Stop Method At Software Limit Detection - Mitsubishi MR-JE-200A Instruction Manual

7. PARAMETERS

7.6 Stop method at software limit detection

Select a stop method of the servo motor for when a software limit ([Pr. PT15] to [Pr. PT18]) is detected with
the setting of the third digit in [Pr. PD30]. The software limit limits a command position controlled in the servo
amplifier. Therefore, actual stop position will not reach the set position of the software limit.
[Pr. PD30]
setting
During rotation at constant speed
_ 0 _ _
Without S-pattern acceleration/
(initial
deceleration
With S-pattern acceleration/
value)
deceleration
Servo motor speed
_ 1 _ _
Without S-pattern acceleration/
deceleration
With S-pattern acceleration/
deceleration
Servo motor speed
0 r/min
_ 2 _ _
Without S-pattern acceleration/
deceleration
With S-pattern acceleration/
deceleration
Servo motor speed
0 r/min
_ 3 _ _
Without S-pattern acceleration/
deceleration
With S-pattern acceleration/
deceleration
Servo motor speed
0 r/min
[Pr. PD30]
Operation status
0 r/min
Software limit detection
Part of droop
pulses
Software limit detection
Acceleration/
deceleration time
constant
+
S-pattern
acceleration/
deceleration time
constant
Acceleration/
deceleration
time constant
Decelerates to stop.
Software limit detection
Part of S-pattern
acceleration/
deceleration time
constants
+
Part of droop
pulses
Part of droop
pulses
Software limit detection
Stop method selection at software limit detection
0: Quick stop (home position erased)
1: Slow stop (home position erased)
2: Slow stop (deceleration to a stop by deceleration time constant)
3: Quick stop (stop by clearing remaining distance)
During deceleration to a stop
Without S-pattern acceleration/
deceleration
With S-pattern acceleration/
deceleration
Servo motor speed
0 r/min
Without S-pattern acceleration/
deceleration
With S-pattern acceleration/
deceleration
Servo motor speed
0 r/min
Without S-pattern acceleration/
deceleration
With S-pattern acceleration/
deceleration
Servo motor speed
0 r/min
Without S-pattern acceleration/
deceleration
With S-pattern acceleration/
deceleration
Servo motor speed
0 r/min
Software limit detection
7 - 72
Remark
Erases the droop
pulses and stops the
servo motor.
Erases the home
position.
A difference will be
generated between
the command position
and the current
Software limit detection
position.
Perform a home
position return again.
Travels for the droop
pulses portion and
stops the servo
Part of droop
motor.
pulses
Erases the home
position.
A difference will be
generated between
the command
Software limit detection
position and the
current position.
Perform a home
position return again.
Decelerates to a stop
with the deceleration
time constant
currently selected
with the point table or
the program.
Continues operation
Continues
for a delay portion of
deceleration
to stop.
the S-pattern
Software limit detection
acceleration/decelera
tion time constants.
Maintains the home
position.
Travels for the droop
Part of S-pattern
pulses portion and
acceleration/
deceleration time
stops the servo motor.
constants
+
Continues operation
Part of droop
pulses
for a delay portion of
the S-pattern
Part of droop
pulses
acceleration/decelera
tion time constants.
Maintains the home
position.