# Mitsubishi Electric RD77MS2 User Manual Page 417

Melsec iq-r simple motion module.

[Pr.2] Number of pulses per rotation (AP)
Set the number of pulses required for a complete rotation of the motor shaft.
If you are using the Mitsubishi servo amplifier MR-J4(W)-B/MR-JE-B/MR-J3(W)-B, set the value given as the "resolution per
servomotor rotation" in the speed/position detector specifications.
Number of pulses per rotation (AP) = Resolution per servomotor rotation
[Pr.3] Movement amount per rotation (AL), [Pr.4] Unit magnification (AM)
The amount how the workpiece moves with one motor rotation is determined by the mechanical structure.
If the worm gear lead (m/rev) is PB and the deceleration rate is 1/n, then
Movement amount per rotation (AL) = PB  1/n
However, the maximum value that can be set for this "movement amount per rotation (AL)" parameter is 20000000.0 m
(20 m). Set the "movement amount per rotation (AL)" as shown below so that the "movement amount per rotation (AL)" does
not exceed this maximum value.
Movement amount per rotation (AL)
= PB  1/n
= Movement amount per rotation (AL)  Unit magnification (AM)
*1 The unit magnification (AM) is a value of 1, 10, 100 or 1000. If the "PB  1/n" value exceeds 20000000.0 m (20 m), adjust with the unit
magnification so that the "movement amount per rotation (AL)" does not exceed 20000000.0 m (20 m).
*2 Refer to the following for information about electric gear.
Page 225 Electronic gear function
[Pr.1] setting value
0: mm
1: inch
2: degree
3: pulse
[Pr.7] Bias speed at start
Set the bias speed (minimum speed) upon starting. When using a stepping motor, etc., set it to start the motor smoothly. (If
the motor speed at start is low, the stepping motor does not start smoothly.)
The specified "bias speed at start" will be valid during the following operations:
• Positioning operation
• Home position return operation
• JOG operation
Set the value that the bias speed should not exceed "[Pr.8] Speed limit value".
[Pr.1] setting value
0: mm
1: inch
2: degree
3: pulse
*1 Range of speed limit value when "[Pr.83] Speed control 10  multiplier setting for degree axis" is set to valid: 0.00 to
20000000.00 (degree/min)
*2 Range of speed limit value when "[Pr.83] Speed control 10  multiplier setting for degree axis" is set to valid: 0 to 2000000000 (  10
2
degree/min)
*1
Value set with the engineering tool (unit)
0.1 to 20000000.0 (m)
0.00001 to 2000.00000 (inch)
0.00001 to 2000.00000 (degree)
1 to 200000000 (pulse)
Value set with the engineering tool (unit)
0.00 to 20000000.00 (mm/min)
0.000 to 2000000.000 (inch/min)
*1
0.000 to 2000000.000 (degree/min)
0 to 1000000000 (pulse/s)
Value set with a program (unit)
1 to 200000000 (  10
m)
-1
1 to 200000000 (  10
-5
inch)
1 to 200000000 (  10
-5
degree)
1 to 200000000 (pulse)
Value set with a program (unit)
0 to 2000000000 (  10
-2
mm/min)
0 to 2000000000 (  10
-3
inch/min)
0 to 2000000000 (  10
-3
degree/min)
0 to 1000000000 (pulse/s)
12 DATA USED FOR POSITIONING CONTROL
12.3 Basic Setting
12
*2
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415

#### This manual is also suitable for:

Rd77ms16Rd77ms4Rd77ms8