INTRODUCTION .................................................................................................. 1-1~1-17
1-1
Inspection at delivery ................................................................................................................. 1-2
1-1-1
Packing list ................................................................................................................... 1-2
1-1-2
Model definition ........................................................................................................... 1-2
1-1-3
1-2
1-2-1
Servo amplifier ............................................................................................................. 1-8
1-2-2
Servo motor ............................................................................................................... 1-13
1-3
Function list .............................................................................................................................. 1-14
1-4
Basic configuration .................................................................................................................. 1-15
1-4-1
MR-J2-100A or less ................................................................................................... 1-15
1-4-2
MR-J2-200A or more ................................................................................................. 1-17
OPERATION ......................................................................................................... 2-1~2-54
2-1
2-1-1
Position control mode .................................................................................................. 2-2
2-1-2
Speed control mode .................................................................................................... 2-6
2-1-3
Torque control mode .................................................................................................... 2-8
2-2
Operation ................................................................................................................................. 2-10
2-2-1
Pre-operation checks ................................................................................................. 2-10
2-2-2
Start-up ...................................................................................................................... 2-11
2-3
Display and operation .............................................................................................................. 2-18
2-3-1
Display flowchart ....................................................................................................... 2-18
2-3-2
Status display ............................................................................................................ 2-19
2-3-3
Diagnostic mode ........................................................................................................ 2-20
2-3-4
Alarm mode ............................................................................................................... 2-27
2-3-5
Parameter mode ........................................................................................................ 2-28
2-4 Adjustments ................................................................................................................................. 2-50
2-4-1
Auto tuning ................................................................................................................ 2-50
2-4-2
Manual gain adjustment ............................................................................................ 2-50
2-4-3
WIRING ................................................................................................................. 3-1~3-62
3-1
Servo amplifier ........................................................................................................................... 3-3
3-1-1
Terminal blocks ............................................................................................................ 3-3
3-1-2
Signal connectors ....................................................................................................... 3-6
3-1-3
3-1-4
Interfaces ................................................................................................................... 3-32
3-2
3-2-1
Connection instructions ............................................................................................. 3-36
3-2-2
Connection diagram .................................................................................................. 3-37
3-2-3
I/O terminals .............................................................................................................. 3-38
3-2-4
3-3
Common line ............................................................................................................................ 3-55
3-4
Grounding ................................................................................................................................ 3-56
3-5
Power supply circuit ................................................................................................................. 3-57
3-6
3-7
CHAPTER 4
INSTALLATION ..................................................................................................... 4-1~4-9
4-1
Servo amplifier ........................................................................................................................... 4-2
4-2
Servo motor ............................................................................................................................... 4-5
CONTENTS
i