Mitsubishi Electric MR-J4-*B-RJ010 Series Instruction Manual page 119

5. PARAMETERS
No. Symbol
PC24 RSBR Forced stop deceleration time constant
This is used to set deceleration time constant when you use the forced stop deceleration
function.
Set the time per ms from the rated speed to 0 r/min.
Servo motor speed
[Precautions]
If the servo motor torque is saturated at the maximum torque during forced stop
deceleration because the set time is too short, the time to stop will be longer than the set
time constant.
[AL. 50 Overload alarm 1] or [AL. 51 Overload alarm 2] may occur during forced stop
deceleration, depending on the set value.
After an alarm that leads to a forced stop deceleration, if an alarm that does not lead to a
forced stop deceleration occurs or if the control circuit power supply is cut, dynamic braking
will start regardless of the deceleration time constant setting.
Set a longer time than deceleration time at quick stop of the controller. If a shorter time is
set, [AL. 52 Error excessive] may occur.
PC29 *COPB Function selection C-B
This is used to select the POL reflection at torque control.
This parameter is used with servo amplifiers with software version A1 or later.
Setting
digit
_ _ _ x
_ _ x _
_ x _ _
x _ _ _
PC31 RSUP1 Vertical axis freefall prevention compensation amount
Set the compensation amount of the vertical axis freefall prevention function.
Set it per servo motor rotation amount.
When a positive value is set, compensation is performed to the address increasing direction.
When a negative value is set, compensation is performed to the address decreasing direction.
The vertical axis freefall prevention function is performed when all of the following conditions
are met.
1) Position control mode
2) The value of the parameter is other than "0".
3) The forced stop deceleration function is enabled.
4) Alarm occurs or EM2 turns off when the servo motor speed is zero speed or less.
5) MBR (Electromagnetic brake interlock) was enabled in [Pr. PD07] to [Pr. PD09], and the
base circuit shut-off delay time was set in [Pr. PC16].
Rated speed
0 r/min
For manufacturer setting
POL reflection selection at torque control
0: Enabled
1: Disabled
Name and function
Forced stop deceleration
[Pr. PC24]
Explanation
5 - 30
Initial
value
[unit]
100
[ms]
Dynamic brake
deceleration
Refer to Name
and function
column.
Initial
value
0h
0h
0h
0h
0
[0.0001
rev]
Setting
range
0
to
20000
-25000
to
25000