.5 M6 M6 27
MR-J3-11K_
MR-J3-15K_ FR-BAL-22K 290 240 301 199 170±5 25 M8 M8 35
MR-J3-22K_ FR-BAL-30K 290 240 301 219 190±5 25 M8 M8 43
0
MR-J3-60_4 FR-BAL-H1.5K 160 145 140 87 70 -2.5 7.5 M4 M3.5 5.3
0
MR-J3-100_4 FR-BAL-H2.2K 160 145 140 91 75 -2.5 7.5 M4 M3.5 5.9
0
MR-J3-200_4 FR-BAL-H3.7K 220 200 190 90 70 -2.5 10 M5 M3.5 8.5
MR-J3-350_4 FR-BAL-H7.5K 220 200 192 120 100±5 10 M5 M4 14
MR-J3-500_4 FR-BAL-H11K 280 255 226 130 100±5 12.5 M6 M5 18.5
MR-J3-700_4
FR-BAL-H15K 295 270 244 130 110±5 12.5 M6 M5 27
MR-J3-11K_4
Approx.
MR-J3-15K_4 FR-BAL-H22K 290 240 269 199 170±5 25 M8 M8
35
Approx.
MR-J3-22K_4 FR-BAL-H30K 290 240 290 219 190±5 25 M8 M8
43

MR-J3W series
Power factor Dimensions [mm] Mounting Terminal
Mass
Total output of rotary servo motor improving AC screw screw
W W1 H D D1 C [kg (lb)]
reactor size size
2.0
300 W or less FR-BAL-0.4K 135 120 115 59 45 7.5 M4 M3.5
(4.41)
2.8
From over 300 W to 450 W FR-BAL-0.75K 135 120 115 69 57 7.5 M4 M3.5
(6.17)
3.7
From over 450 W to 600 W FR-BAL-1.5K 160 145 140 71 55 7.5 M4 M3.5
(8.16)
5.6
From over 600 W to 1 kW FR-BAL-2.2K 160 145 140 91 75 7.5 M4 M3.5
(12.35)
0 8.5
From over 1 kW to 2.0 kW FR-BAL-3.7K 220 200 192 90 70 10 M5 M4
2.5
(18.74)

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7.3 MR-J4 series Power factor improving DC reactors 200 V class

POINT
For the 100 V AC power supply type (MR-J4-_A1(-RJ)) and MR-J4W2 series,
the power factor improving DC reactor cannot be used.

The following shows the advantages of using power factor improving DC reactor.
It improves the power factor by increasing the form factor of the servo amplifier's input current.
It decreases the power supply capacity.
The input power factor is improved to be about 85%.
As compared to the power factor improving AC reactor (FR-HAL-(H)), it decreases the loss.
When connecting the power factor improving DC reactor to the servo amplifier, always disconnect P3 and
P4. If it remains connected, the effect of the power factor improving DC reactor is not produced.
When used, the power factor improving DC reactor generates heat. To release heat, therefore, leave a 10
cm or more clearance at each of the top and bottom, and a 5 cm or more clearance on each side.

2-d mounting hole

(Varnish is removed from right mounting 4-d mounting hole
hole (face and back side).) (Note 1) (Varnish is removed from front right mounting
hole (face and back side).) (Note 1)

D or less D or less

D3
P P1
P P1
H
H

W1 D2
W±2 D1
W1
W±2
Fig. 10.3 Fig. 10.4

Servo amplifier
FR-HEL
4-d mounting hole (Note 1) P3
(Note 2)
D or less P4
D3 or less
5 m or less
H±2

W1 D2
W±2 D1 ± 2
Fig. 10.5

Note 1. Use this for grounding.

2. When using the Power factor improving DC reactor, remove the short bar across P3-P4.

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Power factor Dimensions [mm]

Outline Termin Mass Wire [mm2]
Servo amplifier improving DC D
drawing W W1 H D1 D2 D3 d al size [kg] (Note 2)
reactor (Note 1)
MR-J4-10_(-RJ)
FR-HEL-0.4K 70 60 71 61 21 M4 M4 0.4
MR-J4-20_(-RJ)
MR-J4-40_(-RJ) FR-HEL-0.75K 85 74 81 61 21 M4 M4 0.5
Fig. 10.3
MR-J4-60_(-RJ) 2 (AWG 14)
FR-HEL-1.5K 85 74 81 70 30 M4 M4 0.8
MR-J4-70_(-RJ)
MR-J4-100_(-RJ) FR-HEL-2.2K 85 74 81 70 30 M4 M4 0.9
MR-J4-200_(-RJ) FR-HEL-3.7K 77 55 92 82 66 57 37 M4 M4 1.5
3.5 (AWG
MR-J4-350_(-RJ) FR-HEL-7.5K 86 60 113 98 81 72 43 M4 M5 2.5
12)
5.5 (AWG
MR-J4-500_(-RJ) FR-HEL-11K 105 64 133 112 92 79 47 M6 M6 3.3
Fig. 10.4 10)
MR-J4-700_(-RJ) FR-HEL-15K 105 64 133 115 97 84 48.5 M6 M6 4.1 8 (AWG 8)
MR-J4-11K_(-RJ) FR-HEL-15K 105 64 133 115 97 84 48.5 M6 M6 4.1 14 (AWG 6)
115
MR-J4-15K_(-RJ) FR-HEL-22K 105 64 93 175 117 104 M6 M10 5.6 22 (AWG 4)
(Note 1)
135
MR-J4-22K_(-RJ) FR-HEL-30K Fig. 10.5 114 72 100 200 125 101 M6 M10 7.8 38 (AWG 2)
(Note 1)

Note 1. Maximum dimensions. The dimension varies depending on the input/output lines.
2. Selection conditions of wire size are as follows.
Wire type: 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire)
Construction condition: Single wire set in midair

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7.4 MR-J4 series Power factor improving DC reactors 400 V class

The following shows the advantages of using power factor improving DC reactor.
It improves the power factor by increasing the form factor of the servo amplifier's input current.
It decreases the power supply capacity.
The input power factor is improved to be about 85%.
As compared to the power factor improving AC reactor (FR-HAL-(H)), it decreases the loss.
When connecting the power factor improving DC reactor to the servo amplifier, always disconnect P3 and
P4. If it remains connected, the effect of the power factor improving DC reactor is not produced.
When used, the power factor improving DC reactor generates heat. To release heat, therefore, leave a 10
cm or more clearance at each of the top and bottom, and a 5 cm or more clearance on each side.

4-d mounting hole (Note 1) 4-d mounting hole (Note 1)

D or less D or less
(D3) (D3)
P P1 P P1

H ± 2.5
H ± 2.5

W1 D2
W1 D2 W ± 2.5 D1 ± 1
W ± 2.5 D1 ± 1

Fig. 10.6 Fig. 10.7

4-d mounting hole (Note 1)

D or less
(D3) Servo amplifier
P P1 FR-HEL
P3
(Note 2)
P4

5 m or less
H ± 2.5

6
W1 D2
W ± 2.5 D1 ± 1

Fig. 10.8
Note 1. Use this for grounding.
2. When using the power factor improving DC reactor, remove the short bar across P3 and P4.

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Part 10: Review on Replacement of Optional Peripheral Equipment

Power factor Dimensions [mm]

Outline Terminal Mass Wire [mm2]
Servo amplifier improving DC
drawing W W1 H D D1 D2 D3 d size [kg] (Note)
reactor
MR-J4-60_4(-RJ) FR-HEL-H1.5K 66 50 100 80 74 54 37 M4 M3.5 1.0 2 (AWG 14)
Fig. 10.6
MR-J4-100_4(-RJ) FR-HEL-H2.2K 76 50 110 80 74 54 37 M4 M3.5 1.3 2 (AWG 14)
MR-J4-200_4(-RJ) FR-HEL-H3.7K 86 55 120 95 89 69 45 M4 M4 2.3 2 (AWG 14)
MR-J4-350_4(-RJ) FR-HEL-H7.5K Fig. 10.7 96 60 128 105 100 80 50 M5 M4 3.5 2 (AWG 14)
MR-J4-500_4(-RJ) FR-HEL-H11K 105 75 137 110 105 85 53 M5 M5 4.5 3.5 (AWG 12)
MR-J4-700_4(-RJ) 5.5 (AWG 10)
FR-HEL-H15K 105 75 152 125 115 95 62 M5 M6 5.0
MR-J4-11K_4(-RJ) 8 (AWG 8)
Fig. 10.8
MR-J4-15K_4(-RJ) FR-HEL-H22K 133 90 178 120 95 75 53 M5 M6 6.0 8 (AWG 8)
MR-J4-22K_4(-RJ) FR-HEL-H30K 133 90 178 120 100 80 56 M5 M6 6.5 14 (AWG 6)

Note. Selection conditions of wire size are as follows.

Wire type: 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV wire)
Construction condition: Single wire set in midair

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7.5 MR-J4 series Power factor improving AC reactors 200 V/100 V class

The following shows the advantages of using power factor improving AC reactor.
It improves the power factor by increasing the form factor of the servo amplifier's input current.
It decreases the power supply capacity.
The input power factor is improved to be about 80%.
When using power factor improving reactors for two servo amplifiers or more, be sure to connect a power
factor improving reactor to each servo amplifier. If using only one power factor improving reactor, enough
improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated.
When using the MR-J4W2-_B servo amplifier together with the rotary servo motor, select a power factor
improving AC reactor tentatively, assuming one type of the servo motors are used for 2 axes. After the
tentative selections are made for all types of the servo motors, use the largest among all power factor
improving AC reactors.
Servo amplifier
Terminal layout 3-phase 200 V class
R X S Y T Z FR-HAL
MCCB MC R X
4-d mounting hole L1
(Varnish is removed from front right mounting 3-phase S Y
hole (face and back side).) (Note 1) 200 V AC to L2
240 V AC T Z
L3
D or less
Servo amplifier
1-phase 200 V class
FR-HAL
MCCB MC R X
(Note) L1
1-phase S Y
200 V AC to L2
240 V AC T Z
H

L3

Servo amplifier
1-phase 100 V class
FR-HAL
MCCB MC R X
W1 D2 L1
1-phase
W or less (Note 2) 100 V AC to S Y
D1 Unassigned
120 V AC
T Z
L2

Fig. 10.9
Note 1. Use this hole for grounding. Note. For 1-phase 200 V AC to 240 V AC, connect the power
2. W ± 2 is applicable for FR-HAL-0.4K to FR-HAL-1.5K. supply to L1 and L3. Leave L2 open.

Terminal layout
R X S Y T Z
4-d mounting hole
(Varnish is removed from front right mounting
hole (face and back side).) (Note)

4-d mounting hole (Note)

D or less D or less

R S T
H±5
H

X Y Z

W1 D2 W1 D2
W±2 D1 D1 ± 2
W or less

Fig. 10.10 Fig. 10.11

Note. Use this hole for grounding. Note. Use this for grounding.

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Part 10: Review on Replacement of Optional Peripheral Equipment

Power factor Dimensions [mm]

Outline Terminal Mass
Servo amplifier improving AC D
drawing W W1 H D1 D2 d size [kg]
reactor (Note)
MR-J4-10_(-RJ)
MR-J4-20_(-RJ) FR-HAL-0.4K 104 84 99 72 51 40 M5 M4 0.6
MR-J4-10_1(-RJ)
MR-J4-40_(-RJ)
FR-HAL-0.75K 104 84 99 74 56 44 M5 M4 0.8
MR-J4-20_1(-RJ)
MR-J4-60_(-RJ)
Fig. 10.9
MR-J4-70_(-RJ) FR-HAL-1.5K 104 84 99 77 61 50 M5 M4 1.1
MR-J4-40_1(-RJ)
115
MR-J4-100_(-RJ) FR-HAL-2.2K 40 115 77 71 57 M6 M4 1.5
(Note)
115
MR-J4-200_(-RJ) FR-HAL-3.7K 40 115 83 81 67 M6 M4 2.2
(Note)
MR-J4-350_(-RJ) FR-HAL-7.5K 130 50 135 100 98 86 M6 M5 4.2
MR-J4-500_(-RJ) FR-HAL-11K 160 75 164 111 109 92 M6 M6 5.2
MR-J4-700_(-RJ) FR-HAL-15K 160 75 167 126 124 107 M6 M6 7.0
Fig. 10.10
MR-J4-11K_(-RJ) FR-HAL-15K 160 75 167 126 124 107 M6 M6 7.0
185
MR-J4-15K_(-RJ) FR-HAL-22K 75 150 158 100 87 M6 M8 9.0
(Note)
185
MR-J4-22K_(-RJ) FR-HAL-30K Fig. 10.11 75 150 168 100 87 M6 M10 9.7
(Note)

Note. Maximum dimensions. The dimension varies depending on the input/output lines.

(1) For MR-J4W2-_B servo amplifier

Total output of rotary servo Power factor improving AC
motors reactor
450 W or less FR-HAL-0.75K
From over 450 W to 600 W FR-HAL-1.5K
From over 600 W to 1 kW FR-HAL-2.2K
From over 1 kW to 2.0 kW FR-HAL-3.7K

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Part 10: Review on Replacement of Optional Peripheral Equipment

7.6 MR-J4 series Power factor improving AC reactors 400 V class

The following shows the advantages of using power factor improving AC reactor.
It improves the power factor by increasing the form factor of the servo amplifier's input current.
It decreases the power supply capacity.
The input power factor is improved to be about 80%.
When using power factor improving reactors for two servo amplifiers or more, be sure to connect a power
factor improving reactor to each servo amplifier. If using only one power factor improving reactor, enough
improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated.
4-d mounting hole (Note)
(φ5 groove)

R X S Y T Z

D or less Servo amplifier

3-phase
400 V class
FR-HAL-H
MCCB MC R X
L1
3-phase S Y
380 V AC to L2
480 V AC T Z
H±5

L3

W1 D2
W ± 0.5 D1

Fig. 10.15

R X S Y T Z

R X S Y T Z
4-d mounting hole (Note)
4-d mounting hole (Note)
(φ6 groove)
(φ8 groove)
150 D or less
125 D or less
H±5
H±5

180

W1 D2 W1 D2
W ± 0.5 D1 W ± 0.5 D1

Fig. 10.16 Fig. 10.17

Note. Use this for grounding.

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Part 10: Review on Replacement of Optional Peripheral Equipment

Power factor Dimensions [mm]

Outline Terminal Mass
Servo amplifier improving AC D
drawing W W1 H D1 D2 d size [kg]
reactor (Note)
MR-J4-60_4(-RJ) FR-HAL-H1.5K 135 120 115 59 59.6 45 M4 M3.5 1.5
MR-J4-100_4(-RJ) FR-HAL-H2.2K Fig. 10.15 135 120 115 59 59.6 45 M4 M3.5 1.5
MR-J4-200_4(-RJ) FR-HAL-H3.7K 135 120 115 69 70.6 57 M4 M3.5 2.5
MR-J4-350_4(-RJ) FR-HAL-H7.5K 160 145 142 91 91 75 M4 M4 5.0
MR-J4-500_4(-RJ) FR-HAL-H11K 160 145 146 91 91 75 M4 M5 6.0
Fig. 10.16
MR-J4-700_4(-RJ)
FR-HAL-H15K 220 200 195 105 90 70 M5 M5 9.0
MR-J4-11K_4(-RJ)
MR-J4-15K_4(-RJ) FR-HAL-H22K 220 200 215 170 90 70 M5 M8 9.5
Fig. 10.17
MR-J4-22K_4(-RJ) FR-HAL-H30K 220 200 215 170 96 75 M5 M8 11

Note. Maximum dimensions. The dimension varies depending on the input/output lines.

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Part 10: Review on Replacement of Optional Peripheral Equipment

8. SETUP SOFTWARE (SETUP221E)

8.1 MR-J3/MR-J3W series Setup Software (SETUP221E)

The Setup Software (MRZJW3-SETUP221E) uses the communication function of the servo amplifier to
perform parameter setting changes, graph display, test operation, etc. on a personal computer.

* MR Configurator2 (SW1DNC-MRC2-E) is available for the MR-J3/MR-J3W series.

8.1.1 Specifications

Item Description
The following table shows Setup Software (SETUP221E) software version for each servo amplifier.

Compatible servo amplifier (Drive unit)

Version 200 V class 400 V class
7 kW or less 11 to 22 kW 30 to 37 kW 7 kW or less 11 to 22 kW 30 to 55 kW
B0 to B2
B3
Compatibility with a B4
servo amplifier B5
B8 or later
: Enabled

Version MR-J3W series servo amplifier

CO or later
(Note1)

Baud rate [bps] 115200/57600/38400/19200/9600

Display all, high-speed display, graph display
Monitor
(Minimum resolution changes with the processing speed of the personal computer.)
Alarm Display, history, amplifier data
DI/DO display, display of the reason for no rotation, power ON cumulative display, software No. display,
Diagnosis motor information display, tuning data display, ABS data display, VC automatic offset display,
axis name setting
Parameter Parameter list, turning, change list, detailed information
Test operation JOG operation, positioning operation, motor-less operation, DO forced output, and program operation
Advanced function Machine analyzer, gain search, machine simulation, robust disturbance compensation, advanced Gain search
(Note2)
File operation Data read, save, delete, print
Others Automatic demo, help display

Note 1. C3 or later software version is recommended.

2. The advanced gain search is supported by MR Configurator with software version C2 or later.

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Part 10: Review on Replacement of Optional Peripheral Equipment

8.2 MR-J4 series MR Configurator2

MR Configurator2 (SW1DNC-MRC2-E) uses the communication function of the servo amplifier to perform
parameter setting changes, graph display, test operation, etc. on a personal computer.

8.2.1 Specifications
Item Description
Project Create/read/save/delete project, system setting, and print
Parameter Parameter setting, axis name setting, parameter converter
Monitor Display all, I/O monitor, graph, and ABS data display
Alarm display, alarm onset data, drive recorder, no motor rotation, system configuration, life
Diagnosis
diagnosis, machine diagnosis
Positioning operation, motor-less operation (Note), DO forced output, and program operation,
Test operation
test mode information
Adjustment One-touch tuning, tuning, and machine analyzer
Others Servo assistant, parameter setting range update, help display

Note. This is available only in the standard control mode.

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Part 10: Review on Replacement of Optional Peripheral Equipment

8.3 System configuration

8.3.1 Components

MR Configurator2 (SW1DNC-MRC2-E) the following components are required in addition to the servo
amplifier and servo motor.
Equipment Description (Note 1)
Microsoft® Windows® 10 Home Operating System
Microsoft® Windows® 10 Pro Operating System
Microsoft® Windows® 10 Enterprise Operating System
Microsoft® Windows® 10 Education Operating System
Microsoft® Windows® 8.1 Operating System
Microsoft® Windows® 8.1 Pro, Operating System
Microsoft® Windows® 8.1 Enterprise Operating System
OS Microsoft® Windows® 8 Operating System
Microsoft® Windows® 8 Pro Operating System
Microsoft® Windows® 8 Enterprise Operating System
Microsoft® Windows® 7 Starter Operating System
Personal computer
Microsoft® Windows® 7 Home Premium Operating System
(Note 2, 3, 4, 5)
Microsoft® Windows® 7 Professional Operating System
Microsoft® Windows® 7 Ultimate Operating System
Microsoft® Windows® 7 Enterprise Operating System
Desktop personal computer: Intel® Celeron® processor, 2.8 GHz or more
recommended
CPU
Laptop personal computer: Intel® Pentium® M processor, 1.7 GHz or more
recommended
Memory 1 GB or more (for 32-bit OS) and 2 GB or more (for 64-bit OS)
Hard Disk 1.5 GB or more of free space
Communication
USB port (Note 6).
interface
Browser Windows Internet Explorer® 4.0 or later (Note 1)
®

One whose resolution is 1024 × 768 or more and that can provide a high color (16 bit) display.
Display
Connectable with the above personal computer.
Keyboard Connectable with the above personal computer.
Mouse Connectable with the above personal computers.
Printer Connectable with the above personal computer.
USB cable MR-J3USBCBL3M

Note 1. Microsoft, Windows and Internet Explorer are registered trademarks or trademarks of Microsoft Corporation in the United
States and other countries.
Celeron, Pentium is the registered trademarks of Intel Corporation.
2. When Windows® 7 or later is used, NET Framework 3.5 (including .NET2.0 and 3.0) must be enabled.
3. When the following functions are used, this product may not operate correctly.
Windows® Program Compatibility mode Fast User Switching
Remote Desktop Windows XP Mode
Windows touch or touch Modern UI
Client Hyper-V Tablet mode
Virtual desktop
4. In the following cases, the display of this product may not operate correctly.
The size of the text or other items on the screen is set to other than the prescribed value (96DPI, 100%. 9pt, etc.).
Resolution of the screen is changed during operation.
The screen is set as multi display.
5. When using this software with Windows® 7 or later, log in as "Standard user" or "Administrator".
6. 64-bit Windows is not supported.

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Part 10: Review on Replacement of Optional Peripheral Equipment

8.3.2 Connection with servo amplifier

Personal computer

Servo amplifier USB cable

MR-J3USBCBL3M To USB
(Option) connector
CN5

8.3.3 Precautions for using USB communication function

Note the following to prevent an electric shock and malfunction of the servo amplifier.

(1) Power connection of personal computers

Connect your personal computer with the following procedures.

(a) When you use a personal computer with AC power supply

1) When using a personal computer with a three-core power plug or power plug with grounding wire,
use a three-pin socket or ground the grounding wire.

2) When your personal computer has two-core plug and has no grounding wire, connect the
personal computer to the servo amplifier with the following procedures.

a) Disconnect the power plug of the personal computer from an AC power socket.

b) Check that the power plug was disconnected and connect the device to the servo amplifier.

c) Connect the power plug of the personal computer to the AC power socket.

(b) When you use a personal computer with battery

You can use as it is.

(2) Connection with other devices using servo amplifier communication function
When the servo amplifier is charged with electricity due to connection with a personal computer and the
charged servo amplifier is connected with other devices, the servo amplifier or the connected devices
may malfunction. Connect the servo amplifier and other devices with the following procedures.

(a) Shut off the power of the device for connecting with the servo amplifier.

(b) Shut off the power of the servo amplifier which was connected with the personal computer and check
the charge lamp is off.

(c) Connect the device with the servo amplifier.

(d) Turn on the power of the servo amplifier and the device.

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Part 10: Review on Replacement of Optional Peripheral Equipment

9. PANEL THROUGH ATTACHMENT

POINT
MR-J3ACN can be used only for MR-J4-22K_(4).
Panel through attachment MR-J3 series MR-J4 series
MR-J4-11K_(4)(-RJ)
MR-J4ACN15K
MR-J4-15K_(4)(-RJ)
MR-J3ACN MR-J3-11K_(4) to MR-J3-22K_(4) MR-J4-22K_(4)(-RJ)

9.1 MR-J3 series (MR-J3ACN)

Use the Panel through attachment to mount the heat generation area of the servo amplifier in the outside of
the control box to dissipate servo amplifier-generated heat to the outside of the box and reduce the amount
of heat generated in the box, thereby allowing a compact control box to be designed.
In the control box, machine a hole having the panel cut dimensions, fit the panel through attachment to the
servo amplifier with the fitting screws (4 screws supplied), and install the servo amplifier to the control box.
The environment outside the control box when using the panel through attachment should be within the
range of the servo amplifier operating environment conditions.

(1) Panel cut dimensions

[Unit : mm]

203 4-M10 Screw

Approx.125
39.5
535

Punched
510

hole
331
39.5

18

236

255
270

(2) How to assemble the attachment for a panel through attachment

Attachment
Screw
(2 places)

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Part 10: Review on Replacement of Optional Peripheral Equipment

(3) Fitting method

Attachment

Punched
hole
Servo
amplifier
Fit using the
assembling Servo
amplifier Control box
screws.

Attachment

a. Assembling the panel through attachment b. Installation to the control box

(4) Outline dimension drawing

[Unit: mm]
20

Panel

Servo
amplifier Attachment Servo amplifier

Panel
236 3.2
155 105 Approx.11.5
280 Mounting Approx.260
hole

Approx.260

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Part 10: Review on Replacement of Optional Peripheral Equipment

9.2 MR-J4 series (MR-J4ACN15K/MR-J3ACN)

Use the panel through attachment to mount the heat generation area of the servo amplifier in the outside of
the cabinet to dissipate servo amplifier-generated heat to the outside of the cabinet and reduce the amount
of heat generated in the cabinet. In addition, designing a compact cabinet is allowed.
In the cabinet, machine a hole having the panel cut dimensions, fit the panel through attachment to the servo
amplifier with the fitting screws (4 screws supplied), and install the servo amplifier to the cabinet.
Please prepare screws for mounting. They do not come with.
The environment outside the cabinet when using the panel through attachment should be within the range of
the servo amplifier operating environment.
The panel through attachments are used for MR-J4-11K_(-RJ) to MR-J4-22K_(-RJ) and MR-J4-11K_4(-RJ)
to MR-J4-22K_4(-RJ).
The following shows the combinations.
Servo amplifier Panel through attachment
MR-J4-11K_(-RJ)
MR-J4ACN15K
MR-J4-15K_(-RJ)
MR-J4-22K_(-RJ) MR-J3ACN
MR-J4-11K_4(-RJ)
MR-J4ACN15K
MR-J4-15K_4(-RJ)
MR-J4-22K_4(-RJ) MR-J3ACN

(1) MR-J4ACN15K
(a) Panel cut dimensions

[Unit: mm]
163 4-M10 Screw
Approx.
125
535

Punched
510

hole
410

196
18

218

(b) How to assemble the attachment for panel through attachments

Attachment
Screw
(2 places)

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Part 10: Review on Replacement of Optional Peripheral Equipment

(c) Mounting method

Attachment

Servo amplifier

Fit using the

assembling
screws.

Attachment

a. Assembling the panel through attachment

Punched
hole

Cabinet

Servo amplifier

b. Mounting it to inside cabinet

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Part 10: Review on Replacement of Optional Peripheral Equipment

(d) Mounting dimensional diagram

[Unit: mm]

Approx. 58
20.6

145
188
Panel

Approx. 400
580
510
Attachment
Servo amplifier
Servo amplifier

78

35
Panel
12

3.2
196 155 108.3
Mounting hole
240 Approx. 263.3

(2) MR-J3ACN
(a) Panel cut dimensions
[Unit : mm]

203 4-M10 Screw

Approx.
39.5 125
535

Punched
510

hole
331
39.5

18

236

255
270

(b) How to assemble the attachment for panel through attachment

Attachment
Screw
(2 places)

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Part 10: Review on Replacement of Optional Peripheral Equipment

(c) Mounting method

Attachment

Punched
hole
Servo
amplifier
Fit using the Servo
assembling amplifier
screws. Cabinet

Attachment

a. Assembling the panel through attachment b. Mounting it to inside cabinet

(d) Mounting dimensional diagram

[Unit: mm]
20
Approx. 58

Panel
145
194

Approx. 400
580

Servo
510

amplifier Attachment Servo amplifier

84

35

Panel
3.2
12

236
155 105 Approx. 11.5
280 Mounting Approx. 260
hole

Approx. 260

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Part 11: Startup Procedure Manual

Part 11
Startup Procedure Manual

11 - 1
Part 11: Startup Procedure Manual

Part 11: Startup Procedure Manual

1. STARTUP

When executing a test run, follow the notice and procedures in this instruction
manual. Otherwise, it may cause a malfunction, damage to the machine, or injury.
WARNING Do not operate the switches with wet hands. Otherwise, it may cause an electric
shock.

Before starting operation, check the parameters. Improper settings may cause
some machines to operate unexpectedly.
The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot
while power is on or for some time after power-off. Take safety measures,
example, provide covers to avoid accidentally touching the parts (cables, etc.) by
CAUTION hand. Otherwise, it may cause a burn injury and parts damaged.
During operation, never touch the rotor of the servo motor. Otherwise, it may
cause injury.
Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may
cause a malfunction.

11 - 2
Part 11: Startup Procedure Manual

1.1 Switching power on for the first time

When switching power on for the first time, follow this section to make a startup.

1.1.1 Startup procedure

Parameter settings check for the ・・・ Confirm the parameter settings of the currently used MR-J3/MR-J3W servo amplifier
currently used model with the display or with the setup software and record them.
↓
・・・ Visually verify that the wires are correctly connected to the servo amplifier and the servo
Wiring check
motor.
↓
Surrounding environment check ・・・ Check the surrounding environment of the servo amplifier and servo motor.

↓
Parameter setting (Note 1) ・・・ Set the parameters as necessary, such as the used control mode and regenerative
option selection. (Refer to this Replacement Manual.)
↓
Test operation of the servo motor ・・・ For the test operation, with the servo motor disconnected from the machine and
alone in the test operation mode operated at the speed as low as possible, check whether the servo motor rotates
(Note 1, 2) correctly.

↓
Test operation with the servo motor ・・・ After connecting the servo motor to the machine, check the motions of the machine by
and machine connected sending operation commands from a higher-level command-issuing device.
↓
Gain adjustment (Note 1) ・・・ Make gain adjustment to optimize the machine motions.

↓
Actual operation (Note 2) ・・・ Perform a home position return as necessary when in position control mode.

↓
・・・ Stop giving commands and stop operation. In addition, check the conditions when the
Stop
servo motor operation stops.

Note 1. For details about the settings for each servo amplifier and its test operation, refer to the applicable servo amplifier instruction
manual. If the gain of the existing servo amplifier is extremely high, there may be slight differences in characteristics upon
primary replacement. Make sure to set the gain again.
2. When turning on the power supply, also turn on the 24V DC power supply for the external interface. Otherwise, ［AL. E6.1
Forced stop warning] occurs.

11 - 3
Part 11: Startup Procedure Manual

MEMO

11 - 4
【Appendix 1】 Introduction to Renewal Tool

[Appendix 1]
Introduction to Renewal Tool

Mitsubishi Electric System & Service Co., Ltd. provides the related services.
For details, please refer to the following address.

Mitsubishi Electric System & Service Co., Ltd.

http://www.melsc.co.jp/business/

OVERSEAS SERVICE SUPPORT SECTION

Email: osb.webmaster@melsc.jp

Appendix 1 - 1
【Appendix 1】 Introduction to Renewal Tool

[Appendix 1] Introduction to Renewal Tool

POINT
For details and the latest version of the tool and compatible models, check the
website of Mitsubishi Electric System & Service Co., Ltd.
This appendix lists only products that can be replaced using the renewal tool
released by Mitsubishi Electric System & Service Co., Ltd. For products not
listed, refer to this chapter in this replacement guide.

1. SUMMARY

The MR-J3 renewal tool is a tool to replace the presently used "MR-J3 series", "MR-J3W series" servo
amplifier with the "MR-J4 series" servo amplifier. We are prepared to provide mounting attachments
compatible with the existing mounting dimensions and conversion cables compatible with the existing cables.

1.1 Servo amplifier replacement model

Type Former model Replacement (Note 1)
General-purpose interface MR-J3-_A_ MR-J4-_A_
MR-J3-_B_ MR-J4-_B_
SSCNETIII interface
MR-J3W-_B MR-J4W2-_B
DIO command with built-in →
positioning function MR-J4-_A_-RJ + MR-J3-D01
MR-J3-_T_ + MR-J3-D01
(Note 4, 5)
(Note 2, 3)

Note 1. For servo amplifiers of 3.5 kW or less, it is necessary to change the power connectors CNP1, CNP2, and CNP3 to the MR-J4
servo amplifier accessories. (Except for MR-J4W2-_B)
2. If using serial communication operation with the MR-J3-_T_ series, refer to "Part 6: Review on Replacement of MR-J3-_T_
(DIO Command/Serial Communication Operation) with MR-J4-_A_-RJ".
3. If using the CC-Link function with the MR-J3-_T_ series, refer to "Part 7: Review on Replacement of MR-J3-_T_ (CC-Link
communication operation) with MR-J4-_GF_".
4. MR-J3-D01 used in the MR-J3-_T_ series can also be used with MR-J4-_A_-RJ.
5. If using the DIO command with the MR-J3-_T_ series, contact your branch/local office listed in Appendix 1-1.

1.2 Features

Wiring work can be shortened because the existing cables can be connected as they are. (except for
some models)
The renewal kit can be mounted using the existing mounting holes.

Appendix 1 - 2
【Appendix 1】 Introduction to Renewal Tool

2. IMPORTANT POINTS TO NOTE WHEN REPLACING

(1) Depending on the condition of the existing setup, sometimes noise reduction techniques are necessary
when replacing.

(2) When using the existing cables, please consider the remaining life of the cables. If deterioration is
significant, replacing with a new cable is recommended.

(3) Because the conversion cable does not have a long bending life, fix the cable when using.

(4) When using the control signal conversion cable "SC-J3WJ4WCTC03M", refer to the cable connection
diagram in section 6.2.5.

(5) Contact a Mitsubishi Electric. if the existing MR-J3 servo amplifier or servo motor is a special product.

(6) When replacing the servo motor (secondary replacement) after replacing only the servo amplifier
(primary replacement), there are some combinations by which the capacity of the servo amplifier
changes. In that case, batch replacement (simultaneous replacement of the servo amplifier and servo
motor) is recommended.

Appendix 1 - 3
【Appendix 1】 Introduction to Renewal Tool

3. REPLACMENT COMBINATION LIST

3.1 Servo amplifier replacement combination list

POINT
Check the website of Mitsubishi Electric System & Service Co., Ltd. for the latest
details and models.
For servo amplifier models not listed in the table, refer to "Part 1: 3.2.2
Determining the basic replacement model".
Refer to Appendix 1-5 for notes.
The capacity of the servo amplifier may change depending on the servo motor to
be replaced, thereby being unable to mount the servo motor using the mounting
attachment and other instructions specified below. For the target combinations,
refer to the servo amplifier capacity compatibility column in "3.2 Servo Motor
Substitute Model and Compatibility" in this appendix.

(1) MR-J3 series to MR-J4 series replacement models and renewal tools
(a) General-purpose interface/SSCNET interface 200 V class
Connector compatibility
Replacement Mounting
Model Power Conversion cable Mounting attachment
model example Command compatibility
supply
MR-J3-500_ MR-J4-500_ (Note 1) (Note 2) SC-J2SJ4BS04
MR-J3-11K_
MR-J4-11K_ (Note 2)
MR-J3-11K_-LR
SC-J2SJ4BS06
MR-J3-15K_
MR-J4-15K_ (Note 2)
MR-J3-15K_-LR

(b) DIO command/serial communication 200 V class

Replacement Connector compatibility
Mounting
Model (Note 3) model example Power Conversion cable Mounting attachment
Command compatibility
(Note 4) supply
MR-J3-10T MR-J4-10A-RJ (Note 5) (Note 6)
MR-J3-20T MR-J4-20A-RJ (Note 5) (Note 6)
MR-J3-40T MR-J4-40A-RJ (Note 5) (Note 6)
MR-J3-60T MR-J4-60A-RJ (Note 5) (Note 6)
MR-J3-70T MR-J4-70A-RJ (Note 5) (Note 6)
MR-J3-100T MR-J4-100A-RJ (Note 5) (Note 6)
MR-J3-200TN MR-J4-200A-RJ (Note 5) (Note 6) (Note 6)
MR-J3-350T MR-J4-350A-RJ (Note 5) (Note 6)
MR-J3-500T MR-J4-500A-RJ (Note 1) (Note 6) (Note 2) SC-J2SJ4BS04
MR-J3-700T MR-J4-700A-RJ (Note 6)
MR-J3-11KT MR-J4-11KA-RJ (Note 6) (Note 2)
SC-J2SJ4BS06
MR-J3-15KT MR-J4-15KA-RJ (Note 6) (Note 2)
MR-J3-22KT MR-J4-22KA-RJ (Note 6)

(c) General-purpose interface/SSCNET interface 400 V class

Connector compatibility
Replacement Mounting
Model Power Conversion cable Mounting attachment
model example Command compatibility
supply
MR-J3-350_4 MR-J4-350_4 (Note 5) (Note 2) SC-J2SJ4BS04
MR-J3-11K_4
MR-J4-11K_4 (Note 2)
MR-J3-11K_4-LR
SC-J2SJ4BS06
MR-J3-15K_4
MR-J4-15K_4 (Note 2)
MR-J3-15K_4-LR

Appendix 1 - 4
【Appendix 1】 Introduction to Renewal Tool

(d) DIO command/serial communication 400 V class

Replacement Connector compatibility
Mounting
Model (Note 3) model example Power Conversion cable Mounting attachment
Command compatibility
(Note 4) supply
MR-J3-60T4 MR-J4-60A4-RJ (Note 5) (Note 6)
MR-J3-100T4 MR-J4-100A4-RJ (Note 5) (Note 6)
MR-J3-200T4 MR-J4-200A4-RJ (Note 5) (Note 6)
MR-J3-350T4 MR-J4-350A4-RJ (Note 5) (Note 6) (Note 2) SC-J2SJ4BS04
MR-J3-500T4 MR-J4-500A4-RJ (Note 6) (Note 6)
MR-J3-700T4 MR-J4-700A4-RJ (Note 6)
MR-J3-11KT4 MR-J4-11KA4-RJ (Note 6) (Note 2)
SC-J2SJ4BS06
MR-J3-15KT4 MR-J4-15KA4-RJ (Note 6) (Note 2)
MR-J3-22KT4 MR-J4-22KA4-RJ (Note 6)

(e) DIO command/serial communication 100 V class

Replacement Connector compatibility
Mounting
Model (Note 3) model example Power Conversion cable Mounting attachment
Command compatibility
(Note 4) supply
MR-J3-10T1 MR-J4-10A1-RJ (Note 5) (Note 6)
MR-J3-20T1 MR-J4-20A1-RJ (Note 5) (Note 6) (Note 6)
MR-J3-40T1 MR-J4-40A1-RJ (Note 5) (Note 6)

(2) MR-J3W series to MR-J4 series replacement models and renewal tools
(a) SSCNET interface 200 V class
Connector compatibility
Replacement Mounting
Model Power Conversion cable Mounting attachment
model example Command compatibility
supply
MR-J3W-22B MR-J4W2-22B (Note 7) (Note 8)
MR-J3W-44B MR-J4W2-44B (Note 7) (Note 8)
SC-J3WJ4WCTC03M
MR-J3W-77B MR-J4W2-77B (Note 7) (Note 2)
SC-J3WJ4WBS02
MR-J3W-1010B MR-J4W2-1010B (Note 7) (Note 2)

Note 1. The position of the power supply terminal block is different. Extend the wire length if it is insufficient.
2. By using the mounting attachment, it can be mounted using the existing mounting holes.
3. When using the DIO command, the MR-J3-D01 extension I/O unit is connected.
4. When using the DIO command, the MR-J3-D01 extension I/O unit can be used for MR-J4.
5. For servo amplifiers of 3.5 kW or less, it is necessary to change the power connectors CNP1, CNP2, and CNP3 to the MR-J4
servo amplifier accessories.
6. Since the connectors are different, a conversion cable is required if using an existing cable.
Contact Mitsubishi Electric System & Service Co., Ltd. for the specifications of the conversion cable.
7. The control signal connectors are the same, but a conversion cable is still required because the pin arrangement is different.
8. The dimensions are the same, but the number of mounting screws is different.

Appendix 1 - 5
【Appendix 1】 Introduction to Renewal Tool

3.2 Servo Motor Substitute Model and Compatibility

POINT
Check the website of Mitsubishi Electric System & Service Co., Ltd. for the latest
details and models.
The meaning of the following two symbols used in the table is as follows.
(B): With a brake
(4): 400 V specification
For servo motor models not listed in the table, refer to "Part 9: 1.1 Servo Motor
Replacement Model and Compatibility".
When replacing a servo motor, some replacement models do not have
compatible connectors and there are some combinations in which a new cable
installation is required.
When replacing a servo motor, there are some combinations by which the
capacity of the servo amplifier changes. Refer to Notes 1, 2, 3, and 5.
Refer to Appendix 1-7 for notes.

(1) Medium capacity/ultra-low inertia, with gear reducer for high precision applications, flange mounting
Servo Servo motor side conversion cable
Replacement model amplifier
Model Electromagnetic brake
example capacity Power cable Encoder cable Cooling fan cable
compatibility cable

HC-RP103(B)G5 1/5 HG-SR102(B)G5 1/5

HC-RP103(B)G5 1/11 HG-SR102(B)G5 1/11
A new brake cable layout The existing cable can be
HC-RP103(B)G5 1/21 HG-SR102(B)G5 1/21 (Note 1) SC-SAJ3PW2KC1M-S2
is required. used.
HC-RP103(B)G5 1/33 HG-SR102(B)G5 1/33
HC-RP103(B)G5 1/45 HG-SR102(B)G5 1/45
HC-RP153(B)G5 1/5 HG-SR152(B)G5 1/5
HC-RP153(B)G5 1/11 HG-SR152(B)G5 1/11
A new brake cable layout The existing cable can be
HC-RP153(B)G5 1/21 HG-SR152(B)G5 1/21 〇 SC-SAJ3PW2KC1M-S2
is required. used.
HC-RP153(B)G5 1/33 HG-SR152(B)G5 1/33
HC-RP153(B)G5 1/45 HG-SR152(B)G5 1/45
HC-RP203(B)G5 1/5 HG-SR202(B)G5 1/5
HC-RP203(B)G5 1/11 HG-SR202(B)G5 1/11
A new brake cable layout The existing cable can be
HC-RP203(B)G5 1/21 HG-SR202(B)G5 1/21 (Note 2) SC-J2SJ4PW2C1M
is required. used.
HC-RP203(B)G5 1/33 HG-SR202(B)G5 1/33
HC-RP203(B)G5 1/45 HG-SR202(B)G5 1/45
HC-RP353(B)G5 1/5 HG-SR352(B)G5 1/5
HC-RP353(B)G5 1/11 HG-SR352(B)G5 1/11 A new brake cable layout The existing cable can be
(Note 1) SC-HAJ3PW1C1M
HC-RP353(B)G5 1/21 HG-SR352(B)G5 1/21 is required. used.
HC-RP353(B)G5 1/33 HG-SR352(B)G5 1/21
HC-RP503(B)G5 1/5 HG-SR502(B)G5 1/5
A new brake cable layout The existing cable can be
HC-RP503(B)G5 1/11 HG-SR502(B)G5 1/11 (Note 3) SC-HAJ3PW1C1M
is required. used.
HC-RP503(B)G5 1/21 HG-SR502(B)G5 1/11
HC-RP103(B)G7 1/5 HG-SR102(B)G7 1/5
HC-RP103(B)G7 1/11 HG-SR102(B)G7 1/11
A new brake cable layout The existing cable can be
HC-RP103(B)G7 1/21 HG-SR102(B)G7 1/21 (Note 1) SC-SAJ3PW2KC1M-S2
is required. used.
HC-RP103(B)G7 1/33 HG-SR102(B)G7 1/33
HC-RP103(B)G7 1/45 HG-SR102(B)G7 1/45
HC-RP153(B)G7 1/5 HG-SR152(B)G7 1/5
HC-RP153(B)G7 1/11 HG-SR152(B)G7 1/11
A new brake cable layout The existing cable can be
HC-RP153(B)G7 1/21 HG-SR152(B)G7 1/21 〇 SC-SAJ3PW2KC1M-S2
is required. used.
HC-RP153(B)G7 1/33 HG-SR152(B)G7 1/33
HC-RP153(B)G7 1/45 HG-SR152(B)G7 1/45
HC-RP203(B)G7 1/5 HG-SR202(B)G7 1/5
HC-RP203(B)G7 1/11 HG-SR202(B)G7 1/11
A new brake cable layout The existing cable can be
HC-RP203(B)G7 1/21 HG-SR202(B)G7 1/21 (Note 2) SC-J2SJ4PW2C1M
is required. used.
HC-RP203(B)G7 1/33 HG-SR202(B)G7 1/33
HC-RP203(B)G7 1/45 HG-SR202(B)G7 1/45
HC-RP353(B)G7 1/5 HG-SR352(B)G7 1/5
HC-RP353(B)G7 1/11 HG-SR352(B)G7 1/11 A new brake cable layout The existing cable can be
(Note 1) SC-HAJ3PW1C1M
HC-RP353(B)G7 1/21 HG-SR352(B)G7 1/21 is required. used.
HC-RP353(B)G7 1/33 HG-SR352(B)G7 1/21
HC-RP503(B)G7 1/5 HG-SR502(B)G7 1/5
A new brake cable layout The existing cable can be
HC-RP503(B)G7 1/11 HG-SR502(B)G7 1/11 (Note 3) SC-HAJ3PW1C1M
is required. used.
HC-RP503(B)G7 1/21 HG-SR502(B)G7 1/11

Appendix 1 - 6
【Appendix 1】 Introduction to Renewal Tool

(3) Medium capacity/low inertia HC-LP series

Servo Servo motor side conversion cable
Replacement model amplifier
Model Electromagnetic brake
example capacity Power cable Encoder cable Cooling fan cable
cable
compatibility
HC-LP52(B) HG-JR73(B)
(Note 1) SC-SAJ3PW2KC1M-S2
HC-LP102(B) HG-JR153(B)
A new brake cable layout The existing cable can be
HC-LP152(B) HG-JR353(B) (Note 2) (Note 4)
is required. used.
HC-LP202(B) HG-JR353(B) 〇
SC-HAJ3PW1C1M
HC-LP302(B) HG-JR503(B) (Note 3)

(4) Medium/large capacity/low inertia HA-LP series

Servo Servo motor side conversion cable
Replacement model amplifier
Model Electromagnetic brake
example capacity Power cable Encoder cable Cooling fan cable
cable
compatibility
HA-LP601(4)(B) HG-JR601(4)(B) SC-SAJ3PW7KC1M-A_ SC-J3J4ENM1C1M
The existing cable can be
HA-LP801(4)(B) HG-JR801(4)(B) or (Note 6)
SC-J2SJ4PW3C1M-A_ used.
HA-LP12K1(4)(B) HG-JR12K1(4)(B) SC-J3J4ENM1C1M-A_
HA-LP15K1(4) HG-JR15K1(4) The existing cable can be
used.
HA-LP20K1(4) HG-JR20K1(4)
(Note 7) A new encoder cable
SC-J2SJ4FAN1C1M
HA-LP25K1(4) HG-JR25K1(4) layout is required.
The existing cable can be
HA-LP30K1(4) HG-JR30K1(4)
used.
HA-LP37K1(4) HG-JR37K1(4)
〇
HA-LP601(4)(B) HG-JR601(4)R(B)-S_ SC-SAJ3PW7KC1M-A_ SC-J3J4ENM1C1M
The existing cable can be
HA-LP801(4)(B) HG-JR801(4)R(B)-S_ or (Note 6)
SC-J2SJ4PW3C1M-A_ used.
HA-LP12K1(4)(B) HG-JR12K1(4)R(B)-S_ SC-J3J4ENM1C1M-A_
HA-LP15K1(4) HG-JR15K1(4)R-S_ The existing cable can be
used.
HA-LP20K1(4) HG-JR20K1(4)R-S_
(Note 7) A new encoder cable
SC-J2SJ4FAN1C1M
HA-LP25K1(4) HG-JR25K1(4)R-S_ layout is required.
The existing cable can be
HA-LP30K1(4) HG-JR30K1(4)R-S_
used.
HA-LP37K1(4) HG-JR37K1(4)R-S_
HA-LP701M(4)(B) HG-JR701M(4)(B) SC-SAJ3PW7KC1M-A_
SC-J3J4ENM1C1M
HA-LP11K1M(4)(B) HG-JR11K1M(4)(B) SC-J2SJ4PW3C1M-A_ The existing cable can be
or (Note 6)
HA-LP15K1M(B) HG-JR15K1M(B) SC-J3J4PW1C1M-A_ used.
SC-J3J4ENM1C1M-A_
HA-LP15K1M4(B) HG-JR15K1M4(B) SC-J2SJ4PW3C1M-A_
The existing cable can be
HA-LP22K1M(4) HG-JR22K1M(4) used.
(Note 7)
A new encoder cable
HA-LP30K1M(4) HG-JR30K1M(4) SC-J2SJ4FAN1C1M
layout is required.
HA-LP37K1M(4) HG-JR37K1M(4) The existing cable can be
HA-LP45K1M4 HG-JR45K1M4 used.
HA-LP50K1M4 HG-JR55K1M4
HA-LP701M(4)(B) HG-JR701M(4)R(B)-S_ 〇 SC-SAJ3PW7KC1M-A_
HG-JR11K1M(4)R(B)- SC-J3J4ENM1C1M
HA-LP11K1M(4)(B) SC-J2SJ4PW3C1M-A_ The existing cable can be
□250)
S_(
used.
or (Note 6)
HA-LP15K1M(B) HG-JR15K1MR(B)-S_ SC-J3J4PW1C1M-A_ SC-J3J4ENM1C1M-A_
HA-LP15K1M4(B) HG-JR15K1M4R(B)-S_ SC-J2SJ4PW3C1M-A_
The existing cable can be
HA-LP22K1M(4) HG-JR22K1M(4)R-S_ used.
(Note 7)
A new encoder cable
HA-LP30K1M(4) HG-JR30K1M(4)R-S_ SC-J2SJ4FAN1C1M
layout is required.
HA-LP37K1M(4) HG-JR37K1M(4)R-S_ The existing cable can be
HA-LP45K1M4 HG-JR45K1M4R-S_ used.
HA-LP50K1M4 HG-JR55K1M4R-S_
HA-LP502 HG-SR502 SC-HAJ3PW1C1M
The existing cable can be
The existing cable can be
HA-LP702 HG-SR702 〇 used.
used.
HA-LP11K2(4)(B) HG-JR11K1M(4)(B) SC-SAJ3PW7KC1M-A_ (Note 6)
SC-J3J4ENM1C1M
HA-LP15K2(4)(B) HG-JR11K1M(4)(B) SC-J2SJ4PW3C1M-A_ The existing cable can be
or
HA-LP22K2(B) HG-JR15K1M(B) SC-J3J4PW1C1M-A_ used.
SC-J3J4ENM1C1M-A_
HA-LP22K24(B) HG-JR15K1M4(B) SC-J2SJ4PW3C1M-A_
HA-LP30K2(4) HG-JR22K1M(4) (Note 5)
HA-LP37K2(4) HG-JR30K1M(4) The existing cable can be A new encoder cable
SC-J2SJ4FAN1C1M
HA-LP45K24 HG-JR37K1M4 used. layout is required.
HA-LP55K24 HG-JR45K1M4

Appendix 1 - 7
【Appendix 1】 Introduction to Renewal Tool

Servo Servo motor side conversion cable

Replacement model amplifier
Model Electromagnetic brake
example capacity Power cable Encoder cable Cooling fan cable
cable
compatibility
HA-LP502 HG-SR502R-S_ SC-HAJ3PW1C1M
The existing cable can be
The existing cable can be
HA-LP702 HG-SR702R-S_ used.
〇 used.
HG-JR11K1M(4)R(B)-
HA-LP11K2(4)(B)
S_(□200)
HG-JR11K1MR(B)- (Note 6)
HA-LP15K2(B) SC-J2SJ4PW3C1M-A_ SC-J3J4ENM1C1M
S_(□250) The existing cable can be
or
HG-JR11K1M4R(B)- used.
SC-J3J4ENM1C1M-A_
HA-LP15K24(B)
S_(□250) (Note 5)
HA-LP22K2(B) HG-JR15K1MR(B)-S_ SC-J3J4PW1C1M-A_
HA-LP22K24(B) HG-JR15K1M4R(B)-S_ SC-J2SJ4PW3C1M-A_
The existing cable can be A new encoder cable
HA-LP30K2(4) HG-JR22K1M(4)R-S_ SC-J2SJ4FAN1C1M
used. layout is required.
HA-LP37K2(4) HG-JR30K1M(4)R-S_
The existing cable can be A new encoder cable
HA-LP45K24 HG-JR37K1M4R-S_ (Note 5) SC-J2SJ4FAN1C1M
used. layout is required.
HA-LP55K24 HG-JR45K1M4R-S_

Note 1. The capacity of the servo amplifier has changed, and the mounting holes of the servo amplifier are not compatible.
2. The capacity of the servo amplifier will change, but the mounting holes of the servo amplifier are compatible.
3. The position of the power supply terminal block of the servo amplifier is different. Extend the wire length if it is insufficient.
4. The wire thickness of the servo motor power cable is different, so a new servo motor power cable is required.
5. When replacing the servo motor (secondary replacement) after replacing only the servo amplifier (primary replacement), the
capacity of the servo amplifier will change and the servo amplifier is to be replaced again. Simultaneous replacement (batch
replacement) of the servo amplifier and servo motor is recommended.
6. The existing cooling fan cable is not used. Remove or insulate the cable.
7. The terminal size of the servo motor power supply (U, V, W) cable needs to be changed from M8 to M10.

Appendix 1 - 8
【Appendix 1】 Introduction to Renewal Tool

4. RENEWAL TOOL PRODUCT LIST

(1) Mounting attachment

Replacement
No. Model Application
method
1 SC-J2SJ4BS04 MR-J4-_A_ servo amplifier capacity: 5 kW (200 V), 3.5 kW (400 V) Used for primary
Replacement and
2 SC-J2SJ4BS06 MR-J4-_A_ servo amplifier capacity: 11 kW, 15 kW
Simultaneous
3 SC-J3WJ4WBS02 MR-J4W2-77B/MR-J4W2-1010B replacement

Servo amplifier

Mounting attachment

(example SC-J3WJ4WBS02)

Appendix 1 - 9
【Appendix 1】 Introduction to Renewal Tool

(2) Servo motor side conversion cable (For compatibility of servo motor connectors)
Replacement
No. Product name Model Replacement servo motor model
method
(Straight connector)
1 For the target servo motor, check the replacement
Encoder conversion SC-J3J4ENM1C1M
combination table in section 3.2 (4) "Medium/large
cable (Note) (Angle connector)
2 capacity/low inertia HA-LP series" in this appendix.
SC-J3J4ENM1C1M-A_
3 SC-J2SJ4PW2C1M HC-RP203(B)G5/G7 → HG-SR202(B)G5/G7
4 SC-SAJ3PW2KC1M-S2 HC-LP52(B) → HG-JR73(B)
HC-LP202(B) HG-JR353(B)
5 SC-HAJ3PW1C1M HC- LP302(B) → HG- JR503(B)
HA-LP502 HG-SR502
HA-LP601(4)(B)
HA- LP701M(4)(B) HG-JR601(4)(B) Used at the time
HA-LP11K2(4)(B) HG-JR701M(4)(B) of secondary
Power supply HA-LP801(4)(B) HG-JR11K1M(4)(B) replacement and
6 conversion cable SC-J2SJ4PW3C1M-A_ HA-LP12K1(4)(B) → HG-JR801(4)(B) batch
replacement
HA-LP11K1M(4)(B) HG-JR12K1(4)(B)
HA-LP15K1M4(B) HG-JR11K1M(4)(B)
HA-LP15K2(4)(B) HG-JR15K1M4(B)
HA-LP22K24(B)
HA- LP15K1M(B)
7 SC-J3J4PW1C1M-A_
HA-LP22K2(B)
→ HG-JR15K1M(B)

HA-LP601(4)(B) HG-JR601(4)(B)
8 SC-SAJ3PW7K1M-A_ →
HA-LP701M(4)(B) HG-JR701M(4)(B)
For the target servo motor, check the replacement
Cooling fan
9 SC-J2SJ4FAN1C1M combination table in section 3.2 (4) "Medium/large
conversion cable
capacity/low inertia HA-LP series" in this appendix.

Note. Both the two-wire type and four-wire type are supported.

existing cable Servo motor side conversion cable

Servo amplifier for MR-J4

(example SC-J3J4ENM1C1M)

Appendix 1 - 10
【Appendix 1】 Introduction to Renewal Tool

(3) Servo amplifier side conversion cable

Replacement
No. Name Model Application
method
Used for primary
Servo amplifier side replacement and
1 SC-J3WJ4WCTC03M For changing MR-J4W2-_B input/output signals
conversion cable simultaneous
replacement.

Servo amplifier

Servo amplifier side conversion cable existing cable

Ｊ４W ＣＮ３側

ＣＮ３

Appendix 1 - 11
【Appendix 1】 Introduction to Renewal Tool

5. SPECIFICATIONS

5.1 Standard Specifications

(1) Mounting attachment specifications

Item Specifications
Usage ambient
0°C to +55°C (non-freezing).
temperature
Storage ambient
-20°C to +65°C (non-freezing).
temperature
Usage ambient
humidity
Environment 90 %RH or less (non-condensing).
Storage ambient
humidity
Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude Max. 2000 m
Vibration resistance 5.9 m/s at 10 Hz to 55 Hz (directions of X, Y, and Z axes)
2

Material SPCC (Cold rolled steel plate)

Surface treatment Trivalent chromate
Mass About 750 g

(2) Conversion cable specifications (For both servo amplifier side and servo motor side)
Item Specifications
Usage ambient
0°C to +55°C (non-freezing).
temperature
Storage ambient
-20°C to +65°C (non-freezing).
temperature
Usage ambient
humidity
Environment 90 %RH or less (non-condensing).
Storage ambient
humidity
Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude Max. 2000 m
Vibration resistance 5.9 m/s2 at 10 Hz to 55 Hz (directions of X, Y, and Z axes)
Minimum bend radius 6 times or more of the cable outer diameter

Appendix 1 - 12
【Appendix 1】 Introduction to Renewal Tool

6. DIMENSIONS

6.1 Mounting attachment

The dimensions are the same for all models listed in section 3.1 of this appendix.

(1) SC-J2SJ4BS04
(a) Mounting attachment alone
Unit [mm]

(b) Mounting attachment + Combination with servo amplifier

Unit [mm]

(Increased dimensions)

Appendix 1 - 13
【Appendix 1】 Introduction to Renewal Tool

(2) SC-J2SJ4BS06
(a) Mounting attachment alone
Unit [mm]

(b) Mounting attachment + Combination with servo amplifier

Unit [mm]

dimensions)
(Increased
(Increased (Increased
dimensions) dimensions)

(Increased dimensions)
dimensions)
(Increased

Note. The mounting attachment cannot be used for mounting panel through attachments of MR-J3 servo amplifier.

Appendix 1 - 14
【Appendix 1】 Introduction to Renewal Tool

(3) SC-J3WJ4WBS02
(a) Mounting attachment alone
Unit [mm]

(b) Mounting attachment + Combination with servo amplifier

Unit [mm]

dimensions)
(Increased

(Increased dimensions)
dimensions)
(Increased

Appendix 1 - 15
【Appendix 1】 Introduction to Renewal Tool

6.2 Conversion cable

6.2.1 Servo motor side power supply conversion cable

(1) SC-J3J4PW1C1M-_
Cable pulling direction: A1，A2 (Note)
Unit [mm]

Note. For the cable pulling directions, refer to section 6.2.3.

(2) SC-SAJ3PW2KC1M-S2/SC-HAJ3PW1C1M/SC-J2SJ4PW2C1M
Unit [mm]

Item Specifications
Model SC-SAJ3PW2KC1M-S2 SC-HAJ3PW1C1M SC-J2SJ4PW2C1M
A φ35 φ39 φ42

Connector B φ35 φ41 φ40

dimensions C 68 74 81
D 78 77 77
Cable shape E φ12.0 φ16.5 φ14

Appendix 1 - 16
【Appendix 1】 Introduction to Renewal Tool

(3) SC-J2SJ4PW3C1M-＿
Cable pulling direction: A1，A2 (Note)

SC-J2SJ4PW3C1M-＿
Cable pulling direction: A1，A2 (Note)

Unit [mm]

Note. For the cable pulling directions, refer to section 6.2.3.

Item Specifications
Model SC-J2SJ4PW3C1M-_ SC-SAJ3PW7KC1M-_
Cable shape A φ25.6 φ21.3
crimp terminal B R14-8 R8-6

Appendix 1 - 17
【Appendix 1】 Introduction to Renewal Tool

6.2.2 Servo motor side encoder conversion cable

(1) SC-J3J4ENM1C1M
Unit [mm]

(2) SC-J3J4ENM1C1M-＿
Cable pulling direction: A2，A3，A4 (Note)

Unit [mm]

Note. For the cable pulling directions, refer to section 6.2.3.

Appendix 1 - 18
【Appendix 1】 Introduction to Renewal Tool

6.2.3 Cable pulling direction

(1) Pulling direction of the servo motor side power supply conversion cable

A2 A1

Cable pulling direction

(Diagram viewed from the front of the cable insertion hole)

(2) Pulling direction of the servo motor side encoder conversion cable

Cable pulling direction

(Diagram viewed from the front of the cable insertion hole)

6.2.4 Servo motor side conversion cable for the cooling fan

(1) SC-J2SJ4FAN1C1M
Unit [mm]

Appendix 1 - 19
【Appendix 1】 Introduction to Renewal Tool

6.2.5 The control signal conversion cable for the servo amplifier side

POINT
The following shows the names of the cable connection diagram signals.
Servo amplifier side: MR-J4W2_B pin assignment
Existing control signal cable side: MR-J3W-_B pin assignment
After checking the cable connection diagrams and "Part 4: Replacement of MR-
J3W-_B with MR-J4W2-_B", use the product according to your specification.

(1) SC-J3WJ4WCTC03M
Unit [mm]

41 300 43
38

41
Cable OD: φ6.8

Appendix 1 - 20
【Appendix 1】 Introduction to Renewal Tool

Connection diagrams

Note. After checking the cable connection diagrams, use the product according to your specification.

Appendix 1 - 21
REVISIONS
*The installation guide number is given on the bottom left of the back cover.
Print date *Installation guide number Revision description
Nov. 2016 L(NA)03127ENG-A First edition
Aug. 2017 L(NA)03127ENG-B MR-J3W series is added.
Safety Instructions Partially changed.

Part 1 MR-J3W series/MR-J4W2-_B servo amplifier are added.

Part 1 Chapter 1 Partially changed.

Part 1 Section 2.1 The table is partially changed.
Part 1 Section 3.1.1 The diagram is partially changed.
Part 1 Section 3.1.4 The table is added.
Part 1 Section 3.2.1 The table is partially changed.
Part 1 Section 3.2.2 (2) The table is added.
Part 1 Section 3.2.2 (3) The table is partially changed.
Part 1 Section 3.2.4 Partially changed.
Part 1 Section 4.2 Partially changed.
Part 1 Section 4.3 Partially changed.
Part 2 Section 2.2 (2) The diagram is partially changed.
Part 2 Section 3.5.3 The table is partially changed.
Part 3 Section 2.1 The diagram is partially changed.
Part 3 Section 2.2 The diagram is partially changed.
Part 3 Section 3.2 POINT is added.
Part 3 Section 3.6.3 The table is partially changed.
Part 3 Chapter 4 POINT is added.
Part 4 Newly added.
Part 5 MR-J3W series/MR-J4W2-_B servo amplifier is added.
Part 5 Section 1.1 (1) The table is partially changed.
Part 5 Section 1.2.2 The table is partially changed.
Part 5 Section 1.2.3 (1) Table (b) is newly added.
Part 5 Section 1.2.3 (3) The table is partially changed.
Part 5 Section 1.2.4 (1) The table is partially changed.
Part 5 Section 1.2.6 Partially changed.
Part 5 Section 1.2.7 The table is partially changed.
Part 5 Section 1.3 Newly added.
Part 5 Section 2.3 Partially changed.
Part 5 Section 2.3.4 (2) Newly added.
Part 5 Chapter 5 Newly added.
Part 5 Chapter 6 Moved from Part 2.
Part 5 Section 6.1.2 The table is partially changed.
Part 5 Section 6.1.3 The table is partially changed.
Part 5 Section 6.1.9 The table is partially changed.
Part 7 MR-J3W series/MR-J4W2-_B servo amplifier is added.
Part 7 Chapter 1 The table is partially changed.
Part 7 Section 1.1.1 The table is partially changed.
Part 7 Section 1.1.2 The table is partially changed.
Part 7 Chapter 3 The table is partially changed.
Part 7 Section 4.1.3 Newly added.
Part 7 Section 4.1.4 Newly added.
Part 7 Section 4.3.3 Newly added.
Part 7 Section 4.3.4 Newly added.
Part 7 Section 5.1 Newly added.
Print date *Installation guide number Revision description
Aug. 2017 L(NA)03127ENG-B Part 7 Section 5.4 Newly added.
Part 7 Section 5.5 Newly added.
Part 7 Section 6.1 The table is partially changed.
Part 7 Chapter 7 Partially changed.
Part 7 Section 8.3.1 The table is partially changed.
Part 8 Section 1.1 The diagram is partially changed.
May 2018 L(NA)03127ENG-C MR-J3-DU_/MR-J4-DU_ servo amplifier are added.
MR-J3W-0303BN6/MR-J4W2-0303B6 servo amplifier are added.
Introduction to Renewal Tool are added.
Part 1 Section 3.1.3 POINT is added.
Part 1 Section 3.1.4 The table is partially changed.
Part 1 Section 3.2.1 The table is partially changed.
Part 1 Section 3.2.2 (1) The table (c) (d) (g) (h) newly added.
Part 1 Section 3.2.2 (2) The table (b) is newly added.
Part 1 Section 3.2.2 (3) Table (a) (b) are partially changed.
Part 1 Section 3.2.2 (3) Table (c) is newly added.
Part 1 Section 3.2.4 Partially changed.
Part 1 Section 4.2 Partially changed.
Part 2 Section 3.1 POINT is added.
Part 2 Section 3.1 The table is partially changed.
Part 2 Section 3.6 POINT is added.
Part 3 Section 3.1 POINT is added.
Part 3 Section 3.1 The table is partially changed.
Part 4 MR-J3W-0303BN6/MR-J4W2-0303B6 servo amplifier are
newly added.
Part 4 Section 2.2 The table is partially changed.
Part 4 Section 3.1 (1) The table is partially changed.
Part 4 Section 3.1 (2) Newly added.
Part 4 Section 3.2 (3) Newly added.
Part 4 Section 3.2 (4) Newly added.
Part 4 Section 3.5.2 Newly added.
Part 4 Section 3.7.1 The table is partially changed.
Part 4 Section 3.7.2 The table is partially changed.
Part 4 Section 3.7.3 The table is partially changed.
Part 5 MR-J3-DU_/MR-J4-DU_ servo amplifier servo amplifier are
newly added.
Part 6 Part number is changed from 5
Part 6 Section 1.1 POINT is added.
Part 6 Section 1.2.1 The table is partially changed.
Part 6 Section 1.2.3 The table is partially changed.
Part 6 Section 1.2.6 (3) Newly added.
Part 6 Section 1.2.6 (4) Newly added.
Part 6 Section 1.2.6 (5) Newly added.
Part 6 Section 1.3 Newly added.
Part 6 Section 2.1 POINT is added.
Part 6 Section 2.1.3 Newly added.
Part 6 Section 2.1.4 Newly added.
Part 6 Section 5.1 The table is partially added.
Part 6 Section 5.2 Newly added.
Print date *Installation guide number Revision description
May 2018 L(NA)03127ENG-C Part 6 Section 6.1 POINT is added.
Part 6 Section 6.1.4 Newly added.
Part 6 Section 6.1.10 POINT is added.
Part 6 Section 6.3 POINT is added.
Part 7 Part number is changed from 6
Part 7 Section 1.1 POINT is added.
Part 7 Section 2.1 POINT is added.
Part 7 Section 2.1 The table is partially changed.

Part 7 Section 2.2 POINT is added.

Part 7 Section 2.2 The table is partially changed.
Part 7 Section 2.3 POINT is added.
Part 7 Section 2.4 POINT is added.
Part 7 Section 2.4 The table is partially changed.

Part 7 Section 2.6 The table is partially changed.

Part 7 Section 2.7 The diagram is partially changed.

Part 8 Part number is changed from 7
Part 8 Chapter 1 The table is partially changed.
Part 8 Section 1.1.1 The table is partially changed.
Part 8 Section 1.1.2 The table is partially changed.
Part 8 Section 1.2.1 The table is partially changed.
Part 8 Section 1.2.2 POINT is added.
Part 8 Section 1.2.2 The table is partially changed.
Part 8 Section 1.2.3 The table is partially changed.
Part 8 Chapter 2 POINT is added.
Part 8 Chapter 2 The table is partially changed.
Part 8 Section 2.1 The table is partially changed.
Part 8 Section 3.1 The table is partially changed.
Part 8 Section 3.2 The table is partially changed.
Part 8 Section 4.1.3 Partially changed.
Part 8 Section 4.3.2 POINT is added.
Part 8 Section 4.3.4 Partially changed.
Part 8 Section 4.3.4 The table is partially changed.
Part 8 Section 5.1.1 POINT is added.
Part 8 Section 5.5.3 Newly added.
Part 8 Section 5.5.3 The table is partially changed.
Part 8 Section 8.1.1 The table is partially changed.
App.1 Introduction to Renewal Tool newly added.
May 2019 L(NA)03127ENG-D MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ_ servo
amplifier are added.
Part 1 Section 2.1 The table is partially added.
Part 1 Section 3.1.1 The table is partially changed.
Part 1 Section 3.1.3 The table is partially changed.
Part 1 Section 3.1.4 The table is partially changed.
Part 1 Section 3.2.1 The table is partially added.
Part 1 Section 3.2.2 (1) The table (c) (h) (m) newly added.
Part 1 Section 3.2.2 (3) Table (a) (b) are partially changed.
Part 1 Section 3.2.3 Partially changed.
Part 1 Section 3.2.5 Partially changed.
Part 1 Section 3.2.6 Partially changed.
Part 1 Section 4.2 (5) Newly added.
Print date *Installation guide number Revision description
May 2019 L(NA)03127ENG-D Part 2 Section 3.1 (1)(2) The table is partially changed.
Part 2 Section 3.1 (3) 100 V class are added.
Part 2 Section 3.3 The table is partially changed.
Part 2 Section 3.5.1 The table is partially changed.
Part 2 Section 3.5.2 The table is partially changed.
Part 2 Section 3.5.3 The table is partially changed.
Part 2 Section 3.6 The table is partially changed.

Part 3 Section 2.1 The table is partially changed.

Part 3 Section 2.2 Partially changed.
Part 3 Section 3.1 (1)(2) Partially changed.
Part 3 Section 3.1 (3) 100 V class are added.
Part 3 Section 3.4 Partially changed.
Part 3 Section 3.6.2 Partially changed.

Part 3 Section 3.6.3 The table is partially changed.

Part 4 Section 2.1 Partially changed.
Part 4 Section 2.3 Partially changed.
Part 4 Section 3.1 Partially changed.
Part 4 Section 3.2 (2) Partially changed.
Part 4 Section 3.3 Partially changed.

Part 4 Section 3.5.1 (2) The table is partially changed.

Part 4 Section 3.5.2 (2) The table is partially changed.
Part 4 Section 3.7 Partially changed.

Part 4 Section 3.7.3 The table is partially changed.

Part 4 Chapter 4 Partially changed.
Part 5 Section 2.2 Partially changed.
Part 5 Section 2.3 (2) The diagram is partially changed.
Part 5 Section 4.1.1 The diagram is partially changed.
Part 5 Section 4.1.2 The diagram is partially changed.
Part 5 Section 4.2 (3)(c) Partially changed.
Part 5 Section 4.3 (2)(3) The table is partially changed.
Part 5 Chapter 5 Partially changed.
Part 5 Section 5.1.2 The table is partially changed.
Part 5 Section 5.2.1 The table is partially changed.
Part 5 Section 6.1 Partially changed.
Part 5 Section 6.2 Partially changed.
Part 5 Section 6.1 Partially changed.
Part 5 Section 7.1 The table is partially added.

Part 5 Section 7.1.1 Partially changed.

Part 5 Section 7.2 Partially changed.

Part 5 Section 7.1.1 Partially changed.

Part 5 Section 7.2.2 The diagram is partially changed.
Part 5 Section 7.3 Partially changed.
Part 5 Section 7.4.3 Partially changed.
Part 5 Section 7.7 Deleted.
Part 6 MR-J3-_T_(DIO command/Serial communication operation)
with MR-J4-_A_-RJ_ servo amplifier are added.
Part 7 Part number is changed from 6
Part 7 Section 1.1 Partially added.
Part 7 Section 1.2.1 Partially changed.
Part 7 Section 1.2.2 Partially changed.
Print date *Installation guide number Revision description
May 2019 L(NA)03127ENG-D Part 7 Section 1.2.3 Partially changed.
Part 7 Section 1.2.6 (1)(2) Partially changed.
Part 7 Section 1.2.6 (6)(7) Newly added.
Part 7 Section 1.3 Partially added.
Part 7 Section 2.1 POINT is added.
Part 7 Section 2.1.1 The table is partially added.
Part 7 Section 2.1.2 The table is partially added.
Part 7 Section 2.1.3 Newly added.
Part 7 Section 2.2.1 Partially added.
Part 7 Section 2.2.2 Partially added.
Part 7 Section 2.2.3 Partially added.
Part 7 Section 2.2.4 Partially added.
Part 7 Section 2.2.4 (4) The diagram is partially changed.
Part 7 Section 2.2.5 POINT is added.
Part 7 Section 2.2.5 The table is partially changed.
Part 7 Section 2.2.6 The table is partially added.
Part 7 Section 2.2.7 Newly added.
Part 7 Section 2.2.8 Newly added.
Part 7 Section 2.3.2 POINT is added.
Part 7 Section 2.3.2 (4) Partially added.
Part 7 Section 2.3.3 POINT is partially added.

Part 7 Section 2.3.3 The table is partially added.

Part 7 Section 2.3.4 The table is partially changed.
Part 7 Chapter 4 POINT is partially added.
Part 7 Section 4.4.1 The table is partially changed.
Part 7 Section 4.5.4 The table is partially changed.
Part 7 Section 4.5.5 The table is partially changed.
Part 7 Section 4.5.7 The table is partially changed.
Part 7 Section 5.1 POINT is partially added.
Part 7 Section 5.1 (1)(2) The table is partially changed.
Part 7 Section 5.2 POINT is partially added.
Part 7 Section 5.2 (1) The table is partially changed.
Part 7 Section 6.1.9 Partially changed.
Part 8 Section Part number is changed from 7
Part 8 Section 1.1 POINT is partially added.
Part 8 Section 1.1 The table is partially added.
Part 8 Section 2.6 The table is partially changed.
Part 8 Section 2.7 (3)(9) The table is partially changed.

Part 9 Section Part number is changed from 8

Part 9 Chapter 1 The table is partially added.
Part 9 Section 1.1.2 The table is partially added.

Part 9 Section 1.1.3 The table is partially changed.

Part 9 Section 1.2.2 The table is partially changed.
Part 9 Chapter 2 The table is partially added.
Part 9 Section 3.1 The table is partially added.
Part 9 Section 4.3.2 The table is partially changed.
Part 9 Section 5.3.1 POINT is partially changed.
Part 9 Section 6.1 The table is partially added.
Part 9 Section 7.1 The table is partially changed.
Part 9 Section 7.2 The table is partially changed.
Print date *Installation guide number Revision description
May 2019 L(NA)03127ENG-D Part 9 Section 7.3 The table is partially added.
Part 9 Section 7.4 The table is partially added.
Part 9 Section 7.5 The table is partially added.
Part 9 Section 7.6 The table is partially added.
Part 10 Section Part number is changed from 9

Oct. 2021 L(NA)03127ENG-E MR-J3-_T_ (CC-Link communication operation) with MR-J4-_GF_ servo amplifier are added.
SAFETY INSTRUCTIONS Partially changed.
Part 1 Section 2.1 The table is partially changed.
Part 1 Section 2.2 Partially changed.
Part 1 Section 3.1.1 The table is partially changed.
Part 1 Section 3.1.3 POINT is partially changed.
Part 1 Section 3.1.3 The table is partially changed.
Part 1 Section 3.1.4 POINT is partially changed.
Part 1 Section 3.1.4 The table is partially changed.
Part 1 Section 3.2.1 The table is partially changed.
Part 1 Section 3.2.1 (1) The table is partially changed.
Part 1 Section 3.2.1 (1) The table (d) (i) (q) added.
Part 1 Section 3.2.1 (2) The table is partially changed.
Part 1 Section 3.2.1 (3) The table is partially changed.
Part 1 Section 3.2.3 (3) Partially changed.
Part 1 Section 3.2.4 Partially changed. Partially add.
Part 1 Section 3.2.5 Partially changed.
Part 1 Section 3.2.6 Partially changed.
Part 1 Section 4.6 Partially changed. Partially add.
Part 1 Section 4.4 Partially changed.
Part 2 Section 2.2 The diagram is partially changed.
Part 2 Section 2.2 (1) Partially changed.
Part 2 Section 2.2 (2) POINT is partially changed.
Part 2 Section 3.1 (1) The table is partially changed.
Part 2 Section 3.3 (2) The table is partially changed.
Part 2 Section 3.4 POINT is partially changed.
Part 2 Section 3.5 POINT is partially changed.
Part 2 Section 3.5.1 The table is partially changed.
Part 2 Section 3.5.2 The table is partially changed.
Part 2 Section 3.5.3 The table is partially changed.
Part 2 Section 3.6.2 (2) Partially changed.
Part 2 Section 3.6 (2) Partially changed.
Part 3 Section 2.1 Partially changed.
Part 3 Section 2.2 Partially changed.
Part 3 Section 3.1 Partially changed.
Part 3 Section 3.2 POINT is partially changed.
Part 3 Section 3.4 Partially changed.
Part 3 Section 3.5 POINT is partially changed.
Part 3 Section 3.6 POINT is partially changed.
Part 3 Section 3.6.1 The table is partially changed.
Part 3 Section 3.6.3 The table is partially changed.
Part 4 Section 2.1 The diagram is partially changed.
Part 4 Section 2.2 Partially changed.
Print date *Installation guide number Revision description
Oct. 2021 L(NA)03127ENG-E Part 4 Section 2.3 Partially changed.
Part 4 Section 3.1 The table is partially changed.
Part 4 Section 3.2 Partially changed.
Part 4 Section 3.3 POINT is partially changed.
Part 4 Section 3.5.1 The table is partially changed.
Part 4 Section 3.5.2 The table is partially changed.
Part 4 Section 3.6 POINT is partially changed.
Part 4 Section 3.7 POINT is partially changed.
Part 4 Section 3.7.1 The table is partially changed.
Part 4 Section 3.7.3 The table is partially changed.
Part 4 Chapter 4 POINT is partially changed.
Part 5 Section 2.1 The table is partially changed.
Part 5 Section 2.2 POINT is partially changed.
Part 5 Section 2.3 Partially changed.
Part 5 Section 4.1 POINT is partially changed.
Part 5 Section 4.1.1 The table is partially changed.
Part 5 Section 4.1.1 POINT is partially changed.
Part 5 Section 4.2.1 The table is partially changed.
Part 5 Section 4.2 Partially changed.
Part 5 Section 4.3 The table is partially changed.
Part 5 Chapter 5 POINT is partially changed.
Part 5 Section 5.2 POINT is partially changed.
Part 5 Section 5.2.1 Partially changed.
Part 5 Section 6.1 Partially changed.
Part 5 Section 7.2 POINT is partially changed.
Part 5 Section 7.2.2 Partially changed.
Part 5 Section 7.3.2 Partially changed.
Part 5 Section 7.4.2 Partially changed.
Part 5 Section 7.5.1 Partially changed.
Part 6 POINT is partially changed.
Part 6 Section 2.1 Partially changed.
Part 6 Section 2.2 Partially changed.
Part 6 Section 2.2 (2) POINT is partially changed.
Part 6 Section 3.1 The table is partially changed.
Part 6 Section 3.1 POINT is partially changed.
Part 6 Section 3.1.2 The table is partially changed.
Part 6 Section 3.2 The table is partially changed.
Part 6 Section 3.3 The table is partially changed.
Part 6 Section 3.4 The table is partially changed.
Part 6 Section 3.5.1 Partially changed.
Part 6 Section 3.6 POINT is partially changed.
Part 6 Section 3.6.1 The table is partially changed.
Part 6 Section 3.6.3 The table is partially changed.
Part 6 Section 3.7 Partially changed.
Part 6 Section 4.1.1 Partially changed.
Part 6 Section 4.1.2 Partially changed.
Part 7 MR-J3-_T_ (CC-Link communication operation) with MR-J4-_GF_
servo amplifier are added.
Part 8 Part number is changed from 7
Print date *Installation guide number Revision description
Oct. 2021 L(NA)03127ENG-E Part 8 Section 1.1 Partially changed.
Part 8 Section 1.2.2 Partially changed.
Part 8 Section 1.2.3 Partially changed.
Part 8 Section 1.2.4 Partially changed.
Part 8 Section 1.2.4 POINT is partially changed.
Part 8 Section 1.2.5 Partially changed.
Part 8 Section 1.2.6 Partially changed.
Part 8 Section 1.2.7 The diagram is partially changed.
Part 8 Section 1.3 Partially changed.
Part 8 Section 2.1 POINT is partially changed.
Part 8 Section 2.1.1 Partially changed.
Part 8 Section 2.1.2 Partially changed.
Part 8 Section 2.1.5 Partially changed.
Part 8 Section 2.2.1 POINT is partially changed.
Part 8 Section 2.2.1 Partially changed.
Part 8 Section 2.2.2 POINT is partially changed.
Part 8 Section 2.2.2 The diagram is partially changed.
Part 8 Section 2.2.3 Partially deleted.
Part 8 Section 2.2.4 Partially changed.
Part 8 Section 2.2.5 POINT is partially changed.
Part 8 Section 2.2.6 The table is partially changed.
Part 8 Section 2.2.7 POINT is partially added and changed.
Part 8 Section 2.2.7 The table is partially changed.
Part 8 Section 2.2.8 The table is partially changed.
Part 8 Section 2.2.9 Newly added.
Part 8 Section 2.2.10 Newly added.
Part 8 Section 2.3 POINT is partially changed.
Part 8 Section 2.3.1 The diagram is partially changed.
Part 8 Section 2.3.2 POINT is partially changed.
Part 8 Section 2.3.4 The table is partially changed.
Part 8 Chapter 4 POINT is partially changed.
Part 8 Section 4.4.1 The table is partially changed.
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Part 8 Section 5.1 The table is partially added and changed.
Part 8 Section 5.2 POINT is partially changed.
Part 8 Section 6.1.1 Partially changed.
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Part 9 Part number is changed from 8
Part 9 Section 1.1 POINT is partially changed.
Part 9 Section 1.1 The table is partially changed.
Part 9 Section 2.1 POINT is partially changed.
Part 9 Section 2.1 The table is partially changed.
Part 9 Section 2.2 POINT is partially changed.
Part 9 Section 2.2 The table is partially changed.
Print date *Installation guide number Revision description
Oct. 2021 L(NA)03127ENG-E Part 9 Section 2.3 POINT is partially changed.
Part 9 Section 2.4 POINT is partially changed.
Part 9 Section 2.5 POINT is partially changed.
Part 9 Section 2.5 The table is partially changed.
Part 9 Section 2.7 Partially changed.
Part 10 Part number is changed from 9
Part 10 Chapter 1 POINT is partially changed.
Part 10 Section 1.1.1 Partially changed.
Part 10 Section 1.1.2 Partially changed.
Part 10 Section 3.1 The table is partially added.
Part 10 Section 4.1.1 POINT is partially changed.
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Part 10 Section 4.1.3 Partially changed.
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Part 10 Section 4.3.3 Partially changed.
Part 10 Section 4.3.4 Partially changed.
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Part 10 Section 5.2 Partially changed.
Part 10 Section 5.3.1 Partially added.
Part 10 Section 5.3.1 POINT is partially added and changed.
Part 10 Section 5.3.1 The diagram is partially added and changed.
Part 10 Section 5.3.2 Partially added and changed.
Part 10 Section 5.4.1 Partially changed.
Part 10 Section 5.5 POINT is partially changed.
Part 10 Section 7.5 The table is partially changed.
Part 10 Section 7.6 The diagram is partially changed.
Part 10 Section 7.6 The table is partially changed.
Part 10 Section 8.3.1 The table is partially changed.
Part 11 Part number is changed from 10
Part 10 Chapter 1 CAUTION is partially changed.
Part 11 Section 1.1 Partially changed.
Appendix 1 Complete changed.

This installation guide guarantees no industrial rights or implementation of any rights of any other kind, nor does it
grant any licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial
rights which may occur as a result of using the contents noted in this installation guide.
 2016 MITSUBISHI ELECTRIC CORPORATION
MEMO
Service Network

Global FA Centers

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India Pune FA Center Hanoi FA Center
India Bangalore FA Center Ho Chi Minh FA Center
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ASEAN FA Center Indonesia FA Center
Brazil FA Center

China ASEAN America

Shanghai FA Center ASEAN FA Center North America FA Center
MITSUBISHI ELECTRIC AUTOMATION MITSUBISHI ELECTRIC ASIA PTE. LTD. MITSUBISHI ELECTRIC AUTOMATION, INC.
(CHINA) LTD. 307, Alexandra Road, Mitsubishi Electric Building, 500 Corporate Woods Parkway, Vernon Hills,
10F, Mitsubishi Electric Automation Center, Singapore 159943 IL 60061, U.S.A.
No.1386 Hongqiao Road, Changning District, Tel: 65-6470-2480 Fax: 65-6476-7439 Tel: 1-847-478-2100 Fax: 1-847-478-2253
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Beijing FA Center Indonesia FA Center MITSUBISHI ELECTRIC AUTOMATION, INC.
MITSUBISHI ELECTRIC AUTOMATION PT. MITSUBISHI ELECTRIC INDONESIA Mexico Branch
(CHINA) LTD. Beijing Office Gedung Jaya 11th Floor, JL MH. Thamrin No.12, Mariano Escobedo #69, Col.Zona Industrial,
Unit 908, Office Tower 1, Henderson Centre, Jakarta, Pusat 10340, Indonesia Tlalnepantla Edo, C.P.54030, México
18 Jianguomennei Avenue, Dongcheng District, Tel: 62-21-3192-6461 Fax: 62-21-3192-3942 Tel: 52-55-3067-7511
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Tel: 86-10-6518-8830 Fax: 86-10-6518-3907 Brazil
Vietnam
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(CHINA) LTD. Tianjin Office COMÉRCIO E SERVIÇOS LTDA.
LIMITED Hanoi Branch
Room 2003 City Tower, No.35, Youyi Road, Rua Jussara, 1750- Bloco B Anexo, Jardim Santa
Unit 9-05, 9th Floor, Hanoi Central Office Building,
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44B Ly Thuong Kiet Street, Hoan Kiem District,
Tel: 86-22-2813-1015 Fax: 86-22-2813-1017 Tel: 55-11-4689-3000 Fax: 55-11-4689-3016
Hanoi City, Vietnam
Guangzhou FA Center Tel: 84-4-3937-8075 Fax: 84-4-3937-8076 Europe
MITSUBISHI ELECTRIC AUTOMATION European FA Center
Ho Chi Minh FA Center
(CHINA) LTD. Guangzhou Office MITSUBISHI ELECTRIC EUROPE B.V.
MITSUBISHI ELECTRIC VIETNAM COMPANY
Room 1609, North Tower, The Hub Center, Polish Branch
LIMITED
No.1068, Xingang East Road, Haizhu District, 32-083 Balice ul. Krakowska 50, Poland
Unit 01-04, 10th Floor, Vincom Center, 72 Le Thanh
Guangzhou, China Tel: 48-12-630-47-00 Fax: 48-12-630-47-01
Ton Street, District 1, Ho Chi Minh City, Vietnam
Tel: 86-20-8923-6730 Fax: 86-20-8923-6715 German FA Center
Tel: 84-8-3910-5945 Fax: 84-8-3910-5947
Taiwan MITSUBISHI ELECTRIC EUROPE B.V.
Taiwan FA Center India German Branch
SETSUYO ENTERPRISE CO., LTD. India Pune FA Center Gothaer Strasse 8, D-40880 Ratingen, Germany
3F, No.105, Wugong 3rd Road,Wugu District, MITSUBISHI ELECTRIC INDIA PVT. LTD. Tel: 49-2102-486-0 Fax: 49-2102-486-1120
New Taipei City 24889, Taiwan, R.O.C. Pune Branch UK FA Center
Tel: 886-2-2299-9917 Fax: 886-2-2299-9963 Emerald House, EL-3, J Block, M.I.D.C., Bhosari, MITSUBISHI ELECTRIC EUROPE B.V.
Pune, 411026, Maharashtra State, India UK Branch
Korea Travellers Lane, Hatfield, Hertfordshire, AL10
Tel: 91-20-2710-2000 Fax: 91-20-2710-2100
Korean FA Center 8XB, U.K.
MITSUBISHI ELECTRIC AUTOMATION India Gurgaon FA Center Tel: 44-1707-28-8780 Fax: 44-1707-27-8695
KOREA CO., LTD. MITSUBISHI ELECTRIC INDIA PVT. LTD.
Czech Republic FA Center
B1F, 2F, 1480-6, Gayang-Dong, Gangseo-Gu, Gurgaon Head Office
MITSUBISHI ELECTRIC EUROPE B.V.
Seoul, 157-200, Korea 2nd Floor, Tower A & B, Cyber Greens, DLF
Czech Branch
Tel: 82-2-3660-9630 Fax: 82-2-3663-0475 Cyber City, DLF Phase - III, Gurgaon - 122002
Avenir Business Park, Radicka 751/113e,
Haryana, India
Thailand 158 00 Praha5, Czech Republic
Tel: 91-124-463-0300 Fax: 91-124-463-0399
Thailand FA Center Tel: 420-251-551-470 Fax: 420-251-551-471
MITSUBISHI ELECTRIC FACTORY India Bangalore FA Center Russian FA Center
AUTOMATION (THAILAND) CO., LTD. MITSUBISHI ELECTRIC INDIA PVT. LTD. MITSUBISHI ELECTRIC EUROPE B.V.
12th Floor, SV.City Building, Office Tower 1, No. 896/19 Bangalore Branch Russian Branch St. Petersburg office
and 20 Rama 3 Road, Kwaeng Bangpongpang, Khet Prestige Emerald, 6th Floor, Municipal No.2, Piskarevsky pr. 2, bld 2, lit "Sch", BC "Benua",
Yannawa, Bangkok 10120, Thailand Madras Bank Road, Bangalore 560001, India office 720; 195027, St. Petersburg, Russia
Tel: 66-2682-6522 to 6531 Fax: 66-2682-6020 Tel: 91-80-4020-1600 Fax: 91-80-4020-1699 Tel: 7-812-633-3497 Fax: 7-812-633-3499

L(NA)03127ENG-E
Transition from MELSERVO-J3/J3W Series to J4 Series Handbook

Country/Region Sales office

USA Mitsubishi Electric Automation, Inc. Tel : +1-847-478-2100
500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A.
Mexico Mitsubishi Electric Automation, Inc. Mexico Branch Tel : +52-55-3067-7512
Boulevard Miguel de Cervantes Saavedra 301, Torre Norte Piso 5, Ampliacion Granada,
Miguel Hidalgo, Ciudad de Mexico, Mexico, C.P.11520
Brazil Mitsubishi Electric do Brasil Comercio e Servicos Ltda. Tel : +55-11-4689-3000
Avenida Adelino Cardana, 293, 21 andar, Bethaville, Barueri SP, Brazil
Germany Mitsubishi Electric Europe B.V. German Branch Tel : +49-2102-486-0
Mitsubishi-Electric-Platz 1, 40882 Ratingen, Germany
UK Mitsubishi Electric Europe B.V. UK Branch Tel : +44-1707-28-8780
Travellers Lane, UK-Hatfield, Hertfordshire, AL10 8XB, U.K.
Italy Mitsubishi Electric Europe B.V. Italian Branch Tel : +39-039-60531
Centro Direzionale Colleoni - Palazzo Sirio, Viale Colleoni 7, 20864 Agrate Brianza (MB), Italy
Spain Mitsubishi Electric Europe B.V. Spanish Branch Tel : +34-935-65-3131
Carretera de Rubi, 76-80-Apdo. 420, E-08174 Sant Cugat del Valles (Barcelona), Spain
France Mitsubishi Electric Europe B.V. French Branch Tel : +33-1-55-68-55-68
25, Boulevard des Bouvets, 92741 Nanterre Cedex, France
Czech Republic Mitsubishi Electric Europe B.V. Czech Branch, Prague Office Tel : +420-255-719-200
Pekarska 621/7, 155 00 Praha 5, Czech Republic
Poland Mitsubishi Electric Europe B.V. Polish Branch Tel : +48-12-347-65-00
ul. Krakowska 48, 32-083 Balice, Poland
Russia Mitsubishi Electric (Russia) LLC St. Petersburg Branch Tel : +7-812-449-51-34
Startovaya street, 8, BC “Aeroplaza”, office 607; 196210, St. Petersburg, Russia
Sweden Mitsubishi Electric Europe B.V. (Scandinavia) Tel : +46-8-625-10-00
Hedvig Mollersgata 6, 223 55 Lund, Sweden
Turkey Mitsubishi Electric Turkey A.S. Umraniye Branch Tel : +90-216-969-2500
Serifali Mah. Kale Sok. No:41 34775 Umraniye - Istanbul, Turkey
UAE Mitsubishi Electric Europe B.V. Dubai Branch Tel : +971-4-3724716
Dubai Silicon Oasis, P.O.BOX 341241, Dubai, U.A.E.
South Africa Adroit Technologies Tel : +27-11-658-8100
20 Waterford Office Park, 189 Witkoppen Road, Fourways, South Africa
China Mitsubishi Electric Automation (China) Ltd. Tel : +86-21-2322-3030
Mitsubishi Electric Automation Center, No.1386 Hongqiao Road, Shanghai, China
Taiwan SETSUYO ENTERPRISE CO., LTD. Tel : +886-2-2299-2499
6F, No.105, Wugong 3rd Road, Wugu District, New Taipei City 24889, Taiwan
Korea Mitsubishi Electric Automation Korea Co., Ltd. Tel : +82-2-3660-9529
7F to 9F, Gangseo Hangang Xi-tower A, 401, Yangcheon-ro, Gangseo-Gu, Seoul 07528, Korea
Singapore Mitsubishi Electric Asia Pte. Ltd. Tel : +65-6473-2486
307 Alexandra Road, Mitsubishi Electric Building, Singapore 159943
Thailand Mitsubishi Electric Factory Automation (Thailand) Co., Ltd. Tel : +66-2092-8600
True Digital Park Building Sukhumvit 101 Sukhumvit Road, Bang Chak, Prakanong, Bangkok,
Thailand
Indonesia PT. Mitsubishi Electric Indonesia Tel : +62-21-3192-6461
Gedung Jaya 8th Floor, JL. MH. Thamrin No.12, Jakarta Pusat 10340, Indonesia
Vietnam Mitsubishi Electric Vietnam Company Limited Tel : +84-28-3910-5945
11th & 12th Floor, Viettel Tower B, 285 Cach Mang Thang 8 Street, Ward 12, District 10, Ho Chi
Minh City, Vietnam
India Mitsubishi Electric India Pvt. Ltd. Pune Branch Tel : +91-20-2710-2000
Emerald House, EL-3, J Block, M.I.D.C., Bhosari, Pune - 411026, Maharashtra, India
Australia Mitsubishi Electric Australia Pty. Ltd. Tel : +61-2-9684-7777
348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, Australia

New publication, effective October 2021.

L(NA)03127ENG-E Specifications are subject to change without notice.