Directions For Use - Mitsubishi Electric MR-J4-_GF Instruction Manual

6. SERVO MOTOR DRIVING

6.3.5 Directions for use

(1) idx mode operation sequence
(a) Rotation direction specifying indexer
The servo motor rotates in a fixed direction to execute positioning to a station.
The following timing chart shows that an operation is started from being stopped at the station No. 0
at servo-on.
1) When using Profile velocity (6081h), Profile Acceleration (6083h), Profile deceleration (6084h)
For the servo motor speed, acceleration time constant and deceleration time constant during
operation, the values set in Profile velocity (6081h), Profile acceleration (6083h), and Profile
deceleration (6084h) are used.
Controlword bit 6
(Indexer mode)
Controlword bit 4
(New set-point)
Controlword bit 5
(Direction)
Target point table (Note 1)
Profile velocity
Forward rotation
0 r/min
Servo motor speed
Reverse rotation
(Note 4)
Statusword bit 12
(Set-point acknowledge)
INP/S_INP
(In-position) (Note 6)
Status DO 5 bit 5
(S_CPO (Rough match))
Status DO 5 bit 6
(S_MEND (Travel completion))
Point actual value
Point demand value
Enabled torque limit value
POINT
Be sure to perform a home position return. Executing positioning operation
without home position return will trigger [AL. 90 Home position return incomplete
warning] and "Controlword bit 4 (New set-point)" will be disabled.
ON
OFF
(Note 2)
ON
OFF
ON
OFF
1
100.00 r/min
*1
ON
OFF
ON
OFF
ON
OFF
ON
OFF
1
[Pr. PC77]
Positive torque limit value/
Negative torque limit value
Rotation direction specifying indexer operation
3
(Note 3)
*2
1
3
(Note 5)
[Pr. PC77]
Positive torque limit value/
Negative torque limit value
6 - 74
1
150.00 r/min
*3
3
1
(Note 5) (Note 5)
[Pr. PC77]
Positive torque limit value/
Negative torque limit value
1
[Pr. PC77]