Mitsubishi Electric MR-J4-10B(-RJ) Instruction Manual page 556

17. APPLICATION OF FUNCTIONS
No. Symbol
PX38 LMFLT Lost motion filter setting
Set the time constant of the lost motion compensation filter in increments of 0.1 ms.
If the time constant is "0", the torque is compensated with the value set in [Pr. PX36] and [Pr.
PX37]. If the time constant is other than "0", the torque is compensated with the high-pass
filter output value of the set time constant, and the lost motion compensation will continue.
This parameter is supported with software version B4 or later.
PX39 TOF Torque offset
Set this when canceling unbalanced torque of vertical axis. Set this assuming the rated torque
of the servo motor as 100%.
The torque offset does not need to be set for a machine not generating unbalanced torque.
The torque offset cannot be used for linear servo motors and direct drive motors. Set 0.00%.
The torque offset set with this parameter will be enabled in the position control mode, speed
control mode, and torque control mode. Input commands assuming torque offset for the torque
control mode.
This parameter is supported with software version B4 or later.
PX40 *LMOP Lost motion compensation function selection
Select the lost motion compensation function.
This parameter is supported with software version B4 or later.
Setting
value
_ _ _ x
_ _ x _
_ x _ _
x _ _ _
PX41 LMCD Lost motion compensation timing
Set the lost motion compensation timing in increments of 0.1 ms.
You can delay the timing to perform the lost motion compensation for the set time.
This parameter is supported with software version B4 or later.
PX42 LMCT Lost motion compensation non-sensitive band
Set the lost motion compensation non-sensitive band. When the fluctuation of the droop pulse
is the setting value or less, the speed will be 0. Setting can be changed in [Pr. PX40]. Set the
parameter per encoder unit.
This parameter is supported with software version B4 or later.
PX43 **STOD STO diagnosis error detection time
Set the time from when an error occurs in the STO input signal or STO circuit until the
detection of [AL. 68.1 Mismatched STO signal error].
When 0 s is set, the detection of [AL. 68.1 Mismatched STO signal error] is not performed.
The following shows safety levels at the time of parameter setting.
Setting
value
1 to 60
When the short-circuit connector is connected to the CN8 connector, set "0" in the parameter.
This parameter is available with servo amplifiers with software version C1 or later.
Name and function
Lost motion compensation selection
0: Disabled
1: Enabled
Unit setting of lost motion compensation non-sensitive band
0: 1 pulse unit
1: 1 kpulse unit
For manufacturer setting
STO input diagnosis by
TOFB output
Execute
0
Not execute
Execute
Not execute
Explanation
Safety level
EN ISO 13849-1 Category 3 PL d,
IEC 61508 SIL 2, EN 62061 SIL CL2
EN ISO 13849-1 Category 3 PL e, IEC 61508
SIL 3, and EN 62061 SIL CL3
EN ISO 13849-1 Category 3 PL d, IEC 61508
SIL 2, and EN 62061 SIL CL2
17 - 25
Initial
Setting
value
range
[unit]
0 0
[0.1 ms] to
30000
0 -10000
[0.01%] to
10000
Refer to the
"Name and
function" column.
Initial
value
0h
0h
0h
0h
0 0
[0.1 ms] to
30000
0 0
[pulse]/ to
[kpulse] 65535
0 0
[s] to
60