Incremental Counter; Stroke End - Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual

6. MANUFACTURER FUNCTIONS

6.2 Incremental counter

To protect the operation when a PDO communication error occurs, the incremental counter can be used in
the DC mode. When an incremental counter object has been mapped in the PDO communication, the
detection of [AL. 86.2 Network communication error 2] is enabled. Increment the incremental counter
(download) on the master (controller) per communication cycle. When incremental counter objects are
mapped to RxPDO and TxPDO, the slave (servo amplifier) sends the sum of the received incremental
counter value and 1. Detect an incremental counter update error on the master side (controller) as
necessary.
The incremental counter value is an unsigned integer from 0 to 255 and added per send/receive of the PDO
communication. The value returns to 0 when exceeding 255.
Index Sub Object
2D23h VAR
2D24h VAR

6.3 Stroke end

When LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is turned off, a slow stop is
performed by either of the following stop methods.
In the cyclic synchronous position mode (csp), stop the command when the stroke end is detected. When
the command position exceeds by 30 bits from the position where the stroke end is detected, [AL. 69
Command error] occurs.
When [AL. 69 Command error] has occurred, the home position is erased. Perform a home position return
again.
During rotation at constant speed
No S-pattern acceleration/
deceleration
With S-pattern acceleration/
deceleration
Servo motor speed
0 r/min
(0 mm/s)
LSP
ON
or
OFF
LSN
Perform a return as follows when the stroke end is detected.
Mode
Cyclic synchronous position mode
(csp)
Cyclic synchronous velocity mode
(csv)
Profile position mode (pp)
Profile velocity mode (pv)
Point table mode (pt)
Jog mode (jg)
Indexer mode (idx)
Name
Watch dog counter DL
Watch dog counter UL
Operation status
During deceleration to a stop
No S-pattern acceleration/
deceleration
With S-pattern acceleration/
deceleration
Part of droop
pulses
Servo motor speed
LSP
or
LSN
After following up Target position (607Ah) with Position actual value (6061h), change the
direction opposite to the limit.
Check that Bit 12 of Statusword (6041h) is 0 before performing the return.
Input the speed command of the direction opposite to the limit to Target velocity (60FFh).
Check that Bit 12 of Statusword (6041h) is 0 before performing the return.
Input the position command of the direction opposite to the limit to Target position (607Ah).
Input the speed command of the direction opposite to the limit to Target velocity (60FFh).
Perform operation opposite to the limit with the Jog mode (jg).
Perform operation opposite to the limit with the Jog mode.
Perform operation opposite to the limit with the Jog mode (jg).
6 - 3
Data
Default
Type
Incremental counter
U8
(download)
Incremental counter
U8
(upload)
Part of
droop
pulses
0 r/min
(0 mm/s)
ON
OFF
Return method
Description
Remark
Travels for the droop pulse
portion and stops the servo
motor.
A difference will be
generated between the
command position and the
current position.
Perform a home position
return again.