Positioning Control Setting Servo Parameter Group ([Pr. Pt; [Pr. Pt05_Homing Speed (Zrf)]; [Pr. Pt06_Creep Speed (Crf)]; [Pr. Pt07_Home Position Shift Distance (Zst)] - Mitsubishi Electric MELSERVO-J5 MR-J5-G Series User Manual

1.9
Positioning control setting servo parameter group
([Pr. PT_ _])

[Pr. PT05_Homing speed (ZRF)]

Initial value
100.00 [r/min], [mm/s]
Set the servo motor speed for homing.
The servo motor speed is clamped at the maximum speed. When changing the speed to the permissible speed, set the speed
in [Pr. PA 28.4 Speed range limit selection].
If the set speed exceeds 8000 r/min (mm/s), the speed is clamped at 8000 r/min (mm/s).
This function corresponds to [Speed during search for zero (Obj. 6099h: 2h)].
When this object is mapped to the cyclic communication, the controller overwrites the servo parameter value written with an
engineering tool or others. Thus, do not write a value with the engineering tool or others.

[Pr. PT06_Creep speed (CRF)]

Initial value
10.00 [r/min], [mm/s]
When performing a homing, set the servo motor speed after proximity dog.
The servo motor speed is clamped at the maximum speed. When changing the speed to the permissible speed, set the speed
in [Pr. PA 28.4 Speed control range limit selection].
If the set speed exceeds 8000 r/min (mm/s), the speed is clamped at 8000 r/min (mm/s).
This function corresponds to [Speed during search for switch (Obj. 6099h: 1h)].
When this object is mapped to the cyclic communication, the controller overwrites the servo parameter value written with an
engineering tool or others. Thus, do not write a value with the engineering tool or others.

[Pr. PT07_Home position shift distance (ZST)]

Initial value
0 [pulse]
Set the home position shift travel distance at homing.

[Pr. PT08_Homing position data (ZPS)]

Initial value
0 [pulse]
Set the address that is to be the reference point of the machine coordinate system.
The home position is the coordinate which is subtracted by the setting value of this servo parameter from the machine home
position. The value in [Position actual value (Obj. 6064h)] changes at the same time as the homing completion.
At completion of homing or when the servo amplifier is connected to network, the setting value of this servo parameter is
reflected.
This function is enabled in the cyclic synchronous position mode.
This function corresponds to [Home offset (Obj. 607Ch)]. The relation between [Home offset] and this servo parameter is as
follows.
[Home offset] = -[Pr. PT08]
When this object is mapped to the cyclic communication, the controller overwrites the servo parameter value written with an
engineering tool or others. Thus, do not write a value with the engineering tool or others.
The value that is set in this servo parameter is not reflected when the homing is incomplete.
Setting this servo parameter will compensate the software position limit.
After compensation [Max position range limit (607Dh: 02h)] = [Max position range limit] - [Home offset]
After compensation [Min position range limit (607Dh: 01h)] = [Min position range limit] - [Home offset]
1 DETAILED LISTS OF SERVO PARAMETERS
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1.9 Positioning control setting servo parameter group ([Pr. PT_ _])

Setting range
0.00 to 167772.15
Setting range
0.00 to 167772.15
Setting range
0 to 2147483647
Setting range
-2147483648 to 2147483647
Setting method
Each axis
Setting method
Each axis
Setting method
Each axis
Setting method
Each axis
Supported software version
A0
Supported software version
A0
Supported software version
A0
Supported software version
A0