Mitsubishi Electric MELSERVO MR-J4-03A6-RJ, Instruction Manual

Page: 63 / 610

2. SIGNALS AND WIRING
2 - 36
Device Symbol
Connector
pin No.
Function and application
I/O
division
Control
mode
CP/BCD
CL
PS
Analog torque
limit TLA CN1-27 When using the signal, enable TL (External torque limit selection) with [Pr.
PD04], [Pr. PD06], [Pr. PD08], [Pr. PD10], [Pr. PD12], [Pr. PD14], [Pr.
PD18], [Pr. PD20], [Pr. PD22], [Pr. PD44], and [Pr. PD46].
When TLA is enabled, torque is limited in the full servo motor output torque
range. Apply 0 V to +10 V DC between TLA and LG. Connect the positive
terminal of the power supply to TLA. The maximum torque is generated at
+10 V. (Refer to section 3.6.1 (5) of "MR-J4-_A_(-RJ) Servo Amplifier
Instruction Manual".)
If a value equal to or larger than the maximum torque is inputted to TLA,
the value is clamped at the maximum torque.
Resolution: 10 bits
Analog
input
Analog override VC CN1-2 The signal controls the servo motor setting speed by applying -10 V to +10
V to between VC and LG. The percentage will be 0% with -10 V, 100% with
0 V, and 200% with +10 V to the setting speed of the servo motor.
Resolution: 14 bits or equivalent
For MR-J4-_A_-RJ 100 W or more servo amplifiers, setting [Pr. PC60] to "_
_ 1 _" increases the analog input resolution to 16 bits. This function is
available with servo amplifiers manufactured in November 2014 or later.
Analog
input
(3) Output signal
(a) MR-J4-_A_-RJ 100 W or more
Device Symbol
Connector
pin No.
Function and application
I/O
division
Control
mode
CP/BCD
CL
PS
Encoder A-
phase pulse
(differential line
driver) LA
LAR
CN1-4
CN1-5 These devices output pulses of encoder output pulse set in [Pr. PA15] in
the differential line driver type.
In CCW rotation of the servo motor, the encoder B-phase pulse lags the
encoder A-phase pulse by a phase angle of
π
/2.
The relation between rotation direction and phase difference of the A-
phase and B-phase pulses can be changed with [Pr. PC19].
DO-2
Encoder B-
phase pulse
(differential line
driver) LB
LBR
CN1-6
CN1-7
Encoder Z-
phase pulse
(differential line
driver) LZ
LZR
CN1-8
CN1-9 The encoder zero-point signal is outputted in the differential line driver
type. One pulse is outputted per servo motor revolution. This turns on
when the zero-point position is reached. (negative logic)
The minimum pulse width is about 400
μ
s. For home position return using
this pulse, set the creep speed to 100 r/min or less.
DO-2
Encoder Z-
phase pulse
(open-collector) OP CN1-33 The encoder zero-point signal is outputted in the open-collector type. DO-2
Analog monitor 1 MO1 CN6-3 This is used to output the data set in [Pr. PC14] to between MO1 and LG in
terms of voltage.
Output voltage: ±10 V
Resolution: 10 bits or equivalent
Analog
output
Analog monitor 2 MO2 CN6-2 This signal outputs the data set in [Pr. PC15] to between MO2 and LG in
terms of voltage.
Output voltage: ±10 V
Resolution: 10 bits or equivalent
Analog
output
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