Positioning Control Setting Servo Parameters Group ([Pr. Pt; [Pr. Pt01_Command Mode Selection (**Cty)]; [Pr. Pt53_Torque Slope (Tqs)] - Mitsubishi Electric MELSERVO-JET MR-JET-G-N1 Series User Manual

7.3
Positioning control setting servo parameters
group ([Pr. PT_ _ ])

[Pr. PT01_Command mode selection (**CTY)]

Initial value
00000300h
[Pr. PT01.1_Speed/acceleration/deceleration unit selection]
Initial value
1h
Select the unit of speed and the unit of acceleration/deceleration.
This function is enabled in the cyclic synchronous mode and the profile mode.
Setting value
0
1
*1 In the linear servo motor control mode, the unit is mm/s.
*2 The unit of command is fixed to "pulse".
Servo parameters to be enabled by this servo parameter vary depending on whether the setting value of this servo parameter
is "0" or "1". Refer to the following table.
Setting value
0
*1
[Pr. PT65 Profile speed command]
*1
[Pr. PT66 Maximum profile speed]
[Pr. PT49 Speed acceleration time constant]
[Pr. PT50 Speed deceleration time constant]
[Pr. PC24 Deceleration time constant at forced
stop]
[Pr. PT05 Homing speed]
[Pr. PT06 Creep speed]
[Pr. PT56 Homing acceleration time constant]
[Pr. PT57 Homing deceleration time constant]
[Pr. PC72 Speed reached 2 - Output range]
*1
[Pr. PC65 Zero speed 2 level]
[Pr. PT67 Speed limit]
*1 Available on servo amplifiers with firmware version B2 or later.

[Pr. PT53_Torque slope (TQS)]

Initial value
100.0 [%/s]
Set the rate of change in the torque command per second.
When "0.0" is set, the torque slope is disabled.
This function is enabled in the profile torque mode.
This function corresponds to [Torque slope (Obj. 6087h)].
When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller
overwrites the servo parameter values written with engineering tools.
Setting range
Refer to the relevant detail No.
Setting range
Refer to the text
Speed
*1
r/min, mm/s
*2
Command unit/s
1
[Pr. PV01 Profile speed command extension
*1
setting]
[Pr. PV03 Maximum profile speed extension
*1
setting]
*1
[Pr. PV05 Profile acceleration]
*1
[Pr. PV07 Profile deceleration]
[Pr. PV09 Deceleration at forced stop]
[Pr. PV11 Homing speed extension setting]
[Pr. PV13 Creep speed extension setting]
[Pr. PV15 Homing acceleration]
[Pr. PV17 Homing deceleration]
*1
[Pr. PV19 Speed reached 2 - Output range -
*1
Extension setting]
[Pr. PV20 Zero speed 2 level extension setting]
*1
[Pr. PV21 Speed limit extension setting]
Setting range
0.0 to 1000000.0

7.3 Positioning control setting servo parameters group ([Pr. PT_ _ ])

Ver.
Refer to the relevant detail No.
Ver.
A4
Acceleration/deceleration
ms
Command unit/s
Object interlocked with servo parameter
[Profile velocity (Obj. 6081h)]
[Max profile velocity (Obj. 607Fh)]
*1
[Profile acceleration (Obj. 6083h)]
*1
[Profile deceleration (Obj. 6084h)]
[Quick stop deceleration (Obj. 6085h)]
[Speed during search for zero (Obj. 6099h: 2h)]
[Speed during search for switch (Obj. 6099h: 1h)]
[Homing acceleration (Obj. 609Ah)]

[Velocity window (Obj. 606Dh)]
[Velocity threshold (Obj. 606Fh)]
[Velocity limit value (Obj. 2D20h)]
Ver.
B2
2
*1
*1
*1
*1
*1
*1
7 SERVO PARAMETERS
7
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