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Siemens S7-1200 “Servo Control” MR-J4-A Mitsubishi Tutorial

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Hello everyone
PLC Siemens S7-1200 and Servo Mitsubishi MR J4 Series are the two most commonly used devices in factories worldwide.

Many people have emailed asking me to do a tutorial on how to use PLC S7-1200 to control Mitsubishi MR-J4-A Servo. That’s why today I do this in the simplest and most detailed way so that anyone can do it.

S7-1200 & MR-J4-A “Wiring Diagram”

This is the simplest connection diagram to use S7-1200 to control Servo MR J4 Mitsubishi

I/O Address

+ Input

  • I0.4: Low Limit Switch Sensor
  • I0.5: High Limit Switch Sensor
  • I0.6: Homing Sensor

+ Output

  • Q0.0: Pulse Output
  • Q0.1: Direction Output
  • Q0.2: Servo ON

Mitsubishi MR-J4-A Driver Configuration

Here are the main parameters that we need to pay attention to when configuring Driver MR_J4_A with MR-Configurator.2 Software (you can download the software link at the bottom of the article)

+ PA1: Servo control mode selection > Set to “1000” to select the position control mode.

+ PA5: Pulses command Input ( from PLC). Project setting : 1000 Pulses / Revolution

+ PA6/7 (CMX/CDV): Input pulse gain ratio. Used to correct the change of the number of pulses / revolutions when issuing a command from the PLC to the Servo. The default is 1/1, which corresponds to 131072 pulses / rev.

+ PA13.(PLSS): Selection of control pulse types: Default is 0100, change the following two factors to select pulse input type. Please see the table below to choose the appropriate control method:

>>> You can refer to the parameters below as configured by

S7-1200 “Pulse Train Output” Configurator

In this project uses Axis1 of S7-1200 and configures as follows

+ Basic parameters

+ Extended parameters

+ Dynamics

+ Homing

S7-1200 Servo Control Programming

This is the simplest program that can be used to control servos, you can copy this program.

Detailed Instruction Video


Required software and documention:

+ STEP7 & WinCC Professional V15.1 Download

+ MR-Configurator2 for MR-J4-A Parameters Setup

If you have any questions, need’s support in connecting Siemens S7-1200 with Mitsubishi MR_J4_A, please comment below the article.

Thanks and Best Regards!

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