Mitsubishi Electric MELSERVO-J4 Series Instruction Manual page 63

2. SIGNALS AND WIRING
Connector
Device Symbol
Analog torque TLA CN1-27
limit
Analog override VC CN1-2
(3) Output signal
(a) MR-J4-_A_-RJ 100 W or more
Connector
Device Symbol
Encoder A- LA CN1-4
phase pulse
LAR CN1-5
(differential line
driver)
Encoder B- LB CN1-6
phase pulse
LBR CN1-7
(differential line
driver)
Encoder Z- LZ CN1-8
phase pulse
LZR CN1-9
(differential line
driver)
Encoder Z- OP CN1-33
phase pulse
(open-collector)
Analog monitor 1 MO1 CN6-3
Analog monitor 2 MO2 CN6-2
pin No.
When using the signal, enable TL (External torque limit selection) with [Pr.
PD04], [Pr. PD06], [Pr. PD08], [Pr. PD10], [Pr. PD12], [Pr. PD14], [Pr.
PD18], [Pr. PD20], [Pr. PD22], [Pr. PD44], and [Pr. PD46].
When TLA is enabled, torque is limited in the full servo motor output torque
range. Apply 0 V to +10 V DC between TLA and LG. Connect the positive
terminal of the power supply to TLA. The maximum torque is generated at
+10 V. (Refer to section 3.6.1 (5) of "MR-J4-_A_(-RJ) Servo Amplifier
Instruction Manual".)
If a value equal to or larger than the maximum torque is inputted to TLA,
the value is clamped at the maximum torque.
Resolution: 10 bits
The signal controls the servo motor setting speed by applying -10 V to +10
V to between VC and LG. The percentage will be 0% with -10 V, 100% with
0 V, and 200% with +10 V to the setting speed of the servo motor.
Resolution: 14 bits or equivalent
For MR-J4-_A_-RJ 100 W or more servo amplifiers, setting [Pr. PC60] to "_
_ 1 _" increases the analog input resolution to 16 bits. This function is
available with servo amplifiers manufactured in November 2014 or later.
pin No.
These devices output pulses of encoder output pulse set in [Pr. PA15] in
the differential line driver type.
In CCW rotation of the servo motor, the encoder B-phase pulse lags the
encoder A-phase pulse by a phase angle of π/2.
The relation between rotation direction and phase difference of the A-
phase and B-phase pulses can be changed with [Pr. PC19].
The encoder zero-point signal is outputted in the differential line driver
type. One pulse is outputted per servo motor revolution. This turns on
when the zero-point position is reached. (negative logic)
The minimum pulse width is about 400 μs. For home position return using
this pulse, set the creep speed to 100 r/min or less.
The encoder zero-point signal is outputted in the open-collector type.
This is used to output the data set in [Pr. PC14] to between MO1 and LG in
terms of voltage.
Output voltage: ±10 V
Resolution: 10 bits or equivalent
This signal outputs the data set in [Pr. PC15] to between MO2 and LG in
terms of voltage.
Output voltage: ±10 V
Resolution: 10 bits or equivalent
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Function and application
Function and application
2 - 36
Control
mode
I/O
division
Analog
input
Analog
input
Control
mode
I/O
division
DO-2
DO-2
DO-2
Analog
output
Analog
output