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12.3 Dynamic brake characteristics...........................................................................................................12- 4
12.4 Encoder cable flexing life .................................................................................................................... 12- 6
13. OPTIONS AND AUXILIARY EQUIPMENT 13- 1 to 13-30
13.1 Options.................................................................................................................................................. 13- 1
13.1.1 Regenerative brake options .........................................................................................................13- 1
13.1.2 Cables and connectors.................................................................................................................. 13- 5
13.1.3 Junction terminal block (MR-TB20) ..........................................................................................13-13
13.1.4 Maintenance junction card (MR-J2CN3TM) ............................................................................13-15
13.1.5 Battery (MR-BAT, A6BAT).........................................................................................................13-16
13.1.6 Servo configurations software ....................................................................................................13-17
13.2 Auxiliary equipment ..........................................................................................................................13-19
13.2.1 Recommended wires....................................................................................................................13-19
13.2.2 No-fuse breakers, fuses, magnetic contactors........................................................................... 13-21
13.2.3 Power factor improving reactors ................................................................................................13-21
13.2.4 Relays............................................................................................................................................ 13-22
13.2.5 Surge absorbers ...........................................................................................................................13-22
13.2.6 Noise reduction techniques.........................................................................................................13-22
13.2.7 Leakage current breaker.............................................................................................................13-28
13.2.8 EMC filter.....................................................................................................................................13-30
14. COMMUNICATION FUNCTIONS 14- 1 to 14- 28
14.1 Configuration ....................................................................................................................................... 14- 1
14.1.1 RS-422 configuration.................................................................................................................... 14- 1
14.1.2 RS-232C configuration ................................................................................................................. 14- 2
14.2 Communication specifications............................................................................................................14- 3
14.2.1 Communication overview............................................................................................................. 14- 3
14.2.2 Parameter setting.........................................................................................................................14- 4
14.3 Protocol ................................................................................................................................................. 14- 5
14.4 Character codes ................................................................................................................................... 14- 7
14.5 Error codes ...........................................................................................................................................14- 8
14.6 Checksum.............................................................................................................................................14- 8
14.7 Time-out operation .............................................................................................................................. 14- 9
14.8 Retry operation ....................................................................................................................................14- 9
14.9 Initialization........................................................................................................................................14-10
14.10 Communication procedure example ............................................................................................... 14-10
14.11 Command and data No. list.............................................................................................................14-11
14.11.1 Read commands.........................................................................................................................14-11
14.11.2 Write commands........................................................................................................................14-12
14.12 Detailed explanations of commands...............................................................................................14-14
14.12.1 Data processing..........................................................................................................................14-14
14.12.2 Status display ............................................................................................................................14-16
14.12.3 Parameter...................................................................................................................................14-17
14.12.4 External I/O pin statuses (DIO diagnosis)..............................................................................14-19
14.12.5 Disable/enable of external I/O signals (DIO) .......................................................................... 14-20
14.12.6 External input signal ON/OFF (test operation) ..................................................................... 14-21
14.12.7 Test operation mode ..................................................................................................................14-22