Mitsubishi Electric MR-JE-*C Instruction Manual page 184

8. HOW TO USE INDEXER
(b) Shortest rotating indexer
This operation mode automatically changes a rotation direction to the shortest distance to execute
positioning to a station. When Controlword bit 6 (Operation mode) is on, the shortest rotating indexer
operation is enabled.
This disables "Controlword bit 5 (Direction)". The following timing chart shows that an operation is
performed at a stop of the station No. 0 when servo-on.
1) When using Profile velocity (6081h), Profile Acceleration (6083h), Profile deceleration (6084h)
For the servo motor speed, acceleration time constant and deceleration time constant during
operation, the values set in Profile velocity (6081h), Profile acceleration (6083h), and Profile
deceleration (6084h) are used.
Controlword bit 6
(Operation mode)
Controlword bit 4
(New set-point)
Controlword bit 5
(Direction)
Target point table (Note 1)
Profile velocity
Forward rotation
Servo motor speed 0 r/min
Reverse rotation
(Note 4)
Statusword bit 12
(Set-point acknowledge)
INP/S_INP
(In-position) (Note 6)
Status DO 5 bit 5
(S_CPO (Rough match))
Status DO 5 bit 6
(S_MEND (Travel completion))
Point actual value
Point demand value
Enabled torque limit value
POINT
Be sure to perform a home position return. Executing positioning operation
without home position return will trigger [AL. 90 Home position return incomplete
warning] and "Controlword bit 4 (New set-point)" will be disabled.
When travel distances to a target station position from CCW and from CW are
the same, the shaft will rotate to the increasing direction of the station No.
ON
OFF
(Note 2)
ON
OFF
ON
OFF
1
100.00 r/min
*1
ON
OFF
ON
OFF
ON
OFF
ON
OFF
1
Torque limit value2
Positive torque limit value/
Negative torque limit value
Shortest rotating indexer operation
3
(Note 3)
*2
1
3
(Note 5)
Torque limit value2
Positive torque limit value/
Negative torque limit value
8 - 15
1
150.00 r/min
*3
3
1
(Note 5) (Note 5)
Torque limit value2 Torque limit value2
Positive torque limit value/
Negative torque limit value
1