Mitsubishi Electric MELSERVO-J4 MR-J4 A Series - Torque Control Mode

3. SIGNALS AND WIRING
3 - 11
3.2.3 Torque control mode
POINT
EM2 has the same function as EM1 in the torque control mode.
DC24V(ᵈ4)
ࠨ࡯ࡏࠕࡦࡊ
(ᵈ6)
CN6
2mએ
3MO1
1LG
2MO2
DC ± 10V
DC ± 10V
ࠕ࠽ࡠࠣࡕ࠾࠲1
ࠕ࠽ࡠࠣࡕ࠾࠲2
(ᵈ1)
9
(ᵈ2)
᡿㓚(ᵈ5)
㔖ㅦᐲᬌ಴
ㅦᐲ೙㒢
ࠛࡦࠦ࡯࠳A⋧ࡄ࡞ࠬ
(Ꮕേ࡜ࠗࡦ࠼࡜ࠗࡃ)
21 DICOM
48 ALM
23 ZSP
25 VLC
4LA
5LAR
6LB
7LBR
34 LG
33 OP
SD
10mએ
2mએ
ࠛࡦࠦ࡯࠳B⋧ࡄ࡞ࠬ
(Ꮕേ࡜ࠗࡦ࠼࡜ࠗࡃ)
೙ᓮࠦࡕࡦ
ࠛࡦࠦ࡯࠳Z⋧ࡄ࡞ࠬ
(ࠝ࡯ࡊࡦࠦ࡟ࠢ࠲)
(ᵈ6)
CN1
49 RD
Ḱ஻ቢ
ࠛࡦࠦ࡯࠳Z⋧ࡄ࡞ࠬ
(Ꮕേ࡜ࠗࡦ࠼࡜ࠗࡃ)
8LZ
LZR
(ᵈ6)
CN1
20
46
DICOM
DOCOM
ࡄ࡯࠰࠽࡞
ࠦࡦࡇࡘ࡯࠲
+
(ᵈ8)ޓ
USBࠤ࡯ࡉ࡞
(ࠝࡊ࡚ࠪࡦ)
CN5
27
1
2mએ
㒢⸳ቯ
28
2
ࡊ࡟࡯࠻
㒢⸳ቯ
TC
SD
VLA
LG
P15R
ࠕ࠽ࡠࠣ࠻࡞ࠢ
ᜰ઎
±8V/ᦨᄢ࠻࡞ࠢ
(ᵈ9)ࠕ࠽ࡠࠣ
ㅦᐲ೙㒢
0㨪±10V/ቯᩰ࿁ォㅦᐲ
(ᵈ7)
MR Configurator2
(ᵈ10)
ࡊ࡟࡯࠻
(ᵈ10)
10mએ
42
15
19
17
18
47
ᒝ೙஗ᱛ2
ࠨ࡯ࡏࠝࡦ
࡝࠮࠶࠻
ᱜォᆎേ
ㅒォᆎേ
(ᵈ3)
41
16ㅦᐲㆬᛯ2
EM2
SON
RES
RS1
RS2
DOCOM
SP1
SP2
ㅦᐲㆬᛯ1
RA1
RA2
RA3
RA4
(ᵈ11)
⍴⛊ࠦࡀࠢ࠲
(ࠨ࡯ࡏࠕࡦࡊ
ߦઃዻ
)
CN8
(ᵈ12)࿁〝㔚Ḯ
24 V DC (Note 4)
Servo amplifier
(Note 6)
(Note 6)
(Note 6)
Plate
Plate
(Note 2)
(Note 12)
Main circuit power supply
(Note 10)
(Note 10)
(Note 3) Forced stop 2
Servo-on
Reset
Speed selection 1
Speed selection 2
Forward rotation selection
Reverse rotation selection
10 m or shorter
Upper limit setting
Upper limit setting
A
nalog torque command
±8 V/maximum torque
(Note 9) Analog speed limit
0 to ±10 V/rated speed
2 m or shorter
(Note 7)
Personal
computer
(Note 8)
USB cable
(option)
(Note 11)
Short-circuit connector
(Packed with the servo amplifier)
(Note 1)
±10 V DC
±10 V DC
A
nalog monitor 1
A
nalog monitor 2
2 m or shorter
2 m or shorter
Encoder Z-phase pulse
(open collector)
Control common
Encoder B-phase pulse
(differential line driver)
Encoder A-phase pulse
(differential line driver)
Encoder Z-phase pulse
(differential line driver)
10 m or shorter
Malfunction
(Note 5)
Zero speed
detection
Limiting speed
Ready