Stop Method At Software Limit Detection - Mitsubishi Electric MELSERVO-J4 Series Instruction Manual

7. PARAMETERS

7.6 Stop method at software limit detection

Select a stop method of the servo motor for when a software limit ([Pr. PT15] to [Pr. PT18]) is detected with the
setting of the third digit in [Pr. PD30]. The software limit limits a command position controlled in the servo
amplifier. Therefore, actual stop position will not reach the set position of the software limit.
The software limit is disabled in the indexer method.
[Pr. PD30]
setting
During rotation at constant speed
_ 0 _ _
No S-pattern acceleration/
(initial
deceleration
With S-pattern acceleration/
value)
deceleration
Servo motor speed
(linear servo motor speed)
0 r/min
(0 mm/s)
_ 1 _ _
No S-pattern acceleration/
deceleration
With S-pattern acceleration/
deceleration
Servo motor speed
(linear servo motor speed)
0 r/min
(0 mm/s)
_ 2 _ _
No S-pattern acceleration/
deceleration
With S-pattern acceleration/
deceleration
Servo motor speed
(linear servo motor speed)
0 r/min
(0 mm/s)
_ 3 _ _
No S-pattern acceleration/
deceleration
With S-pattern acceleration/
deceleration
Servo motor speed
(linear servo motor speed)
0 r/min
(0 mm/s)
[Pr. PD30]
Stop method selection at software limit detection
0: Quick stop (home position erased)
1: Slow stop (home position erased)
2: Slow stop (deceleration to a stop by deceleration time constant)
3: Quick stop (stop by clearing remaining distance)
Operation status
Servo motor speed
(linear servo motor speed)
Software limit detection
No S-pattern acceleration/
deceleration
With S-pattern acceleration/
deceleration
Part of droop
pulses
Servo motor speed
(linear servo motor speed)
Software limit detection
Acceleration/
deceleration
time constant
+
S-pattern
acceleration/
deceleration
Servo motor speed
time constant
(linear servo motor speed)
Acceleration/
deceleration
time constant
Decelerates to stop.
Software limit detection
Part of S-pattern No S-pattern acceleration/
acceleration/ deceleration
deceleration time With S-pattern acceleration/
constants deceleration
+
Part of droop
pulses
Servo motor speed
Part of droop
(linear servo motor speed)
pulses
Software limit detection
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During deceleration to a stop
No S-pattern acceleration/
deceleration
With S-pattern acceleration/
deceleration
0 r/min
(0 mm/s)
Software limit detection
0 r/min
(0 mm/s)
Software limit detection
No S-pattern acceleration/
deceleration
With S-pattern acceleration/
deceleration
0 r/min
(0 mm/s)
Software limit detection
Part of S-pattern
deceleration time
0 r/min
(0 mm/s)
Software limit detection
Remark
Erases the droop
pulses and stops the
motor.
Erases the home
position.
A difference will be
generated between
command position
and current position.
Perform a home
position return again.
Erases the droop
pulse portion and
stops the motor.
Part of droop
Erases the home
pulses
position.
A difference will be
generated between
command position
and current position.
Perform a home
position return again.
Decelerates to a stop
with the deceleration
time constant
currently selected with
the point table or the
program.
Continues operation
Continues
for a delay portion of
deceleration
to stop.
the S-pattern
acceleration/decelera
tion time
constants. Keeps the
home position.
Erases the droop
pulse portion and
acceleration/
stops the motor.
constants
+
Continues operation
Part of droop
pulses
for a delay portion of
Part of droop
the S-pattern
pulses
acceleration/decelera
tion time
constants. Keeps the
home position.