Polarity - Mitsubishi Electric MELSERVO-J4 MR-J4-TM Instruction Manual

8. MANUFACTURER FUNCTIONS

8.5 Polarity

The rotation direction of a servo motor to position commands, speed commands, and torque commands can
be set with Polarity (P24702). For the Polarity setting to position commands and speed commands, use [Pr.
PA14]. For the Polarity setting to torque commands, use [Pr. PA14] and [Pr. PC29] (x _ _ _).
A change in the setting of Polarity is not applied immediately. Refer to section 8.14.1 for the procedure of
enabling parameters.
(1) Bit definition
7 6
Position POL Speed POL
The polarity is reversed when this bit is turned on.
(2) Target parameter
The following shows objects whose polarity is reversed according to the setting of Polarity.
No.
1 Target position (P24698)
2 Target velocity (P24831)
3 Target torque (P24689)
5 Position actual value (P24676)
6 Velocity demand value (P24683)
7 Velocity actual value (P24684)
8 Torque demand (P24692)
9 Torque actual value (P24695)
10 Positive torque limit value (P24800)
11 Negative torque limit value (P24801)
12 Digital inputs (P24829)
13 Speed setpoint A
14 Speed actual value A
5
Torque POL
Object
Whether to reverse the polarity using Polarity can be switched with [Pr. PC76]
(_ x _ _).
[Pr. PC76] = _ 0 _ _ (Automatic setting): Automatically set depending on the
type of the network in use.
[Pr. PC76] = _ 1 _ _ (POL setting enabled): The polarity is reversed using
Polarity.
[Pr. PC76] = _ 2 _ _ (POL setting disabled): The polarity is not reversed using
Polarity.
The corresponding parameters are changed according to the settings of [Pr.
PA14] and [Pr. PC29] (x _ _ _).
[Pr. PA14] = 0, [Pr. PC29] = 1 _ _ _: Written to [Pr. PA11] (TLP).
[Pr. PA14] = 1, [Pr. PC29] = 1 _ _ _: Written to [Pr. PA11] (TLP).
[Pr. PA14] = 0, [Pr. PC29] = 0 _ _ _: Written to [Pr. PA11] (TLP).
[Pr. PA14] = 1, [Pr. PC29] = 0 _ _ _: Written to [Pr. PA12] (TLN).
The corresponding parameters are changed according to the settings of [Pr.
PA14] and [Pr. PC29] (x _ _ _).
[Pr. PA14] = 0, [Pr. PC29] = 1 _ _ _: Written to [Pr. PA12] (TLN).
[Pr. PA14] = 1, [Pr. PC29] = 1 _ _ _: Written to [Pr. PA12] (TLN).
[Pr. PA14] = 0, [Pr. PC29] = 0 _ _ _: Written to [Pr. PA12] (TLN).
[Pr. PA14] = 1, [Pr. PC29] = 0 _ _ _: Written to [Pr. PA11] (TLP).
The corresponding status is changed according to the setting of [Pr. PA14] as
follows.
[Pr. PA14] = 0: The status of LSN (Reverse rotation stroke end) is applied to
Negative limit switch (bit 0). The status of LSP (Forward rotation stroke end) is
applied to Positive limit switch (bit 1).
[Pr. PA14] = 1: The status of LSP (Reverse rotation stroke end) is applied to
Negative limit switch (bit 0). The status of LSN (reverse rotation stroke end) is
applied to Positive limit switch (bit 1).
4 3
8 - 5
2 1
Reserve
Remark
0