Mitsubishi Electric MELSERVO-J4 Series Transition Handbook page 329

Part 6: Review on Replacement of MR-J3-_T_(DIO command/ Serial communication operation) with MR-J4-_A_-RJ
MR-J3-_T_
No. Name and function
PA10 In-position range
Set the range, where In position (INP) and Movement
finish (MEND) are output, in the command pulse unit
before calculation of the electronic gear. With the setting
of [Pr. PC24], the range can be changed to the encoder
output pulse unit.
Command pulse
Droop pulse
ON
In position (INP)
OFF
PA11 Forward rotation torque limit
PA12 Reverse rotation torque limit
The torque generated by the servo motor can be limited.
When torque is output with the analog monitor output, the
smaller torque of the values in the [Pr. PA11] (forward
rotation torque limit) and [Pr. PA12] (reverse rotation
torque limit) is the maximum output voltage (8V).
Forward rotation torque limit [Pr. PA11]
Set this parameter on the assumption that the maximum
torque is 100[%]. Set this parameter when limiting the
torque of the servo motor in the CCW driving mode or
CW regeneration mode. Set this parameter to "0.0" to
generate no torque.
Reverse rotation torque limit [Pr. PA12]
Set this parameter on the assumption that the maximum
torque is 100[%]. Set this parameter when limiting the
torque of the servo motor in the CW driving mode or
CCW regeneration mode. Set this parameter to "0.0" to
generate no torque.
Servo motor Droop pulse
Command pulse
In-position range [ m]
Initial
No.
value
100 PA10 INP In-position range
Set an in-position range per command.
To change it to the servo motor encoder pulse unit, set
[Pr. PC24].
Pr. PA01
_ _ _ 6 (positioning mode
(point table method))
The unit will be as follows depending on the positioning
mode.
Point table method
When [Pr. PC24] is set to "_ _ _ 0", the unit can be
changed to [µm], 10-4 [inch], 10-3 [degree], or [pulse]
with the setting of [Pr. PT01]. When [Pr. PC24] is set
to "_ _ _ 1", the unit is fixed to [pulse].
Setting range: 0 to 65535
100.0 PA11 Forward rotation torque limit
100.0 You can limit the torque generated by the servo motor.
Set the parameter referring to section 3.6.1 (5) of "MR-
J4-_A_(-RJ) Servo Amplifier Instruction Manual".
When you output torque with analog monitor output, the
larger value of [Pr. PA11 Forward rotation torque limit] or
[Pr. PA12 Reverse rotation torque limit] will be the
maximum output voltage (8 V).
Set the parameter on the assumption that the maximum
torque is 100.0 [%]. The parameter is for limiting the
torque of the servo motor in the CCW power running or
CW regeneration. Set this parameter to "0.0" to generate
no torque.
Setting range: 0.0 to 100.0
PA12 Reverse rotation torque limit
You can limit the torque generated by the servo motor.
Set the parameter referring to section 3.6.1 (5) of "MR-
J4-_A_(-RJ) Servo Amplifier Instruction Manual".
When you output torque with analog monitor output, the
larger value of [Pr. PA11 Forward rotation torque limit] or
[Pr. PA12 Reverse rotation torque limit] will be the
maximum output voltage (8 V).
Set the parameter on the assumption that the maximum
torque is 100.0 [%].The parameter is for limiting the
torque of the servo motor in the CW power running or
CCW regeneration. Set this parameter to "0.0" to
generate no torque.
Setting range: 0.0 to 100.0
6 - 50
MR-J4-_A_-RJ
Name and function
In-position setting range
The range where MEND
(Travel completion),
PED (Position end) and
INP (In-position) are
inputted.
Initial
value
100
100.0
100.0