Stop Method At Stroke Limit Detection - Mitsubishi Electric MELSERVO-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 the position where the stroke end is detected by 30 bits, [AL. 069 Command error] occurs. If [AL. 069
Command error] occurs, the home position is erased. Perform homing again.
Page 42 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
Profile position mode
Profile velocity mode
3 BASIC FUNCTION
96
3.4 Stroke limit function [G] [WG]
During deceleration to a stop
No S-pattern acceleration/deceleration
With S-pattern acceleration/deceleration
Amount of
droop pulses
Servo motor speed
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.
Input the position command of the direction opposite to the limit to [Target position (Obj. 607Ah)].
Input the speed command of the direction opposite to the limit to [Target velocity (Obj. 60FFh)].
Amount of
droop pulses
0 r/min
(0 mm/s)
ON
OFF
Remark
The servo motor stops after having
traveled for the droop pulses.
Perform homing again.