SERVO AMPLIFIERS & MOTORS

MELSERVO-J4 Series with

Built-in Positioning Function

MR-J4-A-RJ is now available with

built-in positioning function,
allowing positioning operation with
point table, program, and indexer
(turret) methods.

MR Configurator2 offers easy

setting of positioning data.

[Point table] window on MR Configurator2

MR-J4-A-RJ

● Point table method: Positioning according to the position and speed data set in the point table.
● Program method: Positioning by following pre-created programs.
● Indexer (turret) method: Positioning by specifying station positions.
● Command interface is compatible with DI/O or RS-422 serial communication (maximum of 32 axes).
● Easy setting of positioning data with MR Configurator2.
 Built-in Positioning Function

Positioning operation with point table, program, and indexer (turret) methods became capable by built-in positioning function in
MR-J4-A-RJ*1, allowing to configure positioning system without controller such as Positioning module. Command interface is selectable
from DI/O and RS-422 serial communication (maximum 32 axes). The positioning data can be set from MR Configurator2*2 easily.

MR-J4-A-RJ Built-in positioning function

Example of a setting display (point table) Positioning module is not required.
Easy setting of
positioning data from ● Point table method
MR Configurator2. ● Program method
● Indexer (turret) method
Fully closed loop control is also available with
Personal computer
point table and program methods.

Rotary servo motor, linear servo

motor, and direct drive servo motor
are compatible.

*1. Use MR-J4-A-RJ servo amplifiers with software version B3 or later when using the positioning function.
*2. Use MR Configurator2 with software version 1.25B or later when using the positioning function. Be sure to update your MR Configurator2 to the latest version.

Point table method

Setting position data (target position), servo motor speed, and acceleration/deceleration time constants in point table is as easy as
setting a parameter. Up to 255 points are settable for the point table. The positioning operation is performed with a start signal after
selecting the point table No.
Point table example Operation
Point table Position Servo motor Acceleration Deceleration Sub Speed
Dwell M code 2000
No. data speed time constant time constant function
1600
1 1000 2000 200 200 0 1 1

2 2000 1600 100 100 0 0 2 Point table No. 1 Point table No. 2

255 3000 3000 100 100 0 2 99

Position address 0 1000 2000

Start signal

Program method *
Create positioning programs with dedicated commands. The positioning operation is performed with a start signal after selecting the
program No. The program method enables more complex positioning operation than the point table method. Maximum of 256 programs
are registerable. (The total number of steps of each program: 640) Repeats (2) and (3)
Acceleration Deceleration for the number of
Program example Operation time constant time constant times specified by (1).
(20 ms) (20 ms)
256 programs max Speed
3000
Program No. 1
SPN (3000)
STC (20)
MOV (1000)
TIM (100)
FOR (3) (1)
MOVI (100) (2) Dwell Dwell Dwell Dwell
TIM (100) (3) (100 ms) (100 ms) (100 ms) (100 ms)
NEXT
STOP 0 1000 1100 1200 1300
Position address

* MR Configurator2 is required to create programs. Start signal

Program No. 1

Indexer (turret) method*

Positioning operation is performed by specifying equally
MR-J4-A-RJ
divided stations (up to 255 stations). By setting the number of
teeth on load and motor sides and equally divided stations,
the travel distance will be calculated automatically. The
positioning operation is performed with a start signal after
selecting the station position No. Station No. 0
In addition to rotation direction specifying indexer and shortest Station No. 7
Station No. 1

rotating indexer, backlash compensation and override function

Station No. 6 Station No. 2
are also available.
Station No. 3
Station No. 5
* Fully closed loop control mode and linear servo motor control mode are not
available with the indexer (turret) method. Station No. 4

1
 MR-J4-A-RJ Built-in Positioning Function

MR-J4-A-RJ Positioning Function: Point Table Method

Positioning operation is executed by selecting the point table No. with a command interface signal according to the position and speed
data set in the point table.

Item Description
Command interface DIO (input: 11 points (excluding forced stop input (EM2)), and output: 8 points), RS-422
Operating specification Positioning by specifying the point table No. (255 points)
Set in the point table.
Absolute value Setting range of feed length per point: -999999 to 999999 [×10STM μm],
Position command method -99.9999 to 99.9999 [×10STM inch], -999999 to 999999 [pulse],
command Setting range of rotation angle: -360.000 to 360.000 [degree]
input Set in the point table.
Command method (Note 1) Incremental value Setting range of feed length per point: 0 to 999999 [×10STM μm],
command method 0 to 99.9999 [×10STM inch], 0 to 999999 [pulse],
Setting range of rotation angle: 0 to 999.999 [degree]
Set the acceleration/deceleration time constants in the point table.
Speed command input
Set the S-pattern acceleration/deceleration time constants with [Pr. PC03].
System Signed absolute value command method, incremental value command method
Analog override 0 V DC to ±10 V DC/0% to 200%
Torque limit Set by parameters or external analog input (0 V DC to +10 V DC/maximum torque)
Point table No. input, position data input method
Automatic Each positioning operation
Each positioning operation is executed based on the position/speed commands.
operation
Automatic continuous Varying-speed operation (2 to 255 speeds),
mode
positioning operation automatic continuous positioning operation (2 to 255 points)
Inching operation is executed with DI or RS-422 communication function according to the
Manual JOG operation
speed command set with a parameter.
operation
Manual pulse generator Manual feeding is executed with a manual pulse generator.
mode
operation Command pulse multiplication: select from ×1, ×10, and ×100 with a parameter.
Returns to home position upon Z-phase pulse after passing through proximity dog.
Dog type Home position return direction selectable, home position shift distance settable, home position
address settable, automatic retract on dog back to home position, automatic stroke retract function
Returns to home position upon the encoder pulse count after touching proximity dog.
Count type Home position return direction selectable, home position shift distance 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 Any position settable 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 position as home
Home position address settable
Operation position)
mode Returns to home position with reference to the rear end of proximity dog.
Dog type rear end
Home Home position return direction selectable, home position shift distance settable, home position
reference
position address settable, automatic retract on dog back to home position, automatic stroke retract function
return Returns to home position with reference to the front end of proximity dog.
Count type front end
mode Home position return direction selectable, home position shift distance settable, home position
reference
address settable, automatic retract on dog back to home position, automatic stroke retract function
Returns to home position upon the first Z-phase pulse with reference to the front
end of proximity dog.
Dog cradle type
Home position return direction selectable, home position shift distance settable, home position
address settable, automatic retract on dog back to home position, automatic stroke retract function
Returns to home position upon the last Z-phase pulse with reference to the front
Dog type adjacent Z-phase end of proximity dog.
reference (Note 2) Home position return direction selectable, home position shift distance settable, home position
address settable, automatic retract on dog back to home position, automatic stroke retract function
Returns to home position to the front end of dog with reference to the front end of proximity dog.
Dog type front end
Home position return direction selectable, home position shift distance settable, home position
reference
address settable, automatic retract on dog back to home position, automatic stroke retract function
Returns to home position to Z-phase pulse with reference to the first Z-phase pulse.
Dogless Z-phase reference
(Note 2)
Home position return direction settable, home position shift distance settable,
home position address settable
Automatic positioning to home
High-speed automatic positioning to a defined home position
position function
Absolute position detection system, backlash compensation, overtravel prevention
Other functions with external limit switches (LSP/LSN), teaching function, roll feed function, software stroke
limit, mark detection (current position latch) function, override function
Notes: 1. STM is the ratio to the setting value of the position data. STM can be changed with [Pr. PT03].
2. Home position return modes of dog type adjacent Z-phase reference and dogless Z-phase reference are not available when the direct drive motor or incremental type
linear encoder is used. 2
MR-J4-A-RJ Positioning Function: Point Table Method
Absolute value command method: travels to a specified address (absolute value) with reference to the
home position
Item Setting range Description
Specify a point table in which a target position, servo motor speed,
Point table No. 1 to 255
acceleration/deceleration time constants, dwell, and sub function will be set.
Set a travel distance.
-999999 to 999999 [×10STM μm]
(1) When using as absolute value command method
Target position (Note 1, 3) -99.9999 to 99.9999 [×10 STM inch]
Set a target address (absolute value).
(position data) -360.000 to 360.000 [degree]
(2) When using as incremental value command method
-999999 to 999999 [pulse]
Set a travel distance. Reverse rotation command is applied with a minus sign.
Servo motor speed (Note 2) 0 to permissible speed [r/min] [mm/s] Set a command speed for the servo motor in positioning.
Acceleration time constant 0 to 20000 [ms] Set a time period for the servo motor to reach the rated speed.
Deceleration time constant 0 to 20000 [ms] Set a time period for the servo motor to decelerate from the rated speed to a stop.
Set dwell.
When the dwell is set, the position command for the next point table will be
started after the position command for the selected point table is completed
Dwell 0 to 20000 [ms] and the set dwell is passed.
The dwell is disabled when 0 or 2 is set for the sub function.
Varying-speed operation is enabled when 1, 3, 8, 9, 10, or 11 is set for the sub
function and when 0 is set for the dwell.
Set sub function.
(1) When using as absolute value command method
0: Executes automatic operation for a selected point table.
1: Executes automatic continuous operation without stopping for the next
point table.
8: Executes automatic continuous operation without stopping for the point
table selected at the start.
9: Executes automatic continuous operation without stopping for the point
Sub function 0 to 3, and 8 to 11 table No. 1.
(2) When using as incremental value command method
2: Executes automatic operation for a selected point table.
3: Executes automatic continuous operation without stopping for the next
point table.
10: Executes automatic continuous operation without stopping for the point
table selected at the start.
11: Executes automatic continuous operation without stopping for the point
table No. 1.
M code 0 to 99 Set a code to be outputted when the positioning completes.
Notes: 1. Change the unit to μm/Inch/Degree/Pulse with [Pr. PT01].
2. The speed unit is r/min for the rotary servo motors and the direct drive motors, and mm/s for the linear servo motors.
3. STM is the ratio to the setting value of the position data. STM can be changed with [Pr. PT03].

Example of setting point table data

Target position Servo motor Acceleration Deceleration
(position data) Dwell
Point table No. speed time constant time constant Sub function M code
[× 10STM μm] [ms]
[r/min] [ms] [ms]
(Note 1)

1 1000 2000 200 200 0 ✽ 1

2 2000 1600 100 100 0 0 2
: : : : : : : :
255 3000 3000 100 100 0 2 99
✽ The operation of the next point table is set with the sub function.

●●When the sub function is set to 0: ●●When the sub function is set to 1:
Start signal is required for each point table. Automatic continuous operation is executed based on
the point table.
Speed Speed

Point table Point table Point table Point table

No. 1 No. 2 No. 1 No. 2
Time Time

Position address 0 1000 1000 2000 Position address 0 1000 2000

Start signal Start signal

M code M code data No. 1 M code data No. 2 M code M code data No. 1

Notes: 1. STM is the ratio to the setting value of the position data. STM can be changed with [Pr. PT03].
3
 MR-J4-A-RJ Built-in Positioning Function

MR-J4-A-RJ Positioning Function: Point Table Method

Incremental value command method: travels from a current position according to the set position data
Item Setting range Description
Specify a point table in which a target position, servo motor speed,
Point table No. 1 to 255
acceleration/deceleration time constants, dwell, and sub function will be set.
0 to 999999 [×10STM μm]
Set a travel distance.
Target position (Note 1, 3)0 to 99.9999 [×10STM inch]
Operation starts with ST1 (Forward rotation start) or ST2 (Reverse rotation
(position data) 0 to 999.999 [degree]
start).
0 to 999999 [pulse]
Servo motor speed (Note 2) 0 to permissible speed [r/min] [mm/s] Set a command speed for the servo motor in positioning.
Acceleration time constant 0 to 20000 [ms] Set a time period for the servo motor to reach the rated speed.
Deceleration time constant 0 to 20000 [ms] Set a time period for the servo motor to decelerate from the rated speed to a stop.
Set a dwell.
When the dwell is set, the position command for the next point table will be
started after the position command for the selected point table is completed
Dwell 0 to 20000 [ms] and the set dwell is passed.
The dwell is disabled when 0 is set for the sub function.
Varying-speed operation is enabled when 1, 8, or 9 is set for the sub function
and when 0 is set for the dwell.
Set sub function.
0: Executes automatic operation for the selected point table.
1: Executes automatic continuous operation without stopping for the next point
table.
Sub function 0, 1, 8, and 9
8: E xecutes automatic continuous operation without stopping for the point table
selected at the start.
9: Executes automatic continuous operation without stopping for the point
table No. 1.
M code 0 to 99 Set a code to be outputted when the positioning completes.
Notes: 1. Change the unit to μm/Inch/Degree/Pulse with [Pr. PT01].
2. The speed unit is r/min for the rotary servo motors and the direct drive motors, and mm/s for the linear servo motors.
3. STM is the ratio to the setting value of the position data. STM can be changed with [Pr. PT03].

Example of setting point table data

Target position Servo motor Acceleration Deceleration
(position data) Dwell
Point table No. speed time constant time constant Sub function M code
[× 10STM μm] [ms]
[r/min] [ms] [ms]
(Note 1)

1 1000 2000 200 200 0 ✽ 1

2 1000 1600 100 100 0 0 2
: : : : : : : :
255 3000 3000 100 100 0 2 99
✽ The operation of the next point table is set with the sub function.

●●When the sub function is set to 0: ●●When the sub function is set to 1:
Start signal is required for each point table. Automatic continuous operation is executed based on
the point table.

Speed Speed

Point table Point table Point table Point table

No. 1 No. 2 No. 1 No. 2
Time Time

Position address 0 1000 1000 2000 Position address 0 1000 2000

Start signal Start signal

M code M code data No. 1 M code data No. 2 M code M code data No. 1

Notes: 1. STM is the ratio to the setting value of the position data. STM can be changed with [Pr. PT03].

4
MR-J4-A-RJ Standard Wiring Diagram Example: Point Table Method

Servo amplifier
MR-J4-A-RJ
Servo motor connection
Main circuit The connection differs according to each servo motor.
Main/control circuit power supply power supply
L1 Refer to "Servo Motor Connection Example" in
connection L2 U "MELSERVO-J4 catalog (L(NA)03058)."
The connection differs according to the power V
L3
voltage.
Control circuit W Power cable
Refer to "Main/Control Circuit Power Supply power supply
Connection Example" in "MELSERVO-J4 L11
catalog (L(NA)03058)." L21
CN1
OPC 12 CN2
24 V DC power supply for interface DICOM 20
DOCOM 46 Encoder cable
Encoder Z-phase pulse LZ 8
(differential line driver) LZR 9
Encoder A-phase pulse LA 4 Servo motor
(differential line driver) LAR 5
Encoder B-phase pulse LB 6 CN2L CN2L connector connection
(differential line driver) LBR 7 Refer to "MELSERVO-J4 catalog
Control common (L(NA)03058)" for the connection.
Control common LG 34
Encoder Z-phase pulse OP 33
(Open collector) CN8 connector connection
SD Plate CN8 (Note 3)
Refer to "STO I/O Signal Connector (CN8)
2 m or shorter
Connection Example" in "MELSERVO-J4 catalog
10 m or shorter
(L(NA)03058)."
Main circuit (Note 4)
power supply (Note 2)
Forced stop 2 EM2 42 CN3 RS-422 (Note 1)
Servo-on SON 15 5 SDP RDP
Operation mode selection 1 MD0 16 4 SDN RDN
Forward rotation start ST1 17 3 RDP SDP
Reverse rotation start ST2 18
6 RDN SDN
Proximity dog DOG 45
1 LG GND
Forward rotation stroke end LSP 43
7 LG GND
Reverse rotation stroke end LSN 44
8 TRE Parameter unit
Point table No. selection 1 DI0 19 MR-PRU03 (Note 7)
Point table No. selection 2 DI1 41 30 m or shorter
Point table No. selection 3 DI2 (Note 6) 10
Point table No. selection 4 DI3 (Note 6) 35
DOCOM 47 CN4 Mount an optional battery
1 BAT (MR-BAT6V1SET), or a battery case
10 m or shorter
DICOM 21 (MR-BT6VCASE) and batteries
2 LG
Malfunction R (MR-BAT6V1) for absolute position
A
1 ALM 48 detection system.
Rough match R
A
2 CPO 22
(Note 8) Home position return R
A
3 ZP 23 Personal computer
Travel completion R
A
4 MEND 25
In-position R
A
5
INP 24
Ready R
A RD 49
CN5

(Note 5) 13 Setup software

Preliminary DO USB cable MR Configurator2
(Note 5) 14 MR-J3USBCBL3M

10 m or shorter
Upper limit setting

Analog override
P15R 1 CN6 Analog monitor output
VC 2 3 MO1
±10 V/0% to 200% Output voltage: ±10 V
LG 28 Maximum output current: 1 mA
Upper limit setting
1 LG
Analog torque limit 2 MO2 Output voltage: ±10 V
TLA 27 Maximum output current: 1 mA
+10 V/maximum torque
SD Plate
2 m or shorter
2 m or shorter

Notes: 1. It is also possible to connect a personal computer to CN3 connector with an RS-422/RS-232C conversion cable. However, USB interface (CN5 connector) and RS-422
interface (CN3 connector) are mutually exclusive. Do not use them at the same time. Refer to "Products on the Market for Servo Amplifiers" in "MELSERVO-J4 catalog
(L(NA)03058)" for the RS-422/RS-232C conversion cable.
2. This is for sink wiring. Source wiring is also possible. However, when input devices are assigned to CN1-10 pin and CN1-35 pin, be sure to use sink wiring. Source
wiring is not possible in this case. In the positioning mode, input devices are assigned in the initial setting. Refer to "MR-J4-_A_-RJ Servo Amplifier Instruction Manual
(Positioning Mode)" for details.
3. Be sure to attach a short-circuit connector supplied with the servo amplifier when the STO function is not used.
4. Create a circuit to turn off EM2 (Forced stop 2) when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.
5. No output device is assigned in the initial setting. Assign an output device with [Pr. PD47] as necessary.
6. DI2 and DI3 are assigned to CN1-10 pin and CN1-35 pin respectively in the initial setting. Change them with [Pr. PD44] and [Pr. PD46] when using a manual pulse
generator.
7. Use a commercial LAN cable (EIA568 compliant), and keep the wiring distance within 10 m when using MR-PRU03 parameter unit.
8. Assign the output devices mentioned to CN1-22 pin, CN1-23 pin, and CN1-25 pin with [Pr. PD23], [Pr. PD24] and [Pr. PD26].

Be sure to read through Instruction Manual for the actual wiring and use. Use the equipment after you have a full knowledge
of the equipment, safety information and instructions.

5
 MR-J4-A-RJ Built-in Positioning Function

MR-J4-A-RJ Positioning Function: Program Method

Positioning operation is executed by selecting programs with command signals. The programs including position data, servo motor
speed, acceleration/deceleration time constants and others need to be created beforehand. The program method enables more
complex positioning operation than the point table method. MR Configurator2 is required to create programs.

Item Description
Command interface DIO (input: 11 points (excluding forced stop input (EM2)), and output: 8 points), RS-422
Program language (program with MR Configurator2)
Operating specification
Program capacity: 640 steps (256 programs)
Set with program language.
Absolute value
Setting range of feed length: -999999 to 999999 [×10STM μm],
command
Position -99.9999 to 99.9999 [×10STM inch], -999999 to 999999 [pulse],
method
command Setting range of rotation angle: -360.000 to 360.000 [degree]
input Set with program language.
Incremental
Command method
(Note 1)
Setting range of feed length: -999999 to 999999 [×10STM μm],
value command
-99.9999 to 99.9999 [×10STM inch], -999999 to 999999 [pulse],
method
Setting range of rotation angle: -999.999 to 999.999 [degree]
Set servo motor speed, acceleration/deceleration time constants, S-pattern acceleration/
Speed command input deceleration time constants with program language.
S-pattern acceleration/deceleration time constants are also settable with [Pr. PC03].
System Signed absolute value command method/signed incremental value command method
Analog override 0 V DC to ±10 V DC/0% to 200%
Torque limit Set by parameters or external analog input (0 V DC to +10 V DC/maximum torque)
Automatic
operation Program Depends on the setting of the program language
mode
Inching operation is executed with DI or RS-422 communication function according to the
Manual JOG operation
speed command set with a parameter.
operation
Manual pulse generator Manual feeding is executed with a manual pulse generator.
mode
operation Command pulse multiplication: select from ×1, ×10, and ×100 with a parameter.
Returns to home position upon Z-phase pulse after passing through proximity dog.
Dog type Home position return direction selectable, home position shift distance settable, home position
address settable, automatic retract on dog back to home position, automatic stroke retract function
Returns to home position upon the encoder pulse count after touching proximity dog.
Count type Home position return direction selectable, home position shift distance 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 Any position settable 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 position as home position) Home position address settable
Operation Returns to home position with reference to the rear end of proximity dog.
mode Dog type rear end
Home position return direction selectable, home position shift distance settable, home position
Home reference
address settable, automatic retract on dog back to home position, automatic stroke retract function
position
Returns to home position with reference to the front end of proximity dog.
return Count type front end
Home position return direction selectable, home position shift distance settable, home position
mode reference
address settable, automatic retract on dog back to home position, automatic stroke retract function
Returns to home position upon the first Z-phase pulse with reference to the front
end of proximity dog.
Dog cradle type
Home position return direction selectable, home position shift distance settable, home position
address settable, automatic retract on dog back to home position, automatic stroke retract function
Returns to home position upon the last Z-phase pulse with reference to the front
Dog type adjacent Z-phase end of proximity dog.
reference (Note 2) Home position return direction selectable, home position shift distance settable, home position
address settable, automatic retract on dog back to home position, automatic stroke retract function
Returns to home position to the front end of dog with reference to the front end of proximity dog.
Dog type front end
Home position return direction selectable, home position shift distance settable, home position
reference
address settable, automatic retract on dog back to home position, automatic stroke retract function
Returns to home position to Z-phase pulse with reference to the first Z-phase pulse.
Dogless Z-phase reference
(Note 2)
Home position return direction settable, home position shift distance settable,
home position address settable
Automatic positioning to home
High-speed automatic positioning to a defined home position
position function
Absolute position detection system, backlash compensation, overtravel prevention
Other functions with external limit switches (LSP/LSN), roll feed function, software stroke limit, mark detection
(current position latch) function, override function
Notes: 1. STM is the ratio to the setting value of the position data. STM can be changed with [Pr. PT03].
2. Home position return modes of dog type adjacent Z-phase reference and dogless Z-phase reference are not available when the direct drive motor or incremental type 6
linear encoder is used.
MR-J4-A-RJ Positioning Function: Program Method
Command List
Command Name Setting range Description
Set a command speed for the servo motor in positioning.
SPN (setting value) 0 to instantaneous permissible speed
Servo motor speed Do not set a value exceeding the instantaneous permissible
(Note 2) [r/min] [mm/s]
speed of the servo motor.
STA (setting value) Acceleration time Set acceleration time constant. The setting value is a time period
0 to 20000 [ms]
(Note 2) constant that the servo motor reaches the rated speed from a stop.
STB (setting value) Deceleration time Set deceleration time constant. The setting value is a time
0 to 20000 [ms]
(Note 2) constant period that the servo motor stops from the rated speed.
Acceleration/ Set acceleration and deceleration time constants. The setting
STC (setting value)
(Note 2)
deceleration time 0 to 20000 [ms] value is a time period that the servo motor reaches the rated
constants speed from a stop and stops from the rated speed.
S-pattern acceleration/
STD (setting value)
(Note 2)
deceleration time 0 to 1000 [ms] Set S-pattern acceleration/deceleration time constants.
constants
MOV (setting value) Absolute value travel
-999999 to 999999 [×10STM μm] Travels according to the value set as an absolute value.
(Note 4, 5) command
-99.9999 to 99.9999 [×10STM inch]
Absolute value
MOVA (setting value) -360.000 to 360.000 [degree] Travels continuously according to the value set as an absolute
continuous travel
(Note 4, 5) -999999 to 999999 [pulse] value. Be sure to write this command after [MOV] command.
command
MOVI (setting value) Incremental value
-999999 to 999999 [×10STM μm] Travels according to the value set as an incremental value.
(Note 4, 5) travel command
-99.9999 to 99.9999 [×10STM inch]
Incremental value Travels continuously according to the value set as an
MOVIA (setting value) -999999 to 999999 [degree]
continuous travel incremental value. Be sure to write this command after
(Note 4, 5) -999999 to 999999 [pulse]
command [MOVI] command.
Stops the next step until PI1 (Program input 1) to PI3
SYNC (setting value) Waiting for external
1 to 3 (Program input 3) turn on after SOUT (SYNC synchronous
(Note 1) signal to switch on
output) is outputted.
OUTON (setting value) External signal on Turns on OUT1 (Program output 1) to OUT3 (Program output
1 to 3
(Note 1) output 3).
OUTOF (setting value) External signal off Turns off OUT1 (Program output 1) to OUT3 (Program output
1 to 3
(Note 1) output 3) which were turned on with [OUTON] command.
-999999 to 999999 [×10STM μm] Executes the next step after [MOV] or [MOVA] commands are
TRIP (setting value) Absolute value trip -99.9999 to 99.9999 [×10STM inch] started and then the servo motor moves for the travel amount
(Note 1, 4, 5) point specification -360.000 to 360.000 [degree] set in [TRIP] command. Be sure to write this command after
-999999 to 999999 [pulse] [MOV] or [MOVA] command.
Executes the next step after [MOVI] or [MOVIA] commands
TRIPI (setting value) Incremental value trip are started and then the servo motor moves for the travel
-999999 to 999999 [×10STM μm]
(Note 1, 4, 5) point specification amount set in [TRIPI] command. Be sure to write this
-99.9999 to 99.9999 [×10 STM inch]
command after [MOVI] or [MOVIA] command.
-999999 to 999999 [degree]
Stops the operation after the servo motor moves for the travel
ITP (setting value) -999999 to 999999 [pulse]
(Note 1, 3, 4, 5)
Interrupt positioning amount set when the interrupt signal is inputted. Be sure to
write this command after [SYNC] command.
Executes the next step when the value of the pulse counter
COUNT (setting value)
(Note 1)
External pulse count -999999 to 999999 [pulse] exceeds the count value set in [COUNT] command. [COUNT
(0)] clears the pulse counter to zero.
Repeats the steps between [FOR (setting value)] and [NEXT]
FOR (setting value) 0, and 1 to 10000
Step repeat command commands for the number of times set. Repeats endlessly
NEXT [number of times]
with [FOR (0) NEXT].
Latches the current position with the rising edge of the LPS
LPOS (Note 1) Current position latch - signal. The latched current position data can be read with the
communication command.
TIM (setting value) Dwell 1 to 20000 [ms] Waits for the next step until the set time passes.
ZRT Home position return - Executes a manual home position return.
Set the number of program execution by writing [TIMES
Program count 0, and 1 to 10000 (setting value)] command in the first line of the program. The
TIMES (setting value)
command [number of times] setting is not required for executing once. Repeats endlessly
with [TIMES (0)].
Stops the program in execution. Be sure to write this
STOP Program stop -
command in the final line.
Notes: 1. [SYNC], [OUTON], [OUTOF], [TRIP], [TRIPI], [ITP], [COUNT], and [LPOS] commands are valid while the commands are outputted.
2. [SPN] command is valid while [MOV], [MOVA], [MOVI], or [MOVIA] command is in execution. [STA], [STB], [STC], and [STD] commands are valid while [MOV] or [MOVI]
command is in execution.
3. [ITP] command will be skipped to the next step when the remaining distance equals to or less than the setting value, when the servo motor is not running, or when the
servo motor is decelerating.
4. Change the unit to μm/Inch/Degree/Pulse with [Pr. PT01].
5. STM is the ratio to the setting value of the position data. STM can be changed with [Pr. PT03].

7
 MR-J4-A-RJ Built-in Positioning Function

MR-J4-A-RJ Positioning Function: Program Method

Command list
Command Name Setting range Description
Limits the torque generated by the servo motor driving in CCW and regenerating in
TLP Forward rotation
0, and 1 to 1000 [0.1%] CW, as the maximum torque is 100%. The setting remains valid until the program is
(setting value) torque limit
stopped. [TLP (0)] enables the setting of [Pr. PA11].
Limits the torque generated by the servo motor driving in CW and regenerating in
TLN Reverse rotation
0, and 1 to 1000 [0.1%] CCW, as the maximum torque is 100%. The setting remains valid until the program
(setting value) torque limit
is stopped. [TLN (0)] enables the setting of [Pr. PA12].
Limits the torque generated by the servo motor, as the maximum torque is 100%.
TQL
Torque limit 0, and 1 to 1000 [0.1%] The setting remains valid until the program is stopped. [TQL (0)] enables the settings
(setting value)
of [Pr. PA11] and [Pr. PA12].

Program example 1
The following is an example of executing two types of operations with the same servo motor speed and acceleration/deceleration time
constants but the different travel commands.
Step Program Description
(1) SPN (3000) (Note 1) Servo motor speed: 3000 [r/min]
(2) STA (200) (Note 1) Acceleration time constant: 200 [ms]
(3) STB (300) (Note 1) Deceleration time constant: 300 [ms]
(4) MOV (1000) Absolute value travel command: 1000 [×10STM μm]
(5) TIM (100) Dwell: 100 [ms]
(6) MOV (2500) Absolute value travel command: 2500 [×10STM μm]
(7) STOP Program stop
(2) Acceleration (3) Deceleration (2) Acceleration (3) Deceleration
time constant time constant time constant time constant
(200 [ms]) (300 [ms]) (200 [ms]) (300 [ms])
Servo motor
speed
(1) Speed (1) Speed
(3000 [r/min]) (3000 [r/min])

(5) Dwell (100 [ms])

Position address 0 1000 1000 2500

(4) Absolute value travel command (6) Absolute value travel command
(1000 × 10STM [µm]) (2500 × 10STM [µm])

Program example 2
The following is an example of repeating the steps between [FOR (setting value)] and [NEXT] commands for the number of times set.
Step Program Description
(1) SPN (3000) (Note 1) Servo motor speed: 3000 [r/min]
(2) STC (20) (Note 1) Acceleration/deceleration time constants: 20 [ms]
(3) MOV (1000) Absolute value travel command: 1000 [×10STM μm]
(4) TIM (100) Dwell: 100 [ms]
(5) FOR (3) Starting the step repeat command: 3 [number of times]
(6) MOVI (100) Incremental value travel command: 100 [×10STM μm]
(7) TIM (100) Dwell: 100 [ms]
(8) NEXT Ending the step repeat command
(9) STOP Program stop
(2) Acceleration (2) Deceleration
time constant time constant
(20 [ms]) (20 [ms])
Servo motor
speed
(1) Speed
(3000 [r/min])

(4) Dwell (7) Dwell (100 [ms])

(100 [ms])
Position address 0 1000 1100 1200 1300
(6) Incremental value travel command(100 × 10STM [µm])
(3) Absolute value travel command
(1000 × 10STM [µm]) Steps (6) and (7) are repeated for the number of times specified by step (5).

Notes: 1. The values in [SPN], [STA], [STB], and [STC] commands remains valid until they are reset. The values will not be initialized at the start of the program. The settings are
also valid in other programs.

8
MR-J4-A-RJ Standard Wiring Diagram Example: Program Method

Servo amplifier
MR-J4-A-RJ
Main circuit Servo motor connection
power supply The connection differs according to each servo motor.
Main/control circuit power supply L1 Refer to "Servo Motor Connection Example" in
connection L2 U
"MELSERVO-J4 catalog (L(NA)03058)."
The connection differs according to the power V
L3
voltage. Control circuit W Power cable
Refer to "Main/Control Circuit Power Supply power supply
Connection Example" in "MELSERVO-J4 L11
catalog (L(NA)03058)." L21
CN1
OPC 12 CN2
24 V DC power supply for interface DICOM 20
DOCOM 46 Encoder cable
Encoder Z-phase pulse LZ 8
(differential line driver) LZR 9
Encoder A-phase pulse LA 4
(differential line driver) Servo motor
LAR 5
Encoder B-phase pulse LB 6 CN2L CN2L connector connection
(differential line driver) LBR 7 Refer to "MELSERVO-J4 catalog
Control common (L(NA)03058)" for the connection.
Control common LG 34
Encoder Z-phase pulse OP 33
CN8 connector connection
(Open collector) SD Plate CN8 (Note 3)
2 m or shorter Refer to "STO I/O Signal Connector (CN8)
10 m or shorter Connection Example" in "MELSERVO-J4 catalog
(L(NA)03058)."
Main circuit (Note 4)
power supply (Note 2)
Forced stop 2 EM2 42 CN3 RS-422 (Note 1)
Servo-on SON 15 5 SDP RDP
Operation mode selection MD0 16 4 SDN RDN
Forward rotation start ST1 17 3 RDP SDP
Reverse rotation start ST2 18
6 RDN SDN
Proximity dog DOG 45
1 LG GND
Forward rotation stroke end LSP 43
7 LG GND
Reverse rotation stroke end LSN 44
8 TRE Parameter unit
Program No. selection 1 DI0 19 MR-PRU03 (Note 7, 8)
Program No. selection 2 DI1 41 30 m or shorter
Program No. selection 3 DI2 (Note 6) 10
Program No. selection 4 DI3 (Note 6) 35
DOCOM 47 CN4 Mount an optional battery
1 BAT (MR-BAT6V1SET), or a battery case
10 m or shorter (MR-BT6VCASE) and batteries
DICOM 21 2 LG
Malfunction R (MR-BAT6V1) for absolute position
A
1 ALM 48 detection system.
Rough match R
A
2 CPO 22
(Note 9) Home position return ZP 23 Personal computer
R
A
3

Travel completion R
A
4 MEND 25
In-position R
A
5
INP 24
Ready R
RD 49
CN5

A
6

(Note 5) 13 Setup software

Preliminary DO USB cable MR Configurator2
(Note 5) 14 MR-J3USBCBL3M

10 m or shorter
Upper limit setting

Analog override
P15R 1 CN6 Analog monitor output
±10 V/0% to 200% VC 2 3 MO1 Output voltage: ±10 V
LG 28 Maximum output current: 1 mA
Upper limit setting 1 LG
Analog torque limit 2 MO2 Output voltage: ±10 V
TLA 27 Maximum output current: 1 mA
+10 V/maximum torque
SD Plate
2 m or shorter
2 m or shorter

Notes: 1. It is also possible to connect a personal computer to CN3 connector with an RS-422/RS-232C conversion cable. However, USB interface (CN5 connector) and RS-422
interface (CN3 connector) are mutually exclusive. Do not use them at the same time. Refer to "Products on the Market for Servo Amplifiers" in "MELSERVO-J4 catalog
(L(NA)03058)" for the RS-422/RS-232C conversion cable.
2. This is for sink wiring. Source wiring is also possible. However, when input devices are assigned to CN1-10 pin and CN1-35 pin, be sure to use sink wiring. Source
wiring is not possible in this case. In the positioning mode, input devices are assigned in the initial setting. Refer to "MR-J4-_A_-RJ Servo Amplifier Instruction Manual
(Positioning Mode)" for details.
3. Be sure to attach a short-circuit connector supplied with the servo amplifier when the STO function is not used.
4. Create a circuit to turn off EM2 (Forced stop 2) when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.
5. No output device is assigned in the initial setting. Assign an output device with [Pr. PD47] as necessary.
6. DI2 and DI3 are assigned to CN1-10 pin and CN1-35 pin respectively in the initial setting. Change them with [Pr. PD44] and [Pr. PD46] when using a manual pulse
generator.
7. Use a commercial LAN cable (EIA568 compliant), and keep the wiring distance within 10 m when using MR-PRU03 parameter unit.
8. Programs cannot be edited with the parameter unit.
9. Assign the output devices mentioned to CN1-22 pin, CN1-23 pin, and CN1-25 pin with [Pr. PD23], [Pr. PD24] and [Pr. PD26].

Be sure to read through Instruction Manual for the actual wiring and use. Use the equipment after you have a full knowledge
of the equipment, safety information and instructions.

9
 MR-J4-A-RJ Built-in Positioning Function

MR-J4-A-RJ Positioning Function: Indexer (Turret) Method

Positioning is executed by specifying stations (maximum of 255 stations).
Travel distance is automatically calculated with parameters by setting the numbers of stations and gears on machine-side and motor-
side.

Item Description
Operating Positioning by specifying the station position
specification The maximum number of divisions: 255
Speed command
Selects the rotation speed and acceleration/deceleration time
Command method input
System Rotation direction specifying indexer, shortest rotating indexer
Digital override Selects the override multiplying factor by DI
Torque limit Set by parameters or external analog input (0 V DC to +10 V DC/maximum torque)
Rotation direction Positions to the specified station.
Automatic
specifying indexer Rotation direction settable
operation
Shortest rotating Positions to the specified station.
mode
indexer Rotates in the shorter direction from the current position.
JOG operation Decelerates to a stop regardless of the station
Manual
Rotates in a direction specified by the rotation direction decision when the start signal turns on.
operation Station JOG
Positions to the nearest station where the servo motor can decelerate to a stop when the start
Operation mode operation
signal turns off.
mode
Returns to home position upon Z-phase pulse after passing through the front
Torque limit changing end of proximity dog.
dog type Home position return direction selectable, home position shift distance settable,
Home position
home position address settable, torque limit automatic switching function
return mode
Returns to home position without dog.
Torque limit changing
Any position settable as home position, home position address settable, torque limit automatic
data set type
switching function
Absolute position detection system, backlash compensation, overtravel
Other functions
prevention with external limit switches (LSP/LSN), override function

10
MR-J4-A-RJ Positioning Function: Indexer (Turret) Method
Rotation direction specifying indexer
In the rotation direction specifying indexer, the servo motor always rotates in a definite direction.
Turn off MD0 (Operation mode selection 1), and turn on MD1 (Operation mode selection 2). The servo motor moves in the station No.
decreasing direction with SIG (Rotation direction decision) off, and in the increasing direction with SIG on. When ST1 (Forward rotation
direction) turns on, the travel amount will be calculated from the current position and the next station position, and then the positioning
will be executed to the direction specified by the rotation direction decision.
The following timing chart is an example of the operation executed from the station No. 0 where the servo motor is stopped at servo-on.

4
3 5
2 6
The number of stations: 8
1 7
0

ON
MD0 (Operation mode selection 1)
OFF

ON
MD1 (Operation mode selection 2)
OFF

ON
SIG (Rotation direction decision)
OFF

ON
ST1 (Forward rotation start)
OFF

Next station position

Next station position input No. 1

Automatic operation speed 1

Servo motor speed Station position

No. 1

ON
MEND (Travel completion)
OFF

Shortest rotating indexer

In the shortest rotating indexer, the servo motor automatically rotates in the shorter direction.
Turn on both MD0 (Operation mode selection 1) and MD1 (Operation mode selection 2). When ST1 (Forward rotation direction) turns on,
the travel amount will be calculated from the current position and the next station position, and then the positioning will be executed in the
shorter direction.
The following timing chart is an example of the operation executed from the station No. 0 where the servo motor is stopped at servo-on.

4
3 5
2 6
The number of stations: 8
1 7
0

ON
MD0 (Operation mode selection 1)
OFF

ON
MD1 (Operation mode selection 2)
OFF

ON
ST1 (Forward rotation start)
OFF

Next station position

Next station position input No. 1

Automatic operation speed 1

Servo motor speed Station position

No. 1

ON
MEND (Travel completion)
OFF

11
 MR-J4-A-RJ Built-in Positioning Function

MR-J4-A-RJ Standard Wiring Diagram Example: Indexer (Turret) Method

Servo amplifier
MR-J4-A-RJ
Main circuit Servo motor connection
power supply The connection differs according to each servo motor.
Main/control circuit power supply L1 Refer to "Servo Motor Connection Example" in
connection L2 U
"MELSERVO-J4 catalog (L(NA)03058)."
The connection differs according to the power L3 V
voltage. Control circuit W Power cable
Refer to "Main/Control Circuit Power Supply power supply
L11
Connection Example" in "MELSERVO-J4
L21
catalog (L(NA)03058)."
CN1
OPC 12 CN2
24 V DC power supply for interface DICOM 20
DOCOM 46 Encoder cable
Encoder Z-phase pulse LZ 8
(differential line driver) LZR 9
Encoder A-phase pulse LA 4
(differential line driver) Servo motor
LAR 5
Encoder B-phase pulse LB 6 CN2L CN2L connector connection
(differential line driver) LBR 7 Refer to "MELSERVO-J4 catalog
Control common (L(NA)03058)" for the connection.
Control common LG 34
Encoder Z-phase pulse OP 33
(Open collector) CN8 connector connection
SD Plate CN8 (Note 3) Refer to "STO I/O Signal Connector (CN8)
2 m or shorter
10 m or shorter Connection Example" in "MELSERVO-J4 catalog
(L(NA)03058)."
Main circuit (Note 4)
power supply (Note 2)
Forced stop 2 EM2 42 CN3 RS-422 (Note 1)
Servo-on SON 15 5 SDP RDP
Operation mode selection 1 MD0 16 4 SDN RDN
Forward rotation start ST1 17 3 RDP SDP
(Note 8) Operation mode selection 2 MD1 18
6 RDN SDN
External limit/rotation direction decision/automatic speed selection SIG 45
1 LG GND
Forward rotation stroke end LSP 43
7 LG GND
Reverse rotation stroke end LSN 44
8 TRE Parameter unit
Next station No. selection 1 DI0 19
MR-PRU03 (Note 7)
Next station No. selection 2 DI1 41 30 m or shorter
Next station No. selection 3 DI2 (Note 6) 10
Next station No. selection 4 DI3 (Note 6) 35
DOCOM 47 CN4 Mount an optional battery
1 BAT (MR-BAT6V1SET), or a battery case
10 m or shorter (MR-BT6VCASE) and batteries
DICOM 21 2 LG (MR-BAT6V1) for absolute position
Malfunction R
A
ALM 48
1
detection system.
Rough match R
A
2 CPO 22
(Note 8) Home position return ZP 23 Personal computer
R
A
3

Travel completion
R
A
4 MEND 25
In-position
R
A
5
INP 24
Ready R
RD 49
CN5

A
6

(Note 5) 13 Setup software

Preliminary DO USB cable MR Configurator2
(Note 5) 14 MR-J3USBCBL3M

10 m or shorter

Upper limit setting

P15R 1 CN6 Analog monitor output
LG 28 3 MO1 Output voltage: ±10 V
Analog torque limit
TLA 27 Maximum output current: 1 mA
+10 V/maximum torque 1 LG
SD Plate
2 MO2 Output voltage: ±10 V
Maximum output current: 1 mA
2 m or shorter
2 m or shorter

Notes: 1. It is also possible to connect a personal computer to CN3 connector with an RS-422/RS-232C conversion cable. However, USB interface (CN5 connector) and RS-422
interface (CN3 connector) are mutually exclusive. Do not use them at the same time. Refer to "Products on the Market for Servo Amplifiers" in "MELSERVO-J4 catalog
(L(NA)03058)" for the RS-422/RS-232C conversion cable.
2. This is for sink wiring. Source wiring is also possible. However, when input devices are assigned to CN1-10 pin and CN1-35 pin, be sure to use sink wiring. Source
wiring is not possible in this case. In the positioning mode, input devices are assigned in the initial setting. Refer to "MR-J4-_A_-RJ Servo Amplifier Instruction Manual
(Positioning Mode)" for details.
3. Be sure to attach a short-circuit connector supplied with the servo amplifier when the STO function is not used.
4. Create a circuit to turn off EM2 (Forced stop 2) when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier.
5. No output device is assigned in the initial setting. Assign an output device with [Pr. PD47] as necessary.
6. DI2 and DI3 are assigned to CN1-10 pin and CN1-35 pin respectively in the initial setting. Change them with [Pr. PD44] and [Pr. PD46] when using a manual pulse
generator.
7. Use a commercial LAN cable (EIA568 compliant), and keep the wiring distance within 10 m when using MR-PRU03 parameter unit.
8. Assign the output devices mentioned to CN1-18, CN1-22 pin, CN1-23 pin, and CN1-25 pin with [Pr. PD10], [Pr. PD23], [Pr. PD24] and [Pr. PD26].

Be sure to read through Instruction Manual for the actual wiring and use. Use the equipment after you have a full knowledge
of the equipment, safety information and instructions.

12
Model Configuration

MR-J4-10A - RJ

Symbol Special specification

Mitsubishi Fully closed loop control
general- four-wire type/load-side encoder
purpose AC RJ A/B/Z-phase input compatible/
servo amplifier Symbol Interface Symbol Power supply positioning mode compatible
MELSERVO-J4 A General-purpose 3-phase 200 V AC or (Note 7)

Series None 1-phase 200 V AC MR-J4-A-RJ without

RU
Symbol Rated output [kW] (Note 2) a dynamic brake (Note 1)
10 0.1 1-phase 100 V AC MR-J4-A-RJ without an enclosed
1 RZ
20 0.2 (Note 5) regenerative resistor (Note 6)
40 0.4 3-phase 400 V AC Fully closed loop control
4
60 0.6
(Note 3) four-wire type/load-side encoder
KJ
A/B/Z-phase input compatible/
70 0.75
DC power input type (Note 6)
100 1
200 2
350 3.5
500 5
700 7
11K 11
15K 15
22K 22

Notes: 1. Dynamic brake which is built in 7 kW or smaller servo amplifiers is removed. When using the servo amplifier without a dynamic brake, the servo motor does not stop
immediately at alarm occurrence or power failure. Take measures to ensure safety on the entire system.
When the following servo motors are used, an electronic dynamic brake may operate at alarm occurrence.
HG-KR053, HG-KR13, HG-KR23, HG-KR43, HG-MR053, HG-MR13, HG-MR23, HG-MR43, HG-SR51, and HG-SR52
Disable the electronic dynamic brake by setting [Pr. PF09] to "_ _ _ 2."
In addition, when [Pr. PA04] is set to "2 _ _ _" (initial value), the servo motor may be decelerated to a stop forcibly at alarm occurrence. The forced stop deceleration
function will be disabled by setting [Pr. PA04] to "0 _ _ _."
2. 0.75 kW or smaller servo amplifiers are available for 1-phase 200 V AC.
3. 0.6 kW, and 1 kW or larger servo amplifiers are available.
4. Available in 11 kW to 22 kW servo amplifier. A regenerative resistor (standard accessory) is not enclosed.
5. 0.4 kW or smaller servo amplifiers are available.
6. Contact your local sales office for the DC power input type servo amplifier.
7. Use MR-J4-A-RJ servo amplifier with software version B3 or later when using the positioning function.

Manual Pulse Generator (MR-HDP01)

Dimensions [Unit: mm] Mounting [Unit: mm]

3.6 Packing t2.0

3-M4 stud L10
Panel cutting
P.C.D 72 equally divided
3-ø4.8
equally divided
SERIALNO.
MANUAL

ø60±0.1
TYPE

ø80±1

+2
0
ø70
ø50

5V
2
ø6

12V 0V A B ±0.2
ø72

Only M3 ✕ 6 can be mounted

16 20 8.89 7.6
27.0±0.5

13
 MR-J4-A-RJ Built-in Positioning Function

Parameter unit (MR-PRU03)

Parameter unit with a 16 characters 5 4 lines display, is available as an option.
The parameter unit (Note 1) connected with MR-J4-A-RJ servo amplifiers enables setting of point table data (Note 2) and parameters, and test
operation without MR Configurator2.
Notes: 1. Use MR-PRU03 with software version B0 or later.
2. Programs cannot be edited with the parameter unit.

Wiring and communication method Dimensions

• RS-422 communication 16.5
72 15 24
10.5
• Connectable with one unit of the servo amplifier with the 48 13
11.75
23.75

commercial LAN cable

18.5
20

13 1.5
21.5
• Connectable up to 32 axes with multi-drop system

17

1.5
Punched hole 1.25

14.5
Servo amplifier Servo amplifier Servo amplifier

81.5
80
125
5-M3 screw
Parameter unit
CNP1 CNP1 CNP1
MR-PRU03
CN3 (Note 1) CN3 (Note 1) CN3 (Note 1)
5-ø4 hole
CNP2 CNP2 CNP2

40 40
CNP3 CNP3 CNP3

(Front view) (Side view) (Rear view) (Panel cut dimensions)

[Unit: mm]

(Note 2) (Note 2) (Note 2)

RS-422 (Note 1) (Note 1) (Note 1)

(Note 3)

Notes: 1. Use 10BASE-T cable (EIA568 compliant), etc.

Keep the distance between the branch connector and servo amplifier as short as possible.
2. Branch connector, BMJ-8 (HACHIKO ELECTRIC CO., LTD) is recommended. Refer to “Ordering Information for Customers” in “MELSERVO-J4 catalog (L(NA)03058).”
3. Connect a 150 W termination resistor.

Specifications
Item Description
Model MR-PRU03
Power supply Receives power from the servo amplifier
Basic setting parameters, gain/filter parameters, extension setting parameters, I/O setting
parameters, extension setting 2 parameters, extension setting 3 parameters, option setting
Parameter mode
parameters, special setting parameters, linear/DD motor setting parameters, positioning control
parameters
Cumulative feedback pulses, rotary servo motor/linear servo motor speed, droop pulses,
cumulative command pulses, command pulse frequency, analog speed command voltage/analog
speed limit voltage, analog torque limit voltage/analog torque command voltage, regenerative
load ratio, effective load ratio, peak load ratio, instantaneous torque, position within one-
revolution, ABS counter, load to motor inertia ratio, bus voltage, load-side encoder cumulative
feedback pulses, load-side encoder droop pulses, load-side encoder information 1, load-side
Monitor mode
encoder information 2, servo motor thermistor temperature, cumulative feedback pulses (unit of
Functions motor side), electrical angle, motor-side/load-side position deviation, motor-side/load-side speed
deviation, encoder inside temperature, settling time, oscillation detection frequency, the number
of tough drive operations, unit power consumption, unit total power consumption, current position,
command position, command remaining distance, point table No./program No./station position
No., step No., override voltage, override level
External I/O (DIDO) display, software version, Automatic VC offset, servo motor information,
Diagnosis mode
cumulative power-on
Alarm mode Current alarm, alarm history
Test operation mode JOG operation, positioning operation, forced digital output (DO), single-step feed
Position data, servo motor speed, acceleration/deceleration time constants, dwell, sub function,
Point table mode
M code
Display LCD system (16 characters 5 4 lines)
Ambient temperature in
-10 °C to 55 ℃ (non freezing)
operation
Ambient humidity in operation 90 %RH maximum (non condensing)
Environment
Storage temperature -20 °C to 65 ℃ (non freezing)
Storage humidity 90 %RH maximum (non condensing)
Atmosphere Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
Mass [g] 130

14
 Safety Warning
To ensure proper use of the products listed in this catalog,
please be sure to read the instruction manual prior to use.

Country/Region Sales office Tel/Fax

USA MITSUBISHI ELECTRIC AUTOMATION, INC. Tel : +1-847-478-2100
500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A. Fax : +1-847-478-2253
Mexico MITSUBISHI ELECTRIC AUTOMATION, INC. Mexico Branch Tel : +52-55-3067-7500
Mariano Escobedo #69, Col. Zona Industrial, Tlalnepantla Edo, C.P.54030, Mexico Fax : –
Brazil MITSUBISHI ELECTRIC DO BRASIL COMÉRCIO E SERVIÇOS LTDA. Tel : +55-11-4689-3000
Rua Jussara, 1750- Bloco B Anexo, Jardim Santa Cecilia, CEP 06465-070, Barueri - SP, Brasil Fax : +55-11-4689-3016
Germany MITSUBISHI ELECTRIC EUROPE B.V. German Branch Tel : +49-2102-486-0
Gothaer Strasse 8, D-40880 Ratingen, Germany Fax : +49-2102-486-1120
UK MITSUBISHI ELECTRIC EUROPE B.V. UK Branch Tel : +44-1707-28-8780
Travellers Lane, Hatfield, Hertfordshire, AL10 8XB, U.K. Fax : +44-1707-27-8695
Italy MITSUBISHI ELECTRIC EUROPE B.V. Italian Branch Tel : +39-039-60531
Centro Direzionale Colleoni - Palazzo Sirio Viale Colleoni 7, 20864 Agrate Fax : +39-039-6053-312
Brianza(Milano) Italy
Spain MITSUBISHI ELECTRIC EUROPE, B.V. Spanish Branch Tel : +34-935-65-3131
Carretera de Rubí, 76-80-Apdo. 420, 08173 Sant Cugat del Vallés (Barcelona), Spain Fax : +34-935-89-1579
France MITSUBISHI ELECTRIC EUROPE B.V. French Branch Tel : +33-1-55-68-55-68
25, Boulevard des Bouvets, F-92741 Nanterre Cedex, France Fax : +33-1-55-68-57-57
Czech Republic MITSUBISHI ELECTRIC EUROPE B.V. Czech Branch Tel : +420-251-551-470
Avenir Business Park, Radlicka 751/113e, 158 00 Praha5, Czech Republic Fax : +420-251-551-471
Poland MITSUBISHI ELECTRIC EUROPE B.V. Polish Branch Tel : +48-12-630-47-00
ul. Krakowska 50, 32-083 Balice, Poland Fax : +48-12-630-47-01
Russia MITSUBISHI ELECTRIC EUROPE B.V. Russian Branch St. Petersburg office Tel : +7-812-633-3497
Piskarevsky pr. 2, bld 2, lit "Sch", BC "Benua", office 720; RU-195027 Fax : +7-812-633-3499
St. Petersburg, Russia
Sweden MITSUBISHI ELECTRIC EUROPE B.V. (Scandinavia) Tel : +46-8-625-10-00
Fjelievägen 8, SE-22736 Lund, Sweden Fax : +46-46-39-70-18
Turkey MITSUBISHI ELECTRIC TURKEY A.Ş Ümraniye Branch Tel : +90-216-526-3990
Şerifali Mahallesi Nutuk Sokak No:5, TR-34775 Ümraniye, İstanbul, Türkey Fax : +90-216-526-3995
UAE MITSUBISHI ELECTRIC EUROPE B.V. Dubai Branch Tel : +971-4-3724716
Dubai Silicon Oasis, [Link] 341241, Dubai, U.A.E. Fax : +971-4-3724721
South Africa ADROIT TECHNOLOGIES Tel : +27-11-658-8100
20 Waterford Office Park, 189 Witkoppen Road, ZA-Fourways, South Africa Fax : +27-11-658-8101
China MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD. Tel : +86-21-2322-3030
No.1386 Hongqiao Road, Mitsubishi Electric Automation Center, Shanghai, China Fax : +86-21-2322-3000
Taiwan SETSUYO ENTERPRISE CO., LTD. Tel : +886-2-2299-2499
6F, No.105, Wugong 3rd Road, Wugu District, New Taipei City 24889, Taiwan, R.O.C. Fax : +886-2-2299-2509
Korea MITSUBISHI ELECTRIC AUTOMATION KOREA CO., LTD. Tel : +82-2-3660-9510
10-10, Yangcheon-Ro 57-Gil, Gangseo-Gu, Seoul 157-200, Korea Fax : +82-2-3664-8372/8335
Singapore MITSUBISHI ELECTRIC ASIA PTE. LTD. Tel : +65-6473-2308
307, Alexandra Road, Mitsubishi Electric Building, Singapore 159943 Fax : +65-6476-7439
Thailand MITSUBISHI ELECTRIC FACTORY AUTOMATION (THAILAND) CO., LTD. Tel : +66-2682-6522 to 6531
12th Floor, [Link] Building, Office Tower 1, No. 896/19 and 20 Rama 3 Road, Kwaeng Fax : +66-2682-6020
Bangpongpang, Khet Yannawa, Bangkok 10120, Thailand
Indonesia PT. MITSUBISHI ELECTRIC INDONESIA Tel : +62-21-3192-6461
Gedung Jaya 11th Floor, JL. MH. Thamrin No.12, Jakarta Pusat 10340, Indonesia Fax : +62-21-3192-3942
Vietnam MITSUBISHI ELECTRIC VIETNAM COMPANY LIMITED Tel : +84-8-3910-5945
Unit 01-04, 10th Floor, Vincom Center, 72 Le Thanh Ton Street, District 1, Ho Chi Minh City, Fax : +84-8-3910-5947
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 Fax : +91-20-2710-2100
Australia MITSUBISHI ELECTRIC AUSTRALIA PTY. LTD. Tel : +61-2-9684-7777
348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, Australia Fax : +61-2-9684-7245

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