Mitsubishi Electric MR-J4, Instruction Manual

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3.7.4 Residual risks of the forced stop function (EM2) ...................................................................... 3-58
3.8 Alarm occurrence timing chart ......................................................................................................... 3-59
3.8.1 When you use the forced stop deceleration function ................................................................ 3-59
3.8.2 When you do not use the forced stop deceleration function ..................................................... 3-60
3.9 Interfaces ......................................................................................................................................... 3-61
3.9.1 Internal connection diagram ...................................................................................................... 3-61
3.9.2 Detailed explanation of interfaces ............................................................................................. 3-63
3.9.3 Source I/O interfaces ................................................................................................................ 3-67
3.10 Servo motor with an electromagnetic brake .................................................................................. 3-69
3.10.1 Safety precautions .................................................................................................................. 3-69
3.10.2 Timing chart ............................................................................................................................ 3-71
3.11 Grounding ...................................................................................................................................... 3-75
4. STARTUP 4- 1 to 4-44
4.1 Switching power on for the first time ................................................................................................. 4- 2
4.1.1 Startup procedure ...................................................................................................................... 4- 2
4.1.2 Wiring check ............................................................................................................................... 4- 3
4.1.3 Surrounding environment ........................................................................................................... 4- 6
4.2 Startup in position control mode ....................................................................................................... 4- 6
4.2.1 Power on and off procedures ..................................................................................................... 4- 6
4.2.2 Stop ............................................................................................................................................ 4- 7
4.2.3 Test operation ............................................................................................................................ 4- 8
4.2.4 Parameter setting ....................................................................................................................... 4- 9
4.2.5 Actual operation ......................................................................................................................... 4- 9
4.2.6 Trouble at start-up ...................................................................................................................... 4- 9
4.3 Startup in speed control mode ......................................................................................................... 4-12
4.3.1 Power on and off procedures .................................................................................................... 4-12
4.3.2 Stop ........................................................................................................................................... 4-13
4.3.3 Test operation ........................................................................................................................... 4-14
4.3.4 Parameter setting ...................................................................................................................... 4-15
4.3.5 Actual operation ........................................................................................................................ 4-15
4.3.6 Trouble at start-up ..................................................................................................................... 4-15
4.4 Startup in torque control mode ........................................................................................................ 4-17
4.4.1 Power on and off procedures .................................................................................................... 4-17
4.4.2 Stop ........................................................................................................................................... 4-17
4.4.3 Test operation ........................................................................................................................... 4-18
4.4.4 Parameter setting ...................................................................................................................... 4-19
4.4.5 Actual operation ........................................................................................................................ 4-19
4.4.6 Trouble at start-up ..................................................................................................................... 4-20
4.5 Display and operation sections ........................................................................................................ 4-21
4.5.1 Summary ................................................................................................................................... 4-21
4.5.2 Display flowchart ....................................................................................................................... 4-22
4.5.3 Status display mode .................................................................................................................. 4-23
4.5.4 Diagnostic mode ....................................................................................................................... 4-30
4.5.5 Alarm mode ............................................................................................................................... 4-32
4.5.6 Parameter mode ....................................................................................................................... 4-33
4.5.7 External I/O signal display ......................................................................................................... 4-35
4.5.8 Output signal (DO) forced output .............................................................................................. 4-38
4.5.9 Test operation mode ................................................................................................................. 4-39