2. SIGNALS AND WIRING
2 - 21
(2) Input signal
Device Symbol
Connector
pin No.
Function and application
I/O
division
Control
mode
CP CL
Manual pulse
generator
PP (CN1-10) Connect the manual pulse generator (MR-HDP01).
When using the signal, enable PP and NP with [Pr. PD44] and [Pr.
PD46].
DI-2
NP (CN1-35)
Analog torque
limit
TLA CN1-27 When using the signal, enable TL (External torque limit selection) with
[Pr. PD04], [Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr. PD20], [Pr. PD44],
and [Pr. PD46].
When TLA is enabled, torque is limited in the full servo motor output
torque range. Apply 0 V to +10 V DC between TLA and LG. Connect + of
the power supply to TLA. The maximum torque is generated at +10 V.
(Refer to section 3.6.1 (5) of "MR-JE-_A Servo Amplifier Instruction
Manual".)
If a value equal to or larger than the maximum torque is inputted to TLA,
the value will be clamped at the maximum torque.
Resolution: 10 bits
Analog
input
Analog override VC CN1-2 The signal controls the servo motor setting speed by applying -10 V to
+10 V to between VC and LG. The percentage will be 0% with -10 V,
100% with 0 V, and 200% with +10 V to the setting speed of the servo
motor.
Resolution: 14 bits or equivalent
Analog
input
(3) Output signal
Device Symbol
Connector
pin No.
Function and application
I/O
division
Control
mode
CP CL
Encoder A-
phase pulse
(differential line
driver)
LA
LAR
CN1-4
CN1-5
These devices output pulses of encoder output pulse set in [Pr. PA15] in
the differential line driver type.
In CCW rotation of the servo motor, the encoder B-phase pulse lags the
encoder A-phase pulse by a phase angle of π/2.
The relation between rotation direction and phase difference of the A-
phase and B-phase pulses can be changed with [Pr. PC19].
DO-2
Encoder B-
phase pulse
(differential line
driver)
LB
LBR
CN1-6
CN1-7
Encoder Z-
phase pulse
(differential line
driver)
LZ
LZR
CN1-8
CN1-9
The encoder zero-point signal is outputted in the differential line driver
type. One pulse is outputted per servo motor revolution. This turns on
when the zero-point position is reached. (negative logic)
The minimum pulse width is about 400 μs. For home position return
using this pulse, set the creep speed to 100 r/min or less.
DO-2
Encoder Z-
phase pulse
(open-collector)
OP CN1-33 The encoder zero-point signal is outputted in the open-collector type. DO-2
Analog monitor 1 MO1 CN6-3 This is used to output the data set in [Pr. PC14] to between MO1 and LG
in terms of voltage.
Output voltage: ±10 V
Resolution: 10 bits or equivalent
Analog
output
Analog monitor 2 MO2 CN6-2 This signal outputs the data set in [Pr. PC15] to between MO2 and LG in
terms of voltage.
Output voltage: ±10 V
Resolution: 10 bits or equivalent
Analog
output
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