| PCI-1802 Terminal Board | Corresponding Servo Driver | Board Appearance |
| DIN-68M-J2A0 | Mitsubishi J2S series | <img src="images/cd3a62c1f7304d583109647b47a8765a2c471c6b0183c6a283fd9c5782875415.jpg"/> |
| DIN-68M-J3A0 | Mitsubishi J3A series | <img src="images/0c667467c375593f6924b07798366578f4ca60909014686304a0704d56f3747a.jpg"/> |
| DIN-68P-A40 | Panasonic MINAS A4 and A5 series | <img src="images/3c2922a2f5abdb97463440bee19c2ca4bcfcfdc0983a3436a4e8a9209705263f.jpg"/> |
| DIN-68Y-SGII0 | Yaskawa Sigma II, III and V series | <img src="images/1073e8f4a40bbb983317853fa314595e092c1c0f33557a93ec2efdc522bb4b94.jpg"/> |
| DIN-68S0 | General Purpose | <img src="images/00944aaf8df367318f0acae831cd7341d977b39afbebe48574a8a37724c9024a.jpg"/> |
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# 2 Installation
This chapter describes how to install the PCI-8102 series. Please follow these steps below:
▶ Check what you have (section 2.1)
▶ Check the PCB (section 2.2)
▶ Install the hardware (section 2.3)
▶ Install the software driver (section 2.4)
▶ Understanding the I/O signal connections (chapter 3) and their operation (chapter 4)
▶ Understanding the connector pin assignments (the remaining sections) and wiring the connections
# 2.1 Package Contents
In addition to this User's Guide, the package also includes the following items:
PCI-8102: advanced 2-Axis Servo / Stepper Motion Control Card
▶ Extension cable: DB37FM-IDC44 flat cable
▶ ADLINK All-in-one Compact Disc
If any of these items are missing or damaged, contact the dealer from whom you purchased the product. Save the shipping materials and carton to ship or store the product in the future.
# 2.2 PCI-8102 Outline Drawing
Figure 2-1: PCB Layout of the PCI-8102
P1: Input / Output Signal Connector (68-pin)
P2: 16 Digital Input / Output Signals Connector
K1 / K2: Simultaneous Start / Stop Connector
SW1: DIP switch for card index selection (0-15)
J8-J11: Pulse output selection jumper
J12/J13: CMP output interface selection jumper
J14: EMG input signal setting
# 2.3 PCI-8102 Hardware Installation
# 2.3.1 Hardware Configuration
The PCI-8102 is fully Plug and Play compliant. Hence memory allocation (I/O port locations) and IRQ channel of the PCI card are assigned by the system BIOS. The address assignment is done on a board-by-board basis for all PCI cards in the system.
# 2.3.2 PCI Slot Selection
Your computer system may have both PCI and ISA slots. Do not force the PCI card into a PC/AT slot. The PCI-8102 can be used in any PCI slot.
# 2.3.3 Installation Procedures
1. Read through this manual and setup the jumper according to your application
2. Turn off your computer. Turn off all accessories (printer, modem, monitor, etc.) connected to computer. Remove the cover from your computer.
3. Select a 32-bit PCI/PXI expansion slot. PCI slots are shorter than ISA or EISA slots and are usually white or ivory.
4. Before handling the PCI-8102, discharge any static buildup on your body by touching the metal case of the computer. Hold the edge of the card and do not touch the components.
5. Position the board into the PCI slot you have selected.
6. Secure the card in place at the rear panel of the system unit using screws removed from the slot.
# 2.3.4 Troubleshooting
If your system doesn't boot or if you experience erratic operation with your PCI board in place, it's most likely caused by an interrupt conflict (possibly an incorrect ISA setup). In general, the solution, once determined it is not a simple oversight, is to consult the BIOS documentation that comes with your system.
Check the control panel of the Windows system if the card is listed by the system. If not, check the PCI settings in the BIOS or use another PCI slot.
# 2.4 Software Driver Installation
# PCI-8102:
1. Auto run the ADLINK All-In-One CD. Choose Driver Installation -> Motion Control -> PCI-8102.
2. Follow the procedures of the installer.
3. After setup installation is completed, restart windows.
Suggestion: Please download the latest software from ADLINK website if necessary.
# 2.5 P1 Pin Assignments: Main connector
P1 is the major connector for the motion control I/O signals.
| No. | Name | I/O | Function | No. | Name | I/O | Function |
| 1 | EX_GND | -- | External Power Ground | 2 | EX_GND | -- | External Power Ground |
| 3 | DI0 | I | Discrete Input Channel 0 | 4 | DI1 | I | Discrete Input Channel 1 |
| 5 | DI2 | I | Discrete Input Channel 2 | 6 | DI3 | I | Discrete Input Channel 3 |
| 7 | DI4 | I | Discrete Input Channel 4 | 8 | DI5 | I | Discrete Input Channel 5 |
| 9 | VDD | O | External +5V Power | 10 | EX_GND | -- | External Power Ground |
| 11 | DI6 | I | Discrete Input Channel 6 | 12 | DI7 | I | Discrete Input Channel 7 |
| 13 | DI8 | I | Discrete Input Channel 8 | 14 | DI9 | I | Discrete Input Channel 9 |
| 15 | DI10 | I | Discrete Input Channel 10 | 16 | DI11 | I | Discrete Input Channel 11 |
| 17 | EX_GND | -- | External Power Ground | 18 | EX_GND | -- | External Power Ground |
| 19 | DI12 | I | Discrete Input Channel 12 | 20 | DI13 | I | Discrete Input Channel 13 |
| 21 | DI14 | I | Discrete Input Channel 14 | 22 | DI15 | I | Discrete Input Channel 15 |
| 23 | DO0 | O | Discrete Output Channel 0 | 24 | DO1 | O | Discrete Output Channel 1 |
| 25 | DO2 | O | Discrete Output Channel 2 | 26 | DO3 | O | Discrete Output Channel 3 |
| 27 | EX_GND | -- | External Power Ground | 28 | EX_GND | -- | External Power Ground |
| 29 | DO4 | O | Discrete Output Channel 4 | 30 | DO5 | O | Discrete Output Channel 5 |
| 31 | DO6 | O | Discrete Output Channel 6 | 32 | DO7 | O | Discrete Output Channel 7 |
Table 2-2: P2 Pin Assignment
| Pin | Name | Function | Pin | Name | Function |
| 1 | EX_GND | External Power Ground | 20 | EX_GND | External Power Ground |
| 2 | DI0 | Discrete Input Channel 0 | 21 | DO0 | Discrete Output Channel 0 |
| 3 | DI1 | Discrete Input Channel 1 | 22 | DO1 | Discrete Output Channel 1 |
| 4 | DI2 | Discrete Input Channel 2 | 23 | DO2 | Discrete Output Channel 2 |
| 5 | DI3 | Discrete Input Channel 3 | 24 | DO3 | Discrete Output Channel 3 |
| 6 | DI4 | Discrete Input Channel 4 | 25 | DO4 | Discrete Output Channel 4 |
| 7 | DI5 | Discrete Input Channel 5 | 26 | DO5 | Discrete Output Channel 5 |
| 8 | DI6 | Discrete Input Channel 6 | 27 | DO6 | Discrete Output Channel 6 |
| 9 | DI7 | Discrete Input Channel 7 | 28 | DO7 | Discrete Output Channel 7 |
| 10 | DI8 | Discrete Input Channel 8 | 29 | DO8 | Discrete Output Channel 8 |
| 11 | DI9 | Discrete Input Channel 9 | 30 | DO9 | Discrete Output Channel 9 |
| 12 | DI10 | Discrete Input Channel 10 | 31 | DO10 | Discrete Output Channel 10 |
| 13 | DI11 | Discrete Input Channel 11 | 32 | DO11 | Discrete Output Channel 11 |
| 14 | DI12 | Discrete Input Channel 12 | 33 | DO12 | Discrete Output Channel 12 |
| 15 | DI13 | Discrete Input Channel 13 | 34 | DO13 | Discrete Output Channel 13 |
| 16 | DI14 | Discrete Input Channel 14 | 35 | DO14 | Discrete Output Channel 14 |
| 17 | DI15 | Discrete Input Channel 15 | 36 | DO15 | Discrete Output Channel 15 |
| 18 | EX_GND | External Power Ground | 37 | EX_GND | External Power Ground |
| 19 | VDD | External +5V Power | - | - | - |
# 1. Digital I/O type
-N NPN Sinking Inputt:
-N NPN Sinking Output
# 4 Operations
This chapter describes the detail operation of the motion controller card.
# 4.1 Classifications of Motion Controller
At the beginning of servo/stepper driver come to the world, people start to talk about motion control widely instead of motor control. They separate motor control into two layers: one is motor control and the other is motion control. Motor control talks much about on the PWM, power stage, closed loop, hall sensors, vector space, and so on. Motion control talks much about on the speed profile generating, trajectory following, multi-axes synchronization, and coordinating.
# 4.1.1 Voltage Type Motion Control Interface
The interfaces between motion and motor control are changing rapidly. From the early years, people use voltage signal as a command to motor controller. The amplitude of the signal means how fast a motor rotating and the time duration of the voltage changes means how fast a motor acceleration from one speed to the other speed. Voltage signal as a command to motor driver is so called “analog” type motion controller. It is much easier to integrate into an analog circuit of motor controller but sometimes noise is a big problem for this type of motion control. Besides, if people want to do positioning control of a motor, the analog type motion controller must have a feedback signal of position information and use a closed loop control algorithm to make it possible. This increased the complexity of motion control and not easy to use for a beginner.
# 4.1.2 Pulse Type Motion Control Interface
The second interface of motion and motor control is pulses train type. As a trend of digital world, pulse trains type represent a new concept to motion control. The counts of pulses show how many steps of a motor rotates and the frequency of pulses show how fast a motor runs. The time duration of frequency changes represent the acceleration rate of a motor. Because of this interface, users can control a servo or stepper motor more easier than analog type for positioning applications. It means that motion and motor control can be separated more easily by this way.
Both of these two interfaces need to take care of gains tuning. For analog type position controller, the control loops are built inside and users must tune the gain from the controller. For pulses type position controller, the control loops are built outside on the motor drivers and users must tune the gains on drivers.
For more than one axes' operation, motion control seems more important than motor control. In industrial applications, reliable is a very important factor. Motor driver vendors make good performance products and a motion controller vendors make powerful and variety motion software. Integrated two products make our machine go into perfect.
# 4.1.3 Network Type Motion Control Interface
Recently, there is a new control interface come into the world. That's network type motion controller. The command between motor driver and motion controller is not analog or pulses signal any more. It is a network packet which contents position information and motor information. This type of controller is more reliable because of digitized and packetized. Because a motion controller must be real-time, the network must have real-time capacity around a cycle time below 1 mini-second. This means that not commercial network can do this job. It must have a specific network like Mitsubishi SSCNET. The network may have opto-fiber type to increase communication reliability.
# 4.1.4 Software Real-time Motion Control Kernel
For motion control kernel, there are three ways to accomplish it. They are DSP-based, ASIC based, and software real-time based.
A motion control system needs an absolutely real-time control cycle and the calculation on controller must provide a control data at the same cycle. If not, the motor will not run smoothly. Many machine makers will use PC's computing power to do this. They can use simply a feedback counter card and a voltage output or pulse output card to make it. This method is very low-end and takes much software effort. For sure their real-time performance, they will use a real-time software on the system. It increases the complexity of the system too. But this method is the most flexible way for a professional motion control designers. Most of these methods are on NC machines.
# 4.1.5 DSP Based Motion Control Kernel
A DSP-based motion controller kernel solves real-time software problem on computer. DSP is a micro-processor itself and all motion control calculations can be done on it. There is no real-time software problem because DSP has its own OS to arrange all the procedures. There is no interruption from other inputs or context switching problem like Windows based computer. Although it has such a perfect performance on real-time requirements, its calculation speed is not as fast as PC's CPU at this age. Besides, the software interfacing between DSP based controller's vendors and users are not easy to use. Some controller vendors provide some kind of assembly languages for users to learn and some controller vendors provide only a handshake documents for users to use. Both ways are not easy to use. DSP-based controllers provide a better way than software kernel for machine makers to build they applications.
# 4.1.6 ASIC Based Motion Control Kernel
An ASIC-base motion control kernel is a fair way between software kernel and DSP kernel. It has no real-time problem because all motion functions are done via ASIC. Users or controller's vendors just need to set some parameters which ASIC requires and the motion control will be done easily. This kind of motion control separates all system integration problems into 4 parts: Motor driver's performance, ASIC outputting profile, vendor's software parameters to ASIC, and users' command to vendors' software. It makes motion controller co-operated more smoothly between devices.
# 4.1.7 Compare Table of All Motion Control Types
| Bit | Description |
| 0 | Normally Stop |
| 1 | Next command in buffer starts |
| 2 | Command pre-register 2 is empty and allow new command to write |
| 3 | 0 |
| 4 | Acceleration Start |
| 5 | Acceleration End |
| 6 | Deceleration Start |
| 7 | Deceleration End |
| 8 | +Soft limit or comparator 1 is ON |
| 9 | -Soft limit or comparator 2 is ON |
| 10 | Error comparator or comparator 3 is ON |
| 11 | General comparator or comparator 4 is ON |
| 12 | Trigger comparator or comparator 5 is ON |
| 13 | Counter is reset by CLR input |
| 14 | Counter is latched by LTC input |
| 15 | Counter is latched by ORG Input |
| 16 | SD input turns on |
| 17 | 0 |
| 18 | 0 |
| 19 | CSTA input or _8102_start_move_all() turns on |
| 20~31 | 0 |
The error interrupt sources are non-maskable but the error number of situation could be get from \_8102\_wait\_error\_interrupt()’s return code if it is not timeout.
Error Interrupt return codes
| Value | Description |
| 0 | +Soft Limit is ON and axis is stopped |
| 1 | -Soft Limit is ON and axis is stopped |
| 2 | Comparator 3 is ON and axis is stopped |
| 3 | General Comparator or comparator 4 is ON and axis is stopped |
| 4 | Trigger Comparator or comparator 5 is ON and axis is stopped |
| 5 | +End Limit is on and axis is stopped |
| 6 | -End Limit is on and axis is stopped |
| 7 | ALM is happened and axis is stop |
| 8 | CSTP is ON or _8102_stop_move_all is on and axis is stopped |
| 9 | CEMG is on and axis is stopped |
| 10 | SD input is on and axis is slowed down to stop |
| 11 | 0 |
| 12 | Interpolation operation error and stop |
| 13 | axis is stopped from other axis's error stop |
| 14 | Pulse input buffer overflow and stop |
| 15 | Interpolation counter overflow |
| 16 | Encoder input signal error but axis is not stopped |
| 17 | Pulse input signal error but axis is not stopped |
| 11~31 | 0 |
The GPIO interrupt sources are maskable. The mask bits table is shown below:
GPIO Interrupt Source Bit Settings (1=Enable,0=Disable)
| Function Name | Description |
| _8102_int_control | Enable/Disable INT service |
| _8102_wait_error_interrupt | Wait error related interrupts |
| _8102_wait_motion_interrupt | Wait motion related interrupts |
| _8102_set_motion_int_factor | Set the factors of motion related interrupts |
| _8102_wait_gpio_interrupt | Waiting GPIO interrupts |
| _8102_set_gpio_int_factor | Set the factors of general purpose IO related interrupt |
Position Control and Counters Section 6.14
| Function Name | Description |
| _8102_get_position | Get the value of the feedback position counter |
| _8102_set_position | Set the feedback position counter |
| _8102_get_command | Get the value of the command position counter |
| _8102_set_command | Set the command position counter |
| _8102_get_error_counter | Get the value of the position error counter |
| _8102_reset_error_counter | Reset the position error counter |
| _8102_get_general_counter | Get the value of the general counter |
| _8102_set_general_counter | Set the general counter |
| _8102_get_target_pos | Get the value of the target position recorder |
| _8102_reset_target_pos | Reset target position recorder |
| _8102_get_res_distance | Get remaining pulses accumulated from motions |
| _8102_set_res_distance | Set remaining pulses record |
Position Compare and Latch Section 6.15
| Value meaning (0: Disable, 1:Enable) |
| Bit | Description |
| 7 | Deceleration end |
| 8 | When soft limit turn on (positive direction) |
| 9 | When soft limit turn on (negetive direction) |
| 10 | When error comparator conditions are met |
| 11 | When general comparator conditions are met |
| 12 | When trigger comparator conditions are met |
| 13 | When resetting the count value with a CLR signal input |
| 14 | When Latching the count value with a LTC signal input |
| 15 | When Latching the count value with an ORG signal input |
| 16 | When the SD input is ON |
| 17 | When the +/-DR input is changed |
| 18 | When the CSTA input is ON |
| 19~31 | Not define (Always set to 0) |
GPIO INT factors
| Value meaning (0: Disable, 1:Enable) |
| Bit | Description |
| 0 | Digital Input 0 falling dege |
| 1 | Digital Input 1 falling dege |
| 2 | Digital Input 2 falling dege |
| 3 | Digital Input 3 falling dege |
| 4 | Digital Input 0 rising dege |
| 5 | Digital Input 1 rising dege |
| 6 | Digital Input 2 rising dege |
| 7 | Digital Input 3 rising dege |
| 8 | CLR/LTC/SD/PCS input 0 Interrupt enable |
| 9 | CLR/LTC/SD/PCS input 1 Interrupt enable |
| 10 | CLR/LTC/SD/PCS mode (0: falling edge, 1: rising edge) |
| 11~15 | Not define (Always set to 0) |
TimeOut\_ms: Specifies the time-out interval, in milliseconds.
IntFactorBitNo: Specifies the bit number of the INT factor
# 6.14 Position Control and Counters
@ Name
```txt
_8102_get_position - Get the value of feedback position counter
_8102_set_position - Set the feedback position counter
_8102_get_command - Get the value of command position counter
_8102_set_command - Set the command position counter
_8102_get_error_counter - Get the value of position error counter
_8102_reset_error_counter - Reset the position error counter
_8102_get_general_counter - get the value of general counter
_8102_set_general_counter - Set the general counter
_8102_get_target_pos - Get the value of target position recorder
_8102_reset_target_pos - Reset target position recorder
_8102_get_res_distance - Get remaining pulses accumulated from motions
_8102_set_res_distance - Set remaining pulses record
```
# @ Description
\_8102\_get\_position:
This function is used to read the feedback position counter value. Note that this value has already been processed by the move ratio setting by \_8102\_set\_move\_ratio(). If the move ratio is 0.5, than the value of position will be twice. The source of the feedback counter is selectable by the function \_8102\_set\_feedback\_src() to be external EA/EB or internal pulse output of 8102.
\_8102\_set\_position:
This function is used to change the feedback position counter to the specified value. Note that the value to be set will be processed by the move ratio. If move ratio is 0.5, then the set value will be twice as given value.
\_8102\_get\_command:
This function is used to read the value of the command position counter. The source of the command position counter is the pulse output of the 8102.
\_8102\_set\_command:
This function is used to change the value of the command position counter.
\_8102\_get\_error\_counter:
This function is used to read the value of the position error counter.
\_8102\_reset\_error\_counter:
This function is used to clear the position error counter.
\_8102\_get\_general\_counter:
This function is used to read the value of the general counter.
\_8102\_set\_general\_counter:
This function is used to set the counting source of and change the value of general counter (By default, the source is pulser input).
\_8102\_get\_target\_pos:
This function is used to read the value of the target position recorder. The target position recorder is maintained by the 8102 software driver. It records the position to settle down for current running motion.
\_8102\_reset\_target\_pos:
This function is used to set new value for the target position recorder. It is necessary to call this function when home return completes, or when a new feedback counter value is set by function \_8102\_set\_position().
\_8102\_get\_res\_distance:
This function is used to read the value of the residue distance recorder. The target position recorder is maintained by the 8102 software driver. It records the position to settle down for current running motion.
\_8102\_set\_res\_distance:
This function is used to change the value of the residue distance counter
# @ Syntax
C/C++(Windows 2000/XP/7)
```c
I16 _8102_get_position(I16 AxisNo, F64 *Pos);
I16 _8102_set_position(I16 AxisNo, F64 Pos);
I16 _8102_get_command(I16 AxisNo, I32 *Command);
I16 _8102_set_command(I16 AxisNo, I32 Command);
I16 _8102_get_error_counter(I16 AxisNo, I16 *error);
I16 _8102_reset_error_counter(I16 AxisNo);
I16 _8102_get_general_counter(I16 AxisNo, F64 *CntValue);
I16 _8102_set_general_counter(I16 AxisNo, I16 CntSrc, F64 CntValue);
I16 _8102_get_target_pos(I16 AxisNo, F64 *T_pos);
I16 _8102_reset_target_pos(I16 AxisNo, F64 T_pos);
I16 _8102_get_res_distance(I16 AxisNo, F64 *Res_Distance);
I16 _8102_set_res_distance(I16 AxisNo, F64 Res_Distance);
```
Visual Basic (Windows 2000/XP/7)
```c
B_8102_get_position(ByVal AxisNo As Integer, Pos As Double) As Integer
B_8102_set_position(ByVal AxisNo As Integer, ByVal Pos As Double) As Integer
B_8102_get_command(ByVal AxisNo As Integer, Cmd As Long) As Integer
B_8102_set_command(ByVal AxisNo As Integer, ByVal Cmd As Long) As Integer
B_8102_get_error_counter(ByVal AxisNo As Integer, ByRef error As Integer) As Integer
B_8102_reset_error_counter(ByVal AxisNo As Integer) As Integer
```
```txt
B_8102_set_general_counter(ByVal AxisNo As Integer, ByVal CntSrc As Integer, ByVal CntValue As Double) As Integer
B_8102_get_general_counter(ByVal AxisNo As Integer, ByVal Pos As Double) As Integer
B_8102_reset_target_pos(ByVal AxisNo As Integer, ByVal Pos As Double) As Integer
B_8102_get_target_pos(ByVal AxisNo As Integer, ByVal Pos As Double) As Integer
B_8102_set_res_distance(ByVal AxisNo As Integer, ByVal Res_Distance As Double) As Integer
B_8102_get_res_distance(ByVal AxisNo As Integer, ByVal Res_Distance As Double) As Integer
```
@ Argument
AxisNo: Axis number of Target Axis.
| Code | Meaning |
| 0 | No error |
| -10000 | Error Card number |
| -10001 | Error operation system version |
| -10002 | Error card's ID conflict |
| -10200 | Error other process exist |
| -10201 | Error card not found |
| -10202 | Error Open driver failed |
| -10203 | Error ID mapping failed |
| -10204 | Error trigger channel |
| -10205 | Error trigger type |
| -10206 | Error event already enabled |
| -10207 | Error event not enable yet |
| -10208 | Error on board FIFO full |
| -10209 | Error unknown command type |
| -10210 | Error unknown chip type |
| -10211 | Error card not initial |
| -10212 | Error position out of range |
| -10213 | Error motion busy |
| -10214 | Error speed error |
| -10215 | Error slow down point |
| -10216 | Error axis range error |
| -10217 | Error compare parameter error |
| -10218 | Error compare method |
| -10219 | Error axis already stop |
| -10220 | Error axis INT wait failed |
| -10221 | Error user code write failed |
| -10222 | Error array size exceed |
| -10223 | Error factor number |
| -10224 | Error enable range |
| -10225 | Error auto accelerate time |
| -10226 | Error dwell time |
| -10227 | Error dwell distance |
| -10228 | Error new position |
| -10229 | Error motion not in running |
| -10230 | Error velocity change time |
| -10231 | Error speed target |
| -10232 | Error velocity percent |
| -10233 | Error postion change backward |
| -10234 | Error counter number |
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# 7 Connection Example
This chapter shows some connection examples between the PCI-8102 and servo drivers and stepping drivers.
# 7.1 General Description of Wiring
Main connection between the PCI-8102 and the pulse input servo driver or stepping driver. The following figure illustrates how to integrate the PCI-8102 and DIN-68M-J3A
# 7.2 Wiring with DIN-68M-J3A
Notice: The DIN-68M-J3A is used for wiring between Mitsubishi J3A series servo drivers / stepper with pulse trains input driver and ADLINK cPCI-8168, PCI-8102 motion controller card ONLY. Never use this terminal board with any other servo driver or cards.
# Notes:
1. Servo & Stepper: The DIN-68M-J3A provides 2 connection methods for each axis: CN1F1 & CN1F2 connectors for Mitsubishi J3A series servo drivers, and a SJ connector for stepping drivers. DO NOT use both connectors at the same time.
2. CN1F1 or CN1F2 cables: One pin-to-pin 50-PIN cables are required for connection between the CF1F1(CN1F2) and the Mitsubishi J3A driver. It is available from ADLINK, or users may contact the local dealer or distributor to get cable information.
3. JP1: Fuse selection. Pin 1-2 short means the board is protected by fuse. Pin 2-3 short means the board is not protected by fuse.
4. Fuse: The fuse protects from damaging internal circuit. This fuse can sustain 2A current. Users can buy it in local area when the fuse is burnt out.
# 7.2.1 Pin Assignments:
# CN1F1/CN1F2 (Mitsubishi AC Servo Driver J3A)