Rotation Direction Specifying Indexer; Shortest Rotating Indexer - Mitsubishi Electric MR-JE-*C Instruction Manual

8. HOW TO USE INDEXER
(2) Rotation direction
There are two operation methods: Rotation direction specifying indexer, which always rotates in a fixed
direction and executes positioning to a station; Shortest rotating indexer, which automatically changes a
rotation direction to the shortest distance and executes positioning to a station.

Rotation direction specifying indexer

8.2.2 Rotation direction specifying indexer
In this operation mode, the servo motor rotates in a fixed direction to execute positioning to a station.
Select a station No. with "Target point table" to execute positioning. The values set in the object/register are
used for the servo motor speed, acceleration time constant, and deceleration time constant during operation.
(1) Setting
Set objects/registers and parameters as shown below.
Item
Indexer mode (idx) selection
Next station position
Rotation direction specifying
indexer selection
Servo motor speed
Acceleration time constant
Deceleration time constant
Speed limit
Torque limit (Note)
Note. The torque limit will change from the setting value of "Torque limit value2" to the setting value of "Positive torque limit value" or
"Negative torque limit value" when "Controlword bit 4 (New set-point)" is inputted. After the output of S_MEND (Travel completion)
and the time set with [Pr. PT39] has passed, the torque limit will be switched from the set value of "Positive torque limit value" or
"Negative torque limit value" to the set value of "Torque limit value2".

Shortest rotating indexer

Object/register/parameter to be used
Modes of operation
Target point table
Controlword
Profile velocity
Target speed No.
Profile Acceleration
Target speed No.
Profile deceleration
Target speed No.
Max profile velocity
Positive torque limit value
Negative torque limit value
Torque limit value2
[Pr. PT39]
Set "-103".
Set any next station No.
Turn off "Controlword bit 6 (Operation mode)".
Set the servo motor speed.
Set the command speed to the next station to be executed.
When "Profile velocity", "Profile Acceleration", and "Profile
deceleration" are all set to something other than 0, the set
value of "Target speed No." is disabled.
Set the acceleration time constant.
Set the acceleration time constant to the next station to be
executed.
When "Profile velocity", "Profile Acceleration", and "Profile
deceleration" are all set to something other than 0, the set
value of "Target speed No." is disabled.
Set the deceleration time constant.
Set the deceleration time constant to the next station to be
executed.
When "Profile velocity", "Profile Acceleration", and "Profile
deceleration" are all set to something other than 0, the set
value of "Target speed No." is disabled.
Set a limit value of operation speed.
Set a torque limit value in operation.
Set a torque limit value in stop.
Set a time period for switching from the torque limit value
during operation to the torque limit value during stop.
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Setting