Mitsubishi Electric MELSERVO-J4 Series Instruction Manual page 210

No./symbol/ Setting
name digit
PC29 _ _ _ x
*COPB
_ _ x _
Function selection
_ x _ _
C-B
x _ _ _

PC31
RSUP1
Vertical axis freefall
prevention
compensation
amount
PC38 
ERW
Error excessive
warning level

PC67
FEWL
Following error
output level (lower
four digits)
PC68
FEWH
Following error
output level (upper
four digits)
5 PARAMETERS
208
5.2 Detailed list of parameters
Function
For manufacturer setting
Torque POL reflection selection
The torque polarity can be changed with the combination of this parameter and [Pr. PA14 Rotation direction
selection/travel direction selection].
0: Enabled
1: Disabled
Setting value
[Pr. PA14] [Pr. PC29]
0 0 _ _ _ : Enabled
1 _ _ _ : Disabled
1 0 _ _ _ : Enabled
1 _ _ _ : Disabled
The torque command polarity can be changed only when [Pr. PA14] is set to "1", and "0" is set to this digit.
Set the compensation amount of the vertical axis freefall prevention function.
Set it per servo motor rotation amount or linear servo motor travel distance.
This function pulls up the vertical axis in increments of rotation amount of the rotary servo motor and travel
distance of the liner servo motor toward the rotation/travel direction of the forward pulse input for a positive
value, and of the reverse pulse input for a negative value.
For example, when [Pr. PA14 Rotation direction selection/travel direction selection] is set to "1" and a positive
value is set for the compensation amount, the servo motor pulls up in the CW direction.
The vertical axis freefall prevention function is performed when all of the following conditions are met.
1) The control mode is set to the position mode.
2) The setting value of this parameter is other than "0".
3) The forced stop deceleration function is enabled.
4) Alarm occurs or EM2 turns off when the servo motor speed is zero speed or less.
5) MBR (Electromagnetic brake interlock) was enabled in [Pr. PD07] to [Pr. PD09], and the base circuit shut-
off delay time was set in [Pr. PC02].
Setting range: -25000 to 25000
Set an error excessive warning level.
The setting unit can be changed with "Error excessive alarm/error excessive warning level unit selection" in
[Pr. PC06].
Set this per rev. for rotary servo motors and direct drive motors. Setting over 200 rev will be clamped with 200
rev. Set this per mm for linear servo motors. However, setting "0" will not trigger [AL. 9B Error excessive
warning].
When an error reaches the set value, [AL. 9B Error excessive warning] will occur. When the error decreases
lower than the set value, the warning will be canceled automatically. The minimum pulse width of the warning
signal is 100 [ms].
Set as follows.: [Pr. PC38 Error excessive warning level] < [Pr. PC01 Error excessive alarm level] When you
set as follows, [AL. 52 Error excessive] will occur earlier than the warning.: [Pr. PC38 Error excessive warning
level]  [Pr. PC01 Error excessive alarm level]
Setting range: 0 to 1000
Set a following error output level.
Upper and lower are a set.
When the state in which droop pulses  the parameter setting value continues for the time set in [Pr. PC69
Following error output filtering time], "Statusword bit 13 Following error" will be turned on. However, setting
"FFFFh FFFFh" will disable it.
Set the setting value in hexadecimal.
Upper four Lower four
digits digits
[Pr. PC67]
[Pr. PC68]
Setting range: 0000h 0000h to FFFFh FFFFh
Servo motor rotation direction/travel direction
Torque mode Torque mode
Torque command: Torque command:
Positive Negative
CCW or positive direction CW or negative direction
CCW or positive direction CW or negative direction
CW or negative direction CCW or positive direction
CCW or positive direction CW or negative direction
Initial
value
[unit]
0h
0h
0h
1h
0
[0.0001 rev]/
[0.01 mm]
0 [rev]/[mm]
0000h
[pulse]
00C0h
[pulse]