Mitsubishi Electric MR-J4, Инструкция по эксплуатации

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CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-54
1.1 Summary ........................................................................................................................................... 1- 1
1.2 Function block diagram ..................................................................................................................... 1- 3
1.3 Servo amplifier standard specifications ........................................................................................... 1-11
1.4 Combinations of servo amplifiers and servo motors ....................................................................... 1-17
1.5 Function list ...................................................................................................................................... 1-19
1.6 Model designation ............................................................................................................................ 1-22
1.7 Structure .......................................................................................................................................... 1-23
1.7.1 Parts identification ..................................................................................................................... 1-23
1.7.2 Removal and reinstallation of the front cover............................................................................ 1-38
1.8 Configuration including peripheral equipment ................................................................................. 1-40
2. INSTALLATION 2- 1 to 2- 6
2.1 Installation direction and clearances ................................................................................................ 2- 2
2.2 Keeping out of foreign materials ....................................................................................................... 2- 4
2.3 Encoder cable stress ........................................................................................................................ 2- 4
2.4 Inspection items ................................................................................................................................ 2- 5
2.5 Parts having service lives ................................................................................................................. 2- 6
3. SIGNALS AND WIRING 3- 1 to 3-76
3.1 Input power supply circuit ................................................................................................................. 3- 2
3.1.1 200 V class ................................................................................................................................. 3- 3
3.1.2 400 V class ................................................................................................................................. 3- 8
3.1.3 100 V class ................................................................................................................................ 3-11
3.2 I/O signal connection example ......................................................................................................... 3-12
3.2.1 Position control mode ................................................................................................................ 3-12
3.2.2 Speed control mode .................................................................................................................. 3-15
3.2.3 Torque control mode ................................................................................................................. 3-18
3.3 Explanation of power supply system ............................................................................................... 3-21
3.3.1 Signal explanations ................................................................................................................... 3-21
3.3.2 Power-on sequence .................................................................................................................. 3-22
3.3.3 Wiring CNP1, CNP2, and CNP3 ............................................................................................... 3-23
3.4 Connectors and pin assignment ...................................................................................................... 3-27
3.5 Signal (device) explanations ............................................................................................................ 3-30
3.6 Detailed explanation of signals ........................................................................................................ 3-40
3.6.1 Position control mode ................................................................................................................ 3-40
3.6.2 Speed control mode .................................................................................................................. 3-45
3.6.3 Torque control mode ................................................................................................................. 3-47
3.6.4 Position/speed control switching mode ..................................................................................... 3-50
3.6.5 Speed/torque control switching mode ....................................................................................... 3-52
3.6.6 Torque/position control switching mode.................................................................................... 3-54
3.7 Forced stop deceleration function ................................................................................................... 3-55
3.7.1 Forced stop deceleration function ............................................................................................. 3-55
3.7.2 Base circuit shut-off delay time function ................................................................................... 3-57
3.7.3 Vertical axis freefall prevention function ................................................................................... 3-58