Mitsubishi Electric MELSERVO-J4 Series Transition Handbook page 342

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
PC09 Stopper type home position return stopper time
In stopper type home position return, used to set the time
from when the machine part is pressed against the
stopper and the torque limit set in [Pr. PC10] is reached
to when the home position is set.
PC10 Stopper type home position return torque limit
Used to set the torque limit value relative to the max.
torque in [%] in stopper type home position return.
PC11 Rough match output range
Used to set the command remaining distance range
where the rough match (CPO) is output.
PC12 Jog speed
Used to set the jog speed command.
PC13 S-pattern acceleration/deceleration time constant
Set when inserting S-pattern time constant into the
acceleration/deceleration time constant of the point table.
This time constant is invalid for home position return.
Initial
No.
value
100 PT10 Stopper type home position return stopper time
Set time from a moving part touches the stopper and
torques reaches to the torque
limit of [Pr. PT10 Stopper type home position return -
Torque limit value] to a home position set for the stopper
type home position return.
Setting range: 0 to 1000
15.0 PT11 Stopper type home position return torque limit value
Set a torque limit value with [%] to the maximum torque
at stopper type home position return.
Setting range: 0.0 to 100.0
0 PT12 Rough match output range
Set a range of the command remaining distance which
outputs CPO (Rough match).
Setting range: 0 to 65535
100 PT13 Jog speed
Set a JOG speed.
Setting range: 0 to permissible instantaneous speed
0 PC03 S-pattern acceleration/deceleration time constant
This enables to start/stop the servo motor smoothly.
Set the time of the arc part for S-pattern
acceleration/deceleration.
Setting "0" will make it linear acceleration/deceleration.
Servo is usually operated with linear acceleration and
deceleration; however, smooth start and stop are
enabled by setting [Pr. PC03 S-pattern
acceleration/deceleration time constants]. When the S-
pattern acceleration/deceleration time constants are set,
smooth positioning is enabled as shown in the following
figure. Note that when it is set, a time period from the
start to output of MEND (Travel completion) is longer by
the S-pattern acceleration/deceleration time constants.
Rated speed
Preset speed
Servo motor
speed
0 [r/min]
Ta + STC
Ta: Time until preset speed is reached
Tb: Time until stop
When the STC value is set longer than the constant
speed time, the speed may not reach to the command
speed.
Additionally, when a value of 1000 ms or more is set, it
will be clamped to 1000 ms.
Setting range: 0 to 5000
6 - 63
MR-J4-_A_-RJ
Name and function
Acceleration Deceleration
time constant time constant
Ta Tb + STC
Tb
Initial
value
100
15.0
0
100
0