Torque Control Mode - Mitsubishi MR-J4-10A Instruction Manual

3. SIGNALS AND WIRING

3.2.3 Torque control mode

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