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