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3. SIGNALS AND WIRING
3.2.3 Torque control mode
(Note 3) Forced stop 2
( 3)
Servo-on
Reset
(Note 10)
( 10)
Speed selection 1
Speed selection 2
Forward rotation selection
Reverse rotation selection
Upper limit setting
Analog torque command
±8 V/maximum torque
±8V/
Upper limit setting
(Note 9) Analog speed limit
( 9)
0 to ±10 V/rated speed
0 ±10V/
Personal
(Note 7)
( 7)
computer
MR Configurator2
+
POINT
EM2 has the same function as EM1 in the torque control mode.
24 V DC (Note 4)
DC24V( 4)
DICOM
DOCOM
(Note 12)
Main circuit power supply
( 12)
2
EM2
SON
1
2
DOCOM
10 m or shorter
10m
P15R
2 m or shorter
2m
(Note 8)
( 8)
USB
USB cable
(
)
(option)
( 11)
(Note 11)
Short-circuit connector
(
)
(Packed with the servo amplifier)
Servo amplifier
(Note 6)
( 6)
CN1
(Note 6)
( 6)
21
DICOM
CN1
20
48
ALM
46
23
ZSP
42
15
25
VLC
RES
19
49
RD
SP1
41
SP2
16
RS1
18
RS2
17
8
LZ
47
9
LZR
4
LA
5
LAR
1
6
LB
TC
27
7
LBR
LG
28
34
LG
VLA
2
33
OP
SD
Plate
SD
Plate
2 m or shorter
2m
(Note 6)
( 6)
CN5
CN6
3
MO1
1
LG
2
MO2
CN8
2 m or shorter
2m
(Note 1)
( 1)
3 - 11
( 2)
(Note 2)
Malfunction
( 5)
RA1
(Note 5)
Zero speed
RA2
detection
Limiting speed
RA3
Ready
RA4
10 m or shorter
10m
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
Z
(open collector)
(
Analog monitor 1
±10 V DC
DC ± 10V
±10 V DC
DC ± 10V
Analog monitor 2
(Note 10)
( 10)
Z
)
A
)
B
)
)
1
2
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