Table Of Contents - Mitsubishi MR-JE-10A Instruction Manual

1. FUNCTIONS AND CONFIGURATION
1.1 Summary ........................................................................................................................................... 1- 1
1.2 Function block diagram ..................................................................................................................... 1- 2
1.3 Servo amplifier standard specifications ............................................................................................ 1- 4
1.4 Combinations of servo amplifiers and servo motors ........................................................................ 1- 6
1.5 Function list ....................................................................................................................................... 1- 7
1.6 Model designation ............................................................................................................................. 1- 9
1.7 Structure .......................................................................................................................................... 1-10
1.7.1 Parts identification ..................................................................................................................... 1-10
1.8 Configuration including peripheral equipment ................................................................................. 1-12
2. INSTALLATION
2.1 Installation direction and clearances ................................................................................................ 2- 2
2.2 Keep out foreign materials ................................................................................................................ 2- 3
2.3 Encoder cable stress ........................................................................................................................ 2- 4
2.4 Inspection items ................................................................................................................................ 2- 4
2.5 Parts having service lives ................................................................................................................. 2- 5
3. SIGNALS AND WIRING
3.1 Input power supply circuit ................................................................................................................. 3- 2
3.2 I/O signal connection example .......................................................................................................... 3- 7
3.2.1 Position control mode ................................................................................................................. 3- 7
3.2.2 Speed control mode .................................................................................................................. 3-12
3.2.3 Torque control mode ................................................................................................................. 3-14
3.3 Explanation of power supply system ............................................................................................... 3-16
3.3.1 Signal explanations ................................................................................................................... 3-16
3.3.2 Power-on sequence .................................................................................................................. 3-17
3.3.3 Wiring CNP1 and CNP2 ............................................................................................................ 3-18
3.4 Connectors and pin assignment ...................................................................................................... 3-20
3.5 Signal (device) explanations ............................................................................................................ 3-23
3.6 Detailed explanation of signals ........................................................................................................ 3-31
3.6.1 Position control mode ................................................................................................................ 3-31
3.6.2 Speed control mode .................................................................................................................. 3-36
3.6.3 Torque control mode ................................................................................................................. 3-38
3.6.4 Position/speed control switching mode ..................................................................................... 3-41
3.6.5 Speed/torque control switching mode ....................................................................................... 3-43
3.6.6 Torque/position control switching mode.................................................................................... 3-45
3.7 Forced stop deceleration function ................................................................................................... 3-46
3.7.1 Forced stop deceleration function ............................................................................................. 3-46
3.7.2 Base circuit shut-off delay time function ................................................................................... 3-48
3.7.3 Vertical axis freefall prevention function ................................................................................... 3-49
3.7.4 Residual risks of the forced stop function (EM2) ...................................................................... 3-49
3.8 Alarm occurrence timing chart ......................................................................................................... 3-50
3.8.1 When you use the forced stop deceleration function ................................................................ 3-50
3.8.2 When you do not use the forced stop deceleration function ..................................................... 3-51
CONTENTS
1
1- 1 to 1-14
2- 1 to 2- 6
3- 1 to 3-66