Mitsubishi Electric MR-J5D-G-N1 User Manual page 80

7.6
Positioning control setting servo parameters
group ([Pr. PT_ _ ])
[Pr. PT01_Command mode selection (**CTY)]
Initial value
00000300h
[Pr. PT01.1_Speed/acceleration/deceleration unit selection]
Initial value
1h
Select the unit of speed and the unit of acceleration/deceleration.
This function is enabled in the cyclic synchronous mode, profile mode, and positioning mode (point table method).
Setting value
0
1
*1 In the linear servo motor control mode, the unit is mm/s.
*2 The command unit can be changed to 0.001 mm, 0.0001 inch, 0.001 degree, or pulses with [Pr. PT01.2 Unit for position data]. The
actual servo motor speed (encoder pulse unit) is calculated by multiplying the set speed data by the electronic gear ratio.
The speed of point table and the unit of acceleration/deceleration are changed depending on the setting value of this servo
parameter. When the unit is changed, review and reset the point table setting value.
Servo parameters to be enabled by this servo parameter vary depending on whether the setting value of this servo parameter
is "0" or "1". Refer to the following table.
Setting value
0
[Pr. PT65 Profile speed command]
[Pr. PT66 Maximum profile speed]
[Pr. PT49 Speed acceleration time constant]
[Pr. PT50 Speed deceleration time constant]
[Pr. PC24 Deceleration time constant at forced
stop]
[Pr. PT05 Homing speed]
[Pr. PT06 Creep speed]
[Pr. PT56 Homing acceleration time constant]
[Pr. PT57 Homing deceleration time constant]
[Pr. PC72 Speed reached 2 - Output range]
[Pr. PC65 Zero speed 2 level]
[Pr. PT67 Speed limit]
7 SERVO PARAMETERS
78
7.6 Positioning control setting servo parameters group ([Pr. PT_ _ ])
Setting range
Refer to the relevant detail No.
Setting range
Refer to the text
Speed
*1
r/min, mm/s
*2
Command unit/s
1
[Pr. PV01 Profile speed command extension
setting]
[Pr. PV03 Maximum profile speed extension
setting]
[Pr. PV05 Profile acceleration]
[Pr. PV07 Profile deceleration]
[Pr. PV09 Deceleration at forced stop]
[Pr. PV11 Homing speed extension setting]
[Pr. PV13 Creep speed extension setting]
[Pr. PV15 Homing acceleration]
[Pr. PV17 Homing deceleration]
[Pr. PV19 Speed reached 2 - Output range -
Extension setting]
[Pr. PV20 Zero speed 2 level extension setting]
[Pr. PV21 Speed limit extension setting]
Setting method
Each axis
Ver.
A5
Acceleration/deceleration
ms
Command unit/s
Object interlocked with servo parameter
[Profile velocity (Obj. 6081h)]
[Max profile velocity (Obj. 607Fh)]
[Profile acceleration (Obj. 6083h)]
[Profile deceleration (Obj. 6084h)]
[Quick stop deceleration (Obj. 6085h)]
[Speed during search for zero (Obj. 6099h: 2h)]
[Speed during search for switch (Obj. 6099h: 1h)]
[Homing acceleration (Obj. 609Ah)]

[Velocity window (Obj. 606Dh)]
[Velocity threshold (Obj. 606Fh)]
[Velocity limit value (Obj. 2D20h)]
Ver.
Refer to the relevant detail No.
2 *2