3 SIGNALS AND WIRING
3.5 Signal (device) explanation
77
3
Output device explanation
■ALM (Malfunction)
If the protective circuit operates and shuts off the base circuit, ALM will turn off.
If an alarm is not occurring, ALM will turn on in 2.5 s to 3.5 s after power-on (or in 3.5 s to 4.0 s for a multi-axis servo amplifier).
■INP (In-position)
If droop pulses are within the in-position range, INP will turn on. The in-position range can be changed with [Pr. PA10]. When
the servo motor is operated at low speed by increasing the in-position range, INP may remain on.
The device cannot be used in the velocity mode or torque mode.
■RD (Ready)
When the servo amplifier is switched to the servo-on state, RD switches on.
■SA (Speed reached)
At servo-off, SA is off. When the servo motor speed reaches the following range, SA turns on.
Set speed ± ((Set speed × 0.05) + 20) r/min (mm/s)
When the set speed is 20 r/min or less, SA is always on.
The device cannot be used in the position mode and torque mode.
For the MR-J5-_A_ servo amplifier, SA does not turn ON even when the servo motor speed reaches the set speed by external
force when both ST1 (forward rotation start) and ST2 (reverse rotation start) are off.
Zero speed detection ZSP DO-1 [G] [WG]:
Page 79 ZSP (Zero speed detection)
[A]:
Page 80 ZSP (Zero speed detection)
Limiting torque TLC DO-1 [G] [WG]:
Page 79 TLC (Limiting torque)
[A]:
Page 80 TLC (Limiting torque)
ABS transmission data bit 0 ABSB0 DO-1 Page 80 ABSB0 (ABS transmission data bit 0)
ABS transmission data bit 1 ABSB1 DO-1 Page 80 ABSB1 (ABS transmission data bit 1)
ABS transmission data ready ABST DO-1 Page 80 ABST (ABS transmission data ready)
Malfunction/Warning ALMWNG DO-1 Page 81 ALMWNG (Malfunction/Warning)
AL9F warning BW9F DO-1 Page 81 BW9F (AL9F warning)
Command pulse train input
permitted
PENS DO-1 Page 81 PENS (command pulse train input
permitted)
Device name Symbol Model I/O signal
interface
type
Detailed explanation
G A
P S T
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