Mitsubishi Electric MR-J4W2 Instruction Manual page 137

5. PARAMETERS
No. Symbol
PC27 **COP9 Function selection C-9
Select a polarity of the linear encoder or load-side encoder.
This parameter is not available with MR-J4W2-0303B6 servo amplifiers.
Setting
digit
_ _ _ x
_ _ x _
_ x _ _
x _ _ _
PC29 *COPB Function selection C-B
Select the POL reflection at torque control.
Setting
digit
_ _ _ x
_ _ x _
_ x _ _
x _ _ _
PC31 RSUP1 Vertical axis freefall prevention compensation amount
Set the compensation amount of the vertical axis freefall prevention function.
Set it per servo motor rotation amount.
When a positive value is set, compensation is performed to the address increasing
direction. When a negative value is set, compensation is performed to the address
decreasing direction.
The vertical axis freefall prevention function is performed when all of the following
conditions are met.
1) Position control mode
2) The value of the parameter is other than "0".
3) The forced stop deceleration function is enabled.
4) Alarm occurs or EM2 turns off when the (linear) servo motor speed is zero speed or
less.
5) MBR (Electromagnetic brake interlock) was enabled in [Pr. PD07] to [Pr. PD09],
and the base circuit shut-off delay time was set in [Pr. PC16].
PC38 ERW Error excessive warning level
Set an error excessive warning level.
To enable the parameter, select "Enabled (1 _ _ _)" of "[AL. 9B Error excessive
warning] selection" in [Pr. PC05].
You can change the setting unit with "Error excessive alarm/error excessive warning
level unit selection" in [Pr. PC06].
Set this per rev. for rotary servo motors and direct drive motors. Set this per mm for
linear servo motors.
Setting "0" will be "1 rev" for rotary servo motors and direct drive motors. Setting over
200 rev will be clamped with 200 rev. It will be "50 mm" for linear servo motors.
When an error reaches the set value, [AL. 9B Error excessive warning] will occur.
When the error decreases lower than the set value, the warning will be canceled
automatically. The minimum pulse width of the warning signal is 100 [ms].
Set as follows.: [Pr. PC38 Error excessive warning level] < [Pr. PC01 Error excessive
alarm level] When you set as follows, [AL. 52 Error excessive] will occur earlier than
the warning.: [Pr. PC38 Error excessive warning level] ≥ [Pr. PC01 Error excessive
alarm level]
This parameter is used by servo amplifier with software version B4 or later.
Name and function
Explanation
Selection of encoder pulse count polarity
0: Encoder pulse increasing direction in the servo motor
CCW or positive direction
1: Encoder pulse decreasing direction in the servo motor
CCW or positive direction
For manufacturer setting
Explanation
For manufacturer setting
POL reflection selection at torque control
0: Enabled
1: Disabled
5 - 42
Initial
Setting
value
range
[unit]
Refer to Name
and function
column.
Initial
value
0h
0h
0h
0h
Refer to Name
and function
column.
Initial
value
0h
0h
0h
0h
0 -25000
[0.0001 to
rev]/ 25000
[0.01
mm]
0 0
[rev]/ to
[mm] 1000
Each/
Common
Each
Each
Each
Each