Mitsubishi Electric MELSERVO MR-J4-A-RJ Series, Instruction Manual

Page: 43 / 416

2. SIGNALS AND WIRING
2 - 20
Device Symbol
Connector
pin No.
Function and application
I/O
division
Control
mode
CP CL PS
Proportion
control PC Turn PC on to switch the speed amplifier from the proportional integral type
to the proportional type.
If the servo motor at a stop is rotated even one pulse due to any external
factor, it generates torque to compensate for a position shift. When the
servo motor shaft is to be locked mechanically after positioning completion
(stop), switching on the PC (Proportion control) upon positioning
completion will suppress the unnecessary torque generated to compensate
for a position shift.
When the shaft is to be locked for a long time, switch on the PC
(Proportion control) and TL (External torque limit selection) at the same
time to make the torque less than the rated by TLA (Analog torque limit). DI-1
Clear CR Turn CR on to clear the position control counter droop pulse on its leading
edge. The pulse width should be 10 ms or longer.
The delay amount set in [Pr. PB03 Position command
acceleration/deceleration time constant] is also cleared. When " _ _ _1 " is
set to [Pr. PD32], the pulses are always cleared while CR is on. DI-1
Gain switching CDP Turn on CDP to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56]
to [Pr. PB60] as the load to motor inertia ratio and gain values. DI-1
Fully closed loop
selection CLD Not used with the positioning mode. DI-1
Motor-side/load-
side deviation
counter clear MECR Turn on MECR to clear the motor-side/load-side position deviation counter
to zero.
It operates during the fully closed loop control.
It does not affect the position control droop pulses.
Turning on this device during the semi closed loop control does not
affect the operation.
Turning on this device while the fully closed loop control error detection
function is disabled in [Pr. PE03] does not affect the operation.
DI-1
(b) Output device
Device Symbol
Connector
pin No.
Function and application
I/O
division
Control
mode
CP CL PS
Malfunction ALM CN1-48 When an alarm occurs, ALM will turn off.
When an alarm does not occur, ALM will turn on after 2.5 s to 3.5 s after
power-on.
When [Pr. PD34] is "_ _ 1 _", an alarming or warning will turn off ALM.
DO-1
Malfunction/War
ning ALM
WNG
When an alarm occurs, ALMWNG will turn off.
When a warning (except [AL. 9F Battery warning]) occurs on and off will be
repeated every 1 s.
When an alarm/warning is not occurring, turning on the power will turn on
ALMWNG after 2.5 s to 3.5 s. DO-1
Warning WNG When warning has occurred, WNG turns on. When a warning is not
occurring, turning on the power will turn off WNG after 2.5 s to 3.5 s. DO-1
Battery warning BWNG BWNG turns on when [AL. 92 Battery cable disconnection warning] or [AL.
9F Battery warning] has occurred. When the battery warning is not
occurring, turning on the power will turn off BWNG after 2.5 s to 3.5 s. DO-1
AL9F warning BW9F When [AL. 9F Battery warning] occurs, BW9F will turn on. DO-1
Dynamic brake
interlock DB When using the signal, enable it by setting [Pr. PD23] to [Pr. PD26], [Pr.
PD28], and [Pr. PD47]. DB turns off when the dynamic brake needs to
operate. When using an external dynamic brake with the servo amplifier of
11 kW or more, this device is required. (Refer to "MR-J4-_A_(-RJ) Servo
Amplifier Instruction Manual" section 11.17.)
For the servo amplifier of 7 kW or less, it is not necessary to use this
device. DO-1
Ready RD CN1-49 Enabling servo-on to make the servo amplifier ready to operate will turn on
RD.
DO-1
In-position INP CN1-24 When the number of droop pulses is in the preset in-position range, INP
will turn on. The in-position range can be changed using [Pr. PA10]. When
the in-position range is increased, INP may be on during low-speed
rotation.
INP turns on when servo-on turns on.
DO-1
Limiting torque TLC CN1-25 TLC turns on when a generated torque reaches a value set with any of [Pr.
PA11 Forward torque limit], [Pr. PA12 Reverse torque limit], or TLA
(Analog torque limit).
DO-1