Mitsubishi Electric MR-J4, Instruction Manual

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18. MR-J4-03A6 SERVO AMPLIFIER
18 - 29
(3) Torque control mode
POINT
EM2 has the same function as EM1 in the torque control mode.
(a) For sink I/O interface
Servo amplifier
(Note 6)
CN1
2 m or less
26 MO1
28 LG
29 MO2
5 V ± 4 V DC
5 V ± 4 V DC
Analog monitor 1
Analog monitor 2
9
(Note 2)
Malfunction (Note 5)
Zero speed detection
Limiting speed
Encoder A-phase pulse
(differential line driver)
47
DOCOM
48 ALM
23 ZSP
25 VLC
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)
(Note 6)
CN1
49 RD Ready
Encoder Z-phase pulse
(differential line driver)
8 LZ
LZR
(Note 6)
CN1
21
DICOM
Personal
computer
+
(Note 8)
USB cable
(option)
CN3
27
1
2 m or less
Upper limit setting
28
2
Plate
Upper limit setting
TC
SD
VLA
LG
P15R
(Note 9) Analog torque command
±8 V/maximum torque
(Note 9) Analog speed limit
0 to ±10 V/rated speed
(Note 9)
MR Configurator2
Plate
42
15
19
17
18
20
Forced stop 2
Servo-on
Reset
Forward rotation selection
Reverse rotation selection
(Note 3)
41
16
Speed selection 2
EM2
SON
RES
RS1
RS2
DICOM
SP1
SP2 Speed selection 1
RA1
RA2
RA3
RA4
(Note 10)
Main circuit power supply
46
DOCOM
10 m or less
24 V DC (Note 4)
(Note 4)
24 V DC
(Note 1)
CNP1
6
Note 1. To prevent an electric shock, always connect the CNP1 noiseless grounding terminal ( marked) of the servo amplifier to the
grounding terminal (PE) of the cabinet.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output
signals, disabling EM2 (Forced stop 2) and other protective circuits.
3. The forced stop switch (normally closed contact) must be installed.
4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity is up to 300 mA. 300 mA is the value applicable
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section
3.9.2 (1) that gives the current value necessary for the interface. A 24 V DC power supply can be used for both input signal
and output signal.
5. ALM (Malfunction) turns on in normal alarm-free condition. (Normally closed contact)
6. The pins with the same signal name are connected in the servo amplifier.
7. Use SW1DNC-MRC2-_. (Refer to section 11.7.)
8. The USB communication function and RS-422 communication function are mutually exclusive. They cannot be used together.
9. Use an external power supply when inputting a negative voltage.
10. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo
amplifier.
11. Plus and minus of the power of source interface are the opposite of those of sink interface.