Mitsubishi Electric MELSERVO-JN Series Instruction Manual page 359

13. POSITIONING MODE
Connector
Device Symbol
Temporary PUS
stop
Travel MEND
completion
Rough match CPO
Zero speed ZSP
Limiting torque TLC
Warning WNG
During CDPS
variable gain
selection
pin No.
PUS turns ON when deceleration is started to make a stop by
Temporary stop/Restart (TSTP). When Temporary stop/Restart
(TSTP) is made valid again to resume operation, PUS turns OFF.
MEND turns ON when In-position (INP) turns ON and the command
remaining distance is "0".
MEND turns ON when servo-on turns ON.
If parameter No. PA04 is set to "
function is enabled, the INP ON time during the overload tough drive
is delayed. ON time of MEND is also delayed interlocked with this.
CP0 turns ON when the command remaining distance becomes less
than the rough match output range set in the parameter. CP0 is not
output while the base circuit is off.
CP0 turns ON at servo-on.
ZSP turns on when the servo motor speed is zero speed (50r/min) or
less. Zero speed can be changed using parameter No. PC10.
Example Zero speed is 50r/min
OFF level
Forward
70r/min
rotation
ON level
direction
50r/min
Servo motor
0r/min
speed
ON level
Reverse
50r/min
rotation
direction
OFF level
70r/min
ON
Zero speed
(ZSP)
OFF
ZSP turns on 1) when the servo motor is decelerated to 50r/min, and
ZSP turns off 2) when the servo motor is accelerated to 70r/min again.
ZSP turns on 3) when the servo motor is decelerated again to 50r/min,
and turns off 4) when the servo motor speed has reached -70r/min.
The range from the point when the servo motor speed has reached
ON level, and ZSP turns on, to the point when it is accelerated again
and has reached OFF level is called hysteresis width.
Hysteresis width is 20r/min for MR-JN-A servo amplifier.
If parameter No. PA04 is set to "
function is enabled, the ZSP ON time during the overload tough drive
is delayed. The delay time can be limited by parameter No. PC26.
TLC turns ON when the generated torque reaches the value set to the
forward torque limit (parameter No. PA11), the reverse torque limit
(parameter No. PA12) or the internal torque limit 2 (parameter No.
PC14). (Refer to section 3.6.1(4).)
When a warning occurs, WNG turns on. When there is no warning,
WNG turns off approximately 1s after power-on.
CDPS is on during gain changing.
Functions/Applications
1 " and the overload tough drive
1)
3)
20r/min
2)
(Hysteresis width)
Parameter
No. PC10
Parameter
No. PC10
20r/min
(Hysteresis width)
4)
1 " and the overload tough drive
13 - 8
Positioning
I/O
mode
division
CP CL
DO-1
DO-1
DO-1
DO-1
DO-1
DO-1
DO-1