Table of Contents
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1. INTRODUCTION
1-3 Function list
Function
Position control mode
Speed control mode
Torque control mode
Position/speed control
change mode
Speed/torque control
change mode
Torque/position control
change mode
Absolute position detection
system
Slight vibration suppression
control
Electronic gear
Real-time auto tuning
Smoothing
S-pattern acceleration/
deceleration time constant
Analog monitor output
Alarm history clear
Restart after instantaneous
power failure
Command pulse selection
Input signal selection
Torque limit
Speed limit
Status display
External I/O display
Output signal forced output
Automatic VC offset
Test operation mode
Regenerative brake option
Servo configuration software
Alarm code output
Note: P: Position control mode, S: Speed control mode, T: Torque control mode
P/S: Position/speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/position
control change mode
Description
MR-J2-A is used as position control servo.
MR-J2-A is used as speed control servo.
MR-J2-A is used as torque control servo.
Using external input signal, control can be switched bet-
ween position control and speed control.
Using external input signal, control can be switched bet-
ween speed control and torque control.
Using external input signal, control can be switched bet-
ween torque control and position control.
Return to home position is not required at each power on
after it has been made once.
Suppresses vibration of ±1 pulse produced at a servo
motor stop.
Input pulses can be multiplied by 1/50 to 50.
Automatically adjusts the gain to optimum value if load
applied to the servo motor shaft varies.
Speed can be increased smoothly in response to input
pulse.
Speed can be increased and decreased smoothly.
Servo status is output in terms of voltage in real time.
Alarm history is cleared.
If the input power supply voltage had reduced to cause
an alarm but has returned to normal, the servo motor can
be restarted by merely switching on the start signal.
Command pulse train form can be selected from among
four different types.
Forward rotation start, reverse rotation start, servo on and
other input signals can be assigned to any pins.
Servo motor-generated torque can be limited to any value.
Servo motor speed can be limited to any value.
Servo status is shown on the 4-digit, 7-segment LED
display.
ON/OFF statuses of external I/O signals are shown on the
display.
Output signal can be forced on/off independently of the
servo status.
Use this function for output signal wiring check, etc.
Voltage is automatically offset to stop the servo motor
if it does not come to a stop at the analog speed command
(VC) or analog speed limit (VLA) of 0V.
Servo motor can be run from the operation section of the
servo amplifier without the start signal entered.
Used when the built-in regenerative brake resistor of the
servo amplifier does not have sufficient regenerative cap-
ability for the regenerative power generated.
Using a personal computer, parameter setting, test ope-
ration, status display, etc. can be performed.
If an alarm has occurred, the corresponding alarm number
is output in 3-bit code.
(Note)
Control Mode
P, S, T
P, S, T
P, S, T
P, S, T
P, S, T
P, S, T
P, S, T
P, S, T
P, S, T
P, S, T
1– 14
Refer To
Section 2-1-1
P
Section 2-2-2 (2)
Section 3-1-3 (1)
Section 2-1-2
S
Section 2-2-2 (3)
Section 3-1-3 (2)
Section 2-1-3
T
Section 2-2-2 (4)
Section 3-1-3 (3)
P/S
Section 3-1-3 (4)
Section 3-1-3 (5)
S/T
T/P
Section 3-1-3 (6)
Chapter 5
P
P
Section 2-4-3
Parameters No. 3, 4
P
Section 2-4-1
P, S
Parameter No. 2
Parameter No. 7
P
S
Parameter No. 13
Parameter No. 17
Parameter No. 16
S
Parameter No. 20
P
Parameter No. 21
Parameters No. 43 to
48
Section 3-1-3 (1) q
P, S
Parameter No. 28
Section 3-1-3 (3) e
T
Parameter No. 8~10
Section 2-3-2
Section 2-3-3 (1)
Section 2-3-3 (2)
Section 2-3-3
S, T
Section 2-3-3 (3)
Section 6-1-1
Section 6-1-5
Section 8-2-1
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