Mitsubishi MR-J4-40A

3. SIGNALS AND WIRING
3 - 17
3.2.3 Torque control mode
POINT
EM2 has the same function as EM1 in the torque control mode.
(1) For sink I/O interface
(Note 4)
24 V DC
(Note 4)
24 V DC
Servo amplifie
r
(Note 6)
CN6
2 m or less
3 MO1
1LG
2 MO2
DC ± 10 V
DC ± 10 V
Analog monitor 1
Analog monitor 2
(Note 1)
(Note 9)
9
(Note 2)
Malfunction
(Note 5)
Zero speed
detection
Limiting speed
Encoder A-phase pulse
(differential line driver)
48 ALM
23 ZSP
25 VLC
4LA
5 LAR
6LB
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)
8LZ
LZR
(Note 6)
CN1
20
47
DICOM
21DICOM
DOCOM
Personal
computer
+
(Note 8)
USB cable
(option)
CN5
27
1
2 m or less
Upper limit setting
28
2
Plate
Upper limit setting
TC
SD
VLA
LG
P15R
Analog torque command
±8 V/maximum torque
Analog speed limit
0 to ±10 V/rated speed
(Note 7)
MR Configurator2
Plate
10 m or less
42
15
19
17
18
46
Forced stop 2
Servo-on
Reset
Forward rotation selection
Reverse rotation selection
(Note 3)
41
16Speed selection 2
EM2
SON
RES
RS1
RS2
DOCOM
SP1
SP2
Speed selection 1
RA1
RA2
RA3
RA4
(Note 10)
Short-circuit connector
(Packed with the servo amplifier)
CN8
(Note 11)
Main circuit power supply