Mitsubishi Electronics J2-JRSERIES MR-J2-03A5 User Manual

3 -  5

3. SIGNALS AND WIRING

3.1.3

Torque control mode

(Note1)

2m (6.5ft) max.

10m(32ft) max.

Personal

computer

(Note 7)

Servo configuration

software

Zero speed

Limiting torque

(Note 2)

Trouble

30m (98ft) max.

Encoder Z-phase pulse 
(differential line driver)

Encoder A-phase pulse 
(differential line driver)

Encoder B-phase pulse 
(differential line driver)

Control common
Encoder Z-phase pulse 
(open collector)

Circuit
protector

Speed Selection 1

RA1

RA2

RA3

18

10

20

SP1

SG

SG

1

2

3

P24M

P24G

P24L

+
−

CN1A

15

5

14

8

9

Plate

20

1

11

EMG

SON

RES

RS1

RS2

SD

SG

P15R

SG

LG

10

12

ALM

19

ZSP

6

TLC

15

5

14

7

16

17

4

LZ

LZR

LA

LAR

LB

LBR

LG

OP

P15R

SD

1

6

Plate

CNP1

Servo amplifier

CN1B

CNP2

CNP3

13

+

8

7

SP2

TC

2

VLA

19 RD

RA4

CN1A

Ready

3

VDD

COM

RA

Servo

motor

CN1B

(Note 4,6)

(Note 4,6)

(Note 4,6)

Forward  rotation selection

Forced stop

Servo on

Reset

Reverse rotation selection

(Note 3)

 Analog speed limit

0 to 

+

10V/max. speed

Analog torque command

±

8V/max. current

Upper limit setting

Upper limit setting

24VDC power supply

(Note 4)

(Note 5)

Speed selection2

Note: 1. To prevent an electric shock, fit the supplied earth terminal (E) to the servo amplifier and always

connect it to the earth (E) of the control box. (Refer to section 3.9.)

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be

faulty and will not output signals, disabling the forced stop and other protective circuits.

3. The forced stop switch must be installed.
4. CN1A and CN1B have the same shape. Wrong connection of the connectors will lead to a fault.
5. Trouble (ALM) is connected with COM in normal alarm-free condition.
6. The pins with the same signal name are connected in the servo amplifier.
7. Use MRZJW3-SETUP61E or later.