Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual page 111

5. CiA 402 DRIVE PROFILE
(4) idx mode operation sequence
(a) Rotation direction specifying indexer
The following timing chart shows that an operation is performed at a stop of the station No. 0 when
servo-on.
Controlword bit 6
(Indexer mode)
Controlword bit 4
(New set-point)
Controlword bit 5
(Direction)
Target point table (Note 1)
Profile velocity
Forward
rotation
Servo motor speed (Note 4)
Reverse
rotation
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
0 r/min
ON
OFF
ON
OFF
ON
OFF
ON
OFF
1
Torque limit value2
Positive torque limit value/
Negative torque limit value
Rotation direction specifying indexer operation
3
(Note 3)
*2
1
3
(Note 5)
Torque limit value2
Positive torque limit value/
Negative torque limit value
5 - 74
1
150.00 r/min
*3
3
1
(Note 5) (Note 5)
Torque limit value2 Torque limit value2
Positive torque limit value/
Negative torque limit value
1