Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual page 99

5. CiA 402 DRIVE PROFILE
(4) pt mode operation sequence
(a) Automatic individual positioning operation
While the servo motor is stopped under servo-on state, switching on "Controlword bit 4 (New set-
point)" starts the automatic positioning operation.
The following shows a timing chart.
Controlword bit 4
(New set-point)
Target point table
Servo motor speed
Statusword bit 12
(Set-point acknowledge)
Statusword bit 10
(Target reached)
INP/S_INP
(In-position)
Status DO 5 bit 5
(S_CPO (Rough match))
Status DO 5 bit 6
(S_MEND (Travel completion))
Point actual value
Point demand value
M code actual value
Note. Switching on "Controlword bit 4 (New set-point)" is invalid while the servo motor is rotating.
ON
OFF
1
Forward
rotation
0 r/min
Reverse
rotation
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
(Note)
Point table
No. 1
1
M code of point table No. 1
5 - 62
2
Point table
No. 2
1
2
M code of point table
2
No. 2