Torque Control Mode - Mitsubishi Electric MELSERVO MR-J2S- A Instruction Manual

3. SIGNALS AND WIRING

3.1.3 Torque control mode

Speed selection 1
(Note 3) Emergency stop
Servo-on
Reset
Speed selection 2
Forward rotation start
Reverse rotation start
Upper limit setting
Analog torque command
8V/max. torque
(Note 11)
Upper limit setting
Analog speed limit
0 to 10V/rated speed
(Note 9)
MR Configurator
(Servo configuration
software)
10m(32ft) max.
2m(6.5ft) max.
Personal
computer
(Note 7)
Communication cable
Servo amplifier
(Note 4)
CN1B
3 VDD
(Note 4,8)
13 COM
CN1A
SP1 8
18 ALM
SG 10
19 ZSP
6 VLC
10m(32ft) or less
(Note 4,8) (Note 4,8)
CN1B CN1A
EMG 15
9 COM
SON 5
19 RD
RES 14
SP2 7 5 LZ
RS1 9 15 LZR
RS2 8 6 LA
SG 10 16 LAR
P15R 11 7 LB
TC 12 17 LBR
LG 1
1 LG
VLA 2
14 OP
4 P15R
Plate
SD
Plate SD
2m(6.5ft) or less
(Note 4,8,12)
CN3
4 MO1
3 LG
14 MO2
(Note 4,8)
13 LG
CN3
Plate SD
(Note 1)
3 - 8
(Note 10)
(Note 6)
(Note 2,5)
Trouble
RA1
Zero speed
RA2
Limiting torque
RA3
RA4 Ready
Encoder Z-phase pulse
(differential line driver)
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
Control common
Encoder Z-phase pulse
(open collector)
A
(Note 7)
10k
Analog monitor
Max. 1mA
A
10k
Reading in both
directions
2m(6.5ft) max.