Encoder Wiring Diagram Standard Wiring Example of Control Circuit MINAS A4 Standard Wiring Example of Control Circuit • Wiring examples at each control mode • CN X5 Wiring example at position control mode (1) When you use the external resistor with 12V and 24V power supply PULS1 3 7 COM+ Command pulse inhibition input 33 INH Deviation counter clear input 30 Servo-ON input 29 SRV-ON 27 GAIN Gain switching input 2.2kΩ 4.7kΩ 2.2kΩ 220Ω 220Ω Servo-Ready output Servo-Alarm output SIGN2 GND 9 CCWL 8 CWL OA- 37 SIGN2 6 3 4 5 6 13 330Ω A-phase output 330Ω B-phase output 330Ω Z-phase output 23 24 OZ- R VDC VDC specifications of R VDC–1.5 1kΩ1/2W 12V R+220 24V 2kΩ1/2W (Use with 500kpps or less.) 49 OZ+ 220Ω 13 GND Command pulse input A 48 OB- R 220Ω SIGN1 5 2 22 OB+ 35 S-RD Y+ 34 S-RDY- 1 21 OA+ Divider CW over-travel inhibition input PULS2 SIGN1 DIV Damping control switching input 26 VS-SEL Control mode switching input 32 C-MODE Alarm clear input 31 A-CLR CCW over-travel inhibition input OPC2 PULS1 CL Electronic gear switching input 28 OPC1 PULS2 4 In case of open collector I/F 10mA (2) When you do not use the external resistor with 24V power supply 2.2kΩ OPC1 1 PULS2 4 220Ω OPC2 2.2kΩ 2 24V SIGN2 6 220Ω ALM+ GND 13 36 VDC 12 to 24V Positioning complete output Brake release output Torque in-limit output (Select with Pr09) Zero speed detection output ALM39 COIN+ 38 COIN- TLC 12 ZSP 41 COM- (Select with Pr0A) 44 PULSH1 PULSH2 46 SIGNH1 47 SIGNH2 13 GND Command pulse input B (Use with 2Mpps or less.) 50 20kΩ SPR/TRQR 2kΩ 43kΩ PULS 220Ω 10kΩ 3.83kΩ 14 15 GND CCWTL/TRQR 16 CCW torque limit input (0 to +10V) GND 2kΩ 43kΩ 2kΩ 43kΩ 10kΩ SIGN 220Ω 3.83kΩ 2kΩ 43kΩ CWTL 1kΩ CW torque limit input (-10 to +10V) 43 SP 1kΩ FG 18 Velocity monitor output Torque monitor output 42 IM CN X5 ( represents twisted pair.) • CN X5 Wiring example at velocity control mode Internal command velocity selection 2 input Servo-ON input 7 COM+ 33 INTSPD1 30 INTSPD2 Internal command velocity selection 3 input 29 SRV-ON 27 GAIN 28 INTSPD3 Speed zero clamp input 26 Gain switching input Control mode switching input Alarm clear input CCW over-travel inhibition input CW over-travel inhibition input Servo-Ready output Servo alarm output ZEROSPD 32 C-MODE 31 A-CLR 9 CCWL 8 37 OAOB+ OBOZ+ OZ- 21 22 330Ω A-phase output 330Ω B-phase output 330Ω Z-phase output 48 49 23 24 ALM+ ALM- Positioning complete output 39 Brake release output 38 AT-SPEED11 BRKOFF+ Torque in-limit output 10 BRKOFF40 TLC (Select with Pr09) OA+ 35 S-RDY+ 34 S-RDY36 VDC 12 to 24V CWL 4.7kΩ Divider Internal command velocity selection 1 input GND AT-SPEED+ CZ 20kΩ Zero speed detection output 12 (Select with Pr0A) 41 COM- ZSP SPR/TRQR 25 19 Z-phase output (open collector) 14 Velocity command input (0 to ±10V) GND 15 10kΩ 16 CCWTL/TRQR 3.83kΩ 17 GND 10kΩ CWTL 18 CCW torque limit input (0 to +10V) CW torque limit input (–10 to 0V) 3.83kΩ 1kΩ 50 1kΩ FG SPM IM 43 Velocity monitor output 42 Torque monitor output CNX5 ( A4-20 represents twisted pair.) MINAS A4 Encoder Wriring Diagram / Standard Wiring Example of Control Circuit 45 19 Z-phase output (open collector) CZ 11 BRKOFF+ 10 BRKOFF40 25 GND Standard Wiring Example of Control Circuit Dri • CN X5 Wiring example at torque control mode Fr 7 COM+ Servo-ON input Gain switching input 33 INH 30 CL 4.7kΩ 29 SRV-ON 27 GAIN 28 Speed zero clamp input Control mode switching input DIV 26 ZEROSPD 32 C-MODE 31 A-CLR CCW over-travel inhibition input 9 CCWL Servo-Ready output Servo alarm output 8 37 Brake release output 38 AT-SPEED11 BRKOFF+ Torque in-limit output 10 BRKOFF40 TLC 330Ω B-phase output 330Ω Z-phase output 23 OZ+ 24 GND AT-SPEED+ Zero speed detection output 12 ZSP (Select with Pr0A) 41 COM- 25 19 Z-phase output (open collector) CZ 14 SPR/TRQR GND 15 10kΩ CCWTL/TRQR 16 20kΩ 3.83kΩ GND 10kΩ 3.83kΩ 1kΩ 1kΩ 50 A-phase output 48 49 OZ- ALM- 39 <Remarks> In case of Pr5B = 0, enter the speed limit value to 4th speed of velocity setup. setup 330Ω ALM+ At-speed signal output (Select with Pr09) OB+ OB- 35 S-RDY+ 34 S-RDY36 VDC 12 to 24V CWL 22 OA- Divider CW over-travel inhibition input Main powe terminals C Control pow terminals C Regenerati connecting CN X2 (Do not use Motor conn terminals C 21 OA+ Alarm clear input Torque command input or speed limit input (0 to ±10V) 17 CWTL 18 SPM IM 43 Velocity monitor output 42 Torque monitor output Con Wiring example when Pr02=5 or Pr5B=1 FG CCWTL/TRQR CNX5 16 Torque command (0 to ±10V) 17 GND ( Select with Pr5B represents twisted pair.) Con C C C C C C C Table of Applicable Motors Fr Driver Frame symbol Motor series Part No. MADDT1105 MADDT1107 A-frame MADDT1205 MAMA MADDT1207 MBDDT2110 MBDDT2210 MCDDT3120 C-frame MCDDT3520 MDDDT3530 D-frame MDDDT5540 MAMA012*** B-frame MAMA022*** MAMA042*** MSMD MSMD5AZ*** MSMD011*** MSMD5AZ*** MSMD012*** MSMD022*** MSMD021*** MSMD042*** MSMD041*** MSMD082*** MQMA MSMA MDMA MGMA MFMA MHMA MQMA011*** MQMA012*** MQMA022*** MQMA021*** MQMA042*** MQMA041*** MAMA082*** E-frame MEDDT7364 MFDDTA390 F-frame MFDDTB3A2 G-frame MGDDTC3B4 MSMA102*** MSMA152*** MSMA202*** MSMA302*** MSMA402*** MSMA502*** MFMA042*** MDMA102*** MDMA152*** MGMA092*** MDMA202*** MDMA302*** MDMA402*** MDMA502*** MDMA752*** MGMA202*** MGMA302*** MGMA452*** MGMA602*** MFMA152*** MFMA252*** MFMA452*** MHMA052*** MHMA102*** MHMA152*** MHMA202*** MHMA302*** MHMA402*** MHMA502*** MHMA752*** Main power terminals C Control pow terminals C Regenerativ connecting CN X2 (Do not use Motor conne terminals C Refer to page, A4-13, Table of Part Numbers and Options as well. Con Con C C C C C C C A4-21