Mitsubishi Electric MR-J4-10B(-RJ) Instruction Manual page 184

5. PARAMETERS
No. Symbol
PC27 **COP9 Function selection C-9
This is used to select a polarity of the linear encoder or load-side encoder.
Setting
digit
_ _ _ x
_ _ x _
_ x _ _
x _ _ _
PC29 *COPB Function selection C-B
This is used to 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 or linear servo motor travel distance.
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. PC02].
Name and function
Explanation
Encoder pulse count polarity selection
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
Selection of A/B/Z-phase input interface encoder Z-phase
connection judgment function
This is used to select a non-signal detection of A/B/Z-phase input
interface encoder pulse train signal used as linear encoder or load-
side encoder.
This digit is enabled only when you use an A/B/Z-phase input
interface encoder.
Detection of
disconnection
Setting
Standard (scale
value
Z-phase-side
measurement
non-signal
enabled)
[AL. 71.6]
0 Enabled
(Z-phase)
1 Disabled
For manufacturer setting
Explanation
For manufacturer setting
POL reflection selection at torque control
0: Enabled
1: Disabled
Alarm status
Fully closed Linear servo
loop system system
[AL. 71.6] [AL. 20.6]
(Z-phase) (Z-phase)
5 - 41
Initial
Setting
value
range
[unit]
Refer to the
"Name and
function" column.
Initial
value
0h
0h
0h
0h
Refer to the
"Name and
function" column.
Initial
value
0h
0h
0h
0h
0 -25000
[0.0001 to
rev]/ 25000
[0.01 mm]