Mitsubishi Electric MELSERVO-J4 Series Transition Handbook page 123

Part 3: Review on Replacement of MR-J3-_B_ with MR-J4-_B_
MR-J3-_B_
No. Name and function
PA14 Rotation direction selection
This parameter is made valid when power is switched off,
then on after setting, or when the controller reset has
been performed.
Select servo motor rotation direction relative.
Servo motor rotation direction (Note1)
When positioning
address increases
(Position control)
[Pr. PA14]
Command speed in the
setting
positive direction
(Speed control)
Command torque in the
positive direction
(Torque control (Note2))
0 CCW
1 CW
Note 1. The torque generation direction for the torque
control.
2. The torque generation direction can be set for the
slave axis with this parameter by using the
master-slave operation function.
Forward rotation (CCW)
PA15 Encoder output pulse
This parameter is made valid when power is switched off,
then on after setting, or when the controller reset has
been performed.
Used to set the encoder pulses (A-phase, B-phase)
output by the servo amplifier. Set the value 4 times
greater than the A-phase or B-phase pulses.
You can use [Pr. PC03] to choose the output pulse
setting or output division ratio setting.
The number of A/B-phase pulses actually output is 1/4
times greater than the preset number of pulses.
The maximum output frequency is 4.6 Mpulses/s (after
multiplication by 4). Use this parameter within this range.
For output pulse designation
Set "_ _ 0 _" (initial value) in [Pr. PC03]
Set the number of pulses per servo motor revolution.
Output pulse set value [pulses/rev]
For instance, set "5600" to [Pr. PA15], the actually output
A/B-phase pulses are as indicated below.
A/B-phase output pulses =
For output division ratio setting
Set "_ _ 1 _" in [Pr. PC03]
The number of pulses per servo motor revolution is
divided by the set value.
Resolution per servo motor revolution
Output pulse
For instance, set "8" to [Pr. PA15], the actually output
A/B-phase pulses are as indicated below.
A/B-phase output pulses=
When positioning
address decreases
(Position control)
Command speed in the
negative direction
(Speed control)
Command torque in the
negative direction
(Torque control (Note2))
CW
CCW
Reverse rotation (CW)
5600
= 1400 pulses
4
[pulses/rev]
Set value
262144 1
・
= 8192 pulses
8 4
Initial
No.
value
0 PA14 Rotation direction selection
This is used to select a rotation direction.
For the setting for the master-slave operation function,
refer to "Part 7 section 6.2
Setting
value
0
1
The following shows the servo motor rotation directions.
Forward rotation (CCW)
4000 PA15 Encoder output pulses
Set the encoder output pulses from the servo amplifier by
using the number of output pulses per revolution, dividing
ratio, or electronic gear ratio. (after multiplication by 4)
To set a numerator of the electronic gear, select "A-
phase/B-phase pulse electronic gear setting (_ _ 3 _)" of
"Encoder output pulse setting selection" in [Pr. PC03].
The maximum output frequency is 4.6 Mpulses/s. Set the
parameter within this range.
PA16 Encoder output pulses 2
Set a denominator of the electronic gear for the A/B-
phase pulse output. To set a denominator of the
electronic gear, select "A-phase/B-phase pulse electronic
gear setting (_ _ 3 _)" of "Encoder output pulse setting
selection" in [Pr. PC03].
3 - 22
MR-J4-_B_
Name and function
"
.
Servo motor rotation direction
Positioning Positioning
address increase address decrease
CCW CW
CW CCW
Reverse rotation (CW)
Initial
value
0
4000
1