Mitsubishi Electric MR-J4-_GF Instruction Manual page 129

6. SERVO MOTOR DRIVING
6.3.3 Shortest rotating indexer
This operation mode automatically changes a rotation direction to the shortest distance to execute
positioning to a station.
Select a station No. with "Target point table" to execute positioning. The values set in the object are used for
the servo motor speed, acceleration time constant, and deceleration time constant during operation.
(1) Setting
Set objects and parameters as shown below.
Item
Indexer mode (idx) selection
Next station position
Shortest rotating indexer
selection
Servo motor speed
Acceleration time constant
Deceleration time constant
Speed limit
Torque limit (Note)
Note. The torque limit will change from the setting value of [Pr. PC77] to the setting value of "Positive torque limit value" or "Negative
torque limit value" when "Controlword bit 4 (New set-point)" is inputted. After the output of S_MEND (Travel completion) and the
time set with [Pr. PT39] has passed, the torque limit will be switched from the setting value of "Positive torque limit value" or
"Negative torque limit value" to the setting value of [Pr. PC77].
(2) Other parameter settings
The setting is the same as in the rotation direction specifying indexer. Refer to section 6.3.2.
(3) Operation
Selecting the next station with "Target point table" and switching on "Controlword bit 4 (New set-point)"
starts positioning to the selected next station at the set speed, acceleration time constant and
deceleration time constant.
Item
Station No. selection
Start
Object/parameter to be used
Modes of operation
Target point table
Controlword
Profile velocity
Target speed No.
Profile Acceleration
Target speed No.
Profile deceleration
Target speed No.
Max profile velocity
Positive torque limit value
Negative torque limit value
[Pr. PC77]
[Pr. PT39]
Object to be used
Target point table
Controlword
Set "-103".
Set any next station No.
Switch on "Controlword bit 6 (Operation mode)".
Set the servo motor speed.
Set the command speed to the next station to be executed.
When "Profile velocity", "Profile Acceleration", and "Profile
deceleration" are all set to values other than 0, the set value of
"Target speed No." is disabled.
Set the acceleration time constant.
Set the acceleration time constant to the next station to be
executed.
When "Profile velocity", "Profile Acceleration", and "Profile
deceleration" are all set to values other than 0, the set value of
"Target speed No." is disabled.
Set the deceleration time constant.
Set the deceleration time constant to the next station to be
executed.
When "Profile velocity", "Profile Acceleration", and "Profile
deceleration" are all set to values other than 0, the set value of
"Target speed No." is disabled.
Set a limit value of operation speed.
Set a torque limit value in operation.
Set a torque limit value in stop.
Set a time period for switching from the torque limit value in
operation to that in stop.
Set a station No. at which positioning starts.
Switch on "Controlword bit 4 (New set-point)".
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Setting
Setting