Mitsubishi Electric MELSERVO-J4 Series Instruction Manual page 57

2. SIGNALS AND WIRING
Connector
Device Symbol
PC
Proportion
control
CR
Clear
Gain switching CDP
Fully closed loop CLD
selection
Motor-side/load- MECR
side deviation
counter clear
Cam control CAMC
command
Cam position CPCD
compensation
request
Clutch command CLTC
Cam No. CI0
selection 0
Cam No. CI1
selection 1
Cam No. CI2
selection 2
Cam No. CI3
selection 3
pin No.
Turn PC on to switch the speed amplifier from the proportional integral type
to the proportional type.
If the servo motor at a stop is rotated even one pulse due to any external
factor, it generates torque to compensate for a position shift. When the
servo motor shaft is to be locked mechanically after positioning completion
(stop), switching on the PC (Proportion control) upon positioning
completion will suppress the unnecessary torque generated to compensate
for a position shift.
When the shaft is to be locked for a long time, switch on the PC
(Proportion control) and TL (External torque limit selection) at the same
time to make the torque less than the rated by TLA (Analog torque limit).
Turn CR on to clear the position control counter droop pulse on its leading
edge. The pulse width should be 10 ms or longer.
The delay amount set in [Pr. PB03 Position command
acceleration/deceleration time constant] is also cleared. When " _ _ _1 " is
set to [Pr. PD32], the pulses are always cleared while CR is on.
Turn on CDP to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56]
to [Pr. PB60] as the load to motor inertia ratio and gain values.
Not used with the positioning mode.
Turn on MECR to clear the motor-side/load-side position deviation counter
to zero.
It operates during the fully closed loop control.
It does not affect the position control droop pulses.
Turning on this device during the semi closed loop control does not
affect the operation.
Turning on this device while the fully closed loop control error detection
function is disabled in [Pr. PE03] does not affect the operation.
This device is not available with MR-J4-03A6-RJ servo amplifiers.
When using CAMC, set [Pr. PT35] to "_ 1 _ _" to enable it. Turning CAMC
on switches the control from the normal positioning control to the cam
control.
Turning CPCD on compensates the cam axis one cycle current value to be
in the position set in [Cam control data No. 60 - Cam position
compensation target position].
This is used to turning on/off the main shaft clutch command.
This is used when [Cam control data No. 36 - Main shaft clutch control
setting] is set to "_ _ _ 1".
Select cam No.
This is enabled when [Cam control data No. 49 - Cam No.] is set to "0". Set
the cam control data on the cam setting window of MR Configurator2.
Device (Note 1)
CI3 CI2
0 0
0 0
0 0
0 0
1 0
1 0
1 1
Note 1. 0: Off
1: On
2. [AL. F6.5 Cam No. external error] occurs.
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Function and application
Selection contents
CI1 CI0
0 0
0 1
1 0
1 1
0 0
0 1
1 1
2 - 30
Control
I/O
division
DI-1
DI-1
DI-1
DI-1
DI-1
DI-1
DI-1
DI-1
DI-1
Linear cam
Cam No. 1
Cam No. 2
Cam No. 3
Cam No. 8
Setting inhibited
(Note 2)
mode