Stop Method At Software Limit Detection - Mitsubishi Electric MR-JE-*C Instruction Manual

4. PARAMETERS

4.6 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. PD35]. 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. PD35]
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)
[Pr. PD35]
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
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
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
4 - 48
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 motor.
Part of droop
Erases the home
pulses
position.
A difference will be
generated between
the command position
and the current
Software limit detection
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
for a delay portion of
Continues
the S-pattern
deceleration
to stop.
acceleration/
Software limit detection
deceleration 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/
deceleration time
constants.
Maintains the home
position.