Stop Method At Stroke Limit Detection; Servo Parameter List - Mitsubishi Electric MR-J5 Series User Manual

Stop method at stroke limit detection

When LSP (Forward rotation stroke end)/LSN (Reverse rotation stroke end) or FLS (Upper stroke limit)/RLS (Lower stroke
limit) is turned off, the servo motor stops with the stop method shown in this section.
In the cyclic synchronous position mode (csp), stop the command when the stroke end is detected. When the command
position exceeds by 30 bits from the position where the stroke end is detected, [AL. 069 Command error] occurs. If [AL. 069
Command error] occurs, the home position is erased. Perform homing again.
Page 25 Homing mode (hm) and homing
Operation status
During rotation at constant speed
No S-pattern acceleration/deceleration
With S-pattern acceleration/deceleration
Servo motor speed
0 r/min
(0 mm/s)
LSP
ON
or
OFF
LSN
When the stroke limit signal is detected, perform the following return methods.
Control mode
Cyclic synchronous position mode
Cyclic synchronous velocity mode

Servo parameter list

The settings related to the stroke limit function can be made directly with the servo parameters. Make the settings as required.
Servo parameter Symbol
PC19.0 *COP6
PD01.2 *DIA1
PD03.0-1 *DI1
PD04.0-1 *DI2
PD05.0-1 *DI3
PD41.2 *DOP4
PD41.3 *DOP4
PL08.2 *LIT3
During deceleration to a stop
No S-pattern acceleration/deceleration
With S-pattern acceleration/deceleration
Amount of
droop pulses
Servo motor speed
0 r/min
(0 mm/s)
LSP
or
LSN
Return method
After following up [Target position (Obj. 607Ah)] with [Position actual value (Obj. 6061h)], input the position
command of the direction opposite to the limit.
Make sure that Bit 12 of [Statusword (Obj. 6041h)] is 0 before inputting the position command.
Input the speed command of the direction opposite to the limit to [Target velocity (Obj. 60FFh)].
Make sure that Bit 12 of [Statusword (Obj. 6041h)] is 0 before inputting the speed command.
Name Outline
[AL. 099 Stroke limit Enable or disable [AL. 099 Stroke limit warning].
warning] selection When "Disabled" is selected, [AL. 099 Stroke limit warning] does not occur when the
LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is off,
however, the stroke limit stops the operation.
0: Enabled (initial value)
1: Disable
Input signal LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end) can be set to
automatic on disable (Use for an external input signal.) or enable (Automatic on).
selection Initial value: 0h (Disabled (Use for an external input signal.))
Device selection Any input device can be assigned to the CN3-2 pin.
Initial value: 0Ah (LSP (Forward rotation stroke end))
Device selection Any input device can be assigned to the CN3-12 pin.
Initial value: 0Bh (LSN (Reverse rotation stroke end))
Device selection Any input device can be assigned to the CN3-19 pin.
Initial value: 22h (DOG (Proximity dog))
Limit switch enabled 0: Limit switch always enabled (initial value)
status selection 1: Enabled only for homing mode
Sensor input method 0: Input from servo amplifier (LSP/LSN/DOG) (initial value)
selection 1: Input from controller (C_FLS/C_RLS/C_DOG)
Magnetic pole Select whether to enable or disable the stroke limit function during magnetic pole
detection - Stroke detection.
limit enabled/disabled 0: Enabled (initial value)
selection 1: Disable
Amount of
droop pulses
ON
OFF
3.4 Stroke limit function [G] [WG]
Remark
The servo motor stops after having
traveled for the droop pulses.
A difference will be generated between
the command position and the current
position.
Perform homing again.
3 BASIC FUNCTION
3
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