L 03187 Engc

FACTORY AUTOMATION
Mitsubishi Electric AC Servo System

MELSERVO-JET
Innovate Together
2
Cont en t s
OVERVIEW
■ Concept ....................................................................................................................... 4
■ Product Lines .............................................................................................................. 8
■ Servo System ............................................................................................................. 10
■ Servo System Controllers ......................................................................................... 20
■ Engineering Software ................................................................................................ 32
■ MELSERVO-JET ......................................................................................................... 36
■ Mitsubishi Electric Solutions/Partners/FA Global Website .................................... 48
■ Common Specifications (Combinations of Rotary Servo Motors and Servo Amplifiers, etc.) ....... 1-1
■ Product Specifications of Servo System Controllers ............................................ 2-1
■ MELSERVO-JET Product Specifications

Servo Amplifiers…………………………………… 3-1 Options/Peripheral Equipment …………………… 6-1
Rotary Servo Motors……………………………… 4-1 Low-Voltage Switchgear/Wires …………………… 7-1
Linear Servo Motors……………………………… 5-1
■ Product List ............................................................................................................... 8-1
■ Precautions ............................................................................................................... 9-1
■ Support..................................................................................................................... 10-1
3
4
Create new value with
MELSERVO-JET.
Unlock performance with
a total drive solution.
Optimize system performance
Easy, Simple Better

& Flexibility
Practical
Superior
Performance
Easy, Simple & Practical Superior Performance Better Flexibility
● Simple top & bottom wiring ● Speed frequency response: 2.5 kHz ● Supports EtherCAT®
● Quick tuning ● Encoder resolution: 22 bit ● Supports 400 V AC *
● Unified height and depth across all ● Maximum torque: 300 % ● Supports multi-voltage *
servo amplifier capacities
5
* Future support
Crafted from a different perspective,
increase your productivity with a next
The MELSERVO-JET Series servo system performs basic functions at a high level,
while its high-speed, high-precision capabilities help increase the productivity of your machines.
Motion module Motion module Motion Control Software

RD78GH RD78G SWM78 Available soon
CC-Link IE TSN Servo System Controllers
CC-Link IE TSN supports TCP/IP communications and The servo system controller performs various types of motion
applies it to industrial architectures through its support of TSN control, including positioning, synchronous, cam, speed, and
enabling real-time communications. With its flexible system torque control. We offer two new types of servo system controllers:
architecture and extensive setup and troubleshooting features RD78GH/RD78G Motion modules and SWM78 Motion Control
Software.
make CC-Link IE TSN ideal for building an IIoT infrastructure
across the manufacturing enterprise.
The communications speed is 1 Gbps. Motion Modules
* TSN: Time Sensitive Networking RD78GH/RD78G Motion modules utilize a multi-core processor to
* IIoT: Industrial Internet of Things
achieve enhanced basic performance.
Motion Control Software

6 SWM78 Motion Control Software performs motion control by
being installed on an industrial personal computer with a real-time
operating system.
generation servo system
Servo amplifiers Rotary servo motors

MR-JET-G (CC-Link IE TSN) HG-KNS
®
MR-JET-G-N1 (EtherCAT ) HG-SNS
Speed frequency Command Encoder

Encoder *1 Max. speed *2
response communication cycle resolution
2.5 125 Absolute

position 22 6000
kHz μs encoder bit r/min
*1. A battery is required when configuring an absolute position detection system.
*2. The servo motor speed varies by the models.
Servo Amplifiers Upgraded Rotary Servo Motors
The MELSERVO-JET series high-performance servo The HG-KNS/HG-SNS series rotary servo motors are
amplifiers feature a unique control engine that is more equipped with a 22-bit resolution absolute/incremental position
powerful than ever before. encoder.
These servo amplifiers can connect to CC-Link IE TSN to The servo motors have the same dimensions and use the
perform high-speed, high-precision control. same power and encoder cables as the prior HG series servo
The servo amplifiers support linear servo motors in addition to motors.
the rotary servo motors.
EtherCAT® is supported by MR-JET-G-N1.
7
Product Lines
Innovate Together
Programmable Controllers CC-Link IE TSN-
C O N T ROL L E R
Compatible Motion
Control Software
Available soon
MELSEC iQ-R
CC-Link IE TSN-Compatible
Motion Modules
RD78G RD78GH SWM78
I N T ER FAC E CC-Link IE TSN EtherCAT®
S E RVO A M P L IF IE R CC-Link IE TSN-Compatible EtherCAT®-Compatible

Servo Amplifiers Servo Amplifiers
MR-JET-G MR-JET-G-N1
* Use an EtherCAT®-compatible master module.
SE RVO MOTO R Rotary Servo Motors Linear Servo Motors
Small capacity,
Core type
low inertia
LM-H3 Series
HG-KNS Series
Rating: 70 to 720 N
Capacity: 0.1 to 0.75 kW
Medium capacity,
Core type
medium inertia
LM-AJ Series
HG-SNS Series
Rating: 68.1 to 446.8 N
Capacity: 0.5 to 3.0 kW
8
Product Lines
Create new value with MELSERVO-JET.

Unlock performance with a total drive solution.
■Servo System Controllers

Number of control Slots
Servo system controllers Features
axes occupied
1 to 4
MELSEC iQ-R series CC-Link IE TSN-compatible Motion module
1 to 8
• Performs motion control (positioning, synchronous, cam, speed, and torque control)
Motion modules
RD78G 1 to 16 1
• Maximum number of connectable stations: 120 stations
1 to 32
• Minimum operation cycle: 62.5 [μs] (Note 3)
1 to 64
MELSEC iQ-R series CC-Link IE TSN-compatible Motion module
1 to 128 (Note 2) • Performs motion control (positioning, synchronous, cam, speed, and torque control)
RD78GH 2
1 to 256 (Note 2) • Maximum number of connectable stations: 120 stations
• Minimum operation cycle: 31.25 [μs] (Note 3)
1 to 16 CC-Link IE TSN-compatible Motion Control Software (Note 1)
Motion Control
1 to 32 • Performs motion control (positioning, synchronous, cam, speed, and torque control)
Software
SWM78
1 to 64 − • Supports INtime (real-time operating system) for Windows®
Available soon
1 to 128 (Note 2) • Programming in Visual C++®
1 to 256 (Note 2) • Maximum number of connectable stations: 120 stations
®
Notes: 1. An industrial personal computer, INtime, and Visual Studio are not included and must be prepared by the user.
2. When MR-JET-G servo amplifiers are used for all axes, the maximum number of the control axes is 120.
3. When an MR-JET-G is connected to the controller, the minimum operation cycle is 125 μs.
■Servo Amplifiers : Supported

Power supply Rated output [kW] Control mode
Servo amplifiers (Note 1) Interface
specifications Position Velocity Torque
MR-JET-G CC-Link IE TSN
0.1, 0.2, 0.4, 0.75,
200 V AC
1.0, 2.0, 3.0
MR-JET-G-N1 EtherCAT®
Notes: 1. The value listed is the servo amplifier rated output. Refer to "Combinations of Rotary Servo Motors and Servo Amplifiers" for compatible servo motors.
■Rotary Servo Motors : Supported

With an
Rated speed With an
Rated output electro- IP rating
Rotary servo motor series (maximum speed) oil seal (Note 1) Features
[kW] magnetic
[r/min] (J)
brake (B)
capacity capacity
3000 Low inertia

Small Medium
HG-KNS series 0.1, 0.2, 0.4, 0.75 IP65

(6000) 22-bit absolute position encoder (Note 3)
2000 Medium inertia

HG-SNS series 0.5, 1.0, 1.5, 2.0, 3.0 IP67
(3000/2500) (Note 2) 22-bit absolute position encoder (Note 3)
Notes: 1. The shaft-through portion is excluded.

2. The maximum speed of the servo motor of 3.0 kW is 2500 r/min.
3. A battery is required when configuring an absolute position detection system.
■Linear Servo Motors

Maximum speed Continuous thrust Maximum thrust
Linear servo motor series Features Application examples
[m/s] [N] [N]
Suitable for space-saving. Mounters
70, 120, 240, 175, 300, 600, Compact size and high Wafer cleaning systems
LM-H3 series 3.0
360, 480, 720 900, 1200, 1800 thrust. FPD assembly machines
Maximum speed: 3 m/s Material handlings
68.1, 117.0, 136.2, 214.7, 369.0, 429.4, Low installation height, Semiconductor
LM-AJ series 2.0 to 6.5 174.5, 223.4, 234.0, 550.2, 704.5, 738.1, and suitable for compact manufacturing systems
348.9, 446.8 1100.4, 1409.1 X-Y tables. FPD assembly machines
Graphic Operation
SO F T WA R E MELSOFT
Terminals
LOW-VOLTAGE SWITCHGEAR
GX Works3
MELSOFT Molded-Case Magnetic
EM78 SDK Available soon Circuit Breakers Contactors
MELSOFT
9
MR Configurator2
Drive System Sizing Software
Motorizer GOT2000 WS-V MS-T
Servo System
Construct a high-performance servo system using our extensive product line
We understand that each system is different and has unique drive control requirements.
To meet these demands, we have expanded the product line for our next-generation servo system to offer
engineering software, servo system controllers, servo amplifiers, servo motors, and a variety of other
components.
Mitsubishi Electric is dedicated to satisfying all of our customers' needs.
Industrial Personal Computer (IPC)

compatible Motion Control Software
Simple programming
SWM78 Available soon
GOT
Motion modules
RD78G
RD78GH
Servo amplifier
MELIPC MR-JET-G
10
Servo motors
Servo System
Servo System
Collaborating with our extensive group of partners
allows us to flexibly support your system needs
Servo systems are constructed using iQ Platform devices such as controllers,
servo drivers, actuators, and sensors, and collaboration with our partner
companies allows us to expand the number of possibilities available to customers.
For example, partner products such as stepping motors, direct drive motors, vision
systems, and various types of software are available to keep your equipment on
the cutting edge.
Servo System Controllers

Collaboration with partners
Single network
Input module
Servo Amplifiers / Servo Motors

Inverter
I/O module Analog output module
11
Servo System
Open integrated networking across the

manufacturing enterprise
CC-Link IE TSN supports TCP/IP communications and applies it to industrial architectures through its support of TSN enabling
real-time communications. With its flexible system architecture and extensive setup and troubleshooting features make
CC-Link IE TSN ideal for building an IIoT infrastructure across the manufacturing enterprise.
* TSN: Time Sensitive Networking
* IIoT: Industrial Internet of Things
Ethernet-based, 1 Gbps supported

Realizes general, motion
and safety control communications
Co
ce nn
en
ig
ec
Ethernet-based,
Int el l
t ivi ty
1 Gbps and 100 Mbps supported
General, motion TSN
and safety communications
Supports software protocol stack
150 Mbps
Per
formance
Ethernet-based,
1 Gbps supported
50 Mbps
Large-capacity
communication
between controllers
Proprietary motion General Ethernet
Open network network network
Real-Time Network Performance Even When Integrated with Information Data
TSN technology enables mixing of deterministic communications with IT system information data on the same network. Giving higher
priority to CC-Link IE TSN cyclic communications and TCP/IP communications by allocating increased network bandwidth, devices using
general Ethernet communications can be connected on the same network while maintaining real-time control communication performance.
CC-Link IE CC-Link IE CC-Link IE
TCP/IP TCP/IP
Other networks Other networks Other networks
12 Supports multiple protocols on same network line

CC-Link IE TSN TCP/IP Other networks CC-Link IE TSN TCP/IP
Time slot A Time slot B Time slot C Time slot A Time slot B
Servo System
Deterministic Control Even When Mixed with TCP/IP Communication
Deterministic performance of cyclic communication is maintained even when mixed with information data (non real-time). This
enables TCP/IP communication devices to be used without affecting overall control.
Servo System
TCP/IP communication
MELSEC iQ-R Series Transient communication
I/O control communication
Motion control communication

TCP/IP device Remote I/O Inverter HMI NC Robot Servo Servo

Network line load image
Information
100
communication
bandwidth
()
50 Control
communication
bandwidth
Percentage use ()
in Link Scan Time [%] 0
Time
Network configuration example (includes functions and products planned for future support/release.)

Integrated Network
Current network systems use multiple networks to enable communication between IT and control systems on the shop floor.
CC-Link IE TSN is a one-stop solution for integrating different networks, thereby realizing flexibility in topology and reducing wiring cost.
Current network CC-Link IE TSN

IT system IT system
Firewall Firewall
Personal computer Ethernet Personal computer Personal computer Ethernet Personal computer
FA (shop floor)
Controller Controller Controller Controller

FA (shop floor)
I/O Motion I/O Motion
Adapter Motion
network
TCP/IP Remote Inverter HMI NC Robot Servo Servo TCP/IP Remote Inverter HMI NC Robot Servo Servo
devices I/O amplifier amplifier devices I/O amplifier amplifier
Network configuration example (includes functions and products planned for future support/release.) 13
Servo System
High-Speed, High-Accuracy Motion Control
CC-Link IE TSN controls I/O modules while also maintaining high-speed motion control. The single network boosts machine
performance.
● Motion control (high-speed processing)

● I/O control (low-speed processing)
RD78G
Motion control Motion control
I/O control*1 I/O control*1 I/O control*1
Text printing device
*1. The connection of general stations are planned for a future support.
Time Synchronization
Set time is completely synchronized among servo amplifiers, Motion modules, and PLC CPUs. This time synchronization enables
accurate recording of the event history in chronological order, making it simple to identify the cause of errors.
ERR A 1:39:26s 103ms
ERR C 1:39:26s 230ms

ERR D 1:39:26s 245ms
ERR E 1:39:26s 326ms
ERR F 1:39:26s 379ms
IT system
ERR Z 1:39:26s 536ms
Condition Based Maintenance (CBM) analysis

Transmitting the detected error
information to the IT system
Current time 1:55:46 203ms
*1
ERR C 1:39:26s 230ms
*1
*1
*1
ERR C 1:39:26s 230ms
ERR C 1:39:26s 230ms

14
*1. The event history of servo amplifiers is planned for a future support. ERR C 1:39:26s 230ms
Servo System
Seamless Connectivity Between TCP/IP Devices and a Servo System
TCP/IP communication (information communication) can be mixed in the same line with the real-time control communications of
CC-Link IE TSN.
Servo System
CC-Link IE TSN slave devices and TCP/IP devices can be connected on the same network, achieving a flexible and integrated network system.
Note that the TCP/IP devices must be connected after servo amplifiers and I/O modules.
MELIPC GOT
(TCP/IP device)
Servo amplifier Ethernet switch Ethernet

(TCP/IP device)
I/O module I/O module

Vision system
Shutter trigger output (TCP/IP device)
from output module
Mark sensor

Large-Capacity Data Communications
CC-Link IE TSN is a high-speed, large-capacity 1 Gbps communications network that is capable of sending and receiving large
amounts of data, such as manufacturing, quality, and control data from the production process. The network can transmit large recipe
data or traceability data at high speeds without degrading the performance of servo system communications. In addition, Ethernet
supported devices can directly and seamlessly connect to controllers on the same network line.
Main control panel
Main controller (master station)
IPC
Ethernet
switch
Valve Servo RF power RF power

Inverter I/O Analog I/O
control amplifier supply supply 15
Chamber control panel Power supply control panel
Network configuration example (includes functions and products planned for future support/release.)
Servo System
An engineering environment that provides common, consistent usability

throughout all product development phases
Programmable Controller Engineering Software
MELSOFT GX Works3
Program creation is largely dependent on the ability of the programmer; therefore, an enormous amount
of time is often spent on creating a servo program where a high level of programming expertise is
required.
"MELSOFT GX Works3" introduces a more intuitive, efficient, and user-friendly programming
environment that revolutionizes the programming process and minimizes hassles.
Engineering Environment for Maximizing Your Machine Performance
● Mitsubishi Electric offers a complete, consistent engineering environment which covers all aspects of the product development cycle -
from sizing motors all the way to programming with function blocks, startup, and maintenance.
System Design Programming
System configuration Network configuration Programming
e-Manual
Useful Servo Software

[Drive system sizing software: "Motorizer"]
Our upgraded motor sizing software enables you to more
flexibly select a suitable servo system for your machine.
The upgraded features include expansion of selectable
load mechanisms (13 types), multiple sizing results, and
the ability to size a multi-axis system.
16 [Model selection software]

Servo amplifiers, servo motors, and indispensable options
such as encoder cables can all be selected. Motor sizing software Model selection software
Servo System
Servo System
● All-in-one engineering platform MELSOFT GX Works3 allows you to set different modules in a single project, including the setting
of a wide range of areas from servo amplifier parameters to PLC CPU data.
Debug Maintenance

Monitor Real-time monitor
Servo adjustment*1 Event history

*1. The servo adjustment is enabled via MR Configurator2.
Globalization
[PLCopen® Motion Control FB]
PLCopen® Motion Control FB is a standardized interface, and
therefore people other than the program designer can understand the
programming, leading to reduced design and maintenance time.
[Conforms to IEC 61131-3]

MELSOFT GX Works3 realizes structured programming such as ladder and ST, making
project standardization across multiple users even easier.
[Multi-language support for global operations] 17

To adhere to today's global production needs, MELSOFT GX Works3 supports multi-
language features at various levels, from the multiple language software menu system to
device comment language switching features.
Supported languages: English, Japanese, and Chinese.
Servo System
Build the future together with total drive solutions
MELSERVO-JET Series
Solution
Every industry and application requires different characteristics from a servo system. These systems must be flexible enough to meet
more common requirements, like high speed and accuracy, while also fulfilling the specific operation requirements.
Our extensive servo product line is able to meet a wide range of automation needs by combining with a variety of FA (Factory
Automation) products.
High-Speed, High-Accuracy Trajectory Control
Enabled by our high-resolution servo motor encoder, a smooth profile can be easily drawn on a workpiece by using a combination of
linear interpolation, 2-axis circular interpolation, and trajectory control.
Servo adjustment time is also reduced through multi-axis adjustment, quick tuning, and one-touch tuning.
Multi-axis adjustment
Reduction in adjustment time
Simultaneously adjusts the two axes for
tandem configuration.
Increased accuracy during trajectory control

Precise trajectory control
High-resolution encoder
Applications Main functions

● Flat panel display (FPD) manufacturing equipment ● High-resolution encoder
● Wood processing equipment ● Multi-axis adjustment Future support planned
18
Servo System
Servo Adjustment
At machine startup, noise sometimes occurs due to resonance. With the quick tuning function, tuning is performed at servo ON and
such noise is minimized.
Servo System
In addition, the servo amplifiers offer various other types of servo adjustment functions that allow you to select the function that best
suits your equipment.
Quick machine startup Gain optimization

Suppression of vibrations in the arm portion Suppression of machine resonance
Shortening the cycle time (Gain optimization)
Before adjustment After adjustment

Suppresses vibration quickly and easily
Applications Main functions

● Conveyor systems ● Quick tuning
● Converting machines ● One-touch tuning
● Packing machines ● Machine resonance suppression filter

● Robots ● Advanced vibration suppression control II
Utilization of IoT Technology
Vast amounts of servo data collected on the shop floor are

transmitted to the IT system through the CC-Link IE TSN. IT system
The IT system centrally manages the collected data, which

Collects and processes
enables users to understand the status of the entire line. shop floor data, helping to
Edge
implement IoT technology
Use of the CC-Link IE TSN in your factory
computing
Management monitor screen
compatible servo system helps to Transmission of collected information,

such as machine diagnosis data
implement IoT technology in your and error information, to the IT system
factory.
Various diagnosis functions detect errors

Machine diagnosis
Event history
Drive recorder
Servo amplifier diagnosis
Applications
● Lithium ion battery production lines
● Automotive assembly lines
● Semiconductor manufacturing lines 19
● Beverage filling machines
Features Servo System Controllers
Unlock new system capabilities together with CC-Link IE TSN
Motion Module
RD78GH
RD78G
These Motion modules with multiple-core processors enable to configure a high-speed, large system by supporting the
CC-Link IE TSN real-time open network.
● Performs positioning control such as linear interpolation using function blocks. The programming is easy: users just need to set
positioning data to the function blocks.
● Connects to various modules such as servo amplifiers and I/O modules via CC-Link IE TSN. This connectivity allows you to
configure a servo system more flexibly.
● Supports a consistent engineering environment that is capable of handling tasks ranging from system design to debugging and
maintenance.
RD78GH
Product Lines RD78G
RD78GHV RD78G4/RD78G8
RD78GHW RD78G16/RD78G32
● Maximum number of control axes *1: RD78G64
128 axes/module (RD78GHV)
256 axes/module (RD78GHW) ● Maximum number of control axes:
64 axes/module (RD78G64)
● Minimum operation cycle *2: 31.25 μs
● Minimum operation cycle *2:
● ST language program capacity:
62.5 μs Upgraded
Built-in ROM max. 64 MB
+ SD memory card ● ST language program capacity:
Built-in ROM max. 16 MB + SD memory card
RD78GHV/RD78GHW are designed with a quad-core RD78G4/RD78G8/RD78G16/RD78G32/RD78G64 are designed

processor that enables higher-speed control. These Motion with a dual-core processor, and can be programmed to enable
modules can be directly programmed to distribute load various types of control, such as positioning, synchronous, cam,
control with PLC CPUs. speed, and torque control.
20 This ensures that performance will not be degraded even
when the number of axes is increased. *1. When MR-JET-G servo amplifiers are used for all axes, the maximum number of the control axes is 120.
*2. When an MR-JET-G is connected to the controller, the minimum operation cycle is 125 μs.
The minimum operation cycle varies by the number of control axes.
Servo System Controllers Features
System Configuration
The Motion Module provides functionality equivalent to a CC-Link IE TSN master/local module *1 and executes motion control while
functioning as a master station. This dual functionality results in reduced system costs without sacrificing performance.
Servo System
Ladder diagram
Function block diagram/

ladder diagram
Structured text language Structured text language

PLC CPU RD78GH/RD78G

Slave station: up to 120 stations (including servo amplifiers)
USB
Ethernet MR-JET-G
Engineering environment

MELSOFT GX Works3
Rotary servo motor Linear servo motor
Inverter GOT2000 *2 I/O module

FR-A800-GN
Master/local module *2
(local station)
*1. Compared to the master/local module, the Motion modules are not provided with the following functions: sub-master station, local station, safety communications, multi-master
configuration, backup/restore function, and data communication function between general stations.
*2. Future support planned
21
Create new machines together by taking advantage of our innovative IPC environment
SWM78
Available soon
SWM78 Motion Control Software performs motion and network control through Visual C++®. To perform control, install the software
on an industrial personal computer with a real-time operating system.
Product Lines SWM78
● Creates a CC-Link IE TSN servo system by being installed on an industrial personal computer with a real-time operating
system.
● Performs various types of motion control, such as positioning, synchronous, cam, speed, and torque control.
● Meets various application needs by utilizing the API library which has the same interface with PLCopen® Motion Control
Function Blocks.

● Maximum number of control axes*1: 256 axes

● Minimum operation cycle*2: 250 μs
● Programming language: Visual C ++®
*1. When MR-JET-G servo amplifiers are used for all axes, the maximum
number of the control axes is 120.
*2. The number of controllable axes varies by the operation cycle.
MELSOFT EM78 SDK

● SWM78 Motion Control Software
● API library
● EM Configurator2
Operating Environment
● Supports INtime (real-time operating system).
22 ● Operates on an industrial personal computer with the Intel I210 Ethernet Controller.
System Configuration
MELSOFT EM78 SDK API library adopts the same interface as the internationally standardized PLCopen® Motion Control Function
Blocks. By calling the API library, a user program executes motion control.
The API library also boasts increased program readability by utilizing the class library format.
Servo System
An example of programming by Motion Control Software
Reduced programming burden

User program (Visual C++ ®)
Visual C++®
MC_MoveAbsolute *MoveAbsolute; Motion Control Software

MoveAbsolute = controller->CreateFunctionBlock
(MMC_FBID::MC_MoveAbsolute);
/* Create FB object */ Writes data
MoveAbsolute->Axis = axisName; /* Axis information */
Motion control
MoveAbsolute->Position = 1000; /* Target position[mm] */ Linear interpolation
MoveAbsolute->Velocity = 1000; /* Speed[mm/s] */
MoveAbsolute->Acceleration = 2000; /* Acceleration[mm/s^2] */ Network control
MoveAbsolute->Deceleration = 2000; /* Deceleration[mm/s^2] */ Reads data

MoveAbsolute->Jerk = 4000; /* Jerk[mm/s^3] */
Cam control
MoveAbsolute->ExecuteFB(0); /* Execute FB */
Motion Control Software (installed on an IPC)
MELSOFT EM78 SDK *1

User Motion
Application Control
Software

Microsoft Visual Studio® EM Configurator2 API SWM78
: Software provided by Real Time OS
Mitsubishi Electric
Windows® (INtime)
: Software that the customer
needs to prepare
Slave station: up to 120 stations (including servo amplifiers)
MR-JET-G
Rotary servo motor Linear servo motor
Inverter GOT2000 *2 I/O module
Master/local module *2
(local station)
23
*1. To use Motion Control Software, prepare MELSOFT EM78 SDK and the USB key with license information.
*2. Future support planned
RD78GH SWM78
Function List RD78G
Motion module Motion Control Software

MELSEC iQ-R series
RD78GH RD78G
RD78G4: 4 axes
Maximum 2 RD78G8: 8 axes
RD78GHV: 128 axes* 16 axes/ 32 axes/ 64 axes/
number of RD78G16: 16 axes
RD78GHW: 256 axes*2 128 axes*2/ 256 axes*2
control axes RD78G32: 32 axes
RD78G64: 64 axes
Minimum
31.25 [μs]*3 62.5 [μs]*3 250 [μs]
operation cycle *1
Communications 1 Gbps
speed
Command
interface
Engineering
MELSOFT GX Works3 MELSOFT EM Configurator2
environment
PLC CPU: Ladder, FBD/LD, ST language

Programming
Visual C++®
method
Motion module: ST language
Positioning control Speed control Synchronous control Cam control

Control mode
Torque control
Positioning
Linear interpolation Circular interpolation
control
Acceleration/ Trapezoidal acceleration/ Jerk acceleration/ Acceleration/deceleration time
deceleration deceleration deceleration fixed method
process
Manual control JOG operation
Functions that Acceleration/

Current value change Torque limit value change Speed change deceleration time change
change the
control details Target position change Override
Homing method Driver homing method Data set method
Forced stop Servo ON/OFF Hardware stroke limit Software stroke limit
Auxiliary Event history Absolute position control Data logging Slave emulate
function
Touch probe Monitoring of servo data Servo system recorder
*1. The minimum operation cycle varies depending on the number of control axes and the model.
*2. When MR-JET-G servo amplifiers are used for all axes, the maximum number of the control axes is 120.
*3. When an MR-JET-G is connected to the controller, the minimum operation cycle is 125 μs.
24
RD78GH
Control Load Distribution Realized by Flexible Programming RD78G
Programming using the internationally standardized PLCopen®

Motion Control FBs is possible.
Servo System
Selectable programming languages vary depending on the
controllers:
● Motion module: structured text language (ST)
● PLC CPU: ladder diagram (Ladder), function block diagram/ PLC CPU Motion module
ladder diagram (FBD/LD), and structured text language (ST). Ladder, FBD/LD,
ST language
Select the controller and programming language according to ST language
the necessity of high-speed operation and the complexity of
the operation.

Programming by PLC CPU and Motion Modules
This programming method is perfect for demanding Programming by PLC CPU and Motion module
applications which require high-speed, complicated motion
Program Program
operation.
Ladder
ST
FBD/LD
language
ST language
[Processing details]
PLC CPU Motion module
● The PLC CPU starts Motion module programs.
Motion control
● The Motion module performs operation of double precision
floating-point numbers and polynomials. Starts
ST
● The Motion module performs motion control. language. ST

Motion modules can execute operations in place of the PLC language Positioning control
CPUs. This reduces the operation burden on PLC CPUs and

results in a shorter cycle time.
Motion Share Motion Synchronous control
global labels global labels
● Control load distribution

● Reduced cycle time
Programming by PLC CPU only

This programming method is perfect for users who prefer to Programming by PLC CPU only
use only PLC CPU programs.
Program
A PLC CPU program starts operation of the Motion module,
Ladder
eliminating the need for users to create another program for FBD/LD
ST language
the Motion module, reducing programming burden.
The PLC CPU program supports the internationally
Motion control
standardized PLCopen® Motion Control Function Blocks,
and therefore people other than the program designer can
Starts
understand the programming, leading to reduced design and
positioning. No program
maintenance time. Positioning control
Motion Share Motion Synchronous control

global labels global labels
● Reduced programming burden
25
RD78GH SWM78
Positioning Control RD78G
Two types of positioning control are available: single-axis and multi-axis positioning control.
This variety allows you to meet various control needs.
Item Control types Item Control types

Absolute positioning Linear Absolute linear interpolation
Positioning
Relative positioning interpolation Relative linear interpolation
Speed- Absolute speed-position switching*1 Circular Absolute circular interpolation
Single-axis Multi-axis
position interpolation Relative circular interpolation
control Relative speed-position switching*1 control
switching Helical Absolute helical interpolation *1
Homing interpolation Relative helical interpolation *1
JOG operation Multi-axis path control *1
Main Control
Linear interpolation Speed-position switching *1
Y
0 Stop position
Circular interpolation Helical interpolation *1
End
End point address Z axis point
(mm/inch/pulse)
Z axis
Z Y axis
Central point
X axis
Start
point
Multi-axis path control *1
Y
Path No. 3
Path No. 2 Linear Path No. 4
Arc Arc
Path No. 1 Path No. 5

Linear Linear
Path No. 8 Path No. 6

Arc Path No. 7 Arc
Linear
X
*1. Future support is planned for these control types.
26
RD78GH SWM78
Acceleration/Deceleration Methods RD78G
Three types of acceleration/deceleration methods are available: trapezoidal acceleration/deceleration, jerk acceleration/deceleration,
and acceleration/deceleration time fixed.
Servo System
Trapezoidal acceleration/deceleration Jerk acceleration/deceleration
After starting, maximum acceleration is maintained until the target The acceleration changes gradually.
speed is reached. For example, when a vehicle loaded with a workpiece accelerates
For example, when a vehicle loaded with a workpiece accelerates gradually, the load will not swing back and forth after acceleration.
suddenly, the workpiece will swing back and forth due to the The jerk is maintained during acceleration. When the vehicle has
impact of the sudden acceleration. almost reached the target speed, the jerk is decelerated. Adjusting
To reduce impacts and vibrations in a case such as this, the jerk in this way achieves smooth acceleration/deceleration while
vehicle must accelerate at a slower rate. also shortening the time it takes to reach the target speed.
The speed creates a trapezoidal shape. The speed creates a S-curve shape.

Sudden start ! Sudden stop ! Gradual acceleration Gradual deceleration

Position
Position S-curve waveform
Linear waveform
Speed
Speed
Acceleration*1
Acceleration*1
Time Set jerk

Jerk
Acceleration time Time
Acceleration/deceleration time fixed method

This method executes acceleration/deceleration based on the
time specified, regardless of the commanded speed.
Position 1
Position
Position 2
Speed 1
Speed 2
Acceleration time *2
Target
acceleration
27
Time
*1. Input acceleration.

*2. Specify acceleration time.
RD78GH SWM78
High Flexibility in Synchronous Control RD78G
Synchronous control is performed using function blocks that operate as software-based mechanical modules such as gear, shaft,
speed change gear, and cam.
● The number and the combination of the synchronous modules are flexibly selected, achieving optimized operation.
● The following two types of cam data are available: cam data and cam data for a rotary knife
● Complex cam control is possible by flexibly switching cams.
● Positioning and synchronous control can be performed together in the same program.
● Cam for a rotary knife can be easily created in MELSOFT GX Works3 or by using function blocks.
[An example of packing machine program]

Speed control Gear operation start Combining axes Cam operation start Unwinding Cam operation start FB *1
MC_CamIn
Master axis MCv_SpeedControl MC_Gearin MC_CombineAxes MC_CamIn axis
DUT:Master Master:DUT
DUT:Slave Slave:DUT
Relative positioning Gear operation start Cam operation start B:Execute InSync:B
Roll axis B:ContinuousUpdate Busy:B
Auxiliary axis MC_MoveRelative MC_Gearin MC_CamIn
L:MasterOffset Active:B
L:SlaveOffset CommandAborted:B
Cam operation start Feeding L:MasterScaling Error:B
Gear operation start FB *1
MC_GearIn MC_CamIn axis 1 L:SlaveScaling ErrorID:UW
L:MasterStartDistance EndOfProfile:B
DUT:Master Master:DUT L:MasterSyncPosition
DUT:Slave Slave:DUT Cam operation start Feeding DUT:StartMode
B:Execute InGear:B
MC_CamIn axis 2 DUT:MasterValueSource
B:ContinuousUpdate Busy:B DUT:CamTableID
D:RatioNumerator Active:B DUT:BufferMode
UD:RatioDenominator CommandAborted:B Cam operation start Feeding UD:Options
DUT:MasterValueSource Error:B
MC_CamIn axis 3
L:Acceleration ErrorID:UW
L:Deceleration
L:Jerk Cam operation start
W:BufferMode Cutting axis
MC_CamIn
UD:Options
Cutting axis Packing machine

Unwinding axis
Feeding axis 3
: PLCopen Motion Control FB

®
Roll axis
*1. When using SWM78 Motion Control Software, use the API library instead of function blocks.
The API library has the same interface with PLCopen® Motion Control FB.
Feeding axis 1
Feeding axis 2
[Time chart]
This program synchronizes all the axes, from the cutting axis through the unwinding axis, with the master axis.
The following shows the time chart of the film cutting operation.
Position
Input axis
Cam length per cycle

Unwinding axis
Feeding axis 3
Cutting axis
Time
28
RD78GH SWM78
Touch Probe Function (Mark Detection Function) Enhanced
functions
RD78G
This function latches data responding to a trigger signal input.

The trigger signal can be inputted to the controller using a remote I/O.
Servo System
Compensation Based on Registration Marks
1. The registration marks are detected with the sensor. 1. The registration marks are detected. 4. The calculated compensation amount is
compensated by input axis 2.
2. The current position is latched.
FB1 FB2 FB3 FB4
3. The compensation amount is calculated from the
Input Combining Cam
latched data. Gear
axis 1 axes operation
4. The deviation is compensated by the calculated
FB5
amount using input axis 2. Input
Registration
mark
axis 2
*1. When using SWM78 Motion Control Software, use the API library instead of

function blocks. The API library has the same interface with PLCopen® Motion
Control FB. Send the calculated compensation
Sensor ON amount to input axis 2.
2. The current position is latched. 3. The compensation amount is calculated.
Operation cycle
Registration mark The compensation amount is calculated

based on the latched position.
Position
Latch the
current The deviation is compensated using

position function block of input axis 2.
Time
RD78GH
Servo System Recorder NEW RD78G
The Motion module automatically collects data of all real drive axes when an error occurs. The collected data, such as the command
and the feedback values, greatly helps you analyze the error cause.
● Automatic collection of data, such as the command and feedback values, without programming
● Data collection of all axes, which helps you locate the error cause even when the error is caused by the other axes without an error
[Data collection]
Servo system recorder
Motion
recorder
data
Roll axis 1
Position, speed, torque data, etc.
Roll axis 2
GX LogViewer
● Displays the collected data and events
graphically.
● Enables users to adjust a graph easily
by automatic adjustment function and
drag operation. 29
RD78GH SWM78
Cam Data RD78G
Create operation profile data*1 (cam data) according to your application. The created cam data is used to control output axis.
The following three cam operations are available: linear operation, two-way operation, and feed operation. Choose one according to
your application.
*1. "Operation profile data" is a general name for waveform data, which is used for various applications.
Operation Profile Data (Cam Data)
Linear operation Two-way operation

The cam pattern is a linear line. The beginning and the end of the cam pattern are the same.
This pattern is used for a ball screw and a rotary table. Mechanical cams fall into this category.
Stroke Stroke
Ball screw [Unit: mm]
Cam length per cycle Cam length per cycle
Crankshaft
Rotary table [Unit: degree]
Feed operation
The beginning and the end of the cam pattern differ.
This pattern is used for fixed-amount feed operations and
intermittent operations.
Set the end point for the feed operation to a position of your choice.
Stroke
Belt conveyor
Rotary table [Unit: degree]
Application examples
[Machine with all axes synchronized] [Machine with only certain of the axes synchronized]
Only two axes synchronized Two arms synchronized
Only two axes are synchronized.

All the axes of the machine are in The other axes perform positioning The two arms can avoid interference
30 synchronization. operation while the two axes execute by synchronizing with each other,
synchronous control. shortening the cycle time.
RD78GH SWM78
Operation Profile Data RD78G
The operation profile data is divided into the following two types of cam data.
Servo System
Operation profile data
Cam data Cam data for a rotary knife
● Create on GX Works3. ● Create on GX Works3.

● Create on a personal computer ● Create using function blocks.

(the data is in CSV format).
Importing Operation Profile Data in CSV Format

The operation profile data in a CSV format on a personal computer can be imported directly to a Motion module.
Create operation profile data Write data to the Motion module *1 Cam control

Point J1
Import 4GB
P1 X1 NZ1MEM-4GBSD
P2 X2
... CSV
Pn Xn
Machine drawing Operation
profile data
Create CSV data based on the machine drawing Import the data via an SD memory The same operation as
card or write data from the computer. an mechanical cam
*1. When using SWM78 Motion Control Software, write data to an industrial computer.
Easy Cam Creation for a Rotary Knife

Cam data for a rotary knife is automatically generated with MELSOFT GX Works3 or by using a function block.
● (Using function block) The operation profile data (cam data) is created just by setting the sheet length and sheet synchronization
width, etc., to the function block and starting it.
● (Using MELSOFT GX Works3) Set the sheet length and sheet synchronization width, etc., which automatically generates cam
data for a rotary knife.
Sheet synchronization width
Stroke ratio
Cam reference Rotary knife

position
31
Features Engineering Software
One software, many possibilities
GX Works3
MELSOFT GX Works3 has a variety of features which help users create programs and conduct maintenance more flexibly and easily.
This software includes motion control setting to support all Motion module development stages - from setting parameters to
programming, debugging, and maintenance.
Development Environment Designed for Ease of Use
This all-in-one software covers all aspects of the product development cycle, resulting in boosted efficiency in programming while
also improving user-operability by providing a common interface across all the phases.
System Design Programming Debug Maintenance
System Design Programming

● Network configuration settings ● Easy programming in ST language
● Automatic detection of network configuration ● More intuitive programming, which eliminates the need to
remember devices or buffer memory addresses
● Easy access to axis information
● Operation profile data
Debug Maintenance
● Various monitor functions, such as axis monitor, and ST ● Various monitor functions, such as axis monitor, and event
language program monitor history
● A simulator that debugs a program without an actual machine
NEW
32 ● Real-time monitor of GX LogViewer NEW
Engineering Software Features
Network Configuration Settings
[Network configuration settings]

● Intuitive network settings with drag-and-drop operations and a graphical screen view
Servo System
[Automatic detection]
● By clicking the [Connected/Disconnected Module Detection] button, the connection status of slave devices is automatically
detected and the CC-Link IE TSN configuration screen is generated.
Master station
Servo amplifier
I/O module

Easy Programming Through Structured Text Language
● Structured text programs are composed of function blocks, increasing program readability.
● Modularization of the programs increases their reusability.
● The consistent, common operability on a single engineering tool improves usability further.
● A wide selection of programming elements in the MELSOFT Library contributes to reducing programming time.
● The program is created by dragging & dropping programming elements, which simplifies the programming process.
● A startup time is reduced using the simulator of MELSOFT GX Works3 that can debug a program without an actual machine. NEW
Drag & drop
ST editor
When a Motion module is added

on the system configuration screen,
function blocks are automatically
registered in the library.
33
Just select function blocks, labels, etc. to create a program.

A wide selection of libraries and sample programs
Features Engineering Software
Programming Using Labels
● The control axes of the Motion modules and I/O signals are defined as label variables, which enables easy reuse of programs
and helps to improve programming efficiency.
● The global labels created in the Motion module project can be used in PLC CPUs. Enhanced
functions

RD78_0000.Axis0001.Md.Homing_Request [Axis label example]
MC_Home_1 Axis0001.Md Axis monitor [Reading label data in Motion module]

Axis0001 DUT:Axis Axis:DUT AxisStatus Axis status
RD78_000...
Error
The axis label data created in the Motion
Axis error detection
B:Execute Done:B
Homing_Request Homing request module can be read by the PLC CPU.
0.0 L:Position Busy:B SetPosition Command current position
DUT:AbsSwitch
Motion global Share Motion global

label label

[Axis label example]
RD78_0000.Axis0001.Cd.VelocityOverride
Axis0001.Cd Axis monitor [Writing data to labels in Motion module]
Encoder_InputValue Encoder input value
EDMOV 100.0 RD78_0000.Axis0001.Cd... ErrorReset
Data in the PLC CPU program can be written
Error reset
TorqueLimit_Positive Torque limit value (positive) to the axis labels in the Motion module.
VelocityOverride Speed override
Motion global Share Motion global

label label
Axis Information is Easily Accessible

● Axis label variables can be used as an argument to refer axes in positioning function blocks.
● IntelliSense® function reduces programming mistakes.
● Access by variable names increases readability.
[Structured text editor]
34
Engineering Software Features
Operation Profile Data with Simple Settings
Operation profile data, such as cam data and cam data for a rotary knife, is easily created.
Servo System
● The cam graph can be flexibly and easily created through drag & drop. The waveform is changed according to the pointer’s movement.
● Stroke, speed, acceleration, and jerk can be set while monitoring the changes on the graph.
● By setting "5th Curve (Adj)" for the cam curve types, the speed on a section border becomes smooth.
● Operation profile data for a rotary knife can be automatically generated by settings sheet length, synchronization width, cam
resolution, etc.
● The created operation profile data can be checked on the list.
Double-click Cam data (section interpolation)

Operation profile data list
Rotary knife
Cam data (linear interpolation)
The 5 th curve settings makes

the speed between sections (in green) smooth.

5th Curve (Adj)
A Variety of Monitor Functions Make Troubleshooting Easy
Improve debug efficiency by customizing monitor items Debugging can be executed through both the program monitor
according to your machine. and the watch window by using the common interface.
ST language program monitor
Axis monitor Watch window
Event history lists information about executed operations and Debug efficiency is increased with the real-time monitor of
errors that have occurred on each module in chronological order, GX LogViewer that displays up to 32 collected motion system
which helps to conduct troubleshooting. data in real time.
35
Real-time monitor of GX LogViewer

Features MELSERVO-JET
All-in-One World Class Servo
Servo amplifiers
Simple, efficient wiring Replaceable cooling fan
Easy-to-operate front display
Slim, small footprint
MR-JET-G MR-JET-G-N1
Supports Ethernet-based CC-Link IE TSN, featuring high-speed, large-capacity
communication (1 Gbps). Command communication cycle of ≥ 125 μs and speed frequency
response of 2.5 kHz enable advanced motion control.
The servo amplifiers support linear servo motors in addition to the rotary servo motors. Upgraded
MR-JET-G-N1 servo amplifiers support EtherCAT®. (100 Mbps)
Product Lines
■ Servo amplifier : Supported

Power supply Command Control mode
Model Rated output Rotary servo motor Linear servo motor
specifications interface Position Velocity Torque
MR-JET-G CC-Link IE TSN
200 V AC 0.1 kW to 3.0 kW
MR-JET-G-N1 EtherCAT®
36
MELSERVO-JET Features
Rotary servo motors
Servo System
HG-KNS Series
HG-SNS Series

Equipped with a
22-bit absolute
position encoder.

* A battery is required when configuring an absolute position detection system.
Small capacity, low inertia Medium capacity, medium inertia
HG-KNS HG-SNS
Series Series
Servo motors with a 22-bit Servo motors with a 22-bit
absolute position encoder absolute position encoder
Rated speed: 3000 r/min Rated speed: 2000 r/min
Maximum speed: 6000 r/min Maximum speed: 3000 r/min
* The maximum speed varies by the models.
■ Rotary Servo Motors * : Motor flange size [Unit: mm]

HG-KNS Series HG-SNS Series
40 ✕ 40 * 60 ✕ 60 * 80 ✕ 80 * 130 ✕ 130 * 176 ✕ 176 *
Capacity Capacity Capacity Capacity Capacity
Model Model Model Model Model
[kW] [kW] [kW] [kW] [kW]
HG-KNS13J 0.1 HG-KNS23J 0.2 HG-KNS73J 0.75 HG-SNS52J 0.5 HG-SNS202J 2.0
HG-KNS43J 0.4 HG-SNS102J 1.0 HG-SNS302J 3.0
HG-SNS152J 1.5
37
Features Servo Amplifiers/Servo Motors
Compact Servo Amplifiers with Simple Wiring
Simple, Efficient Wiring

The servo amplifier offers simple wiring by having connectors on the top and bottom surfaces, and allows all cables and wires to be
routed through wiring ducts. LEDs and switches are located on the front surface of the servo amplifiers for easy operation.
[Top wiring]
10 mm less in width
than the prior model*
• I/O signal cable
• 7-segment LED • Ethernet cables
• Rotary/ID
setting switches
• Communication
status displays
• Power cable
• Encoder cable
• Regenerative resistor
* As compared with MR-JE
[Bottom wiring]
Space saving, simple wiring
Unified height and

depth across all capacities
Servo Motors with High-Resolution Encoder
Equipped with a 22-bit Encoder

The HG-KNS/HG-SNS servo motors are equipped with a high-resolution absolute position encoder (4,194,304 pulses/rev) and
enable high-accuracy positioning and smooth rotation.*1 The HG-KNS/HG-SNS servo motors are fully compatible with the prior
series as they have the same dimensions and use the same encoder and power cables.
*1. A battery is required when configuring an absolute position detection system.
38
Servo Amplifiers/Servo Motors Features
Tuning Functions
Use the tuning methods that are optimal for your machines.
Servo System
Required performance
One-touch tuning
One-touch tuning
Quick tuning enables positioning
with high responsivity.
Quick tuning enables
SON a stable positioning
operation.
Command
Shortens settling time
Before adjustment
Quick tuning
Controls overshoot One-touch tuning

Adjustment time
Quick Tuning
This function automatically performs easy-to-use Servo-on
auto tuning that controls vibration and overshoot Start
just by turning on the servo-on command. Before

normal operation, the servo amplifier sets control Auto tuning
gain and machine resonance suppression filters in Tuning complete

0.3 seconds by inputting torque to the servo motor

automatically. After completing the setting, the servo Quick tuning
amplifier starts operation normally. Tuning complete
Tuning within 0.3 s before operation Controls overshoot
One-Touch Tuning
This function automatically completes servo Adjustment with one-touch
during operation Shorter settling time
gain adjustment according to the mechanical : Command : Actual operation
Before After
characteristics and reduces the settling time just
Speed
Speed
Speed
by turning on the one-touch tuning. The servo Settling

time Settling
gain adjustment includes the machine resonance time
suppression filter, advanced vibration suppression Time Time Time
control II, and the robust filter. Controlling Operation is unstable. Operation is not following
the command.
Ability to control overshoot
and vibration is improved.
overshoot and vibration is improved, maximizing
your machine performance.
Advanced Vibration Suppression Control II

This function suppresses two types of low Three-inertia Two types of the vibrations are
system Vibration at the suppressed at the same time.
frequency vibrations, owing to vibration end of an arm
Without vibration Advanced vibration Advanced vibration
suppression algorithm which supports three-inertia suppression control suppression control suppression control II
system. This function is effective in suppressing
residual vibration with relatively low frequency of Position deviation
Vibration in
approximately 100 Hz or less generated at the end a machine Torque
of an arm and in a machine, enabling a shorter Speed command
settling time. Adjustment is easily performed on

MR Configurator2.
Command Notch Filter Machine Resonance Suppression Filter

The frequency can be set close to the machine vibration The expanded applicable frequency range is between 10
frequency because the command notch filter has an Hz and 8000 Hz. Five filters are simultaneously applicable, 39
applicable frequency range between approximately 1 Hz and improving vibration suppression performance of a machine.
2000 Hz. The machine resonance frequency is detected by the
machine analyzer function in MR Configurator2.
Preventive Maintenance
Machine Diagnosis Function

This function detects changes in mechanical parts ● Friction estimation function ● Vibration estimation function
(ball screw, guide, bearing, belt, etc.) by analyzing
changes in machine friction, load moment
of inertia, unbalanced torque, and vibration
components from the data inside a servo amplifier,
supporting timely maintenance of these parts.
Servo Amplifier Life Diagnosis

This function displays the cumulative energization time and
the number of inrush relay on/off times. The data can be used
to check the service life of the parts as a rough guide.
● Cumulative energization time (Smoothing condenser/cooling

fan life span)
● The number of inrush relay on/off times (Inrush relay life)
Corrective Maintenance
Enhanced
Drive Recorder functions
This function continuously monitors the servo status and records the status transition such as a trigger condition before and after an alarm
for a fixed period of time. Reading the servo data on MR Configurator2 helps you analyze the cause of the alarm. In addition to the monitor
values and the waveform of the past 16-time alarms in the alarm history, the system configuration and the servo parameters are displayed.
Alarm occurrence time is also displayed when the servo amplifier and the controller are normally in communication on CC-Link IE TSN.
The data can be outputted to a GX LogViewer format file.
Stores data in non-volatile memory at Records past

an alarm occurrence. Displays an occurrence time 16-time alarms
Displays a
system configuration
Displays waveforms Displays Displays

Stores data in the memory monitor values parameters
continuously over certain
period of time
40
Connection/Communication Diagnosis
Disconnection Detection
Servo System
The servo amplifiers detect an open phase
condition on the output side. The alarm can be Open-phase alarm
distinguished from other alarms such as the

overload alarm, reducing the time required to
restore the system.
3-phase 200 V AC
Output
open phase

Encoder Communication Diagnosis
The encoder communication diagnosis checks
Encoder Causes of
the encoder communication circuit in the servo communication errors are
alarm classified.
amplifier. This function is useful for classifying the
cause of errors (such as disconnected encoder Encoder
communication
cables) when the encoder communication alarm diagnosis
occurs.
41
Path Control
Super Trace Control

This function reduces a position deviation
to nearly zero not only during constant- Conventional control Feed forward Super trace control
velocity operation, b
ut also during constant Speed Speed Speed
acceleration/deceleration.
The path accuracy will be improved in
Time Time Time
high-rigidity machines. Position Position Position
deviation deviation deviation
Time Time Time
Position deviation Position deviation is Position deviation is nearly

increases with nearly zero during a zero during a constant
the speed. constant-velocity operation. acceleration/deceleration.
Lost Motion Compensation

This function suppresses quadrant protrusion
Enable the lost motion
caused by friction and torsion generated when compensation function.
Y Y [X-Y table]
the servo motor rotates in a reverse direction. Before After
Therefore, the accuracy of circular path will be

improved in path control used in XY table, etc.
X X
Suppression of quadrant protrusion of circular path
Path Tracking Model Adaptive Control

This function reduces path errors which occur
Path tracking
when the servo motor reciprocates. Normally, Before mode After
when positioning control is executed, the

model adaptive control adjusts the control to
shorten a settling time. Instead, this function
reduces overshooting to improve path
accuracy, which is suitable for machines that
Error occurs in Error is reduced
require high-accuracy path control such as reciprocating. in reciprocating.
processing machines.
42
Command Interface
Enhanced
CC-Link IE TSN JET-G functions
Servo System
The servo amplifiers drive the servo motors by Controller I/O unit, etc.
can be connected.
receiving commands (position/velocity/torque) at Communication cycle:
≥ 125 µs Communication speed:
regular intervals in synchronous communication 1 Gbps MR-JET-G
with the CC-Link IE TSN-compatible controller.
When combined with a Motion module or Motion
Control Software, the servo amplifiers enable
exact synchronous operation of axes and
machines through high-speed, high-precision time Compatible
with CiA 402
synchronization. drive profile.
The servo amplifiers support CiA 402 drive profile

and enable the profile mode (position/velocity/
torque) in addition to the cyclic synchronous mode
(position/velocity/torque). When combined with the
controllers supporting the profile mode, the servo
amplifiers generate a positioning command to a
target position, reducing loads of the controllers.
® Enhanced
EtherCAT JET-G-N1 functions

Configure an EtherCAT® system with the high-performance
MR-JET series servo amplifiers.
MR-JET-G-N1 servo amplifiers support EtherCAT®.
Communication
CANopen over EtherCAT® (CoE)
specification
Drive profile CiA 402
125 μs, 250 μs, 500 μs,
Communication cycle
1 ms, 2 ms, 4 ms, 8 ms
Cyclic synchronous position mode (csp)
Cyclic synchronous velocity mode (csv)
Cyclic synchronous torque mode (cst)
Control mode Profile position mode (pp)
Profile velocity mode (pv)
Profile torque mode (tq)
Homing mode (hm)
43
Servo motors for high-speed, high-accuracy, linear drive systems
Linear Servo Motors
LM Series
Product Lines
Two series of core type are available.
LM-H3 Series LM-AJ Series

Max. speed: 3 m/s Max. speed: 2 to 6.5 m/s
Rated thrust: 70 N to 720 N Rated thrust: 68.1 N to 446.8 N
Max. thrust: 175 N to 1800 N Max. thrust: 214.7 N to 1409.1 N
Suitable for space-saving, high Low installation height, and suitable
speed and high acceleration/ for compact X-Y tables.
deceleration.
Higher Machine Performance
For higher machine performance [Offers more advantage than conventional ball screw driving systems]
● Improved productivity due to high-speed driving part.
For easier use

● The linear servo motors enable a simple and compact
machine with high rigidity.
● Smooth operation and clean systems are achieved.
For flexible machine configurations

● Multi-head and tandem systems are easily configured.
44
● The linear servo motors are suitable for long-stroke
applications.
Servo Support Software Features
Drive System Sizing Software "Motorizer"
Select the most suitable servo motors, servo amplifiers, and regenerative options for your machine just by setting machine
specifications and operation patterns. You can select a suitable combination from various results.
Servo System
This software also supports multi-axis systems, enabling you to set operation patterns and select options for multiple axes.
Specification input
• 13 common load

mechanisms
• Able to add mechanical
transmissions
Navigation

The selection result displays
various possible options.

Flexible support for load mechanisms Enhanced
functions Compatible with multi-axis systems
● Select a load mechanism from 13 common types. ● Supports the multi-axis servo amplifiers and the converters.
(A crank mechanism is newly added.) ● Set operation patterns for multiple axes.
● Add transmission mechanisms such as a coupling. ● Select regenerative options for a multi-axis system.
● Set an inclination angle of the load mechanisms as desired.
Selection of several patterns Tutorial video

● Displays a list of load to motor inertia ratio, peak torque, ● Illustrates how to use the software and select drive systems
etc., of each selection. in the video.
● Compatible with the expanded combinations of the servo
amplifiers and the servo motors.
● Set threshold values for judgement.
45
Features Servo Support Software
Selecting Options (Model Selection Software)
Select necessary options such as encoder cables.

Easily create system configuration diagrams and lists of necessary purchases to prevent mistakes when ordering.
Navigation
Select options such

as cables
Purchase list
Selection of controllers/servo motors/servo amplifiers Selection of options

● Select results from the drive system sizing software. ● Prevent selection mistakes.
Configuration Purchase list

● Check a configuration of each axis. ● Export to CSV file.
e-Manuals
Instruction manuals for the MELSERVO-JET series are available in e-Manual format. These manuals are linked with manuals for
other products such as servo motors and controllers. e-Manuals let you obtain necessary information quickly and also allow you to
keep an enormous number of manuals as one database.
Currently supported languages: English, Chinese
Features
● Use all necessary manuals as one database
Check manuals
● Download and use manuals in your local environment across the controllers,
46 ● Use the e-Manual application on tablets the servo amplifiers
and the servo motors
● Download and update manuals quickly and easily
● Search for desired information across multiple manuals
Servo Support Software Features
Servo Setup Software MR Configurator2
Tuning, monitor display, diagnosis, reading/writing parameters, and test operations are easily performed on a personal computer.
This powerful software tool supports a stable machine system and optimum control, and moreover, shortens setup time.
Servo System
Parameter setting and docking help Supporting multi-axis project
Set parameters using the function display in the list without Set parameters and monitor operation for multiple servo
worries about the parameter No. and digits. Information related to amplifiers through connecting to one of the servo amplifiers.
the parameter being set is displayed in the docking help window. Connecting via the Ethernet switching hub and the controller is
The latest e-Manual is also displayed in the docking help. also possible.
Set parameters
without worries
about parameter

No. and digits.
Help related to
the parameter
Docking help MR-JET-G
being set
supports
e-Manual
Supports a multi-axis project.
MR Configurator2
Tuning function Graph function

Adjust control gains finely on the [Tuning] window manually for Obtain graphs of 7 channels for analog and 8 channels for

further performance after the quick tuning and the one-touch digital. Various servo statuses are displayed in the waveform
tuning. at one measurement, supporting setting and adjustment.
Convenient functions such as [Overwrite] for overwriting
multiple data and [Select history] for displaying graph history
Pursue higher are available. Two types of signals can be used as a trigger
performance signal with an OR/AND condition.
with manual
setting.
Adjust gains
finely.
Trigger conditions
Displays are expanded.
adjustment
results.
Machine analyzer function Software reset

Input random torque to the servo motor automatically and Reset the software for the servo amplifier with this new
analyze frequency characteristics (0.1 Hz to 8 kHz) of a function. Setting switches and parameters is enabled without
machine system just by clicking the [Start] button. This turning off the main circuit power supply of the servo amplifier.
function supports setting of machine resonance suppression
filter, etc.
Software Reset
Measure
mechanical
characteristics.
47
Mitsubishi Electric Solutions
Mitsubishi Electric Solutions
e-F@ctory
Maximize productivity and reduce costs with an intelligent smart factory solution
Intelligent smart factories utilize high-speed networks with large data bandwidths to meet current manufacturing needs. The
combination of CC-Link IE TSN and Mitsubishi Electric’s e-F@ctory solution ensures robust integration between IT and factory
automation systems, providing an intelligent smart factory solution that reduces total cost while improving operations, production
yield, and efficient management of the supply chain. e-F@ctory is the Mitsubishi Electric solution for adding value across the
manufacturing enterprise by enhancing productivity, thereby simultaneously reducing maintenance and operating costs, and
enabling the seamless flow of information throughout the plant. e-F@ctory uses a combination of factory automation and IT
technologies in combination with various best-in-class partner products through its alliance program.
since2003
Supply chain Sales and

Procurement
distribution
Production
Engineering
chain Product Process Operation and
design design maintenance
ERP SCM MES

IT system
CAD/CAM Simulator SCADA
Data primary processing/

analysis Data handling
Edge-computing Edge Computing Products
Programmable
Shop floor Sensor Drive
Controller
Mechatronics Energy-saving
High speed, Time

IT integration
synchronization
Open technology
Network integration
MITSUBISHIELECTRIC
CNC C80
Productivity Quality Flexibility Maintenance

SMART FACTORY
48
Mitsubishi Electric Partners
Mitsubishi Electric Partners
e-F@ctory Alliance
The e-F@ctory Alliance is a FA
manufacturer partnering program that
strongly links the connection compatibility System Integration Software partner
MES ERP
of Mitsubishi Electric FA equipment Partner Information Developing and

systems Software proposing excellent
Proposing systems solutions Partner
utilizing excellent software and machinery for everything from shop application software and
floors to information System drivers that ensure the
offered by partners, thereby enabling systems. Integration CAD/PLM SCADA
connection compatibility
Partner Design support/ of Mitsubishi Electric FA
systems to be built by systems integration monitoring systems
equipment.
partners and the proposal of optimal Computerized numerical
Motion controllers PLCs Robot controller
controller (CNC)
solutions to customers. Controller
Device Partner
Device Proposing peripheral
Robot Inverter AC servo Display (HMI) MDU circuit
breaker
Power
measurement module
Energy measuring unit Electronic multi-component
indicator
Partner equipment that is easy
to connect with
Mitsubishi Electric FA
Actuator Vision system Sensor RFID Laser marker Recorder equipment and is easier
Field equipment to use.
Mitsubishi Electric Servo System Partners

Servo system includes controllers, servo drivers, actuators, sensors, etc. The servo system takes a step further to accelerate the
equipment revolution by collaborating with our partner companies. Now that a wide variety of partner products are available such as
stepping motors, pressure-resistance, explosion-proof type motors, linear encoders, your system will be configured flexibly.
The Mitsubishi Electric Servo System Partner Association is a subcommittee of e-F@ctory Alliance.
Partner product lines supporting CC-Link IE TSN and MELSERVO have been and will continue to be expanded sequentially.
Software Controller
Vision
t
Device
er P u c
rod
tn
ar
vo
P
m
S er
S y ste
Encoder
Amplifier
Motor
49
Mitsubishi Electric FA Global Website
Mitsubishi Electric FA Global Website
Mitsubishi Electric Factory Automation provides a mix of services to support its customers worldwide, through a consolidated global
website. It offers a selection of support tools and a window to its local Mitsubishi Electric sales and support network.
Global & Local Websites
Mitsubishi Electric Factory Automation

Global website
www.MitsubishiElectric.com/fa
Worldwide
Local websites Global website
e-Manuals
Instruction manuals are available in e-Manual format.
● Use the e-Manual application on tablets
● Download and update manuals quickly and easily
● Search for desired information across multiple manuals
Model Selection Software

Model selection software is now available, so you can select
options such as encoder cables and power cables which
are required to use with controllers, servo motors, servo
amplifiers, and regenerative options of your choice.
The result can be saved in a CSV format and can be used
as a purchase list.
Model selection software
50
1 Common Specifications
Combinations of Rotary Servo Motors and Servo Amplifiers 1-2
Combinations of Linear Servo Motors and Servo Amplifiers 1-3
Environment 1-4
Compliance with Global Standards and Regulations 1-5
* Refer to p. 6-31 in this catalog for conversion of units.
1-1
Common Specifications
Combinations of Rotary Servo Motors and Servo Amplifiers : Supported
Servo amplifier MR-JET-

Rotary servo motor
10G_ 20G_ 40G_ 70G_ 100G_ 200G_ 300G_
HG-KNS13J - - - - - -
HG-KNS23J - - - - - -
HG-KNS
HG-KNS43J - - - - - -
HG-KNS73J - - - - - -
HG-SNS52J - - - - - -
HG-SNS102J - - - - - -
HG-SNS HG-SNS152J - - - - - -
HG-SNS202J - - - - - -
HG-SNS302J - - - - - -
1-2
Combinations of Linear Servo Motors and Servo Amplifiers : Standard thrust
Specifications
Common
Linear servo motor Servo amplifier MR-JET-
Secondary side
Primary side (coil) 10G_ 20G_ 40G_ 70G_ 100G_ 200G_ 300G_
(magnet)
LM-H3S20-288-BSS0
LM-H3S20-384-BSS0
LM-H3P2A-07P-BSS0 - - - - - -
LM-H3S20-480-BSS0
Servo System
Controllers
LM-H3S20-768-BSS0
LM-H3P3A-12P-CSS0 - - - - - -
LM-H3S30-288-CSS0
LM-H3 LM-H3P3B-24P-CSS0 LM-H3S30-384-CSS0 - - - - - -
series LM-H3P3C-36P-CSS0 LM-H3S30-480-CSS0 - - - - - -
LM-H3S30-768-CSS0
Servo Amplifiers
LM-H3P3D-48P-CSS0 - - - - - -
LM-H3P7A-24P-ASS0 LM-H3S70-288-ASS0 - - - - - -
LM-H3S70-384-ASS0
LM-H3P7B-48P-ASS0 - - - - - -
LM-H3S70-480-ASS0
LM-H3P7C-72P-ASS0 LM-H3S70-768-ASS0 - - - - - -
LM-AJP1B-07K-JSS0 LM-AJS10-080-JSS0 - - - - - -
LM-AJS10-200-JSS0
Rotary Servo
LM-AJP1D-14K-JSS0 LM-AJS10-400-JSS0 - - - - - -
Motors
LM-AJP2B-12S-JSS0 LM-AJS20-080-JSS0 - - - - - -
LM-AJS20-200-JSS0
LM-AJ LM-AJP2D-23T-JSS0 LM-AJS20-400-JSS0 - - - - - -
series LM-AJP3B-17N-JSS0 LM-AJS30-080-JSS0 - - - - - -
LM-AJS30-200-JSS0
Linear Servo
LM-AJP3D-35R-JSS0 LM-AJS30-400-JSS0 - - - - - -
Motors
LM-AJP4B-22M-JSS0 LM-AJS40-080-JSS0 - - - - - -
LM-AJS40-200-JSS0
LM-AJP4D-45N-JSS0 LM-AJS40-400-JSS0 - - - - - -
Options/Peripheral
Equipment
LVS/Wires
Product List
Precautions
Support
1-3
Environment
Motion module
Item Operation Storage
0 ˚C to 55 ˚C (when not using the extended temperature range base unit)
Ambient temperature -25 ˚C to 75 ˚C (non-freezing)
0 ˚C to 60 ˚C (when using the extended temperature range base unit) (Note 4)
Ambient humidity 5 %RH to 95 %RH (non-condensing)
Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
Altitude 2000 m or less
Under intermittent vibration (directions of X, Y, and Z axes):
5 Hz to 8.4 Hz, displacement amplitude 3.5 mm
8.4 Hz to 150 Hz, acceleration amplitude 9.8 m/s2
Vibration resistance
Under continuous vibration:
5 Hz to 8.4 Hz, displacement amplitude 1.75 mm
8.4 Hz to 150 Hz, acceleration amplitude 4.9 m/s2
Servo amplifier
Item Operation Transportation Storage
0 ˚C to 55 ˚C (non-freezing) -25 ˚C to 70 ˚C (non-freezing) -25 ˚C to 70 ˚C (non-freezing)
Ambient temperature
Class 3K3 (IEC 60721-3-3) Class 2K12 (IEC 60721-3-2) Class 1K4 (IEC 60721-3-1)
Ambient humidity 5 %RH to 95 %RH (non-condensing)
Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
Overland/sea transportation, or Atmospheric pressure: 700 hPa to
Altitude/atmospheric transporting on an airplane whose 1060 hPa
Altitude: 2000 m or less (Note 2)
pressure cargo compartment is pressurized at (Equivalent to altitudes from -400 m to
700 hPa or higher 3000 m)
Under intermittent vibration:
10 Hz to 57 Hz, displacement
amplitude 0.075 mm 2 Hz to 8 Hz, displacement amplitude 2 Hz to 9 Hz, displacement amplitude
57 Hz to 150 Hz, acceleration (single amplitude) 7.5 mm (single amplitude) 1.5 mm
Vibration resistance amplitude 9.8 m/s2 8 Hz to 200 Hz, acceleration amplitude 9 Hz to 200 Hz, acceleration amplitude
Class 3M1 (IEC 60721-3-3) 20 m/s2 5 m/s2
Under continuous vibration: Class 2M3 (IEC 60721-3-2) Class 1M2 (IEC 60721-3-1)
10 Hz to 55 Hz, acceleration amplitude
5.9 m/s2
Rotary servo motor

Ambient temperature 0 ˚C to 40 ˚C (non-freezing) -15 ˚C to 70 ˚C (non-freezing)
Ambient humidity 10 %RH to 80 %RH (non-condensing) 10 %RH to 90 %RH (non-condensing)
Ambience (Note 1) Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
Altitude 2000 m or less (Note 2)
Vibration resistance Refer to the specifications of each rotary servo motor.
Linear servo motor (LM-H3 series)

Ambient temperature 0 ˚C to 60 ˚C (non-freezing) (Note 3) -15 ˚C to 70 ˚C (non-freezing)
Altitude 2000 m or less (Note 2)
Vibration resistance Refer to the specifications of each linear servo motor.
Linear servo motor (LM-AJ series)

Ambient temperature 0 ˚C to 40 ˚C (non-freezing) -15 ˚C to 70 ˚C (non-freezing)
Altitude 1000 m or less
Vibration resistance Refer to the specifications of each linear servo motor.
Notes: 1. Do not use the servo motors in the environment where the servo motors are exposed to oil mist, oil and/or water.
2. Refer to User's Manuals of each servo amplifier and servo motor for the restrictions when using the servo amplifiers and servo motors at an altitude exceeding 1000 m.
3. Refer to "Linear Servo Motor User's Manual" for the restrictions on the ambient temperature.
4. The extended temperature range base unit is compatible with RD78G only.
1-4
Compliance with Global Standards and Regulations
Specifications
Common
Motion module
Low voltage directive -
EMC directive EN 61131-2
Europe
Machine directive -
RoHS directive EN 50581
Servo System
Controllers
UL standard UL 61010-1/UL 61010-2-201
North America
CSA standard CSA C22.2 No. 61010-1/CSA C22.2 No. 61010-2-201
National Standard of the People's Republic of China (GB standards) GB/T15969.2
Article 13 (Names and the content of hazardous substances are described in
Measures for Administration of the Pollution Control of Electronic
China User's Manuals.)
Information Products (China RoHS)
Article 14 (Marking for the Restricted Use of Hazardous Substances is labeled.)
China Compulsory Certification (CCC) N/A
Servo Amplifiers
Korea Korea Radio Wave Law (KC) KN61000-6-2/KN61000-6-4
Servo amplifier
Low voltage directive EN 61800-5-1
Europe EMC directive EN 61800-3 Category C2/C3 second environment
Rotary Servo
UL standard UL 61800-5-1
Motors
North America
CSA standard CSA C22.2 No. 274
National Standard of the People's Republic of China (GB standards) GB 12668.501, GB 12668.3
Management Methods for the Restriction of the Use of Hazardous
Substances in Electrical and Electronic Products (China RoHS)
Linear Servo
Korea Korea Radio Wave Law (KC) KN 61800-3
Motors
Rotary servo motor
Low voltage directive EN 60034-1
Europe EMC directive EN 61800-3 Category C3
Options/Peripheral
Equipment
UL standard UL 1004-1/UL 1004-6
North America
National Standard of the People's Republic of China (GB standards) GB 755
LVS/Wires
Korea Korea Radio Wave Law (KC) N/A
Linear servo motor (LM-H3 series)

Low voltage directive DIN VDE 0580
EMC directive -
Europe
Machine directive -
Product List
UL standard UL 1004-6
North America
National Standard of the People's Republic of China (GB standards) Not subject to GB standards
Precautions

Korea Korea Radio Wave Law (KC) N/A
Linear servo motor (LM-AJ series)

National Standard of the People's Republic of China (GB standards) Not subject to GB standards
Support

1-5
MEMO
1-6
2 Servo System
Controllers
Motion Module/Motion Control Software Available soon 2-2
Engineering Software 2-8
2-1
Motion Module/Motion Control Software

Control specifications
Specifications
Item Motion module SWM78 Motion Control
RD78GH RD78G Software Available soon
RD78G4: 4 axes
RD78G8: 8 axes
RD78GHV: 128 axes 16 axes/32 axes/64 axes/
Maximum number of control axes (Note 2) RD78G16: 16 axes
RD78GHW: 256 axes 128 axes/256 axes
RD78G32: 32 axes
RD78G64: 64 axes
Maximum number of connectable stations 120 stations
Operation cycle 31.25, 62.5, 125, 250, 500, 62.5, 125, 250, 500, 250, 500,
[μs]
(operation cycle settings) (Note 1, 3) 1000, 2000, 4000, 8000 1000, 2000, 4000, 8000 1000, 2000, 4000
Real drive axis, virtual drive axis, real encoder axis (Note 4), virtual encoder axis, virtual linked axis
0: Unset
Axes group
Axis 1 or later: the axes group No. for the setting axis
Real drive axis Servo amplifier
Real encoder axis (Note 4) Via servo amplifier
Interpolation function Linear interpolation (2 to 4 axes), 2-axis circular interpolation
Control method Positioning control, direct control
Trapezoidal acceleration/deceleration, jerk acceleration/deceleration, acceleration/deceleration
Acceleration/deceleration process
time fixed method
Compensation function Driver unit conversion
Synchronous Module Master axis, cam, gear
control Master axis Real drive axis, virtual drive axis, real encoder axis (Note 4), virtual encoder axis, virtual linked axis
Operation Cam data Cam data, cam for a rotary knife
profile Motion control FB
(cam data) Cam for a rotary knife
(Cam auto-generation)
Unit character string and decimal digit can be defined by users.
Control unit
(The following are given units: mm, inch, degree, pulse)
PLC CPU: ‌ladder diagram, function block diagram/ladder
Programming language diagram, structured text language C++ language
Motion module: structured text language
Parameters and programs can be saved on a flash ROM
Backup Storage of IPC
(batteryless backup)
Start/stop operation Start, stop, restart, buffer mode, forced stop
Driver homing method (The homing method set in the driver is used.)
Homing Homing method
Data set method
Positioning Linear control Linear interpolation (2 to 4 axes)
control 2-axis circular interpolation Border point-specified, central point-specified, radius-specified circular interpolation
Manual control JOG operation
Speed control Speed control not including position loop, speed control including position loop
Direct control
Torque control Torque control, continuous operation to torque control
Absolute position system Provided (batteryless)
Speed limit Speed command range
Torque limit Torque limit value (positive/negative direction)
Functions that
Forced stop Valid/Invalid setting
limit control
Software stroke limit Movable range check with an address of the set position or the feed machine position.
Hardware stroke limit Provided
Command speed change Provided
Current value change Provided
Functions Acceleration/deceleration
Acceleration/deceleration, acceleration/deceleration time
that change process change
control details Torque limit value change Provided
Target position change Target position change, movement distance change
Override Provided
History data Event history, position data history
Logging Data logging, real-time monitor
Slave emulate Provided
Other
Touch probe (mark detection) Provided
functions
Monitoring of servo data Cyclic transmission, transient transmission
Servo system recorder Provided
Safety communication (Note 4) Provided
Notes: 1. The number of controllable axes varies depending on the operation cycle.
2. When MR-JET-G servo amplifiers are used for all axes, RD78GH and SWM78 control a maximum of 120 axes.
2-2 3. When an MR-JET-G is connected to RD78GH or RD78G, the minimum operation cycle is 125 μs.
4. This function is not supported by MR-JET-G servo amplifiers.
Motion Module/Motion Control Software
Specifications
CC-Link IE TSN
Common
Specifications
Item Motion module SWM78 Motion Control
RD78GH RD78G Software Available soon
Communications speed [bps] 1G/100M (Note 1)
Servo System
Controllers
Maximum stations per network 121 stations (including the master station)
Connection cable Ethernet cable (category 5e or higher, double shielded/STP) straight cable
Maximum distance between stations [m] 100
Maximum number of networks 239
Topology (Note 2) Line type, star type, line/star mixed type
Servo Amplifiers
Communications methods Time-sharing method
Maximum transient transmission capacity 1920 bytes
Safety communications (Note 3)
Maximum number of safety connectable stations per
1814 connections
network
Maximum number of safety connections per station 120 connections
Rotary Servo
Maximum number of link points per safety connection 8 words (input: 8 words, output: 8 words)
Motors
Notes: 1. A 1 Gbps device and a 100 Mbps device cannot be used on the same network.
2. Use a switching hub (certified class: B) for star topology.
3. This function is not supported by MR-JET-G servo amplifiers.
Certified Class
Linear Servo
CC-Link IE TSN certifies nodes and switches to a specific class level according to its functionality and performance classification.
Motors
Products can be classified as either class A or B. For the certified classification of each product, please check the CC-Link partner
association website or the relevant product catalog or manual. Supported functions and system configuration may differ according to
the certified class of products used. For example, products compatible with certified class B are necessary to configure a high-speed
motion control system. For details of configuring systems with both class A and class B devices, please refer to relevant master
product manual.
Options/Peripheral
Equipment
System configuration
Class B Class B
LVS/Wires
Class B Class B
Class B System range within
±1 μs synchronous
Master station Local station Remote station Remote Remote accuracy
station station
Class A Product List

System range over ±1 μs
Ethernet
Class A Class A switch Class A Class A synchronous accuracy
Precautions
Remote station Remote station Remote station Remote station
●●Synchronous accuracy of a system varies relative to the combination of connected devices and switches certification class
●●Use class B Ethernet switch when configuring a star topology with class B devices
●●Use class B devices when configuring a system within ±1 μs high-accuracy synchronization, connect class A devices to a separate
Support
branch line from class B devices (for details of system configuration, please refer to relevant master product manual)
2-3
Motion Module
Module specifications
Item RD78GH RD78G
RD78G4: 4 axes
RD78G8: 8 axes
RD78GHV: 128 axes
Maximum number of control axes (Note 1) RD78G16: 16 axes
RD78GHW: 256 axes
RD78G32: 32 axes
RD78G64: 64 axes
Maximum number of connectable stations 120 stations
Servo amplifier connection method CC-Link IE TSN
Certified class B
Maximum distance between stations [m] 100
PERIPHERAL I/F Via CPU module (USB, Ethernet)
Extended memory SD memory card
Number of ports for CC-Link IE TSN 2 ports 1 port
Number of I/O points occupied 32 points + 16 points (empty slot) 32 points
Number of slots occupied 2 slots 1 slot
5 V DC internal current consumption [A] 2.33 1.93
Mass [kg] 0.44 0.26
Dimensions [mm] 106.0 (H) × 56.0 (W) × 110.0 (D) 106.0 (H) × 27.8 (W) × 110.0 (D)
Notes: 1.
When MR-JET-G servo amplifiers are used for all axes, RD78GH controls a maximum of 120 axes.
Program specifications
Item RD78GH RD78G
Program capacity Built-in ROM max. 64 [MB] + SD memory card Built-in ROM max. 16 [MB] + SD memory card
Maximum program capacity memory 160 [MB] 96 [MB]
Variable
Label area ST language program capacity and label memory capacity are settable.
memory
Data memory Equivalent to program capacity
Maximum Program 512 files (1 program definable per file)
number of FB/FUN 128 files (64 FBs/FUNs definable per file)
files Global label 1 file (16384000 labels definable per file)
Code size per program Depends on the program memory
Synchronous control specifications

FB Description
MC_CamIn Starts cam operation.
MC_GearIn Starts gear operation.
MC_CombineAxes Combines the motion of 2 axes.
MCv_ChangeCycle Changes the current value per cycle.
Notes: 1.
The number of usable function blocks depends on the program capacity.
Operation profile (cam) specifications

Item RD78GH RD78G
Memory capacity Built-in ROM max. 64 [MB] + SD memory card Built-in ROM max. 16 [MB] + SD memory card
Maximum number of cam registration 60000 (1024 out of 60000 can be set on engineering tool)
Cam type Cam data, cam for a rotary knife
Interpolation method Section interpolation, linear interpolation, spline interpolation
Profile ID 1 to 60000
Cam data Resolution 8 to 65535 (any resolution within the range)
Units for cam length per
mm, inch, pulse, degree, or user-defined units
cycle
Units for stroke %, mm, inch, pulse, degree, or user-defined units
Cam auto-generation Cam for a rotary knife
2-4
Motion Module
Specifications
Function blocks (FB) list
Common
Type Name Description
MC_CamIn Starts cam operation.
MC_CombineAxes Combines the motion of 2 axes.
MC_GearIn Starts gear operation.
Servo System
Controllers
MC_GroupStop Executes a forced stop for an axes group.
MC_Home Executes homing.
MC_MoveAbsolute Executes positioning (absolute).
MC_MoveRelative Executes positioning (relative).
MC_MoveVelocity Executes speed control.
Servo Amplifiers
MC_Stop Executes a forced stop.
MC_TorqueControl Executes torque control.
MCFB (motion)
MCv_BacklashCompensationFilter Compensates backlash.
MCv_DirectionFilter Restricts rotation direction.
MCv_Jog Executes JOG operation.
MCv_MoveCircularInterpolateAbsolute Executes circular interpolation control (absolute).
Rotary Servo
MCv_MoveCircularInterpolateRelative Executes circular interpolation control (relative).
Motors
MCv_MoveLinearInterpolateAbsolute Executes linear interpolation control (absolute).
MCv_MoveLinearInterpolateRelative Executes linear interpolation control (relative).
MCv_SmoothingFilter Enables smoothing filter.
MCv_SpeedControl Executes speed control (including position loop).
MCv_SpeedLimitFilter Enables speed limit filter.
Linear Servo
MC_CamTableSelect Selects cam tables.
Motors
MC_GroupDisable Disables an axes group.
MC_GroupEnable Enables an axes group.
MC_GroupReset Resets an axes group error.
MC_GroupSetOverride Sets the values of override for an axes group.
Options/Peripheral
MC_Power Controls the power stage (ON or OFF) for a single axis.
Equipment
MC_Reset Resets an axis error.
MC_SetOverride Sets the values of override.
MCFB (administrative) MC_SetPosition Changes the current position.
MC_TouchProbe Enables the touch probe.
MC_AbortTrigger Disables the touch probe.
MC_ReadParameter Reads parameters.
LVS/Wires
MC_WriteParameter Writes parameters.
MCv_AllPower Controls the power stage (ON or OFF) for all axes.
MCv_ChangeCycle Changes the current value per cycle.
MCv_MotionErrorReset Resets motion errors.
MCv_SetTorqueLimit Sets torque limits.
Product List
MCv_ReadProfileData Reads profile data.
General FB
MCv_WriteProfileData Writes profile data.
Precautions
Support
2-5
Motion Module
Dimensions
●RD78G4/RD78G8/RD78G16/
● ●RD78GHV/RD78GHW
●
RD78G32/RD78G64
4
4
106
106
98
98
110 27.8 110 56
[Unit: mm] [Unit: mm]
Mounting
●RD78G4/RD78G8/RD78G16/RD78G32/RD78G64
●
RD78GHV/RD78GHW
Top of panel or wiring duct
30 mm or more (Note 1)
80 mm
or more Door
30 mm or more
5 mm or more (Note 2) 5 mm or more
Notes: 1. Provide clearance of 30 mm or more when the height of a wiring duct is 50 mm or less. In other cases, provide clearance of 40 mm or more.
2. Provide clearance of 20 mm or more when an extension cable is connected/removed without removing a power supply module.
2-6
SWM78 Motion Control Software (Note 1) Available soon
Specifications
MELSOFT EM Configurator2 operating environment
Common
Item Description
Personal
Microsoft® Windows® supported personal computer
computer
Microsoft® Windows® 10 (Home, Pro, Enterprise, Education, IoT) (64 bit/32 bit)
Servo System
Personal OS Microsoft® Windows® 8.1 (64 bit/32 bit), Microsoft® Windows® 8.1 (Enterprise, Pro) (64 bit/32 bit)
Controllers
computer Microsoft® Windows® 7 (Enterprise, Ultimate, Professional, Home Premium, Starter) (64 bit/32 bit)
CPU Intel® Core™2 Duo Processor 2 GHz or more recommended
Required For 64-bit edition: 2 GB or more recommended
memory For 32-bit edition: 1 GB or more recommended
For installation: 10 GB or more free hard disk capacity
Servo Amplifiers
Free hard disk space
For operation: 512 MB or more free virtual memory capacity
Optical drive DVD-ROM supported disk drive
Monitor Resolution 1024 × 768 pixels or higher
Notes: 1.
To use Motion Control Software, prepare MELSOFT EM78 SDK and the USB key with license information.
SWM78 Motion Control Software application development environment
Rotary Servo
Motors
Item Description
Microsoft® Windows® 10 Home (64 bit/32 bit)
Microsoft® Windows® 10 Enterprise (64 bit/32 bit)
Microsoft® Windows® 10 Pro (64 bit/32 bit)
Microsoft® Windows® 10 Education (64 bit/32 bit)
Microsoft® Windows® 10 IoT (64 bit/32 bit)
Linear Servo
Microsoft® Windows® 8.1 (64 bit/32 bit)
Motors
User Windows® Microsoft® Windows® 8.1 Enterprise (64 bit/32 bit)
program OS Microsoft® Windows® 8.1 Pro (64 bit/32 bit)
Microsoft® Windows® 7 Home Basic (64 bit/32 bit)
Microsoft® Windows® 7 Home Premium (64 bit/32 bit)
Options/Peripheral
Microsoft® Windows® 7 Enterprise SP1 (64 bit/32 bit)
Microsoft® Windows® 7 Ultimate SP1 (64 bit/32 bit)
Equipment
Microsoft® Windows® 7 Professional SP1 (64 bit/32 bit)
INtime INtime 6. 3. 18110. 7
Software development
Microsoft® Visual C++® 2017/2015/2013/2012/2010
environment
- DLL format
API library
- Supports programs compiled by C++ only
LVS/Wires
Servo amplifier connection
CC-Link IE TSN
method
Certified class B
Partner products
Product List
TenAsys Corporation
Real-time motion control is realized by Windows® PC.
INtime is the real-time OS products which extend real-time performance for Windows® PC.
Real-time control is realizable only by installing in usual Windows® PC.
Precautions
Since parallel operation is carried out with Windows®, both the Windows® side processings, such as HMI and log file save, and the
machine control processings which needs real-time performance are able to be realized on one set of hardware.
Micronet Company
An inquiry of a
product URL : http://www.mnc.co.jp/index_E.htm
MAIL : [email protected]
Support
2-7
Engineering Software
MELSOFT GX Works3 operating environment (Note 1)
Item Description
Microsoft® Windows® 10 (Home, Pro, Enterprise, Education, IoT Enterprise 2016 LTSB (Note 2)) (64 bit/32 bit)
OS Microsoft® Windows® 8.1 (64 bit/32 bit), Microsoft® Windows® 8.1 (Enterprise, Pro) (64 bit/32 bit)
Microsoft® Windows® 7 (Enterprise, Ultimate, Professional, Home Premium, Starter) (64 bit/32 bit)
Personal computer Windows® supported personal computer
CPU Intel® Core™2 Duo Processor 2 GHz or more recommended
For 64-bit edition: 2 GB or more recommended
Required memory
For 32-bit edition: 1 GB or more recommended
Optical drive DVD-ROM supported disk drive
Monitor Resolution 1024 × 768 pixels or higher
Notes: 1. Refer to Installation Instructions for precautions and restrictions regarding the operating environment.
2. The 32-bit edition is not supported.
Engineering software list

Item Model Description
• ‌Programmable Controller Engineering Software
MELSOFT GX Works3 SW1DND-GXW3-E [MELSOFT GX Works3 (Note 2), GX Works2, GX Developer, PX Developer] DVD-ROM
• ‌MITSUBISHI ELECTRIC FA Library
FA engineering software (Note 1)
• ‌System Management Software [MELSOFT Navigator]
• ‌Programmable Controller Engineering Software
[MELSOFT GX Works3 (Note 2), GX Works2, GX Developer, PX Developer]
• ‌Motion Controller Engineering Software
MELSOFT iQ Works SW2DND-IQWK-E DVD-ROM
[MELSOFT MT Works2]
• ‌Screen Design Software [MELSOFT GT Works3]
• ‌Robot Programming Software [MELSOFT RT ToolBox3]
• ‌Inverter Setup Software [MELSOFT FR Configurator2]
• ‌MITSUBISHI ELECTRIC FA Library
Notes: 1. Refer to each product manual for the software supported by the model.
2. The MELSOFT GX Works3 menu is switchable between Japanese, English, and simplified Chinese.
2-8
3 Servo Amplifiers
Model Designation 3-2

MR-JET-G_ Connections with Peripheral Equipment 3-3
MR-JET-G_ Specifications 3-4
MR-JET-G_ Standard Wiring Diagram Example 3-5
Power Supply Connection Example 3-6
1-phase 200 V AC Class Power Supply Input Using a Neutral Point of
3-phase 400 V AC Class Power Supply 3-7
Servo Motor Connection Example 3-8
MR-JET-G_ Dimensions 3-12
3-1
Servo Amplifiers
Model Designation
MR-JET-10G-
Symbol Network specifications

Mitsubishi Electric None CC-Link IE TSN
AC servo amplifier N1 EtherCAT®
MELSERVO-JET
Series Network compatible
Symbol Rated output [kW]

10 0.1
20 0.2
40 0.4
70 0.75
100 1
200 2
300 3
3-2
Servo Amplifiers
MR-JET-G_ Connections with Peripheral Equipment (Note 1)
Specifications
Peripheral equipment is connected to MR-JET-G_ as described below. Connectors, cables, options, and other necessary equipment are
Common
available so that users can set up the servo amplifier easily and start using it right away.
CC-Link IE TSN-compatible
Motion module Motion Control Software
Servo System
Molded-case circuit breaker (MCCB) RD78G RD78GH SWM78
Controllers
(available soon) EtherCAT®-compatible
This protects the power supply line.
controllers
Magnetic contactor (MC)
Servo Amplifiers
This turns off the power supply to the To a subsequent
servo amplifier when an alarm is triggered. device Ethernet cable (Note 2)
Display
Servo amplifier status and alarm number are
displayed.
I/O signal connector (CN3)
Connect the forced stop input, the
Rotary Servo
in-position, the electromagnetic brake Rotary/ID setting switches
Motors
interlock, and the malfunction signals.
Connect a programmable controller I/O Set the IP/node address with SW1 and SW2.
port or a control cabinet of a machine via
the junction terminal block.
Ethernet cable connectors USB communication connector (CN5)
(CN1A/CN1B)
Linear Servo
Connect a personal computer, and use
Motors
Connect a device compatible with each MR Configurator2. Parameter setting and monitoring
network. are possible. Use an optional USB cable
(MR-J3USBCBL3M).
Power factor improving AC
reactor (option)
Servo status display LED
Options/Peripheral
This boosts the power factor of
servo amplifier and reduces the
Equipment
Operation stand-by status is displayed.
power supply capacity.
Regenerative option
(option) Network status display LED
Network status is displayed.
LVS/Wires
Bottom surface
Charge light
The light turns on when the power supply is charged.
Product List
Encoder connector (CN2)
Power connector
(CNP1) Connect the servo motor encoder using an option
cable or connector set.
Encoder cable
U
V (option)
Servo motor
W
Power L1
supply L3L2
Precautions
Built-in regenerative Power cable

Regenerative P+ (option)
resistor
Option C
A regenerative resistor is
built in the servo amplifier
of 0.4 kW or larger. When
using a regenerative option,
remove the built-in
Support
regenerative resistor. Servo motor
Notes: 1. Refer to "MR-JET User's Manual" for the actual connections.

2. For specifications of the Ethernet cable, refer to "Ethernet Cable Specifications" on p. 6-18 in this catalog.
3-3
Servo Amplifiers
MR-JET-G_ (Network Compatible) Specifications

Servo amplifier model MR-JET-_(-N1) 10G 20G 40G 70G 100G 200G 300G
Voltage 3-phase 0 V AC to 240 V AC
Output
Rated current [A] 1.3 1.8 2.8 5.8 6.0 11.0 11.0
3-phase or 1-phase 200 V AC to 3-phase or 1-phase 200 V AC to 3-phase 200 V AC to
Voltage/frequency (Note 1)
240 V AC, 50 Hz/60 Hz 240 V AC, 50 Hz/60 Hz (Note 6) 240 V AC, 50 Hz/60 Hz
Power Rated current (Note 5) [A] 0.9 1.5 2.6 3.8 5.0 10.5 14.0
supply Permissible voltage 3-phase or 1-phase 170 V AC to 3-phase or 1-phase 170 V AC to 3-phase 170 V AC to
input fluctuation 264 V AC 264 V AC (Note 6) 264 V AC
Permissible frequency
±5 % maximum
fluctuation
Interface power supply 24 V DC ± 10 % (required current capacity: 0.3 A)
Control method Sine-wave PWM control/current control method
Permissible regenerative power of
the built-in regenerative resistor [W] - 10 30 100
(Note 2, 3)
Dynamic brake (Note 4) Built-in

Communication
CC-Link IE TSN 125 μs, 250 μs, 500 μs, 1 ms, 2 ms, 4 ms, 8 ms
cycle (Note 7)
(MR-JET-G)
Certified class Class B
EtherCAT® Communication
125 μs, 250 μs, 500 μs, 1 ms, 2 ms, 4 ms, 8 ms
(MR-JET-G-N1) cycle (Note 7)
Communication
USB Connect a personal computer (MR Configurator2 compatible)
function
Load-side encoder interface Mitsubishi Electric high-speed serial communication, A/B/Z-phase differential input signal
Advanced vibration suppression control II, adaptive filter II, robust filter, quick tuning, auto tuning,
one-touch tuning, tough drive function, drive recorder function, machine diagnosis function,
Servo functions
power monitoring function, lost motion compensation function, super trace control, continuous operation
to torque control mode (Note 9)
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal),
servo motor overheat protection, encoder error protection, regenerative error protection,
Protective functions
undervoltage protection, instantaneous power failure protection, overspeed protection,
error excessive protection, magnetic pole detection protection, linear servo control fault protection
Structure (IP rating) Natural cooling, open (IP20) Force cooling, open (IP20)
Close 3-phase power supply input Possible (Note 8)
mounting 1-phase power supply input Possible (Note 8) Not possible -
Mass [kg] 0.8 1.6 2.1
Notes: 1. Rated output and speed of a rotary servo motor; and continuous thrust and maximum speed of a linear servo motor are applicable when the servo amplifier is operated
within the specified power supply voltage and frequency.
2. Select the most suitable regenerative option for your system with our drive system sizing software Motorizer.
3. Refer to "Regenerative Option" in this catalog for the permissible regenerative power [W] when a regenerative option is used.
4. When using the dynamic brake, refer to "MR-JET User's Manual" for the permissible load to motor inertia ratio.
5. This value is applicable when a 3-phase power supply is used.
6. When a 1-phase 200 V AC to 240 V AC power supply is used, use the servo amplifiers at 75 % or less of the effective load ratio.
7. The command communication cycle depends on the controller specifications and the number of slaves connected.
8. When the servo amplifiers are closely mounted, keep the ambient temperature within 0 °C to 45 °C, or use the servo amplifiers at 75 % or less of the effective load ratio.
9. The continuous operation to torque control mode is not available with MR-JET-_-N1. For the servo amplifier firmware version compatible with this function, refer to "MR-
JET User's Manual".
3-4
Servo Amplifiers
MR-JET-G_ Standard Wiring Diagram Example
Specifications
Common
Servo amplifier
MR-JET-G_
Power supply
Servo System
Controllers
L1
U
L2
V
Power supply connection L3
The connection differs according to the input W
power supply.
Refer to "Power Supply Connection Example" in
Servo Amplifiers
this catalog.
CN2
Battery
+
Rotary Servo
(Note 4) Servo motor
CN3 (Note 2, 8) Battery branch cable
Motors
Power supply
Forced stop 2 EM2 20 A battery (MR-BAT6V1SET-B) and a battery branch cable
Forward rotation stroke end LSP 2 (MR-BT6V4CBL03M) are required to configure an absolute
(Note 6) Reverse rotation stroke end LSN 12 position detection system with an HG-KNS/HG-SNS rotary
Proximity dog (DOG) DOG 19 servo motor.
Linear Servo
DICOM 5 24 V DC power supply
CN3 for interface
Motors
24 V DC power supply (Note 2, 8) (Note 3)
for interface 3 DOCOM Electromagnetic
13 MBR brake interlock
R
A
(Note 7)
3
10 m or shorter 9 INP
R
A
2 In-position
15 ALM R
A
1 Malfunction
Options/Peripheral
Personal computer
10 m or shorter
Equipment
CN5
USB cable
Setup software MR-J3USBCBL3M
MR Configurator2
LVS/Wires
Controller
●
CC-Link IE TSN-compatible CN1A (Note 8) (Note 8) CN1B
controller
●
RD78G Network Network
●
RD78GH (Note 5) ID (Note 1) (Note 5)
●
SWM78 (available soon) SW1 SW2
EtherCAT®-compatible
Product List
●
controller 0 1
Notes: 1. The node address or the 4th octet of the IP address can be set to between 1 and 254 with a combination of the ID setting switches or the rotary switches (SW1 and SW2).
Note that the number of the connectable slaves depends on the controller specifications.
2. This is for sink wiring. Source wiring is also possible.
3. When using a linear servo motor or direct drive motor, use MBR (Electromagnetic brake interlock) for an external brake mechanism.
4. To prevent an unexpected restart of the servo amplifier, create a circuit to turn off EM2 (Forced stop 2) when the power is turned off.
Precautions
5. When branching off CC-Link IE TSN (synchronous communication function) with a switching hub, use a switching hub (Class B) recommended by CC-Link Partner
Association. When a switching hub (Class A) is used, there are restrictions on the topologies to be used. Refer to "MELSEC iQ-R Motion Module User's Manual (Startup)"
for details.
6. Devices for these pins can be changed with [Pr. PD03], [Pr. PD04], and [Pr. PD05].
7. Devices for these pins can be changed with [Pr. PD07], [Pr. PD08], and [Pr. PD09].
8. Attach a cap to unused CN3/CN1A/CN1B connectors.
Be sure to read through User’s Manual for the actual wiring and use. Use the equipment after you have a full knowledge of the
Support
equipment, safety information and instructions.
3-5
Servo Amplifiers
Power Supply Connection Example

●
●For 3-phase 200 V AC ●
●For 1-Phase 200 V AC
Servo motor Servo motor
overheat protection overheat protection
Off On Servo amplifier Off On Servo amplifier
RA4 RA4
MC
MC
(Note 4) Malfunction (Note 4) Emergency Malfunction
Emergency RA1 MC
SK
RA1 MC
SK
stop switch stop switch
MCCB MC CNP1 MCCB MC CNP1

L1 U Power supply L1 U
Power supply
1-phase 200 V AC L2 V
3-phase 200 V AC L2 V
to 240 V AC
to 240 V AC L3 W L3 W
(Note 1)
P+ P+
Regenerative Regenerative
option option
(Note 2) C (Note 2) C
Built-in Built-in
regenerative regenerative
resistor resistor
(Note 3) (Note 3)
he servo amplifier may be

T he servo amplifier may be
T
damaged if the regenerative option damaged if the regenerative option
is incorrectly connected. is incorrectly connected.
Notes: 1. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3 terminals. Do not connect anything to L2.
2. When connecting a regenerative option externally, disconnect the wires for the built-in regenerative resistor (P+ and C), and then remove the resistor.
3. The servo amplifiers of 0.2 kW or smaller do not have a built-in regenerative resistor.
4. When connecting a linear servo motor with a thermal protector, add a contact to shut off by being interlocked with the thermal protector output of the linear servo motor.
3-6
Servo Amplifiers
1-phase 200 V AC Class Power Supply Input Using a Neutral Point of
Specifications
3-phase 400 V AC Class Power Supply
Common
A 1-phase 200 V AC class power can be supplied with a use of a neutral point of a 3-phase 400 V AC class power supply.
Use a step-down transformer as necessary to keep the power supply voltage between 200 V AC and 240 V AC.
Servo System
Do not input a 3-phase 400 V AC class power supply directly to the 200 V class servo amplifier. Doing so may cause the servo
Controllers
amplifier to malfunction.
Servo motor
Servo Amplifiers
overheat protection
Off On
RA4
MC
(Note 3) Malfunction
Emergency RA1 MC
SK
stop switch
Servo amplifier
Do not connect anything.
3-phase 400 V AC MCCB MC CNP1

L1
Rotary Servo
L2 (Note 2)
Motors
L3
Neutral 200 V AC to 240 V AC (Note 1)
point
Do not connect anything.
Linear Servo
Motors
Notes: 1. Use a step-down transformer as necessary to keep the power supply voltage between 200 V AC and 240 V AC.
2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3 terminals. Do not connect anything to L2.
3. When connecting a linear servo motor with a thermal protector, add a contact to shut off by being interlocked with the thermal protector output of the linear servo motor.
Options/Peripheral
Equipment
LVS/Wires
Product List
Precautions
Support
3-7
Servo Amplifiers
Servo Motor Connection Example (Rotary Servo Motor)

●
●For HG-KNS series
Servo amplifier
MR-JET-G_
Rotary servo motor
CNP1 HG-KNS series
U
U 2
V
V 3 M
W
W 4
(Note 3) E 1
24 V DC for the B1
1
electromagnetic brake RA (Note 4) U B2 B
(Note 5) 2
Electromagnetic
Contact must be open by Contact must be open when brake
an external emergency the ALM (Malfunction) or the
stop switch. MBR (Electromagnetic brake
(Note 2)
interlock) turns off.
CN2
1 P5 (Note 1) P5
Encoder
2 LG (Note 6) LG
3 MR MR
4 MRR MRR
Plate SD SD
●
●For HG-SNS series
Servo amplifier
MR-JET-G_
Rotary servo motor
CNP1 HG-SNS series
U
U A
V
V B M
W
W C
(Note 3) E
D
24 V DC for the B1
1
electromagnetic brake RA (Note 4) U B2 B
(Note 5) 2
Electromagnetic
Contact must be open by Contact must be open when brake
an external emergency the ALM (Malfunction) or the
stop switch. MBR (Electromagnetic brake
(Note 2)
interlock) turns off.
CN2
1 P5 (Note 1) P5
Encoder
2 LG (Note 6) LG
3 MR MR
4 MRR MRR
Plate SD SD
Notes: 1. The signals shown are applicable when a two-wire type encoder cable is used. A four-wire type is also compatible.
2. This is for the servo motors with an electromagnetic brake. The electromagnetic brake terminals (B1, B2) do not have polarity.
3. Connect the grounding wire to the cabinet protective earth (PE) terminal via the servo amplifier for grounding the servo motor.
4. Install a surge absorber between B1 and B2.
5. Do not use the 24 V DC interface power supply for the electromagnetic brake. Provide a dedicated power supply to the electromagnetic brake.
6. Encoder cables are available as an option. Refer to "Rotary Servo Motor User's Manual" when fabricating the cables.
3-8
Servo Amplifiers
Servo Motor Connection Example (LM-H3 Series Linear Servo Motor)
Specifications
● a serial linear encoder
Common
●Connecting
Servo amplifier
MR-JET-G_ Linear servo motor
CNP1 LM-H3 series
U U
Servo System
V V
Controllers
W W
(Note 1)
E
Shield
CN3 Thermistor
Servo Amplifiers
G1 θ
4 THM1
THM2 G2
14
CN2
1 P5
2 LG
(Note 3) Linear encoder
3 MR
(Note 2)
Rotary Servo
4 MRR
7 MX
Motors
8 MXR Refer to "Linear Encoder Connection Example" in this catalog
Plate SD for connecting signals with a linear encoder.
Linear Servo
Motors
●
●Connecting an A/B/Z-phase differential output linear encoder
Servo amplifier
Options/Peripheral
MR-JET-G_ Linear servo motor
CNP1 LM-H3 series
Equipment
U U
V V
W W
(Note 1)
E
Shield
LVS/Wires
CN3 Thermistor
G1 θ
4 THM1
THM2 G2
14
CN2
Product List
1 P5
2 LG
7 PA
8 PAR (Note 3) Linear encoder
5 PB (Note 2)
6 PBR
9 PZ Refer to "Linear Encoder Connection Example" in this catalog
for connecting signals with a linear encoder.
10 PZR
Precautions
Plate SD
Notes: 1. Connect the grounding wire to the cabinet protective earth (PE) terminal via the servo amplifier for grounding the servo motor.
2. For linear encoders, refer to "List of Linear Encoders" in this catalog.
3. Necessary cables vary depending on the linear encoder. Refer to "MR-JET Partner's Encoder User's Manual" for details.
Support
3-9
Servo Amplifiers
Servo Motor Connection Example (LM-AJ Series Linear Servo Motor)

●
●Connecting a serial linear encoder
Servo ampliﬁer
MR-JET-G_
Linear servo motor
CNP1 LM-AJ series
U U (Brown)
V V (White)
W W (Gray)
(Note 1)
E (Yellow/Green)
Thermal
protector
R
A (Pink) θ
4
Servo motor
overheat protection (Note 4)
(Blue)
5 V DC
CN2 power supply
1 P5
2 LG
3 MR (Note 3) Linear encoder
4 MRR (Note 2)
7 MX
8 MXR
Plate SD
Refer to "Linear Encoder Connection Example" in this catalog
●
●Connecting an A/B/Z-phase differential output linear encoder
Servo ampliﬁer
MR-JET-G_
Linear servo motor
CNP1 LM-AJ series
U U (Brown)
V V (White)
W W (Gray)
(Note 1)
E (Yellow/Green)
Thermal
protector
R
A (Pink) θ
4
Servo motor
overheat protection (Note 4)
(Blue)
CN2
1 P5 5 V DC
2 LG power supply
7 PA
8 PAR (Note 3) Linear encoder
5 PB (Note 2)
6 PBR
9 PZ
10 PZR Refer to "Linear Encoder Connection Example" in this catalog
Plate SD
Notes: 1. Connect the grounding wire to the cabinet protective earth (PE) terminal via the servo amplifier for grounding the servo motor.
2. For linear encoders, refer to "List of Linear Encoders" in this catalog.
3. Necessary cables vary depending on the linear encoder. Refer to "MR-JET Partner's Encoder User's Manual" for details.
4. Create a relay circuit to turn off the main circuit power supply when the thermal protector is opened by overheating. Use a relay designed for a flowing current of 1000 mA
or less. If a mechanical relay is used, use a relay designed for a flowing current of 50 mA to 1000 mA.
3-10
Servo Amplifiers
Linear Encoder Connection Example
Specifications
Common
Servo amplifier side Servo amplifier side Servo amplifier side
(Note 1) (Note 1) (Note 1)
Linear encoder
Magnescale Co., Ltd.
2 LG 0V
Linear scale
Mitutoyo Corporation
2 LG LG 2 LG 0V
Linear encoder
Heidenhain
1 P5 P5 1 P5 5V 1 P5 5V
3 MR RQ 3 MR SD/RQ 7 MX SD
Servo System
4 MRR /RQ 4 MRR -SD/-RQ 8 MXR /SD
Controllers
Plate SD FG Plate SD FG 3 MR RQ
4 MRR /RQ
Plate SD FG
Servo amplifier side Servo amplifier side Servo amplifier side
Servo Amplifiers
(Note 2)
(Note 1) (Note 1) (Note 1)
Linear encoder
Renishaw
Linear encoder
Nidec Sankyo Corporation
linear encoder
A/B/Z phase differential output
2 LG LG 2 LG GND 1 P5 5V
1 P5 P5 1 P5 Vcc 2 LG 0V
3 MR MR 3 MR RQ DT 7 PA A-phase
4 MRR MRR 4 MRR /RQ /DT 8 PAR A-phase
Plate SD Case SD Plate SD Plate 5 PB B-phase
6 PBR B-phase
9 PZ Z-phase
10 PZR Z-phase
Rotary Servo
Plate SD FG
Motors
Notes: 1. For the number of the wire pairs for LG and P5, refer to "MR-JET Partner's Encoder User's Manual."
2. If the encoder's current consumption exceeds 350 mA, supply power from an external source.
Linear Servo
Motors
Options/Peripheral
Equipment
LVS/Wires
Product List
Precautions
Support
3-11
Servo Amplifiers
MR-JET-G_ Dimensions
●
●MR-JET-10G_
●
●MR-JET-20G_
●
●MR-JET-40G_
CN1B
CN1A CN3
205
40 (40) 2-M5 screw

Approx. 70
ø6 mounting hole
6.8
(6.5)
6.5
Terminal arrangement
CNP1 PE
14
U
V
Screw size
W
M4
L1
CN5 L2
183±0.5
(196)
183
196
L3
168
P+
C
PE
Approx. 70
6 (6.8)
(6.5)
(6.5)
Built-in regenerative resistor
lead wires Mounting hole
A built-in regenerative process drawing
resistor is mounted on MR-JET-40G.
CN2 CNP1 (Note 1)

[Unit: mm
●
●MR-JET-70G_
●
●MR-JET-100G_
CN1B
CN1A CN3
205
60 (60) 3-M5 screw

Approx. 70
ø6 mounting hole
6.8
(6.5)
6.5
14
CNP1 PE
U
V Screw size
W M4
CN5
183±0.5
L1
(196)
183
168
196
L2
L3
P+
PE
C
Approx. 70
6 40±0.5 (6.8)
(6.5)
(6.5)
Mounting hole
process drawing
CN2 CNP1 (Note 1) [Unit: mm
CNP1 connector is supplied with the servo amplifier.

Notes: 1.
3-12
Servo Amplifiers
MR-JET-G_ Dimensions
Specifications
●
Common
●MR-JET-200G_
●
●MR-JET-300G_
CN1B
CN1A CN3
Servo System
Controllers
205
ø6 mounting hole
Cooling fan (80) 3-M5 screw

Approx. 70
Servo Amplifiers
80 Exhaust
(6.5)
6.8
6.5
14
CNP1 PE
U
V Screw size
CN5
W M4
183±0.5
Rotary Servo
(196)
196
168
183
L1
Motors
L2
L3
PE P+
C
Approx. 70
6 60±0.5 (6.8)
(6.5)
(6.5)
Linear Servo
Motors
Mounting hole
process drawing
5
Intake
Options/Peripheral
Equipment
CN2 CNP1 (Note 1) [Unit: mm
Notes: 1.
CNP1 connector is supplied with the servo amplifier.
LVS/Wires
Product List
Precautions
Support
3-13
Servo Amplifiers
MEMO
3-14
4 Rotary Servo Motors
HG-KNS Series
Specifications 4-3
Torque Characteristics 4-4
Dimensions 4-5
Special Shaft Dimensions 4-8
HG-SNS Series
Specifications 4-9
Torque Characteristics 4-10
Dimensions 4-11
Special Shaft Dimensions 4-12
Power Supply Capacity 4-13
4-1
Rotary Servo Motors
Model Designation (Note 1)
HG-KNS1 3BJ
Symbol Shaft shape

None Standard (Straight shaft)
D D-cut shaft (Note 2)
Keyed shaft (with a key or without a
K
key) (Note 2)
Symbol Oil seal (Note 4)

J Installed (Note 3)
None None
Symbol Electromagnetic brake

None None
B Installed
Symbol Rated speed [r/min]

2 2000
3 3000
Symbol Rated output [kW]

1 0.1
2 0.2
4 0.4
5 0.5
7 0.75
10 1.0
15 1.5
20 2.0
30 3.0
Symbol Inertia/capacity
HG-KNS Low inertia, small capacity
HG-SNS Medium inertia, medium capacity
Notes: 1. This section describes what each symbol in a model name indicates. Some combinations of symbols are not available.
2. Refer to the special shaft dimensions of each series in this catalog for the available models.
3. An oil seal is installed as a standard for all servo motors.
4. The dimensions of HG-KNS series vary depending on whether or not an oil seal is installed. Refer to the dimensions for details. Dimensions of the HG-SNS series are
the same regardless of whether or not an oil seal is installed.
4-2
Rotary Servo Motors
HG-KNS Series (Low Inertia, Small capacity) Specifications
Specifications
Common
Flange size [mm] 40 × 40 60 × 60 80 × 80
Rotary servo motor model HG-KNS 13J 23J 43J 73J
Continuous Rated output [kW] 0.1 0.2 0.4 0.75
running duty
(Note 4) Rated torque (Note 3) [N•m] 0.32 0.64 1.3 2.4
Servo System
Maximum torque [N•m] 0.95 1.9 3.8 7.2
Controllers
Rated speed (Note 4) [r/min] 3000
Maximum speed (Note 4) [r/min] 6000
Power rate at Standard [kW/s] 12.9 18.0 43.2 44.5
continuous With electromagnetic
[kW/s] 12.0 16.4 40.8 41.0
rated torque brake
Servo Amplifiers
Rated current [A] 0.8 1.3 2.6 4.8
Maximum current [A] 2.4 3.9 7.8 14
Standard [× 10-4 kg•m2] 0.0783 0.225 0.375 1.28
Moment of
With electromagnetic
inertia J 0.0843 0.247 0.397 1.39
brake [× 10-4 kg•m2]
Recommended load to motor inertia ratio (Note 1) 15 times or less (Note 6)
Rotary Servo
Motors
Speed/position detector Absolute (Note 5)/incremental 22-bit encoder (resolution: 4,194,304 pulses/rev)
Oil seal Installed (Servo motors without an oil seal are available. (HG-KNS_))
Electromagnetic brake None (Servo motors with an electromagnetic brake are available. (HG-KNS_B))
Thermistor None
Insulation class 130 (B)
Linear Servo
Motors
Structure Totally enclosed, natural cooling (IP rating: IP65) (Note 2)
Vibration resistance *1 [m/s2] X: 49, Y: 49
Vibration rank V10 *3
L [mm] 25 30 30 40
Permissible load
Options/Peripheral
Radial [N] 88 245 245 392
for the shaft *2
Equipment
Thrust [N] 59 98 98 147
Standard [kg] 0.57 0.98 1.5 3.0
Mass
(with oil seal) [kg] 0.77 1.4 1.9 4.0
brake
Standard [kg] 0.54 0.91 1.4 2.8
Mass
(without oil seal)
LVS/Wires
[kg] 0.74 1.3 1.8 3.8
brake
Notes: 1. Contact your local sales office if the load to motor inertia ratio exceeds the value in the table.
2. The shaft-through portion is excluded. Refer to asterisk 4 of "Annotations for Rotary Servo Motor Specifications" on p. 4-13 in this catalog for the shaft-through portion.
3. When unbalanced torque is generated, such as in a vertical lift machine, keep the unbalanced torque of the machine under 70 % of the servo motor rated torque.
4. The continuous running duty and the speed are not guaranteed when the power supply voltage is dropped.
6. For HG-KNS13J or HG-KNS23J, the recommended load to motor inertia ratio is for operating the servo motor at the rated speed. If operating the servo motor at a speed
Product List
exceeding the rated speed, check the need for a regenerative option with the drive system sizing software Motorizer.
Refer to "Annotations for Rotary Servo Motor Specifications" on p. 4-13 in this catalog for details about asterisks 1 to 3.
Precautions
Support
4-3
Rotary Servo Motors
HG-KNS Series Electromagnetic Brake Specifications (Note 1)

Rotary servo motor model HG-KNS 13BJ 23BJ 43BJ 73BJ
Type Spring actuated type safety brake
Rated voltage 24 V DC (-10 % to 0 %)
Power consumption [W] at 20 °C 6.3 7.9 7.9 10
Electromagnetic brake static
[N•m] 0.32 or higher 1.3 or higher 1.3 or higher 2.4 or higher
friction torque
Permissible braking Per braking [J] 5.6 22 22 64
work Per hour [J] 56 220 220 640
Number of braking
Electromagnetic 20000 20000 20000 20000
times
brake life (Note 2)
Work per braking [J] 5.6 22 22 64
Notes: 1. The electromagnetic brake is for holding. It cannot be used for deceleration applications.
2. Brake gap is not adjustable. Electromagnetic brake life is defined as the time period until readjustment is needed.
HG-KNS Series Torque Characteristics

HG-KNS13J (Note 1, 2, 3) HG-KNS23J (Note 1, 2, 3)
1.0 2.0
Short-duration Short-duration
0.75 running range 1.5 running range
Torque [N•m]
Torque [N•m]
0.5 1.0
0.25 0.5
Continuous Continuous
running range running range
0 0
1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000
Speed [r/min] Speed [r/min]
HG-KNS43J (Note 1, 2, 3) HG-KNS73J (Note 1, 2, 3)

4.0 8.0
3.0 running range 6.0 running range
Torque [N•m]
Torque [N•m]
2.0 4.0
1.0 2.0
0 0
1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000
Notes: 1. : For 3-phase 200 V AC

2. : For 1-phase 230 V AC
3. Torque drops when the power supply voltage is below the specified value.
4-4
Rotary Servo Motors
HG-KNS Series Dimensions (Note 4, 5)
Specifications
HG-KNS13(B)J
Common
Power connector
2-ø4.5 mounting hole Signal
Use hexagonal cap 1 Pin No.
head bolts. name
2
89 (129.6) (Note 3) 25 40 1 E
3
43 5 2.5 2 U
Servo System
45°
Controllers
4
21.5 3 V
ø46
4 W
Electromagnetic brake connector (Note 1)
Signal
ø30 -0.025
1 Pin No.
name
0
2 1 B1
ø8 -0.009
38.8 (Note 2)
Servo Amplifiers
2 B2
37.1
Oil seal
36
Encoder 6.4
13.7 4.9 connector 10.9 11.7 9.9 13.9
27.4 11.7 21.7 18.6 27.5
57.4 (Note 2) 18.4 47.8
(Note 2)
Rotary Servo
Electromagnetic brake connector (Note 2) Power connector
Motors
When the cables are led out in the opposite direction of the load side
7°
9°
13°
Linear Servo
21.7 18.4
(Note 2)
Motors
(Note 2)
[Unit: mm
Options/Peripheral
Equipment
HG-KNS13(B) Power connector
Signal
1 Pin No.
2-ø4.5 mounting hole name
Use hexagonal cap 2
head bolts. 1 E
3
82.4 (123) (Note 3) 25 40 2 U
4
20.5 20.7 5 2.5 3 V
LVS/Wires
45° 4 W
ø46
21.5
Signal
20.7
1 Pin No.
name
ø30 -0.025
1 B1
0
2
2 B2
ø8 -0.009
21
38.8 (Note 2)
Product List
0
37.1
36
Encoder
connector
13.7 4.9 10.9 11.7 9.9 13.9 6.4
27.4 11.7 21.7 18.6 27.5
58.8 (Note 2) 18.4 39.8
Precautions
Electromagnetic brake connector (Note 2) (Note 2) Power connector
7°
9°
13°
21.7 18.4
Support
(Note 2)
(Note 2)
[Unit: mm
Notes: 1. The electromagnetic brake terminals (B1, B2) do not have polarity.
2. Only for the models with an electromagnetic brake.
3. The dimensions in brackets are for the models with an electromagnetic brake.
4. Use a friction coupling to fasten a load.
5. The actual dimensions may be up to 3 mm larger than those shown in the drawing because of shifting and variance of parts that occur during the assembly and manufacture
of the rotary servo motors. The dimensions and tolerances shown are applicable at a temperature of 20 °C and may vary depending on the ambient temperature. Design the
machine to allow for sufficient space.
4-5
Rotary Servo Motors

HG-KNS23(B)J, HG-KNS43(B)J
Power connector
L 30 60 Signal
1 Pin No.
name
7 3 4-ø5.8 mounting hole 2
Use hexagonal cap 45° 1 E
26 head bolts. 3
2 U
ø70
4
3 V
4 W
Signal
ø50 -0.025
Pin No.
0
1 name
2 1 B1
ø14 -0.011
46 (47.1)
(Note 3)
2 B2
47.1
Oil seal
Encoder
connector Variable dimensions
Model (Note 3)
13.7 10 10.9 11.7 9.5 13.9 5.9 L KL

28.4 14 21.7 18.6 27.8 88
HG-KNS23(B)J 45.6
60 (Note 2)
(124.8)
KL
109.7
Electromagnetic brake connector (Note 2) Power connector HG-KNS43(B)J 67.3
(146.5)
7°
9°
13.5°
21.7 18.5
(Note 2)
(Note 2)
[Unit: mm
HG-KNS23(B), HG-KNS43(B) Power connector

Signal
1 Pin No.
L 30 60 name
2
7 3 4-ø5.8 mounting hole 1 E
Use hexagonal cap 3
2 U
26 head bolts. 45° 4
ø70
3 V
4 W
Signal
ø50 -0.025
1
Pin No.
name
0
2 1 B1
ø14 -0.011
46 (47.1)
(Note 3)
2 B2
0
47.1
Encoder
connector
Variable dimensions
13.7 10 10.9 11.7 9.5 13.9 5.9 Model (Note 3)
28.4 11.8 21.7 18.6 27.8 L KL

57.8 (Note 2) KL 76.6
HG-KNS23(B) 36.4
(113.4)
98.3
HG-KNS43(B) 58.1
When the cables are led out in the opposite direction of the load side (135.1)
(Note 2)
7°
9°
13.5°
21.7 18.5
(Note 2)
[Unit: mm
4-6
Rotary Servo Motors
Specifications
HG-KNS73(B)J
Common
Power connector
4-ø6.6 mounting hole
Use hexagonal cap Signal
1 Pin No.
head bolts. name
2
122.2 (162.5) (Note 3) 40 80 1 E
3
8 3 2 U
Servo System
45°
Controllers
4
36 3 V
ø90
4 W
Signal
1 Pin No.
name
ø70 -0.03
0
2 1 B1
Servo Amplifiers
2 B2
ø19 -0.013
0
57.1
Oil seal
56
Encoder
connector
13.7 11.5 10.7 11.7 9.5 14 12

27.4 14 21.7 18.6 27.8
65.3 (Note 2) 77.6
Rotary Servo
Motors
7°
7°
7°
Linear Servo
21.7 18.4
Motors
(Note 2)
(Note 2)
[Unit: mm
Options/Peripheral
Equipment
HG-KNS73(B)
Power connector
Signal
1 Pin No.
name
4-ø6.6 mounting hole 2
Use hexagonal cap 1 E
head bolts. 3
2 U
112 (152.3) (Note 3) 40 80 4
3 V
LVS/Wires
8 3
4 W
45°
ø90
36
Signal
1 Pin No.
name
2 1 B1
ø70 -0.03
2 B2
0
Product List
ø19 -0.013
57.1
0
56
Encoder
connector
13.7 11.5 10.7 11.7 9.5 14 12
27.4 11.8 21.7 18.6 27.8

Precautions
63.1 (Note 2) 69.6

7°
7°
7°
Support
21.7 18.4
(Note 2)
(Note 2)
[Unit: mm
4-7
Rotary Servo Motors
HG-KNS Series with Special Shaft Dimensions

Servo motors with the following specifications are also available.
D: D-cut shaft (Note 1): 0.1 kW

25
21.5
20.5
1
ø8 -0.009
0
[Unit: mm
K: Keyed shaft (with a double round-ended key) (Note 1): 0.2 kW, 0.4 kW, and 0.75 kW
R
Variable dimensions Q
Model
T S R Q W QK QL U Y
M4
HG-KNS23JK QK QL
5 14 -0.011
0
30 26 5 20 3 3 Screw depth: U
HG-KNS43JK A
15
W
M5
øS
HG-KNS73JK 6 19 -0.013
0
40 36 6 25 5 3.5 Screw depth:
20 A T Y
A-A
[Unit: mm
Notes: 1.
Do not use a servo motor with a D-cut shaft or a keyed shaft for frequent start/stop applications as this may cause the damage to the shaft.
4-8
Rotary Servo Motors
HG-SNS Series (Medium Inertia, Medium Capacity) Specifications
Specifications
Common
Flange size [mm] 130 × 130 176 × 176
Rotary servo motor model HG-SNS 52J 102J 152J 202J 302J
Continuous Rated output [kW] 0.5 1.0 1.5 2.0 3.0
running duty
(Note 4) Rated torque (Note 3) [N•m] 2.39 4.77 7.16 9.55 14.3
Maximum torque [N•m] 7.16 14.3 21.5 28.6 42.9
Servo System
Controllers
Rated speed (Note 4) [r/min] 2000
Maximum speed (Note 4) [r/min] 3000 2500
Power rate at Standard [kW/s] 7.85 19.7 32.1 19.5 26.1
continuous With electromagnetic
[kW/s] 6.01 16.5 28.2 16.1 23.3
rated torque brake
Servo Amplifiers
Rated current [A] 2.9 5.6 9.4 9.6 11
Maximum current [A] 9.0 17 29 31 33
Standard [× 10-4 kg•m2] 7.26 11.6 16.0 46.8 78.6
Moment of
inertia J 9.48 13.8 18.2 56.5 88.2
brake [× 10-4 kg•m2]
Recommended load to motor inertia ratio (Note 1) 15 times or less
Rotary Servo
Speed/position detector Absolute (Note 5)/incremental 22-bit encoder (resolution: 4,194,304 pulses/rev)
Motors
Oil seal Installed (Servo motors without an oil seal are available. (HG-SNS_))
Electromagnetic brake None (Servo motors with an electromagnetic brake are available. (HG-SNS_B))
Thermistor None
Insulation class 155 (F)
Linear Servo
Structure Totally enclosed, natural cooling (IP rating: IP67) (Note 2)
Motors
Vibration resistance *1 [m/s2] X: 24.5, Y: 24.5 X: 24.5, Y: 49
Vibration rank V10 *3
Permissible L [mm] 55 55 55 79 79
load for the Radial [N] 980 980 980 2058 2058
Options/Peripheral
shaft *2 Thrust [N] 490 490 490 980 980
Equipment
Mass Standard [kg] 4.8 6.2 7.3 11 16
(with/without With electromagnetic
[kg] 6.7 8.2 9.3 17 22
oil seal) brake
Notes: 1. Contact your local sales office if the load to motor inertia ratio exceeds the value in the table.
2. The shaft-through portion is excluded. Refer to asterisk 4 of "Annotations for Rotary Servo Motor Specifications" on p. 4-13 in this catalog for the shaft-through portion.
3. When unbalanced torque is generated, such as in a vertical lift machine, keep the unbalanced torque of the machine under 70 % of the servo motor rated torque.
4. The continuous running duty and the speed are not guaranteed when the power supply voltage is dropped.
LVS/Wires
Refer to "Annotations for Rotary Servo Motor Specifications" on p. 4-13 in this catalog for details about asterisks 1 to 3.
Product List
Precautions
Support
4-9
Rotary Servo Motors
HG-SNS Series Electromagnetic Brake Specifications (Note 1)

Rotary servo motor model HG-SNS 52BJ 102BJ 152BJ 202BJ 302BJ
Type Spring actuated type safety brake
Rated voltage 24 V DC (-10 % to 0 %)
Power consumption [W] at 20 °C 20 20 20 34 34
Electromagnetic brake static
[N•m] 8.5 or higher 8.5 or higher 8.5 or higher 44.0 or higher 44.0 or higher
friction torque
Permissible braking Per braking [J] 400 400 400 4500 4500
work Per hour [J] 4000 4000 4000 45000 45000
Number of braking
Electromagnetic 20000 20000 20000 20000 20000
times
brake life (Note 2)
Work per braking [J] 200 200 200 1000 1000
Notes: 1. The electromagnetic brake is for holding. It cannot be used for deceleration applications.
2. Brake gap is not adjustable. Electromagnetic brake life is defined as the time period until readjustment is needed.
HG-SNS Series Torque Characteristics

HG-SNS52J (Note 1, 2, 3) HG-SNS102J (Note 1, 2, 3) HG-SNS152J (Note 1, 2, 3)
9 15 24
running range
Torque [N•m]
Torque [N•m]
Torque [N•m]
6 Short-duration 10 16 running range
running range
3 5 8
Continuous
running range
0 0 0
1000 2000 3000 1000 2000 3000 1000 2000 3000
Speed [r/min] Speed [r/min] Speed [r/min]
HG-SNS202J (Note 1, 2, 3) HG-SNS302J (Note 1, 3)

30 45
Torque [N•m]
Torque [N•m]
20 Short-duration 30
running range Short-duration
running range
10 15
0 0
1000 2000 3000 1000 2000 2500
Notes: 1. : For 3-phase 200 V AC

2. : For 1-phase 230 V AC
3. Torque drops when the power supply voltage is below the specified value.
4-10
Rotary Servo Motors
HG-SNS Series Dimensions (Note 1, 5, 7)
Specifications
HG-SNS52(B)J, HG-SNS102(B)J, HG-SNS152(B)J
Common
4-ø9 mounting hole
Use hexagonal cap
head bolts.
L 55 130
38.2 (43.5) 12 3
Servo System
45°
Controllers
(Note 4) 50
(Note 3) (Note 3)
ø24 -0.013
0
54
ø1
ø110 -0.035
0
Servo Amplifiers
(Note 3) ø1
65
79.9 (Note 3)
(Note 3) (Note 3)
50.9
Oil seal (Note 6)
112.5
13
Encoder connector
(Note 3) CMV1-R10P 59 (Note 3)
(Note 3)
Rotary Servo
29 Electromagnetic brake connector (Note 3) 20.9 13.5
(Note 3) CMV1-R2P KL 58
Motors
Power connector
MS3102A18-10P
W E
Main key Variable dimensions (Note 4)
Position mark
Key Model
C D
L KL
Linear Servo
B A
HG-SNS52(B)J 118.5 (153) 57.8
Electromagnetic brake (Note 2)
Motors
V U
HG-SNS102(B)J 132.5 (167) 71.8
Electromagnetic brake connector Power connector
Servo motor flange direction Servo motor flange direction
HG-SNS152(B)J 146.5 (181) 85.8
[Unit: mm
Options/Peripheral
HG-SNS202(B)J, HG-SNS302(B)J
Equipment
4-ø13.5 mounting hole
Use hexagonal cap
head bolts.
L 79 176
38.5 (45.5) 18 3
(Note 4) 45°
75
LVS/Wires
ø35 +0.010
ø2
30
0
(Note 3)
(Note 3)
ø114.3 -0.025
0
(Note 3) (Note 3)
50.9
96.9 (Note 3)
Oil seal (Note 6)
Product List
(Note 3)
140.9
(Note 3)
00
13
ø2
Encoder connector
(Note 3) (Note 3)
CMV1-R10P 66.5
(Note 3)
44 24.8 82
Precautions
(Note 3)
CMV1-R2P KL
Power connector
MS3102A22-22P
W E
Main key Key
Position mark
C D
B A
Variable dimensions (Note 4)

Electromagnetic brake (Note 2) V U Model
L KL
Support
Electromagnetic brake connector Power connector

Servo motor flange direction Servo motor flange direction HG-SNS202(B)J 138.5 (188) 74.8
HG-SNS302(B)J 162.5 (212) 98.8
[Unit: mm
Notes: 1. Dimensions of the HG-SNS series are the same regardless of whether or not an oil seal is installed.
2. The electromagnetic brake terminals do not have polarity.
6. Only for the models with an oil seal.
4-11
Rotary Servo Motors
HG-SNS Series with Special Shaft Dimensions

Servo motors with the following specifications are also available.
K: Keyed shaft (without a key) (Note 1, 2) R

Q
Variable dimensions
Model
S R Q W QK QL U r Y
HG-SNS52JK QK QL U
HG-SNS102JK 24 -0.013
0
55 50 8 -0.036
0
36 5 4 +0.2
0 4 M8 A
HG-SNS152JK Screw depth:
øS
W
HG-SNS202JK 20
35 +0.010
0 79 75 10 -0.036
0
55 5 5 +0.2
0 5
HG-SNS302JK A r Y
A-A
Notes: 1. Do not use a servo motor with a keyed shaft for frequent start/stop applications as this may
cause the damage to the shaft.
2. The servo motor is supplied without a key. The user needs to prepare a key.
[Unit: mm
4-12
Rotary Servo Motors
Power Supply Capacity
Specifications
Common
Rotary servo motor Servo amplifier Power supply capacity [kVA] (Note 1)
HG-KNS13J MR-JET-10G_ 0.3
HG-KNS series
Servo System
Controllers
HG-SNS52J MR-JET-70G_ 1.0
HG-SNS series HG-SNS152J MR-JET-200G_ 2.5
Servo Amplifiers
Notes: 1.
The power supply capacity varies depending on the power supply impedance.
Annotations for Rotary Servo Motor Specifications
Rotary Servo
*1. The vibration direction is shown in the diagram below. The numerical value indicates the maximum value of the component (commonly the bracket in the opposite direction
Motors
of the load side).
Fretting tends to occur on the bearing when the servo motor stops. Thus, maintain vibration level at approximately one-half of the allowable value.
Servo motor
Linear Servo
X Y
Motors
*2. Refer to the diagram below for the permissible load for the shaft. Ensure that loads applied on the shaft do not exceed the values specified in the table. The values in the
table are applicable when each load is applied singly.
Options/Peripheral
L
Equipment
Radial load
L: Distance between the flange mounting surface and the center of load
Thrust load
*3. V10 indicates that the amplitude of the servo motor itself is 10 µm or less. The following shows mounting orientation and measuring position of the servo motor during the
LVS/Wires
measurement:
Servo motor
Measuring position
Top
Product List
Bottom
*4. Refer to the diagram below for the shaft-through portion.

Shaft-through portion
Precautions
Support
4-13
Rotary Servo Motors
MEMO
4-14
5 Linear Servo Motors
Specifications
LM-H3 series 5-4
LM-AJ series 5-6
Power Supply Capacity 5-8
Dimensions
LM-H3 series 5-10
LM-AJ series 5-12
List of Linear Encoders 5-16
5-1
Linear Servo Motors

●
●LM-H3 series
LM-H3P2 A-07 P- (Primary side: coil)
Symbol Linear servo motor model

BSS0 LM-H3P2A-07P
LM-H3P3A-12P
Symbol Maximum speed [m/s]
LM-H3P3B-24P
P 3.0 CSS0
LM-H3P3C-36P
LM-H3P3D-48P
Symbol Continuous thrust [N]
07 70 LM-H3P7A-24P
12 120 ASS0 LM-H3P7B-48P
24 240 LM-H3P7C-72P
Symbol Length (nominal) [mm]
A 128 36 360
B 224 48 480
C 320 72 720
D 416
Symbol Width (nominal) [mm]

2 50
3 65
7 100
Primary side (coil)
LM-H3S20- 288- (Secondary side: magnet)

LM-H3S20-288
LM-H3S20-384
BSS0
LM-H3S20-480
LM-H3S20-768
LM-H3S30-288
288 288 LM-H3S30-384
CSS0
384 384 LM-H3S30-480
480 480 LM-H3S30-768
768 768 LM-H3S70-288
2 42
LM-H3S70-384
3 60 ASS0
LM-H3S70-480
7 95
LM-H3S70-768
Secondary side (magnet)
Notes: 1.
This section describes what each symbol in a model name indicates. Some combinations of symbols are not available.
5-2
Linear Servo Motors
Specifications
● series
Common
●LM-AJ
LM-AJP1B-07K- (Primary side: coil)
Servo System
Controllers
LM-AJP1B-07K
Symbol Maximum speed [m/s]
LM-AJP1D-14K
M 2.0
LM-AJP2B-12S
N 2.5
LM-AJP2D-23T
R 3.5 JSS0
LM-AJP3B-17N
S 4.0
Servo Amplifiers
LM-AJP3D-35R
T 5.0
LM-AJP4B-22M
K 6.5
LM-AJP4D-45N
Symbol Continuous thrust [N]

Symbol Length (nominal) [mm] 07 68.1
B 96 12 117.0
Rotary Servo
D 176 14 136.2
Motors
17 174.5
22 223.4
Symbol Width (nominal) [mm] 23 234.0
1 50 35 348.9
2 75 45 446.8
Linear Servo
3 100
Motors
4 125
(Primary side: coil)
Options/Peripheral
Equipment
LM-AJS10-080- (Secondary side: magnet)

LM-AJS10-080
LVS/Wires
LM-AJS10-200
LM-AJS10-400
LM-AJS20-080
LM-AJS20-200
LM-AJS20-400
080 80 JSS0
Product List
LM-AJS30-080
200 200
400 400 LM-AJS30-200
LM-AJS30-400
1 50
LM-AJS40-080
2 75
LM-AJS40-200
3 100
LM-AJS40-400
4 125
Precautions
(Secondary side: magnet)

Support
Notes: 1.
This section describes what each symbol in a model name indicates. Some combinations of symbols are not available.
5-3
Linear Servo Motors
LM-H3 Series Specifications

Linear servo motor model P3A-12P- P3B-24P- P3C-36P- P3D-48P- P7A-24P- P7B-48P- P7C-72P-
LM-H3 P2A-07P-BSS0
Primary side (coil) CSS0 CSS0 CSS0 CSS0 ASS0 ASS0 ASS0
S20-288-BSS0 S30-288-CSS0 S70-288-ASS0
Linear servo motor model S20-384-BSS0 S30-384-CSS0 S70-384-ASS0
LM-H3
Secondary side (magnet) S20-480-BSS0 S30-480-CSS0 S70-480-ASS0
S20-768-BSS0 S30-768-CSS0 S70-768-ASS0
Cooling method Natural cooling
Continuous (Note 2) [N] 70 120 240 360 480 240 480 720
Thrust
Maximum [N] 175 300 600 900 1200 600 1200 1800
Maximum speed (Note 1) [m/s] 3.0
Magnetic attraction force [N] 630 1100 2200 3300 4400 2200 4400 6600
Rated current [A] 1.8 1.7 3.4 5.1 6.8 3.4 6.8 10.2
Maximum current [A] 5.8 5.0 9.9 14.9 19.8 9.6 19.1 28.6
Recommended load to motor mass ratio (Note 3) 35 times or less
Thermistor Built-in
Insulation class 155 (F)
Structure Open (IP rating: IP00)
Vibration resistance [m/s2] 49
Primary side (coil) [kg] 0.9 1.3 2.3 3.3 4.3 2.2 3.9 5.6
288 mm/pc: 0.7 288 mm/pc: 1.0 288 mm/pc: 2.8
Mass 384 mm/pc: 0.9 384 mm/pc: 1.4 384 mm/pc: 3.7
Secondary side (magnet) [kg]
480 mm/pc: 1.1 480 mm/pc: 1.7 480 mm/pc: 4.7
768 mm/pc: 1.8 768 mm/pc: 2.7 768 mm/pc: 7.4
Notes: 1. The maximum speed of the linear servo motor or the rated speed of the linear encoder, whichever is smaller, is the upper limit of the linear servo motor speed.
2. Use the linear servo motor at 70 % or less of the effective load ratio when it is in the servo lock state or in a small reciprocating motion.
3. This is the ratio of the load to the linear servo motor primary side mass. Contact your local sales office if the load to motor mass ratio exceeds the value in the table.
5-4
Linear Servo Motors
LM-H3 Series Thrust Characteristics
Specifications
LM-H3P2A-07P-BSS0 (Note 1, 2, 3) LM-H3P3A-12P-CSS0 (Note 1, 2, 3) LM-H3P3B-24P-CSS0 (Note 1, 2, 3)
Common
175 300 600
140 Short-duration 240 Short-duration 480 Short-duration

Thrust [N]
Thrust [N]
Thrust [N]
running range running range running range
Servo System
Controllers
70 120 240
Continuous running range Continuous running range Continuous running range
0 0 0
1 2 3 1 2 3 1 2 3
Speed [m/s] Speed [m/s] Speed [m/s]
Servo Amplifiers
LM-H3P3C-36P-CSS0 (Note 1, 2, 3) LM-H3P3D-48P-CSS0 (Note 1, 2, 3) LM-H3P7A-24P-ASS0 (Note 1, 2, 3)
900 1200 600
720 Short-duration 960 Short-duration 480 Short-duration

Thrust [N]
Thrust [N]
Thrust [N]
running range running range running range
Rotary Servo
360 480 240
Motors
0 0 0
1 2 3 1 2 3 1 2 3
LM-H3P7B-48P-ASS0 (Note 1, 2, 3) LM-H3P7C-72P-ASS0 (Note 1, 2, 3)
Linear Servo
Motors
1200 1800
960 Short-duration 1440 Short-duration

Thrust [N]
Thrust [N]
Options/Peripheral
480 720
Equipment
Continuous running range Continuous running range
0 0
1 2 3 1 2 3
Speed [m/s] Speed [m/s]
LVS/Wires
Notes: 1. : For 3-phase 200 V AC.
2. : For 1-phase 200 V AC.
3. Thrust drops when the power supply voltage is below the specified value.
Product List
Precautions
Support
5-5
Linear Servo Motors
LM-AJ Series Specifications

Linear servo motor model P1B- P1D- P2B- P2D- P3B- P3D- P4B- P4D-
LM-AJ
Primary side (coil) 07K-JSS0 14K-JSS0 12S-JSS0 23T-JSS0 17N-JSS0 35R-JSS0 22M-JSS0 45N-JSS0
S10-080-JSS0 S20-080-JSS0 S30-080-JSS0 S40-080-JSS0
Linear servo motor model
LM-AJ S10-200-JSS0 S20-200-JSS0 S30-200-JSS0 S40-200-JSS0
Secondary side (magnet)
S10-400-JSS0 S20-400-JSS0 S30-400-JSS0 S40-400-JSS0
Cooling method Natural cooling
Continuous (Note 2) [N] 68.1 136.2 117.0 234.0 174.5 348.9 223.4 446.8
Thrust
Maximum [N] 214.7 429.4 369.0 738.1 550.2 1100.4 704.5 1409.1
Maximum speed (Note 1) [m/s] 6.5 4.0 5.0 2.5 3.5 2.0 2.5
Magnetic attraction force [N] 378.8 757.6 651.1 1302.1 970.7 1941.4 1242.9 2485.9
Rated current [A] 2.3 4.6 2.3 4.6 2.3 4.6 2.3 4.6
Maximum current [A] 9.0 18.0 9.0 18.0 9.0 18.0 9.0 18.0
Recommended load to motor mass ratio (Note 3) 10 times or less 25 times or less 20 times or less 25 times or less 30 times or less
Thermistor None
Thermal protector Built-in
Insulation class 105 (A)
Structure Open (IP rating: IP00)
Vibration resistance [m/s2] 49
Primary side (coil) [kg] 0.6 1.1 0.9 1.7 1.2 2.3 1.5 2.9
80 mm/pc: 0.26 80 mm/pc: 0.40 80 mm/pc: 0.56 80 mm/pc: 0.70
Mass
Secondary side (magnet) [kg] 200 mm/pc: 0.65 200 mm/pc: 1.00 200 mm/pc: 1.40 200 mm/pc: 1.70
400 mm/pc: 1.30 400 mm/pc: 2.00 400 mm/pc: 2.80 400 mm/pc: 3.50
Notes: 1. The maximum speed of the linear servo motor or the rated speed of the linear encoder, whichever is smaller, is the upper limit of the linear servo motor speed.
2. Use the linear servo motor at 70 % or less of the effective load ratio when it is in the servo lock state or in a small reciprocating motion.
3. This is the ratio of the load to the linear servo motor primary side mass. Contact your local sales office if the load to motor mass ratio exceeds the value in the table.
5-6
Linear Servo Motors
LM-AJ Series Thrust Characteristics
Specifications
LM-AJP1B-07K-JSS0 (Note 1, 2, 3) LM-AJP1D-14K-JSS0 (Note 1, 2, 3) LM-AJP2B-12S-JSS0 (Note 1, 2, 3)
Common
214.7 429.4
200 400 400
Short-duration Short-duration 369.0
running range running range Short-duration
running range
Thrust [N]
Thrust [N]
Thrust [N]
Servo System
100 200 200
Controllers
68.1 136.2
Continuous running range Continuous running range 117.0
Continuous running range
0 0 0
3 6 6.5 3 6 6.5 2 4
Servo Amplifiers
LM-AJP2D-23T-JSS0 (Note 1, 2, 3) LM-AJP3B-17N-JSS0 (Note 1, 2, 3) LM-AJP3D-35R-JSS0 (Note 1, 2, 3)
800 600 1200
738.1 550.2 1100.4
Short-duration
Short-duration running range Short-duration
Thrust [N]
Thrust [N]
Thrust [N]
400 300 600
Rotary Servo
Motors
234.0 174.5 348.9
0 0 0
2.5 5 1 2 2.5 1 2 3 3.5
LM-AJP4B-22M-JSS0 (Note 1, 2, 3) LM-AJP4D-45N-JSS0 (Note 1, 2, 3)
Linear Servo
Motors
800 1600
704.5 1409.1
Short-duration
Short-duration
Thrust [N]
Thrust [N]
running range
running range
400 800
Options/Peripheral
Equipment
223.4 446.8
Continuous running range Continuous running range
0 0
1 2 1 2 2.5
Speed [m/s] Speed [m/s]
LVS/Wires
Notes: 1. : For 3-phase 200 V AC.
2. Contact your local sales office for the thrust characteristics for 1-phase 200 V AC.
3. Thrust drops when the power supply voltage is below the specified value.
Product List
Precautions
Support
5-7
Linear Servo Motors
Power Supply Capacity

Linear servo motors (primary side) Servo amplifiers Power supply capacity [kVA] (Note 1, 2)
LM-H3P2A-07P-BSS0
MR-JET-40G_ 0.9
LM-H3P3A-12P-CSS0
LM-H3P3B-24P-CSS0 MR-JET-70G_ 1.3
LM-H3P3C-36P-CSS0 MR-JET-70G_ 1.9
LM-H3 series
LM-H3P3D-48P-CSS0 MR-JET-200G_ 3.5
LM-H3P7A-24P-ASS0 MR-JET-70G_ 1.3
LM-H3P7B-48P-ASS0 MR-JET-200G_ 3.5
LM-H3P7C-72P-ASS0 MR-JET-200G_ 3.8
LM-AJP1B-07K-JSS0 MR-JET-40G_ 0.9
LM-AJP1D-14K-JSS0 MR-JET-70G_ 1.3
LM-AJP2B-12S-JSS0 MR-JET-40G_ 0.9
LM-AJP2D-23T-JSS0 MR-JET-70G_ 1.3
LM-AJ series
LM-AJP3B-17N-JSS0 MR-JET-40G_ 0.9
LM-AJP3D-35R-JSS0 MR-JET-70G_ 1.3
LM-AJP4B-22M-JSS0 MR-JET-40G_ 0.9
LM-AJP4D-45N-JSS0 MR-JET-70G_ 1.3
Notes: 1. The power supply capacity varies depending on the power supply impedance.
2. The listed values are the power supply capacity for one servo motor. For the multi-axis servo amplifiers, calculate the power supply capacity with the equation below:
Power supply capacity [kVA] = Sum of power supply capacity [kVA] of the connected servo motors
5-8
Common Servo System Rotary Servo Linear Servo Options/Peripheral
Servo Amplifiers LVS/Wires Product List Precautions Support
Specifications Controllers Motors Motors Equipment
Linear Servo Motors
5-9
MEMO
Linear Servo Motors
LM-H3 Series Primary Side (Coil) Dimensions (Note 1, 2)

●
●LM-H3P2A-07P-BSS0
Power lead wire (U, V, and W): black, Grounding lead wire (E): green/yellow
4 wires-AWG 20 (standard OD: 2.12 mm)
Effective length: 400 mm
43±0.1
+ 40
128 400 0 (0.7)
(Effective lead wire 32 (10.3)
2 or longer
210±10 length)
(25)
(32) 32±0.3 32±0.3 32 (40) (4.9)
Structure
Round crimp terminal
(1.25-4)
20
25
(42)
50
10
Protective tube Wire mark
(25)
(20)
(40) (1.25-4) Secondary side
Structure
2 or longer
3-M5 screw depth 9 210±10
(for primary-side mounting) Thermistor lead wire (G1, G2): blue
400 0
+ 40
2 wires-AWG 20
(Effective lead (standard OD: 2.12 mm)
wire length) Effective length: 400 mm
[Unit: mm
●
●LM-H3P3A-12P-CSS0 ●
●LM-H3P3B-24P-CSS0 ●
●LM-H3P3C-36P-CSS0
●
●LM-H3P3D-48P-CSS0
+ 40 43±0.1
L 400 0
(0.7)
(Effective lead wire
2 or longer
32 (10.3)
(A) M (cumulative pitch error: ±0.3) 32 210±10 length)
(25)
64±0.3 (40) (4.9)
Structure
(1.25-4)
20
13±0.3
26
(60)
65
25
Protective tube Wire mark
(26)
(20)

(40) Secondary side
B-M5 screw depth 9 (1.25-4) Structure
2 or longer
210±10
(for primary-side mounting) + 40
400 0
(Effective lead
wire length)
Thermistor lead wire (G1, G2): blue Variable dimensions
2 wires-AWG 20 Model
(standard OD: 2.12 mm) L M A B
Effective length: 400 mm LM-H3P3A-12P-CSS0 128 64 32 2×2
LM-H3P3B-24P-CSS0 224 2 × 64 = 128 64 2×3
LM-H3P3C-36P-CSS0 320 4 × 64 = 256 32 2×5
LM-H3P3D-48P-CSS0 416 5 × 64 = 320 64 2×6
[Unit: mm
●
●LM-H3P7A-24P-ASS0 ●
●LM-H3P7B-48P-ASS0 ●
●LM-H3P7C-72P-ASS0
48±0.1
+ 40
L 400 0 (0.7)
(Effective lead wire 32 (15.3)
2 or longer
210±10 length)
M (cumulative (25)
(A) pitch error: ±0.3) 32 (40) (9.9)
Structure
(2-4)
20
26
Wire mark
24±0.3
Protective tube
(95)
100
60
24±0.3
Protective tube
Wire mark
(1.25-4)
(26)
(20)
Thermistor lead wire (G1, G2): blue

(40) 2 wires-AWG 20 Variable dimensions
(standard OD: 2.12 mm) Structure Model
2 or longer
Secondary
B-M5 screw depth 9 210±10 Effective length: 400 mm side
L M A B
(for primary-side mounting)
400
+ 40
0 LM-H3P7A-24P-ASS0 128 64 32 3×2
(Effective lead LM-H3P7B-48P-ASS0 224 2 × 64 = 128 64 3×3
wire length)
LM-H3P7C-72P-ASS0 320 4 × 64 = 256 32 3×5
[Unit: mm
Notes: 1. Power, grounding and thermistor lead wires do not have a long bending life. Fix the lead wires led from the primary side (coil) to a moving part to prevent the lead wires
from repetitive bending.
2. Minimum bending radius of the lead wire equals to six times the standard overall diameter of the lead wire.
5-10
Linear Servo Motors
LM-H3 Series Secondary Side (Magnet) Dimensions
Specifications
● ● ●
Common
●LM-H3S20-288-BSS0 ●LM-H3S20-384-BSS0 ●LM-H3S20-480-BSS0
●
●LM-H3S20-768-BSS0
0
L - 0.2 10.3±0.2
Servo System
(5.4) 4.9
Controllers
(24) M (cumulative pitch error: ±0.2) 24±0.2
48±0.2 Mark "N"
4.5
10
N
33±0.3
22
42
Servo Amplifiers
2-C
(10)
(4.5)
1
Stainless steel cover
B-ø4.8 (for secondary-side mounting)
5.4 or shorter (screw head height)
Variable dimensions
Model
L M B
LM-H3S20-288-BSS0 288 5 × 48 = 240 2×6
LM-H3S20-384-BSS0 384 7 × 48 = 336 2×8
Rotary Servo
LM-H3S20-480-BSS0 480 9 × 48 = 432 2 × 10
Motors
LM-H3S20-768-BSS0 768 15 × 48 = 720 2 × 16
[Unit: mm
●
●LM-H3S30-288-CSS0 ●
●LM-H3S30-384-CSS0 ●
●LM-H3S30-480-CSS0
●
●LM-H3S30-768-CSS0
Linear Servo
Motors
0
L - 0.2 10.3±0.2
(5.4) 4.9
48±0.2 Mark "N"
11.5
5
Options/Peripheral
N
Equipment
50±0.3
37
60
2-C
(5)
(11.5)
1
5.4 or shorter (screw head height)
LVS/Wires
Variable dimensions
Model
L M B
LM-H3S30-288-CSS0 288 5 × 48 = 240 2×6
LM-H3S30-384-CSS0 384 7 × 48 = 336 2×8
LM-H3S30-480-CSS0 480 9 × 48 = 432 2 × 10
LM-H3S30-768-CSS0 768 15 × 48 = 720 2 × 16
[Unit: mm
Product List
●
●LM-H3S70-288-ASS0 ●
●LM-H3S70-384-ASS0 ●
●LM-H3S70-480-ASS0
●
●LM-H3S70-768-ASS0 0
L - 0.2
15.3±0.2
(5.4) 9.9
48±0.2
Precautions
Mark "N"
11.5
5
N
85±0.3
72
95
Support
2-C
(5)
(11.5)
Stainless steel cover 5.4 or shorter

(screw head height)

Variable dimensions
Model
L M B
LM-H3S70-288-ASS0 288 5 × 48 = 240 2×6
LM-H3S70-384-ASS0 384 7 × 48 = 336 2×8
LM-H3S70-480-ASS0 480 9 × 48 = 432 2 × 10
LM-H3S70-768-ASS0 768 15 × 48 = 720 2 × 16
[Unit: mm
5-11
Linear Servo Motors
LM-AJ Series Primary Side (Coil) Dimensions (Note 1, 2)

●
●LM-AJP1B-07K-JSS0
Power lead wire (U): brown, (V): white, (W): gray

Grounding lead wire (E): yellow/green, 4 wires-AWG 21
Thermal protector lead wire: pink and blue, 2 wires-AWG 24
Standard OD: 7.4 mm

34.3±0.1
23.2
96 3000±40 Approx. 70 Approx. 16.2 Approx. 0.8
Approx. 60 Approx. 10.3

3×24=72
2 or longer
Approx. 12 (cumulative pitch error: ±0.3) Approx. 6
24±0.3 12
Structure
9
15
Shield
Approx. 15
Approx. 50
20±0.3
50
32
Protective tube
2×4-M3 screw depth 3.5 Structure
Approx. 9
2 or longer
Secondary side
[Unit: mm
●
●LM-AJP1D-14K-JSS0
Standard OD: 7.4 mm

34.3±0.1
176 3000±40 Approx. 70 23.2
Approx. 16.2 Approx. 0.8
152 Approx. 60
Approx. 12 (cumulative pitch error: ±0.3) Approx. 10.3
12
2 or longer
Approx. 6
24 56±0.3 24 24
Structure
9
15
Approx. 50
Shield
20±0.3
50
32
Protective tube
2×6-M3 screw depth 3.5

Approx. 15
Structure
Approx. 9
2 or longer

Secondary side
[Unit: mm
LM-AJ Series Secondary Side (Magnet) Dimensions

●
●LM-AJS10-080-JSS0 ●
●LM-AJS10-400-JSS0
10.3±0.2
0 6
L - 0.2
Approx. 4.3
M (cumulative pitch error: ±0.2)
Approx. 8.3
Approx. 20
40±0.2 20±0.2
4.5
Mark "N"
41±0.3
33.4
50
Approx. 8.3
Approx. 4.5

B-ø4.3 ø7.5 2.5
(for secondary-side mounting)
Variable dimensions
Model
L M B
LM-AJS10-080-JSS0 80 1 × 40 = 40 2×2
LM-AJS10-200-JSS0 200 4 × 40 = 160 2×5
LM-AJS10-400-JSS0 400 9 × 40 = 360 2 × 10
[Unit: mm
Notes: 1. Power, grounding and thermal protector lead wires do not have a long bending life. Fix the lead wires led from the primary side (coil) to a moving part to prevent the lead
wires from repetitive bending.
2. Minimum bending radius of the lead wire equals to 10 times the standard overall diameter of the lead wire.
5-12
Linear Servo Motors
Specifications
●
Common
●LM-AJP2B-12S-JSS0
Standard OD: 7.4 mm
34.3±0.1
96 3000±40 Approx. 70
Servo System
23.2
Controllers
Approx. 60
Approx. 16.2 Approx. 0.8
2 or longer
3×24=72
24±0.3 12 Approx. 6
Structure
10
17.5
Shield
20±0.3
Servo Amplifiers
Approx. 75
75
55
Protective tube
20
Approx. 17.5
Approx. 10
2 or longer
Secondary side
Rotary Servo
[Unit: mm
Motors
●
●LM-AJP2D-23T-JSS0 Power lead wire (U): brown, (V): white, (W): gray
Standard OD: 7.4 mm
Linear Servo
34.3±0.1
Motors
176 3000±40 Approx. 70 23.2
152 Approx. 60 Approx. 16.2 Approx. 0.8
2 or longer
Approx. 12 (cumulative pitch error: ±0.3) 12 Approx. 10.3
24 56±0.3 24 24 Approx. 6
Structure
10
17.5
Options/Peripheral
Shield
20±0.3
Equipment
Approx. 75
75
55
Protective tube
20
Approx. 17.5

Approx. 10
2 or longer
LVS/Wires
Secondary side
[Unit: mm

●
Product List
10.3±0.2
6
0
L - 0.2 Approx. 4.3
Approx. 9.3
Approx. 20
Mark "N" 40±0.2 20±0.2

Precautions
5
65±0.3
56.4
75
Support
Approx. 9.3
Approx. 5

B-ø4.3 ø7.5 2.5
(for secondary-side mounting)
Variable dimensions
Model
L M B
LM-AJS20-080-JSS0 80 1 × 40 = 40 2×2
LM-AJS20-200-JSS0 200 4 × 40 = 160 2×5
LM-AJS20-400-JSS0 400 9 × 40 = 360 2 × 10
[Unit: mm
5-13
Linear Servo Motors

●
●LM-AJP3B-17N-JSS0 Power lead wire (U): brown, (V): white, (W): gray
Standard OD: 7.4 mm

34.3±0.1
96 3000±40 Approx. 70 23.2
Approx. 60 Approx. 16.2 Approx. 0.8
2 or longer
3×24=72
24±0.3 12 Approx. 6
Structure
9
20
Shield
(cumulative pitch error: ±0.3)
20
Protective tube
Approx. 100
3×20=60
100
82
Approx. 20
Approx. 9
Structure
2 or longer
Secondary side
[Unit: mm
●
●LM-AJP3D-35R-JSS0 Power lead wire (U): brown, (V): white, (W): gray
Standard OD: 7.4 mm
34.3±0.1
176 3000±40 Approx. 70 23.2
Approx. 60 Approx. 16.2 Approx. 0.8
Approx. 12 152 (cumulative pitch error: ±0.3) 12 2 or longer Approx. 10.3
24 56±0.3 24 24 Approx. 6
Structure
9
20
Shield
20
Protective tube
Approx. 100
3×20=60
100
82
Approx. 20

Approx. 9
Structure
2 or longer

Secondary side
[Unit: mm

●
10.3±0.2
0
6
L - 0.2 Approx. 4.3
Approx. 8.3
Approx. 20
40±0.2 20±0.2
4.5
Mark "N"
91±0.3
83.4
100
Variable dimensions
Model
Approx. 8.3
L M B
Approx. 4.5

B-ø4.3 ø7.5 2.5
(for secondary-side mounting) LM-AJS30-080-JSS0 80 1 × 40 = 40 2 × 2
LM-AJS30-200-JSS0 200 4 × 40 = 160 2 × 5
LM-AJS30-400-JSS0 400 9 × 40 = 360 2 × 10
[Unit: mm
5-14
Linear Servo Motors
Specifications
●
Common
●LM-AJP4B-22M-JSS0 Power lead wire (U): brown, (V): white, (W): gray
Standard OD: 7.4 mm 34.3±0.1
23.2
96 3000±40 Approx. 70 Approx. 16.2 Approx. 0.8
2 or longer
3×24=72 Approx. 60 Approx. 10.3
Approx. 12 (cumulative pitch error: ±0.3) Approx. 6
Structure
Servo System
24±0.3 12
Controllers
10
22.5
Shield
20
Protective tube
Approx. 125
Servo Amplifiers
4×20=80
125
105
Approx. 22.5
10
Rotary Servo
Structure
longer
Secondary side
[Unit: mm
Motors
2 or
●
●LM-AJP4D-45N-JSS0 Power lead wire (U): brown, (V): white, (W): gray
Standard OD: 7.4 mm
Effective length: 3000 mm 34.3±0.1
23.2
Linear Servo
3000±40 Approx. 70
2 or longer
176 Approx. 16.2 Approx. 0.8
152 Approx. 60 Approx. 10.3
Motors
Approx. 12 (cumulative pitch error: ±0.3) 12 Approx. 6
24 56 24 24 Structure
10
22.5
Shield
Options/Peripheral
20
Protective tube
Equipment
Approx. 125
4×20=80
125
105
Approx. 22.5
LVS/Wires
10

longer
Structure
(for primary-side mounting) Secondary side
2 or
[Unit: mm
Product List
●
10.3±0.2
0 6
L - 0.2 Approx. 4.3
Approx. 9.3
Approx. 20 40±0.2 20±0.2

5
Precautions
Mark "N"
115±0.3
106.4
125
Support
Variable dimensions
Model
L M B
LM-AJS40-080-JSS0 80 1 × 40 = 40 2 × 2
Approx. 9.3

Approx. 5
B-ø4.3 ø7.5 2.5 LM-AJS40-200-JSS0 200 4 × 40 = 160 2 × 5

(for secondary-side mounting) LM-AJS40-400-JSS0 400 9 × 40 = 360 2 × 10
[Unit: mm
5-15
Linear Servo Motors
List of Linear Encoders (Note 1)

Contact your local sales office for compatible linear encoders.
Maximum
Rated speed effective Communication
Linear encoder type Manufacturer Model Resolution (Note 2)
measurement method
length (Note 3)
SR77 0.05 μm/ 2040 mm
3.3 m/s Two-wire type
SR87 0.01 μm 3040 mm
Magnescale SR27A 2040 mm
0.01 μm 3.3 m/s
Co., Ltd. SR67A 3640 mm Two-wire type/
SmartSCALE SQ47 3740 mm Four-wire type
0.005 μm 3.3 m/s
SmartSCALE SQ57 3770 mm
AT343A 2.0 m/s 3000 mm
0.05 μm
AT543A-SC 2.5 m/s 2200 mm
20 μm/4096
AT545A-SC 2.5 m/s 2200 mm
(Approx. 0.005 μm)
Mitutoyo
ST743A Two-wire type
Corporation
ST744A 0.1 μm 5.0 m/s 6000 mm
ST748A
Absolute ST1341A 0.01 μm 12000 mm
8.0 m/s
type ST1342A 0.001 μm 4200 mm
1 nm 2100 mm
RESOLUTE RL40M 100 m/s
Renishaw 50 nm 20990 mm Two-wire type
EVOLUTE EL40M 50 nm/100 nm/500 nm 100 m/s 10010 mm
LC 495M 0.001 μm/ 2040 mm
3.0 m/s Four-wire type
LC 195M 0.01 μm 4240 mm
Mitsubishi
LIC 4193M 3040 mm
Electric serial
LIC 4195M 0.005 μm/ 28440 mm
interface Heidenhain 10.0 m/s
compatible LIC 4197M 0.01 μm 6040 mm
LIC 4199M 1020 mm Two-wire type/
LIC 2197M 0.05 μm/ 6020 mm Four-wire type
10.0 m/s
LIC 2199M 0.1 μm 6020 mm
RSF 0.05 μm/
MC15M 10.0 m/s 3020 mm
Elektronik 0.1 μm
SR75 0.05 μm/ 2040 mm
3.3 m/s
SR85 0.01 μm 3040 mm Two-wire type
Magnescale
SL710 + PL101-RM/RHM 0.1 μm 10.0 m/s 100000 mm
Co., Ltd.
0.1 μm/ Two-wire type/
SQ10 + PQ10 + MQ10 10.0 m/s 3800 mm
0.05 μm Four-wire type
LIDA 483 + EIB 392M (/16384) 3040 mm
LIDA 485 + EIB 392M (/16384) 20 μm/16384 30040 mm
LIDA 487 + EIB 392M (/16384) (Approx. 1.22 nm) 6040 mm
4.0 m/s
Incremental Heidenhain LIDA 489 + EIB 392M (/16384) 1020 mm
Four-wire type
type LIDA 287 + EIB 392M (/16384) 200 μm/16384
10000 mm
LIDA 289 + EIB 392M (/16384) (Approx. 12.2 nm)
LIF 481 + EIB 392M (/4096) 4 μm/4096 1020 mm
1.6 m/s
LIP 6081 + EIB 392M (/4096) (Approx. 0.977 nm) 1440 mm
Nidec Sankyo
PSLH041 0.1 μm 5.0 m/s 2400 mm Two-wire type
Corporation
A/B/Z-phase
Depends on Depends on A/B/Z-phase
differential Not
- 0.001 μm to 5 μm (Note 4) the linear the linear differential
output type designated
(Note 5)
encoder encoder output method
Notes: 1. Contact the relevant linear encoder manufacturer for details on operating environment and specifications of the linear encoder such as ambient temperature, vibration
resistance and IP rating.
2. The listed values are the manufacturer's specifications. When combined with MELSERVO-JET Series servo amplifiers, the specification is the lower value of either the
listed value or the servo motor rated speed.
3. The listed values are the manufacturer's specifications. The maximum length of the encoder cable between linear encoder and servo amplifier is 30 m.
4. Select the linear encoder within this range.
5. The phase difference of the A-phase pulse and the B-phase pulse, and the width of the Z-phase pulse must be 200 ns or wider. The output pulse of A-phase and
B-phase of the A/B/Z-phase differential output linear encoder is in the multiply-by-four count method. For linear encoders without Z-phase, some of the homing modes
cannot be used. Refer to "MR-JET User's Manual" for details.
LA
LAR
Phase difference: 200 ns or wider
LB
LBR One pulse of Z-phase: 200 ns or wider

LZ
LZR
5-16
6 Options/Peripheral
Equipment
Cable and Connector Selection Table for Servo Motors 6-2

Configuration Example for Servo Motors 6-4
Details of Option Connectors for Servo Motors 6-12
Products on the Market for Servo Motors 6-15
Configuration Example for Servo Amplifiers 6-18
Details of Option Connectors for Servo Amplifiers 6-20
Products on the Market for Servo Amplifiers 6-20
Regenerative Option 6-21
Replacement Fan Unit 6-24
Junction Terminal Block 6-24
Battery 6-25
Radio Noise Filter/Line Noise Filter/Data Line Filter 6-26
Surge Killer 6-26
EMC Filter 6-27
Surge Protector 6-27
Power Factor Improving AC Reactor 6-28
Servo Support Software 6-29
Unit Conversion Table 6-31
* Options and peripheral equipment for servo amplifiers are the same regardless of the network. Refer to the servo amplifiers with the same rated capacity.
6-1
Options/Peripheral Equipment
Cable and Connector Selection Table for Servo Motors

Necessary option cables and connectors vary depending on the servo motor series.
Refer to the following tables for necessary options.
Selecting options for servo motor

Use the cables in the following tables.
For the cable descriptions, refer to the relevant letters in each list.
Reference list
Capacity Servo motor
Encoder cable Servo motor power cable Electromagnetic brake cable (Note 1)
Column A in servo motor power Column A in electromagnetic
Small capacity HG-KNS series Column A in encoder cable list
cable list brake cable list
Medium Column B in servo motor power Column B in electromagnetic
HG-SNS series Column B in encoder cable list
capacity cable list brake cable list
Notes: 1. An electromagnetic brake cable is required only for servo motor with an electromagnetic brake.
Encoder cable list

IP rating
Cable length (Note 1)
Cable direction Bending life (Note 2) Model Reference Note
In the direction Long bending life MR-J3ENCBL_M-A1-H

p. 6-6
of the load side Standard MR-J3ENCBL_M-A1-L
10 m or shorter
(direct connection IP65 In the opposite Long bending life MR-J3ENCBL_M-A2-H
type) direction of the p. 6-6
load side Standard MR-J3ENCBL_M-A2-L
Two types of cables are required:
Long bending life
In the direction MR-J3JCBL03M-A1-L, MR-EKCBL_M-H
p. 6-6
of the load side Two types of cables are required:
Standard
MR-J3JCBL03M-A1-L, MR-EKCBL_M-L
IP20
Two types of cables are required: Select one from
A In the opposite Long bending life
MR-J3JCBL03M-A2-L, MR-EKCBL_M-H this list.
direction of the p. 6-6
load side Standard
Over 10 m MR-J3JCBL03M-A2-L, MR-EKCBL_M-L
(junction type) Two types of cables are required:
Long bending life
In the direction MR-J3JSCBL03M-A1-L, MR-J3ENSCBL_M-H pp. 6-6
of the load side Two types of cables are required: and 6-7
Standard
MR-J3JSCBL03M-A1-L, MR-J3ENSCBL_M-L
IP65
In the opposite Long bending life
MR-J3JSCBL03M-A2-L, MR-J3ENSCBL_M-H pp. 6-6
direction of the
Two types of cables are required: and 6-7
load side Standard
MR-J3JSCBL03M-A2-L, MR-J3ENSCBL_M-L
2 m to 50 m Long bending life MR-J3ENSCBL_M-H Select one from
B IP67 - p. 6-7
2 m to 30 m Standard MR-J3ENSCBL_M-L this list.
Notes: 1. The IP rating indicated is for the connector's protection against ingress of dust and water when coupled to a servo motor. If the IP rating of the servo motor differs from
that of these connectors, overall IP rating depends on the lowest of all.
2. Long bending life cables and standard cables are for moving parts and fixed parts respectively.
6-2
Specifications
Servo motor power cable list
Common
IP rating
In the direction Long bending life MR-PWS1CBL_M-A1-H

p. 6-8
of the load side Standard MR-PWS1CBL_M-A1-L
10 m or shorter
Servo System
Controllers
(direct connection IP65 In the opposite Long bending life MR-PWS1CBL_M-A2-H
load side Standard MR-PWS1CBL_M-A2-L
Select one from
A
In the direction Connect a user-fabricated cable to this list.
p. 6-8
Servo Amplifiers
of the load side MR-PWS2CBL03M-A1-L (option cable).
Over 10 m
IP55 Standard
(junction type)
In the opposite
Connect a user-fabricated cable to
MR-PWS2CBL03M-A2-L (option cable).
load side
Rotary Servo
IP rating (Note 1) Compatible servo motor Model Reference Note
Motors
Fabricate a cable that fits to MR-PWCNS4 Select one that
HG-SNS52J, 102J, 152J p. 6-8
(option connector set). is compatible
B IP67
Fabricate a cable that fits to MR-PWCNS5 with the servo
HG-SNS202J, 302J p. 6-8
(option connector set). motor.
Linear Servo
Electromagnetic brake cable list
Motors
IP rating
In the direction Long bending life MR-BKS1CBL_M-A1-H

p. 6-9
of the load side Standard MR-BKS1CBL_M-A1-L
Options/Peripheral
10 m or shorter
Equipment
(direct connection IP65 In the opposite Long bending life MR-BKS1CBL_M-A2-H
load side Standard MR-BKS1CBL_M-A2-L
Select one from
A
In the direction Connect a user-fabricated cable to this list.
p. 6-9
of the load side MR-BKS2CBL03M-A1-L (option cable).
LVS/Wires
Over 10 m
IP55 Standard
(junction type)
In the opposite
Connect a user-fabricated cable to
MR-BKS2CBL03M-A2-L (option cable).
load side
Product List
IP rating (Note 1) Compatible servo motor Model Reference Note
Fabricate a cable that fits to MR-BKCNS1
or MR-BKCNS2 (option connector set) p. 6-9
(straight type). Select one from
B IP67 HG-SNS series
Fabricate a cable that fits to MR-BKCNS1A this list.
or MR-BKCNS2A (option connector set) p. 6-9
(angle type).
Precautions
2. Long bending life cables and standard cables are for moving parts and fixed parts respectively.
Support
6-3
Configuration Example for Rotary Servo Motors

HG-KNS series: encoder cable length 10 m or shorter
●
●For leading the cables out in the direction of the load side (Note 1)
Power cable
To servo amplifier power connector (CNP1)
(14)
Electromagnetic brake cable
(20)
Encoder cable
To servo amplifier encoder connector (CN2)
(1)
Servo motor
●
●For leading the cables out in the opposite direction of the load side (Note 1)
Power cable
(15)
(21)
Encoder cable
(2)
Servo motor
Notes: 1. Cables for leading two different directions may be used for one servo motor.
6-4
Configuration Example for Rotary Servo Motors (Note 5)
Specifications
Common
HG-KNS series: encoder cable length over 10 m
●
●For leading the cables out in the direction of the load side (Note 4)
(16) Power cable
(Note 2)
Servo System
Controllers
(22) Electromagnetic brake cable
(Note 3)
Encoder cable
(3) (Note 1) (5)

Servo Amplifiers
(6)
Encoder cable
(9)
( 7 ) (Note 1)
(10)
Rotary Servo
Motors
Servo motor
●
●For leading the cables out in the opposite direction of the load side (Note 4)
Linear Servo
Motors
(17) Power cable
(Note 2)
(23) Electromagnetic brake cable
(Note 3)
Options/Peripheral
Encoder cable
Equipment
(4) (Note 1) (5) To servo amplifier encoder connector (CN2)
(6)
Encoder cable
(9)
(8) (Note 1)
LVS/Wires
(10)
Servo motor
Product List
HG-SNS series
Power connector set
To servo amplifier power connector
(18) (19)
Precautions
Electromagnetic brake connector set
(24) (25)
(26) (27)
Encoder cable
Support
(9)
(10) (11)
(12) (13)
Servo motor
Notes: 1. Secure this cable as it does not have a long bending life.
2. Relay a cable using MR-PWS2CBL03M-A1-L or MR-PWS2CBL03M-A2-L. Secure this cable as it does not have a long bending life.
3. Relay a cable using MR-BKS2CBL03M-A1-L or MR-BKS2CBL03M-A2-L. Secure this cable as it does not have a long bending life.
4. Cables for leading two different directions may be used for one servo motor.
5. Cables drawn with dashed lines need to be fabricated by users. Refer to "Rotary Servo Motor User's Manual" when fabricating the cables.
6-5
Cables and Connectors for Rotary Servo Motors

Refer to "Details of Option Connectors for Servo Motors" in this catalog for the detailed models.
Encoder cables are not subject to European Low Voltage Directive (50 V AC to 1000 V AC and 75 V DC to 1500 V DC).
Cable IP rating
No. Item Model Application Description
length (Note 1)
MR-J3ENCBL2M-A1-H 2m
Encoder cable (Note 2, 6) MR-J3ENCBL10M-A1-H 10 m For HG-KNS
(1) IP65
(load-side lead) MR-J3ENCBL2M-A1-L 2m (direct connection type)
MR-J3ENCBL5M-A1-L 5m
MR-J3ENCBL10M-A1-L 10 m Encoder connector Servo amplifier connector
Encoder cable (Note 2, 6)
MR-J3ENCBL10M-A2-H 10 m For HG-KNS
(2) (opposite to load-side IP65
MR-J3ENCBL2M-A2-L 2m (direct connection type)
lead)
MR-J3ENCBL5M-A2-L 5m
MR-J3ENCBL10M-A2-L 10 m
Encoder cable (Note 2, 6) For HG-KNS
(3) MR-J3JCBL03M-A1-L 0.3 m IP20 Encoder connector Junction connector
(load-side lead) (junction type)
For HG-KNS
(4) (opposite to load-side MR-J3JCBL03M-A2-L 0.3 m IP20 Use this in combination with (5) or (6).
(junction type)
lead)
MR-EKCBL20M-H 20 m
MR-EKCBL30M-H (Note 3) 30 m Junction connector Servo amplifier connector
MR-EKCBL40M-H (Note 3) 40 m For HG-KNS
(5) Encoder cable (Note 2, 6) IP20
MR-EKCBL50M-H (Note 3) 50 m (junction type)
Use this in combination with (3) or (4).
MR-EKCBL20M-L 20 m
MR-EKCBL30M-L (Note 3) 30 m
Junction connector Servo amplifier connector
Encoder connector set For HG-KNS

(6) MR-ECNM - IP20 Use this in combination with (3) or (4).
(Note 5)
(junction type)
Applicable cable
Wire size: AWG 26 to 22
Cable OD: 7 mm to 9 mm
Encoder cable (Note 2, 6) IP65 For HG-KNS

(7) MR-J3JSCBL03M-A1-L 0.3 m Encoder connector Junction connector
(load-side lead) (Note 4)
(junction type)
IP65 For HG-KNS
(8) (opposite to load-side MR-J3JSCBL03M-A2-L 0.3 m Use this in combination with (9) or (10).
(Note 4)
(junction type)
lead)
2. -H and -L indicate a bending life. -H indicates a long bending life (for moving parts), and -L indicates a standard bending life (for fixed parts).
3. This encoder cable is available in four-wire type. Servo parameter setting is required to use the four-wire type encoder cable. Refer to "MR-JET User's Manual" for details.
4. The encoder cable is rated IP65 while the junction connector itself is rated IP67.
5. The crimping tool (91529-1) manufactured by TE Connectivity Ltd. Company is required. Contact the manufacturer directly.
6. For unlisted lengths of the cables, please contact Mitsubishi Electric System & Service Co., Ltd. OVERSEAS SERVICE SECTION. (Email: [email protected])
6-6
Specifications
Common
Cable IP rating
length (Note 1)
MR-J3ENSCBL2M-H 2m
Servo System
MR-J3ENSCBL5M-H 5m
Controllers
MR-J3ENSCBL10M-H 10 m
MR-J3ENSCBL20M-H 20 m
Junction connector or Servo amplifier
MR-J3ENSCBL30M-H 30 m For HG-KNS encoder connector connector
MR-J3ENSCBL40M-H 40 m (junction type)
(9) Encoder cable (Note 2, 6) IP67
Servo Amplifiers
MR-J3ENSCBL50M-H 50 m For HG-SNS
MR-J3ENSCBL2M-L 2m (direct connection type) Use this in combination with (7) or (8) for
HG-KNS series.
MR-J3ENSCBL5M-L 5m
MR-J3ENSCBL10M-L 10 m
Rotary Servo
Junction connector or Servo amplifier
Motors
encoder connector connector
For HG-KNS
Encoder connector set
(Note 3, 5)
(junction type)
(10) MR-J3SCNS - IP67 For HG-SNS Use this in combination with (7) or (8) for
(one-touch connection HG-KNS series.
(direct connection type)
type)
Linear Servo
(straight type) Applicable cable
Motors
Wire size: 0.5 mm2 (AWG 20) or smaller
Cable OD: 5.5 mm to 9.0 mm
Encoder connector Servo amplifier connector
Encoder connector set For HG-SNS
Options/Peripheral
(11) (Note 3, 4, 5, 7)
MR-ENCNS2 - IP67 (direct connection type)
(screw type) (straight type) Applicable cable
Equipment

(Note 3, 5, 7) Encoder connector Servo amplifier connector
(12) (one-touch connection MR-J3SCNSA - IP67
type) For HG-SNS
LVS/Wires
(angle type) Applicable cable
(13) (Note 3, 4, 5, 7)
MR-ENCNS2A - IP67 Cable OD: 5.5 mm to 9.0 mm
(screw type)
Product List
3. Cable clamps and bushings for cable OD of 5.5 mm to 7.5 mm and of 7.0 mm to 9.0 mm are included in the set.
4. A screw thread is cut on the encoder connector of HG-SNS series, and the screw type connector can be used.
5. The connector set contains a plug and contacts. Using contacts for other plugs may damage the connector. Use the enclosed contacts.
7. For fabricating cables, please contact Mitsubishi Electric System & Service Co., Ltd. OVERSEAS SERVICE SECTION. (Email: [email protected])
Precautions
Support
6-7

Cable IP rating
length (Note 1)
MR-PWS1CBL2M-A1-H 2m
Power cable (Note 2, 4) MR-PWS1CBL10M-A1-H 10 m For HG-KNS
(14) IP65
(load-side lead) MR-PWS1CBL2M-A1-L (Note 3) 2m (direct connection type)
MR-PWS1CBL5M-A1-L (Note 3) 5m
Power connector
MR-PWS1CBL10M-A1-L (Note 3) 10 m
MR-PWS1CBL2M-A2-H 2m Lead-out
Power cable (Note 2, 4)
MR-PWS1CBL10M-A2-H 10 m For HG-KNS
(15) (opposite to load-side IP65
MR-PWS1CBL2M-A2-L (Note 3) 2m (direct connection type)
lead)
MR-PWS1CBL5M-A2-L (Note 3) 5m
* The cable is not shielded.
MR-PWS1CBL10M-A2-L (Note 3) 10 m
Power cable (Note 2) For HG-KNS
(16) MR-PWS2CBL03M-A1-L 0.3 m IP55 Power connector
(load-side lead) (junction type)
Power cable (Note 2)
For HG-KNS Lead-out
(17) (opposite to load-side MR-PWS2CBL03M-A2-L 0.3 m IP55
(junction type) * The cable is not shielded.
lead)
Power connector
Power connector set For HG-SNS52J, 102J,

(18) MR-PWCNS4 - IP67
(Note 5)
152J Applicable cable
Wire size: 2 mm2 to 3.5 mm2 (AWG 14 to 12)
Power connector
Power connector set

(19) (Note 5)
MR-PWCNS5 - IP67 For HG-SNS202J, 302J
Applicable cable
Wire size: 5.5 mm2 to 8 mm2 (AWG 10 to 8)
Cable OD: 12.5 mm to 16 mm
3. Shielded power cable MR-PWS3CBL_M-A_-L is also available. Contact your local sales office.
6-8
Specifications
Common
Cable IP rating
length (Note 1)
MR-BKS1CBL2M-A1-H 2m
MR-BKS1CBL5M-A1-H 5m
Servo System
Electromagnetic brake
MR-BKS1CBL10M-A1-H 10 m
Controllers
For HG-KNS
(20) cable (Note 2, 5) IP65
MR-BKS1CBL2M-A1-L 2m (direct connection type)
(load-side lead)
MR-BKS1CBL5M-A1-L 5m Electromagnetic brake connector
MR-BKS1CBL10M-A1-L 10 m
MR-BKS1CBL2M-A2-H 2m Lead-out
Servo Amplifiers
Electromagnetic brake MR-BKS1CBL5M-A2-H 5m
cable (Note 2, 5) MR-BKS1CBL10M-A2-H 10 m For HG-KNS
(21) IP65
(opposite to load-side MR-BKS1CBL2M-A2-L 2m (direct connection type)
lead) MR-BKS1CBL5M-A2-L 5m
* The cable is not shielded.
MR-BKS1CBL10M-A2-L 10 m
For HG-KNS
Rotary Servo
(22) cable (Note 2) MR-BKS2CBL03M-A1-L 0.3 m IP55
(junction type) Electromagnetic brake connector
Motors
(load-side lead)
Electromagnetic brake Lead-out
cable (Note 2) For HG-KNS
(23) MR-BKS2CBL03M-A2-L 0.3 m IP55 * The cable is not shielded.
(opposite to load-side (junction type)
lead)
Linear Servo
Motors
connector set (Note 4, 6) Electromagnetic brake connector
(24) MR-BKCNS1 - IP67
(one-touch connection
type) For HG-SNS
(straight type) Applicable cable
(25) connector set (Note 3, 4, 6) MR-BKCNS2 - IP67
Options/Peripheral
(screw type)
Equipment
connector set (Note 4, 6) Electromagnetic brake connector
(26) MR-BKCNS1A - IP67
(one-touch connection
type) For HG-SNS
(angle type) Applicable cable
LVS/Wires
(27) connector set (Note 3, 4, 6) MR-BKCNS2A - IP67 Cable OD: 9.0 mm to 11.6 mm
(screw type)
3. A screw thread is cut on the electromagnetic brake connector of HG-SNS series, and the screw type connector can be used.
Product List
Precautions
Support
6-9
Configuration Example for Linear Servo Motors (Note 2)

LM-H3 series
●
●When using a serial linear encoder
Power lead wires To servo amplifier power connector (CNP1)
Linear servo motor Linear servo motor
secondary side primary side (coil)
(magnet)
Thermistor lead wires To servo amplifier I/O signal connector (CN3)
(Note 1) (3)
Linear encoder To servo amplifier encoder connector (CN2)
(1)
Linear encoder
head cable
(2)
●
●When using an A/B/Z-phase differential output type linear encoder

(magnet)
Thermistor lead wires To servo amplifier I/O signal connector (CN3)

Linear encoder
(Note 1) (3)
head cable
LM-AJ series
●
●When using a serial linear encoder
Linear servo motor
Linear servo motor
primary side (coil)
secondary side
(magnet) Shielded wire
Thermal protector lead wires
(Note 1) (3)
(1)
Linear encoder
head cable
(2)
●
●When using an A/B/Z-phase differential output type linear encoder

(magnet) Shielded wire
Thermal protector lead wires

Linear encoder
(Note 1) (3)
head cable
Notes: 1. Contact the relevant linear encoder manufacturers for connectors to connect with the head cables.
2. Cables drawn with dashed lines need to be fabricated by users. Refer to "Linear Servo Motor User's Manual" when fabricating the cables.
6-10
Cables and Connectors for Linear Servo Motors
Specifications
Common
Cable
No. Item Model IP rating (Note 1) Application Description
length
MR-EKCBL2M-H 2m
Servo System
Encoder cable For connecting a linear Junction connector Servo amplifier connector
Controllers
(1) IP20
(Note 3, 4) encoder
MR-EKCBL5M-H 5m
Junction connector Servo amplifier connector
Servo Amplifiers
Encoder connector For connecting a linear
(2) MR-ECNM - IP20
set (Note 2, 3) encoder Applicable cable
Wire size: AWG 26 to 22
Servo amplifier connector

Encoder connector For connecting a linear
(3) MR-J3CN2 - -
Rotary Servo
set encoder
Motors
2. The crimping tool (91529-1) manufactured by TE Connectivity Ltd. Company is required. Contact the manufacturer directly.
3. Use MR-EKCBL_M-H or MR-ECNM to connect to an output cable for AT343A, AT543A-SC or AT545A-SC scales manufactured by Mitutoyo Corporation.
4. -H indicates a long bending life (for moving parts), and -L indicates a standard bending life (for fixed parts).
Linear Servo
Motors
Options/Peripheral
Equipment
LVS/Wires
Product List
Precautions
Support
6-11
Details of Option Connectors for Servo Motors

Model Encoder connector Servo amplifier connector
MR-J3ENCBL_M-A1-H (Note 2)
MR-J3ENCBL_M-A1-L (Note 2) 2174053-1 Receptacle: 36210-0100PL
(TE Connectivity Ltd. Company) Shell kit: 36310-3200-008
MR-J3ENCBL_M-A2-H (Note 2)
(3M)
MR-J3ENCBL_M-A2-L (Note 2) or
Connector set: 54599-1019
(Molex, LLC)
Model Encoder connector Junction connector
MR-J3JCBL03M-A1-L (Note 2)
2174053-1 Contact: 1473226-1 (with ring)
MR-J3JCBL03M-A2-L (Note 2)
(TE Connectivity Ltd. Company) Housing: 1-172169-9
Cable clamp: 316454-1
(TE Connectivity Ltd. Company)
Model Junction connector Servo amplifier connector
MR-EKCBL_M-H Housing: 1-172161-9 Receptacle: 36210-0100PL

MR-EKCBL_M-L Connector pin: 170359-1 Shell kit: 36310-3200-008
MR-ECNM (TE Connectivity Ltd. Company) (3M)
or an equivalent product or
Cable clamp: MTI-0002 Connector set: 54599-1019
(Toa Electric Industrial Co., Ltd.) (Molex, LLC)
Model Encoder connector Junction connector
MR-J3JSCBL03M-A1-L (Note 2)
MR-J3JSCBL03M-A2-L (Note 2)
2174053-1 Cable receptacle: CM10-CR10P-M
(TE Connectivity Ltd. Company) (DDK Ltd.)
For 10 m or shorter cable

MR-J3ENSCBL_M-H (Note 2) Straight plug: CMV1-SP10S-M1 Receptacle: 36210-0100PL
Socket contact: CMV1-#22ASC-C1-100 Shell kit: 36310-3200-008
MR-J3ENSCBL_M-L (Note 2)
For 20 m or longer cable (3M)
Straight plug: CMV1-SP10S-M1 (long bending life) or
CMV1-SP10S-M2 (standard) Connector set: 54599-1019
Socket contact: CMV1-#22ASC-C2-100 (Molex, LLC)
(DDK Ltd.)
Model Junction connector/encoder connector Servo amplifier connector
Straight plug: CMV1-SP10S-M2 Receptacle: 36210-0100PL

MR-J3SCNS (Note 1, 2, 3) Socket contact: CMV1-#22ASC-S1-100 Shell kit: 36310-3200-008
(DDK Ltd.) (3M)
or
(Molex, LLC)
Notes: 1. Cable clamps and bushings for cable OD of 5.5 mm to 7.5 mm and of 7.0 mm to 9.0 mm are included in the set.
2. Some cables or connector sets may contain the connectors of different shapes. However, these connectors are all usable.
6-12
Specifications
Common
Straight plug: CMV1S-SP10S-M2 Receptacle: 36210-0100PL

MR-ENCNS2 (Note 1, 3) Socket contact: CMV1-#22ASC-S1-100 Shell kit: 36310-3200-008
Servo System
Controllers
(DDK Ltd.) (3M)
or
(Molex, LLC)
Servo Amplifiers
Angle plug: CMV1-AP10S-M2 Receptacle: 36210-0100PL
MR-J3SCNSA (Note 1, 2, 3) Socket contact: CMV1-#22ASC-S1-100 Shell kit: 36310-3200-008
(DDK Ltd.) (3M)
or
Rotary Servo
Motors
(Molex, LLC)
Linear Servo
Motors
Angle plug: CMV1S-AP10S-M2 Receptacle: 36210-0100PL
MR-ENCNS2A (Note 1, 3) Socket contact: CMV1-#22ASC-S1-100 Shell kit: 36310-3200-008
(DDK Ltd.) (3M)
or
(Molex, LLC)
Options/Peripheral
Equipment
Model Power connector
MR-PWS1CBL_M-A1-H (Note 2)
Plug: KN4FT04SJ1-R
MR-PWS1CBL_M-A1-L (Note 2)
Socket contact: ST-TMH-S-C1B-100-(A534G)
MR-PWS1CBL_M-A2-H (Note 2) (Japan Aviation Electronics Industry, Limited)
MR-PWS1CBL_M-A2-L (Note 2)
LVS/Wires
Plug: KN4FT04SJ2-R
MR-PWS2CBL03M-A1-L (Note 2)
MR-PWS2CBL03M-A2-L (Note 2) (Japan Aviation Electronics Industry, Limited)
Product List
Plug: CE05-6A18-10SD-D-BSS (straight)
MR-PWCNS4 Cable clamp: CE3057-10A-1-D
(DDK Ltd.)

Plug: CE05-6A22-22SD-D-BSS (straight)
Precautions
MR-PWCNS5 Cable clamp: CE3057-12A-1-D

(DDK Ltd.)
Notes: 1. Cable clamps and bushings for cable OD of 5.5 mm to 7.5 mm and of 7.0 mm to 9.0 mm are included in the set.
2. Some cables or connector sets may contain the connectors of different shapes. However, these connectors are all usable.
Support
6-13

Model Electromagnetic brake connector
MR-BKS1CBL_M-A1-H
Plug: JN4FT02SJ1-R
MR-BKS1CBL_M-A1-L
MR-BKS1CBL_M-A2-H (Japan Aviation Electronics Industry, Limited)
MR-BKS1CBL_M-A2-L

Plug: JN4FT02SJ2-R
MR-BKS2CBL03M-A1-L
MR-BKS2CBL03M-A2-L (Japan Aviation Electronics Industry, Limited)

Straight plug: CMV1-SP2S-L
MR-BKCNS1 (Note 1, 2) Socket contact: CMV1-#22BSC-S2-100
(DDK Ltd.)

Straight plug: CMV1S-SP2S-L
MR-BKCNS2 (Note 2) Socket contact: CMV1-#22BSC-S2-100
(DDK Ltd.)

Angle plug: CMV1-AP2S-L
MR-BKCNS1A (Note 1, 2) Socket contact: CMV1-#22BSC-S2-100
(DDK Ltd.)

Angle plug: CMV1S-AP2S-L
MR-BKCNS2A (Note 2) Socket contact: CMV1-#22BSC-S2-100
(DDK Ltd.)
Model Servo amplifier connector
MR-J3CN2
Receptacle: 36210-0100PL or Connector set: 54599-1019
Shell kit: 36310-3200-008 (Molex, LLC)
(3M)
Notes: 1. Some cables or connector sets may contain the connectors of different shapes. However, these connectors are all usable.
6-14
Products on the Market for Rotary Servo Motors
Specifications
Contact the relevant manufacturers directly.
Common
When fabricating a cable with the following connectors, refer to the relevant manufacturers' instruction manuals for wiring and
assembling procedures.
Encoder connector (servo amplifier side)
Servo System
Controllers
Application Connector (3M)
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
Servo amplifier
Connector (Molex, LLC)
CN2 connector
54599-1019 (gray)
Servo Amplifiers
54599-1016 (black)
Encoder connector for HG-KNS series

Connector Crimping tool
Applicable IP rating
(TE Connectivity Ltd. (TE Connectivity Ltd. Applicable cable example
servo motor (Note 1)
Company) Company)
Rotary Servo
Wire size: 0
.13 mm2 to 0.33 mm2 (AWG 26 to 22)
Motors
For ground clip: 1596970-1
Wire example:
HG-KNS IP65 2174053-1 For receptacle contact:
Fluorine resin wire (Vinyl jacket cable
1596847-1
TPE. SVP 70/0.08(AWG#22)-3P KB-2237-2
Bando Densen Co., Ltd. (Note 2) or an equivalent product)
Linear Servo
Straight type Angle type
Motors
Encoder connector for HG-SNS series
Applicable IP rating Connector (DDK Ltd.) Applicable cable example
Options/Peripheral
Type Type of connection Plug Socket contact Cable OD [mm]
Equipment
One-touch CMV1-SP10S-M1 5.5 to 7.5
connection type CMV1-SP10S-M2 7.0 to 9.0
Straight
CMV1S-SP10S-M1 5.5 to 7.5
Screw type Select from solder or press
HG-SNS IP67 bonding type.
One-touch CMV1-AP10S-M1 5.5 to 7.5
(Refer to the table below.)
LVS/Wires
connection type CMV1-AP10S-M2 7.0 to 9.0
Angle
CMV1S-AP10S-M1 5.5 to 7.5
Screw type
Contact Socket contact (DDK Ltd.) Wire size (Note 3)

Solder type CMV1-#22ASC-S1-100 0.5 mm2 (AWG 20) or smaller
Product List
0.2 mm2 to 0.5 mm2 (AWG 24 to 20)
CMV1-#22ASC-C1-100
Crimping tool (357J-53162T) is required.
Press bonding type
0.08 mm2 to 0.2 mm2 (AWG 28 to 24)
CMV1-#22ASC-C2-100
Precautions
2. Contact Toa Electric Industrial Co., Ltd.

3. The wire size shows wiring specifications of the connector.
Support
6-15

Power connector for HG-KNS series

(Japan Aviation Electronics (Japan Aviation Electronics Applicable cable example
Industry, Limited) Industry, Limited)
Wire size: 0
.3 mm2 to 0.75 mm2 (AWG 22 to 18)
Plug: KN4FT04SJ1-R
For contactor: Wire example:
HG-KNS IP65 Socket contact:
CT170-14-TMH5B Fluorine resin wire (Vinyl jacket cable
ST-TMH-S-C1B-100-(A534G)
RMFES-A (CL3X) AWG 19, 4 cores
Dyden Corporation (Note 3) or an equivalent product)
Cable Cable
Plug clamp Plug clamp
Power connector for HG-SNS series

Plug (with backshell) Cable clamp
Applicable Applicable cable example
IP rating (Note 1) (DDK Ltd.) (DDK Ltd.)
servo motor
Type Model Model Wire size (Note 2) Cable OD [mm]
CE3057-10A-2-D 2.2 mm2 to 3.5 mm2 8.5 to 11
IP67 CE05-6A18-10SD-D-BSS
HG-SNS52J, CE3057-10A-1-D (AWG 14 to 12) 10.5 to 14.1
102J, 152J
2.2 mm2 to 3.5 mm2 14.3 or smaller
- D/MS3106B18-10S D/MS3057-10A
(AWG 14 to 12) (bushing ID)
Straight
CE3057-12A-2-D 5.5 mm2 to 8 mm2 9.5 to 13
IP67 CE05-6A22-22SD-D-BSS
HG-SNS202J, CE3057-12A-1-D (AWG 10 to 8) 12.5 to 16
302J
5.5 mm2 to 8 mm2 15.9 or smaller
- D/MS3106B22-22S D/MS3057-12A
CE3057-10A-2-D 2.2 mm2 to 3.5 mm2 8.5 to 11
IP67 CE05-8A18-10SD-D-BAS
HG-SNS52J, CE3057-10A-1-D (AWG 14 to 12) 10.5 to 14.1
102J, 152J
2.2 mm2 to 3.5 mm2 14.3 or smaller
- D/MS3108B18-10S D/MS3057-10A
Angle
CE3057-12A-2-D 5.5 mm2 to 8 mm2 9.5 to 13
IP67 CE05-8A22-22SD-D-BAS
HG-SNS202J, CE3057-12A-1-D (AWG 10 to 8) 12.5 to 16
302J
5.5 mm2 to 8 mm2 15.9 or smaller
- D/MS3108B22-22S D/MS3057-12A
2. The wire size shows wiring specifications of the connector. Refer to "Selection Example in HIV Wires for Servo Motors" in this catalog for examples of wire size selection.
3. Contact Taisei Co., Ltd.
6-16
Specifications
Common
Electromagnetic brake connector for HG-KNS series
Servo System
Controllers
(Japan Aviation Electronics (Japan Aviation Electronics Applicable cable example
Industry, Limited) Industry, Limited)
Wire size: 0.3 mm2 to 0.5 mm2 (AWG 22 to 20)
Cable OD: 3 .6 mm to 4.8 mm
Plug: JN4FT02SJ1-R
For contactor: Wire example:
Servo Amplifiers
HG-KNS IP65 Socket contact:
CT170-14-TMH5B Fluorine resin wire (Vinyl jacket cable
ST-TMH-S-C1B-100-(A534G)
RMFES-A (CL3X) AWG 20, 2 cores
Dyden Corporation (Note 2) or an equivalent product)
Electromagnetic brake connector for HG-SNS series
Rotary Servo
Motors
Applicable IP rating Connector (DDK Ltd.) Applicable cable example
Type Type of connection Plug Socket contact Cable OD [mm]
CMV1-SP2S-S 4.0 to 6.0
CMV1-SP2S-M1 5.5 to 7.5
One-touch connection type
Linear Servo
CMV1-SP2S-M2 7.0 to 9.0
Motors
CMV1-SP2S-L 9.0 to 11.6
Straight
CMV1S-SP2S-S 4.0 to 6.0
Screw type
CMV1S-SP2S-M2 Select from solder or 7.0 to 9.0
Options/Peripheral
CMV1S-SP2S-L press bonding type. 9.0 to 11.6
HG-SNS IP67
Equipment
CMV1-AP2S-S (Refer to the table 4.0 to 6.0
CMV1-AP2S-M1 below.) 5.5 to 7.5
One-touch connection type
CMV1-AP2S-M2 7.0 to 9.0
CMV1-AP2S-L 9.0 to 11.6
Angle
CMV1S-AP2S-S 4.0 to 6.0
LVS/Wires
Screw type
CMV1S-AP2S-L 9.0 to 11.6
Contact Socket contact (DDK Ltd.) Wire size (Note 3)

Solder type CMV1-#22BSC-S2-100 1.25 mm2 (AWG 16) or smaller
Product List
0.5 mm2 to 1.25 mm2 (AWG 20 to 16)
Press bonding type CMV1-#22BSC-C3-100
Products on the Market for Linear Servo Motors

Precautions
Thermistor junction connector for LM-H3 series

Applicable Connector (3M)
IP rating (Note 1) Applicable cable example
servo motor Plug Shell kit
LM-H3 - 36110-3000FD 36310-F200-008
Support

2. Contact Taisei Co., Ltd.
3. The wire size shows wiring specifications of the connector. Refer to "Selection Example in HIV Wires for Servo Motors" in this catalog for examples of wire size selection.
6-17
Configuration Example for Servo Amplifiers
Controller (Note 3)
Servo amplifier Ethernet cable (Note 4) Servo amplifier
CC-Link IE TSN-
compatible controller
RD78G Ethernet cable
RD78GH (Note 4)
CN3 (2) CN3
SWM78 (available soon)
CN1B CN1B
EtherCAT®-compatible Junction terminal block (Note 1)
CN1A PS7DW-20V14B-F CN1A
controller (3)
(Toho Technology)
(4) CN5 CN5
Setup software
MR Configurator2
CNP1 CNP1
CN2 CN2
To servo motor encoder

(Note 2)
(1)
Battery: MR-BAT6V1SET-B
To encoder cable
(5)
Notes: 1. Refer to "Junction Terminal Block" in this catalog.

2. The battery is required when configuring an absolute position detection system with an HG-KNS/HG-SNS rotary servo motor. Refer to "Battery" in this catalog.
3. When branching off CC-Link IE TSN (synchronous communication function) with a switching hub, use a switching hub (Class B) recommended by CC-Link Partner
Association. When a switching hub (Class A) is used, there are restrictions on the topologies to be used. Refer to "MELSEC iQ-R Motion Module User's Manual (Startup)"
for details.
4. For specifications of the Ethernet cable, refer to "Ethernet Cable Specifications" in this catalog.
Ethernet Cable Specifications

Item CC-Link IE TSN (Note 1, 2) EtherCAT ®
Category 5e or higher, (double shielded/STP) straight cable
The cable must meet the following: The cable must meet the following:
Ethernet Cable Standard • IEEE802.3 (1000BASE-T) • IEEE802.3 (100BASE-TX)
• ANSI/TIA/EIA-568-B (Category 5e) • ANSI/TIA/EIA-568-B (Category 5e)
Connector RJ-45 connector with shield
Notes: 1. Use wiring parts recommended by CC-Link Partner Association for wiring the CC-Link IE TSN.
2. Cables for CC-Link IE Controller Network cannot be used with CC-Link IE TSN.
6-18
Cables and Connectors for Servo Amplifiers
Specifications
Refer to "Details of Option Connectors for Servo Amplifiers" in this catalog for the detailed models.
Common
Cable
No. Item Application Model Description
length
CNP1 Open tool
connector
Servo System
Controllers
For MR-JET-100G or smaller
Applicable wire size (Note 1): AWG 18 to 14

For CNP1
Insulator OD: 3.9 mm or smaller

Servo amplifier power
(1) - (Standard accessory)
connector set CNP1 Open tool
Servo Amplifiers
connector
For MR-JET-200G/
MR-JET-300G
Applicable wire size (Note 1): AWG 16 to 10
Insulator OD: 4.7 mm or smaller
Rotary Servo
0.5 m MR-J2HBUS05M
Motors
For connecting Servo amplifier Junction terminal
Junction terminal block connector block connector
(2) MR-JET-_G and 1m MR-J2HBUS1M
For CN3
cable
PS7DW-20V14B-F
5m MR-J2HBUS5M
Linear Servo
Motors
(3) Connector set For MR-JET-_G - MR-CCN1 Servo amplifier connector
Personal computer
For CN5
Personal computer connector Servo amplifier connector

(4) communication cable For MR-JET-_G 3m MR-J3USBCBL3M A connector mini-B connector (5-pin)
Options/Peripheral
(USB cable)
Equipment
Servo amplifier Battery connector
connector Junction connector
For CN2
(5) Battery branch cable For MR-JET-_G 0.3 m MR-BT6V4CBL03M

Cable length
Encoder side: 0.3 m
Battery side: 0.1 m
LVS/Wires
Notes: 1. The wire size shows wiring specifications of the connector. Refer to "Selection Example in HIV Wires for Servo Motors" in this catalog for examples of wire size selection.
Product List
Precautions
Support
6-19
Details of Option Connectors for Servo Amplifiers

Model CNP1 connector Open tool
Servo amplifier power connector set

For MR-JET-100G or smaller
(standard accessory)
1-2349815-2 1981045-1
(TE Connectivity Ltd. Company) (TE Connectivity Ltd. Company)
Model CNP1 connector Open tool
Servo amplifier power connector set

For MR-JET-200G/
MR-JET-300G
(standard accessory)
1-2349825-8 2349891-1
(TE Connectivity Ltd. Company) (TE Connectivity Ltd. Company)
Model Servo amplifier connector Junction terminal block connector
Connector: 52316-2019 Connector: 52316-2019

Shell kit: 52370-2070 Shell kit: 52370-2070
(Molex, LLC) (Molex, LLC)
MR-J2HBUS_M or an equivalent product or an equivalent product
or or
Press bonding type (Note 2) Press bonding type (Note 2)
Connector: 10120-6000EL Connector: 10120-6000EL
Shell kit: 10320-3210-000 Shell kit: 10320-3210-000
(3M) (3M)
or an equivalent product or an equivalent product
Model Servo amplifier connector

Solder type (Note 1)
Connector: 10120-3000PE
MR-CCN1 Shell kit: 10320-52F0-008
(3M)
or an equivalent product
Model Servo amplifier connector Battery connector Junction connector
MR-BT6V4CBL03M
Receptacle: 36210-0100PL Contact: SPHD-002GW-P0.5 Plug: 36110-3000FD
Shell kit: 36310-3200-008 Housing: PAP-05V-S Shell kit: 36310-F200-008
(3M) (J.S.T. Mfg. Co., Ltd.) (3M)
Notes: 1. The press bonding type (Connector: 10120-6000EL and shell kit: 10320-3210-000) (3M) is also usable. Contact the manufacturer directly.
2. The solder type (connector: 10120-3000PE and shell kit: 10320-52F0-008) (3M) is also usable. Contact the manufacturer directly.
Products on the Market for Servo Amplifiers

Ethernet Cable
Item Model Specifications
For indoor SC-E5EW-S_M _: cable length (100 m max., unit of 1 m)
For indoor and
Ethernet Cable SC-E5EW-S_M-MV _: cable length (45 m max., unit of 1 m) Double shielded cable (Category 5e)
moving part
For indoor/outdoor SC-E5EW-S_M-L _: cable length (100 m max., unit of 1 m)
For details, please contact Mitsubishi Electric System & Service Co., Ltd. OVERSEAS SERVICE SECTION. (Email: [email protected])
* ‌When using CC-Link IE TSN, refer to the website of CC-Link Partner Association for cables on the market other than above.
https://www.cc-link.org/en/
6-20
Regenerative Option
Specifications
Common
Permissible regenerative power [W] (Note 2)
Regenerative option
Built-in MR-RB
Servo amplifier model
regenerative
032 12 14 30 34 50 (Note 1)
resistor
Servo System
40 Ω 40 Ω 26 Ω 13 Ω 26 Ω 13 Ω
Controllers
MR-JET-10G - 30 - - - - -
MR-JET-20G - 30 100 - - - -
MR-JET-40G 10 30 100 - - - -
MR-JET-70G 30 - - 100 - 300 -
MR-JET-100G 30 - - 100 - 300 -
Servo Amplifiers
MR-JET-200G 100 - - - 300 - 500
MR-JET-300G 100 - - - 300 - 500
Notes: 1. Cool the unit forcibly with a cooling fan (92 mm × 92 mm, minimum air flow: 1.0 m3/min). The cooling fan must be prepared by users.
2. The power values in this table are resistor-generated powers, not rated powers.
* Precautions when connecting the regenerative option
Rotary Servo
1. The regenerative option causes a temperature rise of 100 °C or higher relative to the ambient temperature. Fully examine heat dissipation, installation position, wires used before
Motors
installing the unit. Use flame-retardant wires or apply flame retardant on wires, and keep the wires clear of the unit.
2. Use twisted wires for connecting the regenerative option to the servo amplifier, and keep the wire length to a maximum of 5 m.
3. Use twisted wires for connecting a thermal sensor so that the sensor does not fail to work properly because of inducted noise.
Linear Servo
Motors
Options/Peripheral
Equipment
LVS/Wires
Product List
Precautions
Support
6-21
Regenerative Option
Dimensions [Unit: mm Connections
MR-RB032
ø6 mounting
hole
30
15
(6)
(12)
MR-RB032 TE1
G3
G4
5 P
156
168
144
TE1
G3
G4 Applicable wire size (Note 3):
Disconnect the wires for the built-in
P
0.2 mm2 to 2.5 mm2 (AWG 24 to 12)

C
regenerative resistor (P+ and C), and

Mounting screw size: M5 then remove the resistor.
Servo amplifier
12
1.6 Model Mass [kg] Regenerative option

6
6
(20) 99 MR-RB032 0.5 P

119 P+
C C
MR-RB12, MR-RB14 Built-in G3
regenerative
resistor (Note 1) G4 (Note 2)
40 ø6 mounting Terminal arrangement
36 hole 5 m or shorter
TE1
15
(6)
G3
MR-RB
G4
P
C
5 Applicable wire size (Note 3):
156
168
144
TE1 0.2 mm2 to 2.5 mm2 (AWG 24 to 12)

G3
Mounting screw size: M5

G4
P
C
Model Mass [kg]

12
6 2
MR-RB12
1.1
6
(20) 149 MR-RB14

169
Notes: 1. Create a sequence circuit that turns off the magnetic contactor when abnormal overheating occurs.
2. G3 and G4 terminals are thermal sensor. G3-G4 opens when the regenerative option overheats abnormally.
3. The wire size shows wiring specifications of the connector. Refer to "Wires, Molded-Case Circuit Breakers, and Magnetic Contactors" in this catalog for examples of wire
size selection.
6-22
Regenerative Option
Specifications
Common
MR-RB30, MR-RB34
Cooling fan mounting screw (2-M4 screw) (Note 3)

8.5
Servo System
Controllers
P
82.5
150
142
125
C
P
C
G3
G3
G4
30
G4
7 101.5 82.5 Terminal screw size: M4
8.5
10 90 A 318 Mounting screw size: M6
Servo Amplifiers
100 B
Cooling fan intake Disconnect the wires for the built-in

(Note 3) regenerative resistor (P+ and C),
Variable
Mass Servo amplifier and then remove the resistor.
(30)
Model dimensions
[kg] Regenerative option
A B
P+ P
MR-RB30
79
17 335 2.9
MR-RB34 C C
Built-in G3
Rotary Servo
regenerative
MR-RB50 resistor (Note 1) G4 (Note 4)
Motors
5 m or shorter
Cooling fan mounting Cooling fan (Note 2, 3)

49 82.5
12.5
screw
(2-M3 screw) (Note 2)
provided on the Terminal arrangement
opposite side P
7 × 14
162.5
slotted hole C
Linear Servo
G3
Motors
82.5
Cooling fan intake

350
G4
(Note 2)
Terminal screw size: M4
162.5
Mounting screw size: M6

133
2.3 200 A 7 (30) Variable

Mass
12.5
Options/Peripheral
B
12
120 8 Model dimensions
[kg]
Equipment
A B
MR-RB50 17 217 5.6
Notes: 1. Create a sequence circuit that turns off the magnetic contactor when abnormal overheating occurs.
2. When using MR-RB50, cool the unit forcibly with a cooling fan (92 mm × 92 mm, minimum air flow: 1.0 m3/min). The cooling fan must be prepared by users.
3. When MR-RB30 or MR-RB34 is used, it may be necessary to cool the unit forcibly with a cooling fan (92 mm × 92 mm, minimum air flow: 1.0 m3/min), depending on the
operating environment. Refer to "MR-JET User's Manual" for details. The cooling fan must be prepared by users.
4. G3 and G4 terminals are thermal sensor. G3-G4 opens when the regenerative option overheats abnormally.
LVS/Wires
Product List
Precautions
Support
6-23
Replacement Fan Unit (MR-JET-FAN1)

The cooling fan of the 2 kW and 3 kW servo amplifiers has a fan and a fan cover as a unit. Replace the fan unit when the fan needs to
be replaced. Refer to "MR-JET User's Manual" for replacement of the cooling fan.
Servo amplifier model Replacement fan unit model
MR-JET-200G
MR-JET-FAN1
MR-JET-300G
[Products on the Market]

Junction Terminal Block (PS7DW-20V14B-F)
This terminal block is used for wiring signals.
Dimensions [Unit: mm
63
54
44.11
7.62
φ4.5
27
TB.E (φ6)
9.3
60
50
M3×5L Toho Technology Corp.

Kyoto Factory
4.5
Applicable wire: 1.25 mm2 maximum

5
6.2 1.42 M3×6L

4
36.5
27.8
18.8
6-24
Battery (MR-BAT6V1SET-B)
Specifications
Use the battery to configure an absolute position detection system with an HG-KNS/HG-SNS rotary servo motor. MR-BAT6V1 is built in
Common
MR-BAT6V1SET-B.
When the battery life runs out, please replace MR-BAT6V1.
Refer to "MR-JET User's Manual" for installation of the battery.
External appearance Dimensions
Servo System
Controllers
(57)
27.5 54
Servo Amplifiers
38
(49)
Rotary Servo
Mass: 62 g (including MR-BAT6V1 battery)
Motors
MR-BAT6V1
Linear Servo
Motors
Model MR-BAT6V1
Nominal voltage [V] 6
Nominal capacity [mAh] 1650
Lithium content [g] 1.2
Options/Peripheral
Primary battery 2CR17335A (CR17335A × 2 pcs. in series)
Equipment
Mass [g] 34
* ‌MR-BAT6V1 is an assembled battery composed of lithium metal batteries of CR17335A. This battery is not subject to the dangerous goods (Class 9) of the UN Recommendations.
To transport lithium metal batteries and lithium metal batteries contained in equipment, take actions to comply with the following regulations: the United Nations Recommendations
on the Transport of Dangerous Goods, the Technical Instruction (ICAO-TI) by the International Civil Aviation Organization (ICAO), and the International Maritime Dangerous Goods
Code (IMDG Code) by the International Maritime Organization (IMO). To transport the batteries, check the latest standards or the laws of the destination country and take actions.
LVS/Wires
Contact your local sales office for more details.
* Please dispose of the battery according to your local laws and regulations.
Mounting
Product List
Servo amplifier
Precautions
CN2
MR-BAT6V1SET-B
Encoder cable
(Option) (Note 2)
Support
Battery branch cable

MR-BT6V4CBL03M
(Option) (Note 1)
Servo motor
Notes: 1. Refer to "Cables and Connectors for Servo Amplifiers" for details.
2. Refer to "Cables and Connectors for Rotary Servo Motors" for details.
6-25
Radio Noise Filter (FR-BIF)

This filter suppresses noise from the power supply side of the servo amplifier, especially effective for the radio frequency bands of 10
MHz or lower. The FR-BIF is designed to be installed on the input side.

Do not use the FR-BIF on the output side of the servo amplifier.
Wiring should be as short as possible. Grounding is required.
White
Insulate the unused wire when using the FR-BIF with a 1-phase power supply.
Red Blue Green Leakage current: 4 mA
Approx. 300
Terminal Servo
block amplifier
29
ø5 hole MCCB MC
42
L1
Power
4
L2
supply
58 29 7 L3
44
FR-BIF
Line Noise Filter (FR-BSF01)

This filter is effective in suppressing noise emitted from the power supply side or the output side of the servo amplifier, and also in
suppressing high-frequency leakage current (zero-phase current), especially within 0.5 MHz to 5 MHz band.

FR-BSF01 The line noise filters can be mounted on lines of the power supply (L1, L2, and L3) and
of the servo motor power (U, V, and W). Pass each of the wires through the line noise
For wire size of 3.5 mm2 (AWG 12) or smaller
filter an equal number of times in the same direction.
For wires of the power supply, the effect of the filter rises as the number of passes
increases, but generally four passes would be appropriate. For the servo motor power
lines, passes must be four times or less. Do not pass the grounding wire through the
filter. Otherwise, the effect of the filter will drop.
Wind the wires by passing through the filter to satisfy the required number of passes as
(110)
shown in Example 1. If the wires are too thick to wind, use two or more filters to have the
95±0.5
2-ø5 required number of passes as shown in Example 2.
Place the line noise filters as close to the servo amplifier as possible for their best
(22.5)
performance.
(65)
11.25±0.5
Example 1 Example 2
3
ø3
(65)
MCCB MC
4.5
Servo amplifier Servo amplifier

Power L1
supply MCCB MC
L1
L2 Power
L2
supply
L3
L3
Line noise filter Line noise filter
Data Line Filter

This filter is effective in preventing noise when attached to the motor encoder cable, etc.
Example) ESD-SR-250 (manufactured by TOKIN Corporation)
ZCAT3035-1330 (manufactured by TDK)
GRFC-13 (manufactured by Kitagawa Industries Co., Ltd.)
E04SRM563218 (manufactured by Seiwa Electric Mfg. Co., Ltd.)
Surge Killer
Attach surge killers to AC relays and AC valves around the servo amplifier. Attach diodes to DC relays and DC valves.
Example) Surge killer: CR-50500 (manufactured by Okaya Electric Industries Co., Ltd.)
Diode: A
diode with breakdown voltage four or more times greater than the relay drive voltage, and with current capacity two or more times greater than the relay drive
current.
6-26
EMC Filter
Specifications
The following filters are recommended as a filter compliant with the EMC directive for the power supply of the servo amplifier.
Common
A surge protector is separately required to use the filters. Refer to "EMC Installation Guidelines" for details.
Fulfill the following requirements when connecting one or more units of servo amplifiers to one EMC filter.
• Rated voltage [V] of EMC filter ≥ Rated input voltage [V] of servo amplifier
• Rated current [A] of EMC filter ≥ Total rated input current [A] of servo amplifiers connected to EMC filter
Servo System
EMC Filter
Controllers
Operating Total length of servo Rated Rated Operating
Mass
environment motor power cables Model current voltage temperature Fig. Manufacturer
[kg]
[A] [V AC] [℃]
FSB-10-254-HU 10
IEC/EN 61800-3
50 m or shorter FSB-20-254-HU 20 250 -40 to 85 1.8 A COSEL Co., Ltd.
Servo Amplifiers
Category C2/C3 (Note 1)
FSB-30-254-HU 30
HF3010C-SZB 10 0.9
IEC/EN 61800-3
50 m or shorter (Note 2) HF3020C-SZB 20 500 -20 to 50 B Soshin Electric Co., Ltd.
Category C3 (Note 1) 1.3
HF3030C-SZB 30
Notes: 1. Category C2: first environment (residential environment), second environment (commercial, light industrial, and industrial environments)
Category C3: second environment (commercial, light industrial, and industrial environments)
Rotary Servo
2. If the length of the power cable exceeds 20 m, install the radio noise filter (FR-BIF) on the input side of the servo amplifier.
Motors
Connections
3-phase 200 V AC 1-phase 200 V AC
EMC filter Servo amplifier EMC filter Servo amplifier
Linear Servo
IN OUT IN OUT
MCCB MC
Motors
MCCB MC
1 4 L1 1 4 L1
Power Power
2 5 L2 2 5 L2 (Note 1)
supply supply
3 6 L3 3 6 L3
Options/Peripheral
Equipment
Surge protector 1 2 3 Surge protector 1 2 3
(Note 2) (Note 2)
Notes: 1. Connect the power supply to L1 and L3 terminals. Do not connect anything to L2.
2. This is for when a surge protector is connected.
LVS/Wires
Dimensions [Unit: mm
FSB-10-254-HU/FSB-20-254-HU/FSB-30-254-HU HF3010C-SZB/HF3020C-SZB/HF3030C-SZB
240 R2.2
5×6
208 Terminal cover
Product List
M4
(12.5)
2.5 87.5
2-ø5.5 Protective earth (PE)
5.5
Mounting
55±2
66±4
hole
3-M4
19
Output
55
66
(12.5)
9.7
(10.5)
3-M4
Input 210±2 ø4.5 78±4
A M4 B
5.5
220±4
Protective earth (PE)
230 Mounting plate
Precautions
2
SOSHIN
EL. CO.
PBT
100 +4-1
11.5
Support
Surge Protector
Attach surge protectors of RSPD series (manufactured by Okaya Electric Industries Co., Ltd.) or LT-CS-WS series (manufactured by
Soshin Electric Co., Ltd.) to the servo amplifiers.
6-27
Power Factor Improving AC Reactor (FR-HAL)

This boosts the power factor of servo amplifier and reduces the power supply capacity.
Servo amplifier model Power factor improving AC reactor model (Note 1)
MR-JET-10G
FR-HAL-0.4K
MR-JET-20G
MR-JET-40G FR-HAL-0.75K
MR-JET-70G FR-HAL-1.5K
MR-JET-100G (3-phase power supply input) FR-HAL-2.2K
MR-JET-100G (1-phase power supply input)
FR-HAL-3.7K
FR-HAL-5.5K
MR-JET-300G
Notes: 1. When using the power factor improving AC reactor, install one reactor for each servo amplifier.
Connections
3-phase 200 V AC 1-phase 200 V AC
Servo amplifier Servo amplifier

MCCB MC FR-HAL MCCB MC FR-HAL
R X R X
L1 L1
Power S Y Power S Y
L2 L2 (Note 1)
supply supply
T Z T Z
L3 L3
Notes: 1. Connect the power supply to L1 and L3 terminals. Do not connect anything to L2.
Dimensions
R X S Y T Z
D or shorter (Note 2)
4-d mounting hole (Note 1)
Variable dimensions [mm] Mass Terminal

Model
W W1 H D D1 D2 d [kg] screw size
H
FR-HAL-0.4K 104±2 84 99 72 51 40 M5 0.6 M4

FR-HAL-0.75K 104±2 84 99 74 56 44 M5 0.8 M4
FR-HAL-1.5K 104±2 84 99 77 61 50 M5 1.1 M4
FR-HAL-2.2K 115 (Note 2) 40 115 77 71 57 M6 1.5 M4
W1 D2
FR-HAL-3.7K 115 (Note 2) 40 115 83 81 67 M6 2.2 M4
W or shorter D1
FR-HAL-5.5K 115 (Note 2) 40 115 83 81 67 M6 2.3 M4
Notes: 1. Use this mounting hole for grounding.

2. This indicates the maximum dimension. The dimension varies depending on the bending degree of the input/output lines.
6-28
Servo Support Software
Specifications
Drive System Sizing Software Motorizer
Common
Specifications
Item Description
Types of motor/drive Servo, inverter, sensorless servo
Servo System
Ball screws, rack and pinions, roll feeds, rotary tables, carts, elevators/hoists, conveyors, fans, pumps,
Controllers
Types of load mechanism
crank, generic (rotary), generic (linear), linear servo
Types of transmission mechanism Coupling, external gear reducer, V belt and pulley, toothed belt/roller chain
Constant speed/pause, acceleration/deceleration, trapezoid, triangle, speed CSV file,
Operation pattern
MELSOFT GX LogViewer file
Types of input support of moment of
Servo Amplifiers
Solid cylinder, hollow cylinder, disk, rectangular solid, truncated cone, sphere, generic
inertia calculation function
Result, motor type, motor, motor capacity, drive, drive capacity, effective torque,
torque effective load rate, peak torque, peak load rate, effective torque at stop, effective load rate at stop,
motor output, motor output rate, maximum speed, maximum speed rate, maximum load inertia moment,
Sizing results
inertia moment ratio, regenerative power, regenerative load ratio, regenerative option,
maximally increased torque, rated speed, brake, oil seal, structure specification,
Rotary Servo
graph of motor side speed/motor side torque/motor output
Motors
Printing of output of results Prints load mechanism, transmission mechanism, operation pattern, and sizing results.
Load mechanism, transmission mechanism, operation pattern, motor selection, drive selection, and
Data saving
sizing results are saved with a file name.
Operating environment (Note 1)
Linear Servo
Motors
Item Description
Microsoft® Windows® 10 (64-bit/32-bit)
OS Microsoft® Windows® 8.1 (64-bit/32-bit)
Microsoft® Windows® 7 (64-bit/32-bit) [Service Pack1 or later]
Options/Peripheral
.NET Framework .NET Framework 4.6 or later
Equipment
Desktop PC: Intel® Celeron® processor 2.4 GHz or more recommended
CPU
Laptop PC: Intel® Pentium® processor 1.9 GHz or more recommended
1 GB or more recommended (32-bit OS)
Memory
2 GB or more recommended (64-bit OS)
LVS/Wires
Resolution 1024 × 768 or more (XGA)
Monitor
Compatible with above personal computers
Notes: 1. This software may not run correctly on some personal computers.
Product List
Precautions
Support
6-29

MR Configurator2 (SW1DNC-MRC2-E) (Note 1)
MR Configurator2 can be obtained by either of the following:
• ‌Purchase MR Configurator2 alone.
• ‌Purchase GX Works3, EM78 SDK (available soon), or MT Works2: MR Configurator2 is included in GX Works3, EM78 SDK, and
MT Works2 with software version 1.34L or later.
• ‌Download MR Configurator2: If you have MELSOFT iQ Works, GX Works3, GX Works2, MT Works2, EM Software Development Kit,
or CW Configurator, MR Configurator2 is available for free download.
Specification (Note 2)
Item Description
Project New/Open/Save/Save As/Delete Project, Read Other Format, Write Other Format, System Setting, Print
Parameter Parameter setting, axis name setting, parameter converter
Safety Safety parameter setting, Change password, Initialize password
Positioning-data Point Table, Program, Indirect Addressing, Cam Data
Monitor Display All, I/O Monitor, Graph, ABS Data Display
Alarm Display, Alarm Onset Data, Drive recorder, No Motor Rotation, System Configuration, Life Diagnosis,
Diagnosis Machine Diagnosis, Linear Diagnosis, Fully Closed Loop Diagnosis, Gear Failure Diagnosis,
Encoder Communication Diagnosis
JOG Operation, Positioning Operation, Motor-Less Operation, DO Forced Output, Program Operation,
Test Operation
Single-Step Feed, Test Operation Information
Adjustment One-Touch Tuning, Tuning, Machine Analyzer, Advanced Gain Search
Servo Assistant, Update Parameter Setting Range, Machine Unit Conversion Setting, Switch Display
Others
Language, Help
Notes: 1. MELSERVO-JET series is supported by MR Configurator2 with software version 1.105K or later.
2. Supported items vary depending on the servo amplifiers. Refer to "MR Configurator2 SW1DNC-MRC2-E Installation Guide" for details.
Operating environment (Note 1)

Components Description
Microsoft® Windows® 10 Education Microsoft® Windows® 7 Enterprise
Microsoft® Windows® 10 Enterprise Microsoft® Windows® 7 Ultimate
Microsoft® Windows® 10 Pro Microsoft® Windows® 7 Professional
Microsoft® Windows® 10 Home Microsoft® Windows® 7 Home Premium
Microsoft® Windows® 8.1 Enterprise Microsoft® Windows® 7 Starter
OS
Microsoft® Windows® 8.1 Pro
Microsoft® Windows® 8.1
Microsoft® Windows® 8 Enterprise
Microsoft® Windows® 8 Pro
Microsoft® Windows® 8
Desktop PC: Intel® Celeron® processor 2.8 GHz or more
CPU (recommended)
Laptop PC: Intel® Pentium® M processor 1.7 GHz or more
Memory (recommended) 1 GB or more (32-bit OS), 2 GB or more (64-bit OS)
Free hard disk space 1.5 GB or more
Resolution 1024 × 768 or more, 16-bit high color,
Monitor
Compatible with above personal computers
USB cable MR-J3USBCBL3M
Notes: 1. This software may not run correctly on some personal computers.
6-30
Unit Conversion Table
Specifications
Common
Quantity SI (metric) unit U.S. customary unit
Mass 1 [kg] 2.2046 [lb]
Length 1 [mm] 0.03937 [in]
Torque 1 [N•m] 141.6 [oz•in]
Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•in2]
Servo System
Controllers
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature n [°C] n × 9/5 + 32 [°F]
Servo Amplifiers
Rotary Servo
Motors
Linear Servo
Motors
Options/Peripheral
Equipment
LVS/Wires
Product List
Precautions
Support
6-31
MEMO
6-32
7 Low-Voltage Switchgear/
Wires
Wires, Molded-Case Circuit Breakers, and Magnetic Contactors 7-2
Selection Example Compliant with IEC/EN/UL 61800-5-1 and CSA C22.2 No. 274 7-3
Type E Combination Motor Controller 7-3
Selection Example in HIV Wires for Servo Motors 7-4
* Low-voltage switchgears/wires for servo amplifiers are the same regardless of the network. Refer to the servo amplifiers with the same rated capacity.
7-1
Low-Voltage Switchgear/Wires
Wires, Molded-Case Circuit Breakers, and Magnetic Contactors

The following are examples of wire sizes when 600 V grade heat-resistant polyvinyl chloride insulated wires (HIV wires) are used.
The wire size for U, V, W, and E varies depending on the servo motor. Refer to "Selection Example in HIV Wires for Servo Motors" in
this catalog for details on wires for each servo motor.
Molded-case circuit Magnetic contactor Wire size [mm2] (Note 4)
breaker (Note 4, 5, 6, 7) (Note 2, 5)
L1, L2, L3, P+, C U, V, W, E
30 A frame 5 A
MR-JET-10G S-T10
(30 A frame 5 A)
30 A frame 5 A
MR-JET-20G S-T10
(30 A frame 5 A)
30 A frame 10 A
MR-JET-40G S-T10
(30 A frame 5 A)
30 A frame 15 A
MR-JET-70G S-T10 AWG 18 to 14 (Note 3)
(30 A frame 10 A)
MR-JET-100G 2 (AWG 14)
30 A frame 15 A
(3-phase power S-T10
(30 A frame 10 A)
supply input)
2 (AWG 14) (Note 1)
MR-JET-100G
30 A frame 15 A
(30 A frame 15 A)
supply input)
MR-JET-200G
30 A frame 20 A
(30 A frame 20 A)
supply input)
MR-JET-200G
30 A frame 20 A AWG 16 to 10 (Note 3)
(30 A frame 20 A)
supply input) 3.5 (AWG 12)
30 A frame 30 A
MR-JET-300G S-T21
(30 A frame 30 A)
Notes: 1. Keep the wire length to the regenerative option within 5 m.
2. Use a magnetic contactor with an operation delay time of 80 ms or less. The operation delay time is the time interval from current being applied to the coil until closure of
contacts.
3. The wire size shows applicable size for the servo amplifier connector.
4. When complying with IEC/EN/UL/CSA standard, "Selection Example Compliant with IEC/EN/UL 61800-5-1 and CSA C22.2 No. 274" in this catalog.
5. Install one molded-case circuit breaker and one magnetic contactor for each servo amplifier.
6. Use a molded-case circuit breaker having the operation characteristics equal to or higher than Mitsubishi Electric general-purpose products.
7. When using a power factor improving AC reactor, use a molded-case circuit breaker listed in the brackets.
7-2
Selection Example Compliant with IEC/EN/UL 61800-5-1 and CSA C22.2 No. 274
Specifications
The molded-case circuit breakers, semiconductor fuses, and recommended wire sizes in the table are examples based on the rated
Common
inputs/outputs of the servo amplifiers. Molded-case circuit breakers (MCCB) or semiconductor fuses with a smaller capacity than in the
table can be used when a servo motor with a smaller capacity is connected to the servo amplifiers.
Molded-case circuit breakers/semiconductor fuses
Servo System
Molded-case circuit breaker (240 V AC) Semiconductor fuse (700 V)
Controllers
SCCR 50 kA (Mitsubishi Electric) SCCR 100 kA (BUSSMAN) (Note 1)
MR-JET-10G
MR-JET-20G
NF125-SVU-15A (125 A frame 15 A) 170M1408 (10 A)
MR-JET-40G
Servo Amplifiers
MR-JET-70G
MR-JET-100G (3-phase power input) NF125-SVU-15A (125 A frame 15 A) 170M1409 (16 A)
MR-JET-100G (1-phase power input)
MR-JET-300G
Rotary Servo
Notes: 1.
When complying with UL/CSA standard, use semiconductor fuses.
Motors
Recommended wires
75 ℃ stranded wire [AWG]
L1, L2, L3, P+, C U, V, W, E (Note 1)
Linear Servo
MR-JET-10G
Motors
MR-JET-20G
MR-JET-40G
14
MR-JET-70G
14 14
MR-JET-100G
Options/Peripheral
Equipment
12
MR-JET-300G
Notes: 1.
For connecting a servo motor with a smaller capacity than a servo amplifier rated capacity, a wire size based on the rated current of the servo motor can be selected in
addition to the recommended wire size.
Type E Combination Motor Controller
LVS/Wires
The Type E Combination Motor Controller is comprised of the Manual Motor Starter, Short-circuit Display Unit "UT-TU", and Power Side
Terminal Cover Kit "UT-CV3".
Motor circuit breaker
Rated input
Servo amplifier model Input phase (Note 2) Model Rated voltage Rated current [A] SCCR [kA] (Note 1)
voltage AC [V]
Product List
(Mitsubishi Electric) AC [V] (Heater design)
MR-JET-10G 1.6
MR-JET-20G 2.5
MR-JET-40G 4
50
MR-JET-70G 200 to 240 3-phase MMP-T32 240 6.3
MR-JET-100G 8
Precautions
MR-JET-200G 18
MR-JET-300G 25 25
Notes: 1. The value is applicable when the motor circuit breaker is combined with the servo amplifier.
2. 1-phase power input is not supported.
Support
7-3
Selection Example in HIV Wires for Servo Motors

The following are examples of wire sizes when 600 V grade heat-resistant polyvinyl chloride insulated wires (HIV wires) with a length
of 30 m are used. Refer to "Rotary Servo Motor User's Manual" when using cab-tire cables for supplying power (U, V, and W) to HG-SNS
series.
Wire size [mm2]
Rotary servo motor model For power and grounding
For electromagnetic brake (B1, B2)
(U, V, W, E)
HG-KNS13J, 23J, 43J, 73J 0.75 (AWG 18) (Note 1, 2, 3) 0.5 (AWG 20) (Note 4, 6)
HG-SNS52J, 102J 1.25 (AWG 16) (Note 5)
HG-SNS152J, 202J 2 (AWG 14) 1.25 (AWG 16)
HG-SNS302J 3.5 (AWG 12)
Wire size [mm2]

For power and grounding
Primary side For thermistor (G1, G2)
(U, V, W, E)
LM-H3P2A-07P-BSS0 1.25 (AWG 16)
LM-H3P3A-12P-CSS0 1.25 (AWG 16)
LM-H3P3B-24P-CSS0 1.25 (AWG 16)
LM-H3P3C-36P-CSS0 1.25 (AWG 16)
0.2 (AWG 24)
LM-H3P3D-48P-CSS0 2 (AWG 14)
LM-H3P7A-24P-ASS0 1.25 (AWG 16)
LM-H3P7B-48P-ASS0 2 (AWG 14)
LM-H3P7C-72P-ASS0 2 (AWG 14)
Wire size [mm2]

For power and grounding
Primary side For thermal protector
(U, V, W, E)
LM-AJP1B-07K-JSS0
LM-AJP1D-14K-JSS0
LM-AJP2B-12S-JSS0
LM-AJP2D-23T-JSS0
1.25 (AWG 16) 0.2 (AWG 24)
LM-AJP3B-17N-JSS0
LM-AJP3D-35R-JSS0
LM-AJP4B-22M-JSS0
LM-AJP4D-45N-JSS0
Notes: 1. Use fluorine resin wires of 0.75 mm2 (AWG 18) for wiring to the servo motor power supply.
2. This size is applicable for wiring length of 10 m or shorter. For over 10 m, use MR-PWS2CBL03M-A_-L and extend it with HIV wires of 1.25 mm2 (AWG 16).
3. When complying with UL/CSA standard, use MR-PWS2CBL03M-A_-L and extend it with HIV wires of 2 mm2 (AWG 14). When not using a power cable provided by
Mitsubishi Electric or Mitsubishi Electric System & Service Co., Ltd., use an RHH, RHW, RHW-2, XHH, XHHW, or XHHW-2 cable with thermosetting insulation. These
insulation types are defined in the NEC.
4. Use fluorine resin wires of 0.5 mm2 (AWG 20) for wiring to the electromagnetic brake.
5. When complying with UL/CSA standard, use 2 mm2 (AWG 14). Refer to "Rotary Servo Motor User's Manual" for details.
6. This size is applicable for wiring length of 10 m or shorter. For over 10 m, extend the wires with HIV wires of 1.25 mm2 (AWG 16).
7-4
Common Servo System Rotary Servo Linear Servo Options/Peripheral
Servo Amplifiers LVS/Wires Product List Precautions Support
Specifications Controllers Motors Motors Equipment
7-5
MEMO
Product List
Servo system controllers

Item Model Application
RD78G4 Maximum number of control axes: 4 axes CC-Link IE TSN master station
Motion module RD78G32 Maximum number of control axes: 32 axes CC-Link IE TSN master station
RD78GHV Maximum number of control axes: 128 axes (Note 1) CC-Link IE TSN master station
RD78GHW Maximum number of control axes: 256 axes (Note 1) CC-Link IE TSN master station
Notes: 1. When the controller is connected to MR-JET-G, the number of the maximum control axes is 120.
Engineering software
MELSOFT iQ Works SW2DND-IQWK-E FA Engineering Software
MELSOFT GX Works3 SW1DND-GXW3-E Programmable Controller Engineering Software (including motion control setting)
8-1
Product List
Servo amplifiers
Specifications
Item Model Rated output Power supply input
Common
MR-JET-10G 0.1 kW 3-phase or 1-phase 200 V AC to 240 V AC
MR-JET-G MR-JET-70G 0.75 kW 3-phase or 1-phase 200 V AC to 240 V AC
MR-JET-100G 1 kW 3-phase or 1-phase 200 V AC to 240 V AC
Servo System
MR-JET-200G 2 kW 3-phase or 1-phase 200 V AC to 240 V AC
Controllers
MR-JET-300G 3 kW 3-phase 200 V AC to 240 V AC
MR-JET-10G-N1 0.1 kW 3-phase or 1-phase 200 V AC to 240 V AC
MR-JET-G-N1 MR-JET-70G-N1 0.75 kW 3-phase or 1-phase 200 V AC to 240 V AC
Servo Amplifiers
MR-JET-100G-N1 1 kW 3-phase or 1-phase 200 V AC to 240 V AC
MR-JET-200G-N1 2 kW 3-phase or 1-phase 200 V AC to 240 V AC
MR-JET-300G-N1 3 kW 3-phase 200 V AC to 240 V AC
Rotary servo motors

Item Model Rated output Rated speed
Rotary Servo
HG-KNS13(B)J 0.1 kW 3000 r/min
HG-KNS series
Motors
With an oil seal
B: With an electromagnetic brake HG-KNS43(B)J 0.4 kW 3000 r/min
HG-KNS13(B) 0.1 kW 3000 r/min
HG-KNS series
Without an oil seal
B: With an electromagnetic brake HG-KNS43(B) 0.4 kW 3000 r/min
Linear Servo
Motors
HG-SNS52(B)J 0.5 kW 2000 r/min
HG-SNS series HG-SNS102(B)J 1.0 kW 2000 r/min
With an oil seal HG-SNS152(B)J 1.5 kW 2000 r/min
B: With an electromagnetic brake HG-SNS202(B)J 2.0 kW 2000 r/min
Options/Peripheral
HG-SNS302(B)J 3.0 kW 2000 r/min
HG-SNS52(B) 0.5 kW 2000 r/min
Equipment
HG-SNS series HG-SNS102(B) 1.0 kW 2000 r/min
Without an oil seal HG-SNS152(B) 1.5 kW 2000 r/min
B: With an electromagnetic brake HG-SNS202(B) 2.0 kW 2000 r/min
HG-SNS302(B) 3.0 kW 2000 r/min
LVS/Wires
Product List
Precautions
Support
8-2
Product List
Linear servo motors

Item Model Continuous thrust Maximum thrust Maximum speed Length
LM-H3P2A-07P-BSS0 70 N 175 N 3.0 m/s ―
LM-H3P3A-12P-CSS0 120 N 300 N 3.0 m/s ―
LM-H3P3B-24P-CSS0 240 N 600 N 3.0 m/s ―
LM-H3 series LM-H3P3C-36P-CSS0 360 N 900 N 3.0 m/s ―
primary side (coil) LM-H3P3D-48P-CSS0 480 N 1200 N 3.0 m/s ―
LM-H3P7A-24P-ASS0 240 N 600 N 3.0 m/s ―
LM-H3P7B-48P-ASS0 480 N 1200 N 3.0 m/s ―
LM-H3P7C-72P-ASS0 720 N 1800 N 3.0 m/s ―
LM-H3S20-288-BSS0 ― ― ― 288 mm
LM-H3S20-384-BSS0 ― ― ― 384 mm
LM-H3S20-480-BSS0 ― ― ― 480 mm
LM-H3S20-768-BSS0 ― ― ― 768 mm
LM-H3S30-288-CSS0 ― ― ― 288 mm
LM-H3 series LM-H3S30-384-CSS0 ― ― ― 384 mm
secondary side (magnet) LM-H3S30-480-CSS0 ― ― ― 480 mm
LM-H3S30-768-CSS0 ― ― ― 768 mm
LM-H3S70-288-ASS0 ― ― ― 288 mm
LM-H3S70-384-ASS0 ― ― ― 384 mm
LM-H3S70-480-ASS0 ― ― ― 480 mm
LM-H3S70-768-ASS0 ― ― ― 768 mm
LM-AJP1B-07K-JSS0 68.1 N 214.7 N 6.5 m/s ―
LM-AJP1D-14K-JSS0 136.2 N 429.4 N 6.5 m/s ―
LM-AJP2B-12S-JSS0 117.0 N 369.0 N 4.0 m/s ―
LM-AJ series LM-AJP2D-23T-JSS0 234.0 N 738.1 N 5.0 m/s ―
primary side (coil) LM-AJP3B-17N-JSS0 174.5 N 550.2 N 2.5 m/s ―
LM-AJP3D-35R-JSS0 348.9 N 1100.4 N 3.5 m/s ―
LM-AJP4B-22M-JSS0 223.4 N 704.5 N 2.0 m/s ―
LM-AJP4D-45N-JSS0 446.8 N 1409.1 N 2.5 m/s ―
LM-AJS10-080-JSS0 ― ― ― 80 mm
LM-AJS10-200-JSS0 ― ― ― 200 mm
LM-AJS10-400-JSS0 ― ― ― 400 mm
LM-AJS20-080-JSS0 ― ― ― 80 mm
LM-AJS20-200-JSS0 ― ― ― 200 mm
LM-AJ series LM-AJS20-400-JSS0 ― ― ― 400 mm
secondary side (magnet) LM-AJS30-080-JSS0 ― ― ― 80 mm
LM-AJS30-200-JSS0 ― ― ― 200 mm
LM-AJS30-400-JSS0 ― ― ― 400 mm
LM-AJS40-080-JSS0 ― ― ― 80 mm
LM-AJS40-200-JSS0 ― ― ― 200 mm
LM-AJS40-400-JSS0 ― ― ― 400 mm
8-3
Product List
Encoder cables/Junction cables for rotary servo motors
Specifications
IP
Common
Item Model Length Bending life Application
rating
MR-J3ENCBL2M-A1-H 2m Long bending life IP65 For HG-KNS (direct connection type)
Encoder cable MR-J3ENCBL10M-A1-H 10 m Long bending life IP65 For HG-KNS (direct connection type)
(load-side lead) MR-J3ENCBL2M-A1-L 2m Standard IP65 For HG-KNS (direct connection type)
Servo System
MR-J3ENCBL5M-A1-L 5m Standard IP65 For HG-KNS (direct connection type)
Controllers
MR-J3ENCBL10M-A1-L 10 m Standard IP65 For HG-KNS (direct connection type)
Encoder cable MR-J3ENCBL10M-A2-H 10 m Long bending life IP65 For HG-KNS (direct connection type)
(opposite to load-side lead) MR-J3ENCBL2M-A2-L 2m Standard IP65 For HG-KNS (direct connection type)
Servo Amplifiers
MR-J3ENCBL5M-A2-L 5m Standard IP65 For HG-KNS (direct connection type)
MR-J3ENCBL10M-A2-L 10 m Standard IP65 For HG-KNS (direct connection type)
Encoder cable
MR-J3JCBL03M-A1-L (Note 1) 0.3 m Standard IP20 For HG-KNS (junction type)
(load-side lead)
Encoder cable
MR-J3JCBL03M-A2-L (Note 1) 0.3 m Standard IP20 For HG-KNS (junction type)
(opposite to load-side lead)
(Note 2)
MR-EKCBL20M-H 20 m Long bending life IP20 For HG-KNS (junction type)
Rotary Servo
MR-EKCBL30M-H (Note 2) 30 m Long bending life IP20 For HG-KNS (junction type)
Motors
Encoder cable
MR-EKCBL20M-L (Note 2) 20 m Standard IP20 For HG-KNS (junction type)
MR-EKCBL30M-L (Note 2) 30 m Standard IP20 For HG-KNS (junction type)
Encoder cable MR-J3JSCBL03M-A1-L
0.3 m Standard IP65 For HG-KNS (junction type)
(load-side lead) (Note 3)
Linear Servo
Motors
Encoder cable MR-J3JSCBL03M-A2-L
(Note 3) 0.3 m Standard IP65 For HG-KNS (junction type)
(opposite to load-side lead)
MR-J3ENSCBL2M-H (Note 4) 2m Long bending life IP67
MR-J3ENSCBL5M-H (Note 4) 5m Long bending life IP67
MR-J3ENSCBL10M-H (Note 4) 10 m Long bending life IP67
For HG-KNS (junction type),
Options/Peripheral
For HG-SNS (direct connection type)
Equipment
(Note 4)
MR-J3ENSCBL30M-H 30 m Long bending life IP67
Encoder cable
MR-J3ENSCBL2M-L (Note 4) 2m Standard IP67
MR-J3ENSCBL5M-L (Note 4) 5m Standard IP67
For HG-KNS (junction type),
MR-J3ENSCBL10M-L (Note 4) 10 m Standard IP67
For HG-SNS (direct connection type)
LVS/Wires
(Note 4)
MR-J3ENSCBL20M-L 20 m Standard IP67
MR-J3ENSCBL30M-L (Note 4) 30 m Standard IP67
Encoder connector sets/Junction connector sets for rotary servo motors

IP
Item Model Description Application
rating
Product List
Junction connector × 1
Encoder connector set MR-ECNM (Note 2) IP20 For HG-KNS (junction type)
Servo amplifier connector × 1
Straight type
Encoder connector set (Note 4) Junction connector or encoder For HG-KNS (junction type),
MR-J3SCNS IP67
(one-touch connection type) connector × 1 For HG-SNS (direct connection type)
Precautions
Straight type
MR-ENCNS2 Encoder connector × 1 IP67 For HG-SNS
(screw type)
Angle type
MR-J3SCNSA Encoder connector × 1 IP67 For HG-SNS
(one-touch connection type)
Angle type
Support
MR-ENCNS2A Encoder connector × 1 IP67 For HG-SNS

(screw type)
Notes: 1. Use this cable in combination with MR-EKCBL_M-H, MR-EKCBL_M-L, or MR-ECNM.
2. Use this cable or connector set in combination with MR-J3JCBL03M-A1-L or MR-J3JCBL03M-A2-L.
3. Use this cable in combination with MR-J3ENSCBL_M-H, MR-J3ENSCBL_M-L, or MR-J3SCNS.
4. When using this cable or connector set for HG-KNS series, use it in combination with MR-J3JSCBL03M-A1-L or MR-J3JSCBL03M-A2-L.
8-4
Product List
Power cables for rotary servo motors

IP
rating
MR-PWS1CBL2M-A1-H 2m Long bending life IP65 For HG-KNS (direct connection type)
Power cable MR-PWS1CBL10M-A1-H 10 m Long bending life IP65 For HG-KNS (direct connection type)
(load-side lead, lead-out) MR-PWS1CBL2M-A1-L 2m Standard IP65 For HG-KNS (direct connection type)
MR-PWS1CBL5M-A1-L 5m Standard IP65 For HG-KNS (direct connection type)
MR-PWS1CBL10M-A1-L 10 m Standard IP65 For HG-KNS (direct connection type)
Power cable MR-PWS1CBL10M-A2-H 10 m Long bending life IP65 For HG-KNS (direct connection type)
(opposite to load-side lead, lead-out) MR-PWS1CBL2M-A2-L 2m Standard IP65 For HG-KNS (direct connection type)
MR-PWS1CBL5M-A2-L 5m Standard IP65 For HG-KNS (direct connection type)
MR-PWS1CBL10M-A2-L 10 m Standard IP65 For HG-KNS (direct connection type)
Power cable
MR-PWS2CBL03M-A1-L 0.3 m Standard IP55 For HG-KNS (junction type)
(load-side lead, lead-out)
Power cable
MR-PWS2CBL03M-A2-L 0.3 m Standard IP55 For HG-KNS (junction type)
(opposite to load-side lead, lead-out)
Power connector sets for rotary servo motors

IP
rating
Straight type
MR-PWCNS4 IP67 For HG-SNS52J, 102J, 152J
Power connector × 1
Power connector set
Straight type
MR-PWCNS5 IP67 For HG-SNS202J, 302J
Power connector × 1
Electromagnetic brake cables for rotary servo motors

IP
rating
MR-BKS1CBL2M-A1-H 2m Long bending life IP65 For HG-KNS (direct connection type)
Electromagnetic brake cable MR-BKS1CBL10M-A1-H 10 m Long bending life IP65 For HG-KNS (direct connection type)
(load-side lead, lead-out) MR-BKS1CBL2M-A1-L 2m Standard IP65 For HG-KNS (direct connection type)
MR-BKS1CBL5M-A1-L 5m Standard IP65 For HG-KNS (direct connection type)
MR-BKS1CBL10M-A1-L 10 m Standard IP65 For HG-KNS (direct connection type)
Electromagnetic brake cable MR-BKS1CBL10M-A2-H 10 m Long bending life IP65 For HG-KNS (direct connection type)
(opposite to load-side lead, lead-out) MR-BKS1CBL2M-A2-L 2m Standard IP65 For HG-KNS (direct connection type)
MR-BKS1CBL5M-A2-L 5m Standard IP65 For HG-KNS (direct connection type)
MR-BKS1CBL10M-A2-L 10 m Standard IP65 For HG-KNS (direct connection type)
MR-BKS2CBL03M-A1-L 0.3 m Standard IP55 For HG-KNS (junction type)
(load-side lead, lead-out)
MR-BKS2CBL03M-A2-L 0.3 m Standard IP55 For HG-KNS (junction type)
(opposite to load-side lead, lead-out)
Electromagnetic brake connector sets for rotary servo motors

IP
rating
Electromagnetic brake connector set Straight type
MR-BKCNS1 IP67 For HG-SNS
(one-touch connection type) Electromagnetic brake connector × 1
Electromagnetic brake connector set Straight type
MR-BKCNS2 IP67 For HG-SNS
(screw type) Electromagnetic brake connector × 1
Electromagnetic brake connector set Angle type
MR-BKCNS1A IP67 For HG-SNS
(one-touch connection type) Electromagnetic brake connector × 1
Electromagnetic brake connector set Angle type
MR-BKCNS2A IP67 For HG-SNS
(screw type) Electromagnetic brake connector × 1
8-5
Product List
Encoder cables/Encoder connector sets for linear servo motors
Specifications
IP
Common
rating
MR-EKCBL2M-H 2m Long bending life IP20 For connecting a linear encoder
Encoder cable
MR-EKCBL5M-H 5m Long bending life IP20 For connecting a linear encoder
MR-ECNM - - IP20 For connecting a linear encoder
MR-J3CN2 - - - For connecting a linear encoder
Servo System
Controllers
Junction terminal block cables/Connector sets
Item Model Length Application
MR-J2HBUS05M 0.5 m For connecting MR-JET-G(-N1) and PS7DW-20V14B-F (Toho Technology Corp.)
Junction terminal block cable
MR-J2HBUS1M 1m For connecting MR-JET-G(-N1) and PS7DW-20V14B-F (Toho Technology Corp.)
(For PS7DW-20V14B-F)
MR-J2HBUS5M 5m For connecting MR-JET-G(-N1) and PS7DW-20V14B-F (Toho Technology Corp.)
Servo Amplifiers
Connector set MR-CCN1 - For connecting MR-JET-G(-N1) and PS7DW-20V14B-F (Toho Technology Corp.)
Regenerative options
Item Model Specifications Application
Permissible regenerative power: 30 W,
MR-RB032 For MR-JET-10G(-N1) to MR-JET-40G(-N1)
resistance value: 40 Ω
Rotary Servo
MR-RB12 For MR-JET-20G(-N1) and MR-JET-40G(-N1)
Motors
Regenerative option
Linear Servo
Motors
Battery/Battery branch cable
Options/Peripheral
Equipment
MR-BAT6V1SET-B - For MR-JET-_G(-N1)
Battery
MR-BAT6V1 - For MR-BAT6V1SET-B
Battery branch cable MR-BT6V4CBL03M 0.3 m For connecting MR-JET-_G(-N1) and MR-BAT6V1SET-B
Replacement fan unit

LVS/Wires
Replacement fan unit MR-JET-FAN1 For MR-JET-200G(-N1) and MR-JET-300G(-N1)
Peripheral cable
Personal computer
Product List
communication cable MR-J3USBCBL3M 3m For MR-JET-G(-N1)
(USB cable)

MELSOFT MR Configurator2 SW1DNC-MRC2-E Servo setup software for AC servo
Precautions
Support
8-6
Precautions
For your safety

●●To use the products given in this catalog safely, be sure to read the
CAUTION
User's Manuals and the appended document prior to use.
●●In this catalog, the safety instruction levels are classified into [Transportation/installation]
"WARNING" and "CAUTION". ●●To prevent injury, transport the products correctly according to their
mass.
Indicates that incorrect handling may cause ●●To prevent injury, do not touch the sharp edges of the servo motor,
WARNING hazardous conditions, resulting in death or shaft keyway, or others with bare hands when handling the servo
severe injury. motor.
●●For the linear servo motor, attraction force is generated between the
Indicates that incorrect handling may cause permanent magnet on the secondary side and the magnetic materials.
CAUTION hazardous conditions, resulting in medium To prevent injury to fingers and other body parts due to the attraction
or slight injury. force between the secondary side and the magnetic material side,
Note that the CAUTION level may lead to a serious consequence take special care in handling the linear servo motor.
depending on conditions.
Magnetic materials
Please follow the instructions of both levels because they are important Secondary side
such as iron
to personnel safety.
Safety instructions
Magnetic attraction force: 5 t max.

WARNING
[Operation]
[Wiring] ●●To prevent injury, do not touch the rotor of the servo motor during
●●To prevent an electric shock, turn off the servo amplifier power and operation.
wait for 15 minutes or more before starting wiring and/or inspection. [Disposal of linear servo motors]
●●To prevent an electric shock, ground the servo amplifier. ●●To prevent burn injury, do not touch the secondary side after the
●●To prevent an electric shock, any person who is involved in wiring demagnetization of the secondary side by heating over 300 ˚C until it
should be fully competent to do the work. becomes cool enough.
●●To prevent an electric shock, mount the servo amplifier and the servo
motor before wiring.
●●To prevent an electric shock, connect the grounding wire to the cabinet
protective earth (PE) terminal via the servo amplifier protective earth
(PE) terminal.
●●To prevent an electric shock, do not touch the conductive parts.
●●To prevent an electric shock and burn injury, do not operate the servo
amplifier and the servo motor with wet hands.
[Operation]
[Maintenance]
●●To prevent an electric shock, any person who is involved in wiring
should be fully competent to do the work.
9-1
Precautions
●●When installing multiple servo amplifiers in a row in a sealed cabinet,

For proper use
Specifications
leave space around the servo amplifiers as described in User's
Common
●●To use the products given in this catalog properly, be sure to read the Manuals. To ensure the life and reliability of the servo amplifiers,
User's Manuals and the appended document prior to use. prevent heat accumulation by keeping space as open as possible
●●In this catalog, instructions for incorrect handling which may cause toward the top plate.
physical damage, instructions for other functions, and so on are ●●Do not disassemble, repair, or modify the product.
classified into "NOTICES".
[Environment]
Servo System
Controllers
●●Use the servo amplifier and the servo motor in the designated
NOTICES environment.
●●Avoid installing the servo amplifier and the servo motor in areas with
[Model selection] oil mist or dust. When installing in such areas, be sure to enclose the
●●Select a rotary servo motor which has the rated torque equal to or servo amplifier in a sealed cabinet, and protect the servo motor by
Servo Amplifiers
higher than the continuous effective torque. furnishing a cover or by taking similar measures.
●●Select a linear servo motor which has the continuous thrust equal to ●●In the condition where cutting fluid or lubricating oil are constantly
or higher than the continuous effective load thrust. applied, and condensation occurs due to excessive humidity,
●●When the linear servo motor is used for vertical axis, it is necessary to continuous operation of the servo motor for a long period of time may
have an anti-drop mechanism using springs and counter balances in result in the deterioration on the insulation of the servo motor. Provide
the machine side. measures such as oil proof, dust proof cover, and dew condensation
Rotary Servo
●●For the system where the unbalanced torque occurs, such as a prevention to protect the servo motor.
Motors
vertical axis, the unbalanced torque of the machine should be kept at [Wiring]
70 % or lower of the rated torque.
●●The grounding must be connected to prevent faults such as a position
●●Create operation patterns by Speed mismatch.
Command pattern
considering the settling time
Actual servo motor ●●Do not supply power to the output terminals (U/V/W) of the servo
(ts) to complete positioning. operation amplifier or the input terminals (U/V/W) of the servo motor.
Linear Servo
●●Load to motor inertia ratio or Doing so damages the servo amplifier and the servo motor.
Motors
load to mass ratio must be Time
Command time ts ●●To prevent abnormal operation and malfunction, connect the servo
below the recommended ratio.
Positioning time amplifier power outputs (U/V/W) to the servo motor power inputs (U/
If the ratio is too large,
V/W) directly. Do not connect a magnetic contactor and others
the expected performance may not be achieved, and the dynamic
between them.
Options/Peripheral
brake may be damaged.
●●The phases (U/V/W) of the servo amplifier power outputs and the
Equipment
●●Use the servo motor with the specified servo amplifier. phases (U/V/W) of the servo motor power inputs should match with
[Transportation/installation] each other.
●●To prevent a malfunction, do not drop or strike the servo amplifier and ●●Check the wiring and sequence program thoroughly before switching
servo motor. the power on.
●●When fumigants that contain halogen materials, such as fluorine, ●●Carefully select the cable clamping method, and make sure that
bending stress and the stress of the cable's own weight are not
LVS/Wires
chlorine, bromine, and iodine, are used for disinfecting and protecting
wooden packaging from insects, they cause a malfunction when applied on the cable connection section.
entering our products. Please take necessary precautions to ensure ●●In an application where the servo motor moves, determine the cable
that any residual materials from fumigant do not enter our products, or bending radius based on the cable bending life and wire type.
perform disinfection and pest control using methods other than ●●To prevent malfunction, avoid bundling the servo amplifier's power lines
fumigation, such as heat treatment. Perform disinfection and pest (input/output) and signal cables together or running them in parallel to
Product List
control at timbering stage before packing the products. each other. Separate the power lines from the signal cables.
●●Do not get on or place heavy objects on the servo amplifier or the
[Initial settings]
servo motor.
●●Set the control mode by the controller.
●●The system must withstand high speeds and high acceleration/
●●When using the regenerative option, change [Pr. PA02.0-1]. The
deceleration.
regenerative option is disabled as default.
●●To enable high-accuracy positioning, ensure the machine rigidity, and
Precautions
keep the machine resonance point at a high level. [Operation]

●●Install the servo amplifier and the servo motor on incombustible ●●Do not use a product which is damaged or has missing parts. In that
material. Installing them directly or close to combustibles will lead to case, replace the product.
smoke or a fire. In addition, the servo amplifier must be installed in a ●●Turn on the stroke limit signals (FLS and RLS), or the stroke end
metal cabinet. signals (LSP and LSN) in position or speed control mode. The servo
●●The regenerative option becomes hot (the temperature rise of 100 °C motor will not start if the signals are off.
Support
or higher) with frequent use. Do not install within combustibles or ●●When a magnetic contactor is installed on the primary side of the
objects subject to thermal deformation. Make sure that wires do not servo amplifier, do not perform frequent starts and stops with the
come into contact with the unit. magnetic contactor. Doing so may damage the servo amplifier.
●●Securely fix the servo motor onto the machine. If attached insecurely, ●●Do not use the dynamic brake to stop in a normal operation as it is
the motor may come off during operation. the function to stop in emergency.
●●Install electrical and mechanical stoppers at the stroke end. ●●Note that the number of operation times of the dynamic brake is
●●Mount the servo amplifier on a perpendicular wall in the correct limited. For example, when a machine operates at the recommended
vertical direction. load to motor inertia ratio or less and decelerates from the rated
●●To prevent a malfunction, do not block the intake and exhaust areas speed to a stop once in 10 minutes, the estimated number of
of the servo amplifier. operation times is 1000.
9-2
Precautions
●●If the protective functions of the servo amplifier activate, turn the ●●One who uses a medical device like a pacemaker must keep away
power off immediately. Remove the cause before turning the power from the product and equipment.
on again. ●●Do not wear metals such as watches, pierced earrings, necklaces,
●●The servo amplifier, the regenerative resistor, and the servo motor etc.
can be very hot during or after operation. Take safety measures such ●●Do not put magnetic cards, watches, portable phones, etc. close to
as covering them. the motor.
[Maintenance] ●●Place a caution sign such as "CAUTION! POWERFUL MAGNET" to
give warning against the machine.
●●When an error occurs, ensure safety by turning the power off, etc.,
before dealing with the error. Otherwise, it may cause an accident. ●●Use non-magnetic tools, when installing or working near the linear
servo motor.
●●Before wiring or inspection, turn off the power, wait for 15 minutes or
e.g., explosion-proof beryllium copper alloy safety tools
more until the charge light turns off.
(BEALON manufactured by NGK Insulators, Ltd.)
●●In a maintenance inspection, make sure that the emergency stop
circuit operates properly such that an operation can be stopped ●●If the linear servo motor is used in such an environment where there
is magnetic powder, the powder may adhere to the permanent
immediately and a power can be shut off by the emergency stop
magnets of the secondary side and cause a damage. In that case,
switch.
take measures to prevent the magnetic powder or pieces from being
[Use of rotary servo motors] attracted to the permanent magnets of the secondary side or from
●●To prevent a malfunction on the encoder, do not apply shocks, e.g. hit going into the gap between primary side and secondary side.
with a hammer, when coupling the shaft end of the rotary drive motor. ●●The linear servo motor is rated IP00. Provide protection measures to
●●When mounting a pulley to the rotary servo motor with a keyed shaft, prevent dust and oil, etc., as necessary.
use the screw hole in the shaft end. ●●Install the linear servo motor so that the thrust is applied to the center
●●When removing the pulley, use a pulley remover to protect the shaft of gravity of the moving part. Failing to do so will cause a moment to
from excessive load and impact. occur.
●●Do not apply a load exceeding the tolerable load onto the rotary servo ●●The cables such as the power cable deriving from the primary side
motor shaft. The shaft or the rotor may break. cannot withstand the long-term bending action. Avoid the bending
●●When the rotary servo motor is mounted with the shaft vertical (shaft action by fixing the cables to the moving part or others. Also, use the
up), provide measures so that the servo motor is not exposed to oil cable that can withstand the long-term bending action for the wiring to
and water entering from the machine side, gear box, etc. the servo amplifier.
●●Mount the rotary servo motor in a direction described in "Rotary Servo ●●Increase in the temperature of the linear servo motor causes a thrust
Motor User's Manual". drop. Be sure to use the motor within the specified ambient
●●Do not use the 24 V DC interface power supply for the temperature.
electromagnetic brake. To prevent malfunction, use the power supply
[Disposal of linear servo motors]
designed exclusively for the electromagnetic brake.
●●Dispose the primary side as industrial waste.
●●Do not apply the electromagnetic brake when the servo is on. Doing
●●Demagnetize the secondary side with a heat of 300 °C or higher, and
so may cause the servo amplifier overload or shorten the brake life.
dispose as industrial waste.
Apply the electromagnetic brake when the servo is off.
●●Do not leave the product unattended.
●●Torque may drop due to temperature increase of the rotary servo
motor. Be sure to use the motor within the specified ambient
temperature.
●●The temperature rise of the rotary servo motors varies depending on
the installation environment and the operation conditions. Conduct a
test run on the servo motors before an actual operation to make sure
that no alarm occurs.
[Use of linear encoders]

●●When the linear encoder is incorrectly installed, an alarm or a position
mismatch may occur. In this case, refer to the following checking
points for the linear encoder to check the mounting condition.
●●Checking points for the linear encoder
(a) Check that the gap between the head and scale is proper.
(b) Check the scale head for rolling and yawing (decrease in rigidity
of scale head section).
(c) Check the scale surface for dust and scratches.
(d) Check that the vibration and temperature are within the specified
range.
(e) Check that the speed is within the permissible range without
overshooting.
[Use of linear servo motors]

●●The linear servo system uses powerful magnets on the secondary
side. Magnetic force is inversely proportional to the square of the
distance from the magnetic material. Therefore, the magnetic force
will be significantly stronger as closer to the magnetic material. When
mounting the secondary side of linear servo motor, ensure the sufficient
distance from the magnetic bodies around it and securely fix those
magnetic bodies.
9-3
Precautions
Servo system controller
Specifications
Common
Warranty
1. Warranty period and coverage 2. Term of warranty after the stop of production
We will repair any failure or defect (hereinafter referred to as "failure") (1) We may accept the repair at charge for another seven (7) years
in our FA equipment (hereinafter referred to as the "Product") arisen after the production of the product is discontinued. The
Servo System
during warranty period at no charge due to causes for which we are announcement of the stop of production for each model can be
Controllers
responsible through the distributor from which you purchased the seen in our Sales and Service, etc.
Product or our service provider. However, we will charge the actual (2) Please note that the Product (including its spare parts) cannot be
cost of dispatching our engineer for an on-site repair work on request ordered after its stop of production.
by customer in Japan or overseas countries. We are not responsible
for any on-site readjustment and/or trial run that may be required 3. Service in overseas countries
Servo Amplifiers
after a defective unit is repaired or replaced. Our regional FA Center in overseas countries will accept the repair
work of the Product. However, the terms and conditions of the repair
[Term] work may differ depending on each FA Center. Please ask your local
For terms of warranty, please contact your original place of purchase. FA Center for details.
[Limitations] 4. Exclusion of loss in opportunity and secondary loss from
Rotary Servo
(1) You are requested to conduct an initial failure diagnosis by warranty liability
Motors
yourself, as a general rule. Regardless of the gratis warranty term, Mitsubishi shall not be liable
It can also be carried out by us or our service company upon your for compensation to:
request and the actual cost will be charged. (1) Damages caused by any cause found not to be the responsibility
However, it will not be charged if we are responsible for the cause of Mitsubishi.
of the failure. (2) Loss in opportunity, lost profits incurred to the user by Failures of
Linear Servo
(2) This limited warranty applies only when the condition, method, Mitsubishi products.
Motors
environment, etc. of use are in compliance with the terms and (3) Special damages and secondary damages whether foreseeable
conditions and instructions that are set forth in the instruction or not, compensation for accidents, and compensation for
manual and user manual for the Product and the caution label damages to products other than Mitsubishi products.
affixed to the Product. (4) Replacement by the user, maintenance of on-site equipment,
Options/Peripheral
(3) Even during the term of warranty, the repair cost will be charged start-up test run and other tasks.
Equipment
on you in the following cases;
(i) a failure caused by your improper storing or handling, 5. Change of Product specifications
carelessness or negligence, etc., and a failure caused by Specifications listed in our catalogs, manuals or technical documents
your hardware or software problem may be changed without notice.
(ii) a failure caused by any alteration, etc. to the Product made
LVS/Wires
on your side without our approval 6. Application and use of the Product
(iii) a failure which may be regarded as avoidable, if your (1) For the use of our Motion module, its applications should be those
equipment in which the Product is incorporated is equipped that may not result in a serious damage even if any failure or
with a safety device required by applicable laws and has any malfunction occurs in Motion module, and a backup or fail-safe
function or structure considered to be indispensable function should operate on an external system to Motion
according to a common sense in the industry controller/Simple Motion module when any failure or malfunction
Product List
(iv) a failure which may be regarded as avoidable if consumable occurs.
parts designated in the instruction manual, etc. are duly (2) Our Motion module is designed and manufactured as general
maintained and replaced purpose product for use at general industries.
(v) any replacement of consumable parts (battery, fan, Therefore, applications substantially influential on the public
smoothing capacitor, etc.) interest for such as atomic power plants and other power plants
(vi) a failure caused by external factors such as inevitable of electric power companies, and also which require a special
Precautions
accidents, including without limitation fire and abnormal quality assurance system, including applications for railway
fluctuation of voltage, and acts of God, including without companies and government or public offices are not
limitation earthquake, lightning and natural disasters recommended, and we assume no responsibility for any failure
(vii) a failure generated by an unforeseeable cause with a caused by these applications when used.
scientific technology that was not available at the time of the In addition, applications which may be substantially influential to
shipment of the Product from our company human lives or properties for such as airlines, medical treatments,
Support
(viii) any other failures which we are not responsible for or which railway service, incineration and fuel systems, man-operated
you acknowledge we are not responsible for material handling equipment, entertainment machines, safety
machines, etc. are not recommended, and we assume no
responsibility for any failure caused by these applications when
used.
We will review the acceptability of the abovementioned
applications, if you agree not to require a specific quality for a
specific application. Please contact us for consultation.
9-4
Precautions
AC servo
Warranty
1. Warranty period and coverage 2. Term of warranty after the stop of production
We will repair any failure or defect hereinafter referred to as "failure" (1) We may accept the repair at charge for another seven (7) years
in our FA equipment hereinafter referred to as the "Product" arisen after the production of the product is discontinued. The
during warranty period at no charge due to causes for which we are announcement of the stop of production for each model can be
responsible through the distributor from which you purchased the seen in our Sales and Service, etc.
Product or our service provider. However, we will charge the actual (2) Please note that the Product (including its spare parts) cannot be
cost of dispatching our engineer for an on-site repair work on request ordered after its stop of production.
by customer in Japan or overseas countries. We are not responsible
for any on-site readjustment and/or trial run that may be required 3. Service in overseas countries
after a defective unit is repaired or replaced. Our regional FA Center in overseas countries will accept the repair
work of the Product. However, the terms and conditions of the repair
[Term] work may differ depending on each FA Center. Please ask your local
For terms of warranty, please contact your original place of purchase. FA Center for details.
[Limitations] 4. Exclusion of loss in opportunity and secondary loss from

(1) You are requested to conduct an initial failure diagnosis by warranty liability
yourself, as a general rule. It can also be carried out by us or our Regardless of the gratis warranty term, Mitsubishi shall not be liable
service company upon your request and the actual cost will be for compensation to:
charged. However, it will not be charged if we are responsible for (1) Damages caused by any cause found not to be the responsibility
the cause of the failure. of Mitsubishi.
(2) This limited warranty applies only when the condition, method, (2) Loss in opportunity, lost profits incurred to the user by Failures of
environment, etc. of use are in compliance with the terms and Mitsubishi products.
conditions and instructions that are set forth in the instruction (3) Special damages and secondary damages whether foreseeable
manual and user manual for the Product and the caution label or not, compensation for accidents, and compensation for
affixed to the Product. damages to products other than Mitsubishi products.
(3) Even during the term of warranty, the repair cost will be charged (4) Replacement by the user, maintenance of on-site equipment,
on you in the following cases; start-up test run and other tasks.
(i) a failure caused by your improper storing or handling,
carelessness or negligence, etc., and a failure caused by 5. Change of Product specifications
your hardware or software problem Specifications listed in our catalogs, manuals or technical documents
(ii) a failure caused by any alteration, etc. to the Product made may be changed without notice.
on your side without our approval
(iii) a failure which may be regarded as avoidable, if your 6. Application and use of the Product
equipment in which the Product is incorporated is equipped (1) For the use of our AC Servo, its applications should be those that
with a safety device required by applicable laws and has any may not result in a serious damage even if any failure or
function or structure considered to be indispensable malfunction occurs in AC Servo, and a backup or fail-safe function
according to a common sense in the industry should operate on an external system to AC Servo when any
(iv) a failure which may be regarded as avoidable if consumable failure or malfunction occurs.
parts designated in the instruction manual, etc. are duly (2) Our AC Servo is designed and manufactured as a general
maintained and replaced purpose product for use at general industries. Therefore,
(v) any replacement of consumable parts (battery, fan, applications substantially influential on the public interest for such
smoothing capacitor, etc.) as atomic power plants and other power plants of electric power
(vi) a failure caused by external factors such as inevitable companies, and also which require a special quality assurance
accidents, including without limitation fire and abnormal system, including applications for railway companies and
fluctuation of voltage, and acts of God, including without government or public offices are not recommended, and we
limitation earthquake, lightning and natural disasters assume no responsibility for any failure caused by these
(vii) a failure generated by an unforeseeable cause with a applications when used.
scientific technology that was not available at the time of the In addition, applications which may be substantially influential to
shipment of the Product from our company human lives or properties for such as airlines, medical treatments,
(viii) any other failures which we are not responsible for or which railway service, incineration and fuel systems, man-operated
you acknowledge we are not responsible for material handling equipment, entertainment machines, safety
machines, etc. are not recommended, and we assume no
responsibility for any failure caused by these applications when
used.
We will review the acceptability of the abovementioned
applications, if you agree not to require a specific quality for a
specific application. Please contact us for consultation.
9-5
Support
Extensive global support coverage
Specifications
Common
providing expert help whenever needed
■ Global FA centers
Taiwan India Chennai FA Center
Servo System
❚ EMEA
Controllers
MITSUBISHI ELECTRIC INDIA PVT. LTD.
Europe FA Center Taipei FA Center Chennai Branch
MITSUBISHI ELECTRIC EUROPE B.V. Polish Branch SETSUYO ENTERPRISE CO., LTD. Tel: +91-4445548772
Tel: +48-12-347-65-00 Tel: +886-2-2299-9917
India Gurgaon FA Center
Germany FA Center Korea MITSUBISHI ELECTRIC INDIA PVT. LTD.
MITSUBISHI ELECTRIC EUROPE B.V. German Branch Gurgaon Head Office
Korea FA Center
Servo Amplifiers
Tel: +49-2102-486-0 Tel: +91-124-463-0300
MITSUBISHI ELECTRIC AUTOMATION KOREA CO., LTD.
UK FA Center Tel: +82-2-3660-9630 India Pune FA Center
MITSUBISHI ELECTRIC EUROPE B.V. UK Branch MITSUBISHI ELECTRIC INDIA PVT. LTD.
Thailand Pune Branch
Tel: +44-1707-27-8780
Thailand FA Center Tel: +91-20-2710-2000
Czech Republic FA Center
MITSUBISHI ELECTRIC FACTORY AUTOMATION
MITSUBISHI ELECTRIC EUROPE B.V. Czech Branch (THAILAND) CO., LTD. ❚ Americas
Tel: +420-255 719 200 Tel: +66-2682-6522 to 31
USA
Rotary Servo
Italy FA Center ASEAN
Motors
MITSUBISHI ELECTRIC EUROPE B.V. Italian Branch North America FA Center
Tel: +39-039-60531 ASEAN FA Center MITSUBISHI ELECTRIC AUTOMATION, INC.
MITSUBISHI ELECTRIC ASIA PTE. LTD. Tel: +1-847-478-2100
Russia FA Center
Tel: +65-6470-2475
MITSUBISHI ELECTRIC (RUSSIA) LLC Mexico
St. Petersburg Branch Indonesia
Tel: +7-812-633-3497 Mexico City FA Center
Indonesia FA Center
Linear Servo
MITSUBISHI ELECTRIC AUTOMATION, INC.
Turkey FA Center PT. MITSUBISHI ELECTRIC INDONESIA Mexico Branch
Motors
MITSUBISHI ELECTRIC TURKEY A.S. Umraniye Branch Cikarang Office Tel: +52-55-3067-7511
Tel: +90-216-526-3990 Tel: +62-21-2961-7797
Mexico FA Center
Vietnam MITSUBISHI ELECTRIC AUTOMATION, INC.
❚ Asia-Pacific Queretaro Office
Hanoi FA Center
China MITSUBISHI ELECTRIC VIETNAM COMPANY LIMITED Tel: +52-442-153-6014
Options/Peripheral
Hanoi Branch Office Mexico Monterrey FA Center
Beijing FA Center
Equipment
Tel: +84-24-3937-8075 MITSUBISHI ELECTRIC AUTOMATION, INC.
MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD.
Beijing FA Center Ho Chi Minh FA Center Monterrey Office
Tel: +86-10-6518-8830 MITSUBISHI ELECTRIC VIETNAM COMPANY LIMITED Tel: +52-55-3067-7521
Guangzhou FA Center Tel: +84-28-3910-5945 Brazil

MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD. India Brazil FA Center
Guangzhou FA Center MITSUBISHI ELECTRIC DO BRASIL COMERCIO E
Tel: +86-20-8923-6730 India Ahmedabad FA Center
LVS/Wires
SERVICOS LTDA.
Shanghai FA Center Ahmedabad Branch Tel: +55-11-4689-3000
MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD. Tel: +91-7965120063
Shanghai FA Center
Tel: +86-21-2322-3030 India Bangalore FA Center
Tianjin FA Center Bangalore Branch
MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD. Tel: +91-80-4020-1600
Product List
Tianjin FA Center
Tel: +86-22-2813-1015
Precautions
MITSUBISHI ELECTRIC
Support
CORPORATION
10-1
Support
List of Instruction Manuals

Relevant manuals are listed below:
Servo System Controller

Manual name Manual No.
MELSEC iQ-R Motion Module User's Manual (Startup) IB-0300406ENG
MELSEC iQ-R Motion Module User's Manual (Application) IB-0300411ENG
MELSEC iQ-R Motion Module User's Manual (Network) IB-0300426ENG
MELSEC iQ-R Programming Manual (Motion Module Instructions, Standard Functions/Function Blocks) IB-0300431ENG
Servo Amplifier
MR-JET User's Manual (Hardware) IB-0300453ENG
MR-JET User's Manual (Function) IB-0300458ENG
MR-JET User's Manual (Adjustment) IB-0300473ENG
MR-JET User's Manual (Trouble Shooting) IB-0300483ENG
MR-JET-G User's Manual (Introduction) IB-0300448ENG
MR-JET-G User's Manual (Communication Function) IB-0300463ENG
MR-JET-G User's Manual (Object Dictionary) IB-0300468ENG
MR-JET-G User's Manual (Parameters) IB-0300478ENG
MR-JET-G-N1 User's Manual (Introduction) IB-0300495ENG
MR-JET-G-N1 User's Manual (Communication Function) IB-0300500ENG
MR-JET-G-N1 User's Manual (Object Dictionary) IB-0300505ENG
Servo Motor
Rotary Servo Motor User's Manual (HG-KNS/HG-SNS) IB-0300488ENG
Linear Servo Motor User's Manual (LM-H3/LM-U2/LM-F/LM-K2) SH-030316ENG
Linear Servo Motor User's Manual (LM-AJ) IB-0300518ENG
Others
EMC Installation Guidelines IB-67310
MR-JET Partner's Encoder User's Manual IB-0300523ENG
Android and Google Play are trademarks of Google Inc.

Apple, iPad, iPad Air, iPad mini, and App Store are trademarks of Apple Inc., registered in the U.S. and other countries.
Microsoft, Windows, Visual C++, Visual Studio, and IntelliSense are either registered trademarks or trademarks of
Microsoft Corporation in the United States and/or other countries.
Celeron and Pentium are either registered trademarks or trademarks of Intel Corporation in the United States and/or other countries.
Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan.
PLCopen and related logos are registered trademarks of PLCopen.
EtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
All other company names and product names used in this document are trademarks or registered trademarks of their respective companies.
Precautions before use For s a f e us e

This publication explains the typical features and functions of the products herein • To use the products given in this publication properly, always read the relevant
and does not provide restrictions or other information related to usage and module manuals before beginning operation.
combinations. Before using the products, always read the product user manuals. • The products have been manufactured as general-purpose parts for general
industries, and are not designed or manufactured to be incorporated in a device or
Mitsubishi Electric will not be held liable for damage caused by factors found not to system used in purposes related to human life.
be the cause of Mitsubishi Electric; opportunity loss or lost profits caused by faults in • Before using the products for special purposes such as nuclear power, electric power,
aerospace, medicine or passenger-carrying vehicles, consult with Mitsubishi Electric.
Mitsubishi Electric products; damage, secondary damage, or accident compensation,
• The products have been manufactured under strict quality control. However, when
whether foreseeable or not, caused by special factors; damage to products other installing the products where major accidents or losses could occur if the products
than Mitsubishi Electric products; or any other duties. fail, install appropriate backup or fail-safe functions in the system.
10-2
Automation solutions
YOUR SOLUTION PARTNER
Low voltage: MCCB, MCB, ACB
Medium voltage: VCB, VCC
Power monitoring, energy management
Mitsubishi Electric offers a wide range of automation equipment from PLCs and HMIs to
CNC and EDM machines.
Compact and Modular Controllers
A NAME TO TRUST This is why you can rely on Mitsubishi

Electric automation solution - because Inverters, Servos and Motors
Since its beginnings in 1870, some 45
companies use the Mitsubishi name, we know first hand about the need for
covering a spectrum of finance,com- reliable, efficient, easy-to-use automation
merce and industry. and control in our own factories.
Visualisation: HMIs
The Mitsubishi brand name is recognized As one of the world’s leading compan-
around the world as a symbol of ies with a global turnover of over 4 trillion
premium quality. Yen (over $40 billion), employing over
100,000 people, Mitsubishi Electric has
Mitsubishi Electric Corporation is active the resource and the commitment to
deliver the ultimate in service and support Numerical Control (NC)
in space development, transportation,
semi-conductors, energy systems, as well as the best products.
communications and information pro-
cessing, audio visual equipment and
home electronics, building and energy
Industrial / Collaborative Robots
management and automation systems,
and has 237 factories and laboratories
worldwide in over 121 countries.
Processing machines: EDM, Lasers, IDS
Transformers, Air conditioning, Photovoltaic systems
* Not all products are available in all countries.

Mitsubishi Electric AC Servo System MELSERVO-JET
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-08190 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 : +7-812-633-3497
Piskarevsky pr. 2, bld 2, lit "Sch", BC "Benua", office 720; 195027
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 : +90-216-526-3990
Serifali Mahallesi Nutuk Sokak No:5, TR-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 : +65-6473-2308
307 Alexandra Road, Mitsubishi Electric Building, Singapore 159943
Thailand Mitsubishi Electric Factory Automation (Thailand) Co., Ltd. Tel : +66-2092-8600
101, True Digital Park Office, 5th Floor, Sukhumvit Road, Bangchak, Phra Khanong, Bangkok
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 August 2020

L(NA)03187ENG-C 2008 (IP) Specifications are subject to change without notice.

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FACTORY AUTOMATION

Mitsubishi Electric AC Servo System

■ Product Lines .............................................................................................................. 8

■ Servo System ............................................................................................................. 10

■ Servo System Controllers ......................................................................................... 20

■ Engineering Software ................................................................................................ 32

■ Mitsubishi Electric Solutions/Partners/FA Global Website .................................... 48

■ Product Specifications of Servo System Controllers ............................................ 2-1

■ MELSERVO-JET Product Specifications

■ Product List ............................................................................................................... 8-1

■ Precautions ............................................................................................................... 9-1

Easy, Simple Better

Easy, Simple & Practical Superior Performance Better Flexibility

Motion module Motion module Motion Control Software

CC-Link IE TSN Servo System Controllers

Motion Control Software

Servo amplifiers Rotary servo motors

Speed frequency Command Encoder

2.5 125 Absolute

Servo Amplifiers Upgraded Rotary Servo Motors

RD78G RD78GH SWM78

I N T ER FAC E CC-Link IE TSN EtherCAT®

S E RVO A M P L IF IE R CC-Link IE TSN-Compatible EtherCAT®-Compatible

* Use an EtherCAT®-compatible master module.

SE RVO MOTO R Rotary Servo Motors Linear Servo Motors

Create new value with MELSERVO-JET.

■Servo System Controllers

■Servo Amplifiers : Supported

■Rotary Servo Motors : Supported

3000 Low inertia

HG-KNS series 0.1, 0.2, 0.4, 0.75 IP65

2000 Medium inertia

Notes: 1. The shaft-through portion is excluded.

■Linear Servo Motors

Construct a high-performance servo system using our extensive product line

Industrial Personal Computer (IPC)

Servo System Controllers

Servo Amplifiers / Servo Motors

I/O module Analog output module

Open integrated networking across the

 Ethernet-based, 1 Gbps supported

Real-Time Network Performance Even When Integrated with Information Data

CC-Link IE CC-Link IE CC-Link IE

Other networks Other networks Other networks

12 Supports multiple protocols on same network line

Deterministic Control Even When Mixed with TCP/IP Communication

TCP/IP device Remote I/O Inverter HMI NC Robot Servo Servo

Servo System Controllers

Servo Amplifiers / Servo Motors

Current network CC-Link IE TSN

Controller Controller Controller Controller

I/O Motion I/O Motion

High-Speed, High-Accuracy Motion Control

● Motion control (high-speed processing)

Motion control Motion control

I/O control*1 I/O control*1 I/O control*1

Text printing device

ERR A 1:39:26s 103ms

ERR C 1:39:26s 230ms

Servo Amplifiers Upgraded Rotary Servo Motors

■Servo Amplifiers : Supported

■Rotary Servo Motors : Supported

Ethernet-based, 1 Gbps supported

I/O control1 I/O control1 I/O control*1

Product Lines SWM78