Mitsubishi Electric Melservo MR-J3-100B, Handbook

Page: 39 / 590

Part 2: Review on Replacement of MR-J3-_A_ with MR-J4-_A_
2 - 6
3.2 Comparison of Standard Connection Diagrams
(1) Position control mode
MR-J3-_A_ MR-J4-_A_
Example of connection to QD75D
Plate
Plate
Servo amplifier
3
1
2
CN6
Trouble
Zero speed detection
Limiting torque
21
48
DICOM
23
ALM
25
ZSP
24
TLC
INP
4
5 LA
6
LAR
LB
7
34
LBR
LG
33 OP
1
SD
P15R
10 m max.
2 m max.
CN1
LG
DICOM
Control common
Encoder Z-phase pulse
(open collector)
41
In-position
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
20
46
49
10
11
10 m max.
35
9
3
36
CLEARCOM
12
15
16
14
13
11
RDYCOM
CLEAR
READY
PULSE F+
PG0 COM
PULSE F-
PG0
PULSE R+
18
10
17
PULSE R-
9
DOCOM
CR
RD
PP
PG
NP
NG
LZ
LZR
8
CN1
QD75D
24 V DC
Positioning module
SD
RA 1
RA 2
RA 3
RA 4
Plate
2 m max.
10 m max.
42
15
19
17
18
43
44
47
1
27
SD
EMG
SON
RES
PC
TL
LSP
LSN
DOCOM
P15R
TLA
LG 28
CN1
USB cable
(option)
CN5
Setup software
(SETUP221E)
computer
Personal
Emergency stop
Servo-on
Reset
Proportion control
External torque limit selection
Forward rotation stroke end
Reverse rotation stroke end
Upper limit setting
Analog torque limit
MO1
Plate
LG
MO2
SD
2 m max.
Analog monitor 1
Analog monitor 2
+ 10 V/max. torque
Example of connection to QD75D
Plate
Plate
Servo amplifier
2 m or less
3 MO1
1 LG
2 MO2
CN6
DC ± 10 V
DC ± 10 V
Analog monitor 1
Analog monitor 2
Malfunction
Zero speed
detection
Limiting torque
Encoder A-phase pulse
(differential line driver)
47
DOCOM
48 ALM
23 ZSP
25 TLC
24 INP
4 LA
5 LAR
6 LB
7 LBR
34 LG
33 OP
SD
10 m or less
2 m or less
Encoder B-phase pulse
(differential line driver)
Control common
Encoder Z-phase pulse
(open collector)
CN1
LG
DICOM
10 m or less
41
20
46
49
10
11
35
9
3
36
CLEARCOM
12
15
16
14
13
11
CLEAR
RDYCOM
READY
PULSE F+
PULSE F-
PG0
PG0 COM
PULSE R+
PULSE R- 18
10
17
9
DOCOM
CR
RD
PP
PG
NP
NG
LZ
LZR
8
CN1
Positioning module
RD75D/LD75D/QD75D
24 V DC
24 V DC
In-position
Control common
SD
RA1
RA2
RA3
RA4
Plate
2 m or less
10 m or less
Upper limit setting
42
15
19
17
18
43
44
21
1
27
SD
EM2
SON
RES
PC
TL
LSP
LSN
DICOM
P15R
TLA
LG 28
CN1
24 V DC
Forced stop 2
Servo-on
Reset
Proportion control
External torque limit
selection
Forward rotation
stroke end
Reverse rotation
stroke end
+
USB cable
(option)
MR Configurator2
CN5
CN8
Analog torque limit
+10 V/maximum torque
Personal
computer
Short-circuit connector
(Packed with the servo amplifier)
Main circuit power supply
(2)
Speed control mode
MR-J3-_A_ MR-J4-_A_
3
1
2
CN6
MO1
Plate
LG
MO2
SD
2 m max.
Analog monitor 1
Analog monitor 2
USB cable
(option)
Setup software
(SETUP221E)
computer
Personal
±10 V/rated speed
±10 V/max. torque
Upper limit setting
Analog torque limit
Emergency stop
Servo-on
Reset
Speed selection 1
Speed selection 2
Forward rotation start
Reverse rotation start
Forward rotation stroke end
Reverse rotation stroke end
Upper limit setting
Analog speed command
Encoder Z-phase pulse
(open collector)
Trouble
Ready
Encoder Z-phase pulse
(differential line driver)
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
Zero speed detection
Limiting torque
Servo amplifier
Speed reached
21
48
DICOM
23
ALM
25
ZSP
24
TLC
SA
CN1
49 RD
4
5 LA
6
LAR
LB
7
34
LBR
LG
33 OP
1 P15R
SD
10 m max.
2 m max.
8 LZ
9 LZR
CN1
20
46
DICOM
DOCOM
2
1
2 m max.
28
27
VC
SD
TLA
LG
P15R
CN5
24 V DC
RA 1
RA 2
RA 3
RA 4
RA 5
10 m max.
42
15
19
17
18
43
44
47
41
16
EMG
RES
SON
ST1
ST2
LSP
LSN
SP1
DOCOM
SP2
Plate
Plate
+
Main circuit power supply
CN8
Short-circuit connector
(Packed with the servo amplifier)
Analog speed command
±10 V/rated speed
CN1
CN1
Plate
Servo amplifier
CN6
2 m or less
3 MO1
1 LG
2 MO2
47
DOCOM
48 ALM
23 ZSP
25 TLC
24 SA
49 RD
(
4 LA
5 LAR
6 LB
7 LBR
34 LG
33 OP
SD
2 m or less
(
8 LZ
9 LZR
21
DICOM
10 m or less
2
1
2 m or less
Upper limit setting
28
27
Plate
Upper limit setting
VC
SD
TLA
LG
P15R
+
USB cable
(option)
CN5
Analog torque limit
+10 V/maximum torque
MR Configurator2
Personal
computer
24 V DC
24 V DC
RA1
RA2
RA3
RA4
RA5
42
15
19
17
18
43
44
20
41
16
EM2
SON
RES
ST1
ST2
LSP
LSN
DICOM
SP1
SP2
Reverse rotation
stroke end
Forced stop 2
Servo-on
Reset
Speed selection 1
Forward rotation start
Speed selection 2
Reverse rotation start
Forward rotation
stroke end
DC ± 10 V
DC ± 10 V
Analog monitor 1
Analog monitor 2
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
Encoder Z-phase pulse
(open collector)
Encoder Z-phase pulse
(differential line driver)
Malfunction
Zero speed
detection
Limiting torque
Speed reached
Ready
10 m or less
46
DOCOM