Output Device - Mitsubishi MR-JE-10B Instruction Manual

3. SIGNALS AND WIRING

3.5.2 Output device

(1) Output device pin
The following shows the output device pins and parameters for assigning devices.
(2) Output device explanations
Device Symbol
Electromagnetic MBR
brake interlock
Malfunction ALM
In-position INP
Ready RD
Speed reached SA
Limiting speed VLC
Zero speed detection ZSP
Connector pin No.
CN3-13
CN3-9 (Note)
CN3-15 (Note)
Note. The CN3-9 and CN3-15 pins are available with servo amplifiers having software
version C5 or later, and manufactured in May 2016 or later. For the servo amplifiers
manufactured in China, these pins have been available from the June 2016
production.
When using the device, set operation delay time of the electromagnetic brake in [Pr. PC02].
When a servo-off status or alarm occurs, MBR will turn off.
When the protective circuit is activated to shut off the base circuit, ALM will turn off.
When an alarm does not occur, ALM will turn on after 2.5 s to 3.5 s after power-on.
When the number of droop pulses is in the in-position range, INP will turn on. The in-position range
can be changed using [Pr. PA10]. When the in-position range is increased, INP may be on during
low-speed rotation.
The device cannot be used in the speed control mode, torque control mode, or continuous
operation to torque control mode.
Enabling servo-on to make the servo amplifier ready to operate will turn on RD.
SA will turn off during servo-off. When the servo motor speed reaches the following range, SA will
turn on.
Preset speed ± ((Preset speed × 0.05) + 20) r/min
When the preset speed is 20 r/min or slower, SA always turns on.
The device cannot be used in the position control mode and torque control mode.
When the speed reaches the speed limit value in the torque control mode, VLC will turn on. When
the servo is off, TLC will be turned off.
The device cannot be used in the position control mode and speed control mode.
ZSP turns on when the servo motor speed is zero speed (50 r/min) or slower. Zero speed can be
changed with [Pr. PC07].
OFF level
Forward
70 r/min
rotation
ON level
direction
50 r/min
Servo motor
0 r/min
speed
ON level
Reverse
-50 r/min
rotation
OFF level
direction
-70 r/min
ON
ZSP
(Zero speed
OFF
detection)
ZSP will turn on when the servo motor is decelerated to 50 r/min (at 1)), and will turn off when the
servo motor is accelerated to 70 r/min again (at 2)).
ZSP will turn on when the servo motor is decelerated again to 50 r/min (at 3)), and will turn off
when the servo motor speed has reached -70 r/min (at 4)).
The range from the point when the servo motor speed has reached on level, and ZSP turns on, to
the point when it is accelerated again and has reached off level is called hysteresis width.
Hysteresis width is 20 r/min for this servo amplifier.
3 - 20
Parameter Initial device
[Pr. PD07] MBR
Not assigned
[Pr. PD08]
(always off)
Not assigned
[Pr. PD09]
(always off)
Function and application
1)
3)
2)
I/O division
DO-1
20 r/min
(Hysteresis width)
[Pr. PC07]
[Pr. PC07]
20 r/min
(Hysteresis width)
4)