Rotation Direction Specifying Indexer - Mitsubishi Electric MELSERVO-MR-J4 GF Series Instruction Manual

Rotation direction
There are two operation methods: Rotation direction specifying indexer, which always rotates in a fixed direction and executes
positioning to a station; Shortest rotating indexer, which automatically changes a rotation direction to the shortest distance and
executes positioning to a station.

Rotation direction specifying indexer

Rotation direction specifying indexer
In this operation mode, the servo motor rotates in a fixed direction to execute positioning to a station.
Select a station No. with "Target point table" to execute positioning. The values set in the object are used for the servo motor
speed, acceleration time constant, and deceleration time constant during operation.
Setting
Set objects and parameters as shown below.
Item
Indexer mode (idx) selection
Next station position
Rotation direction specifying indexer selection
Servo motor speed
Acceleration time constant
Deceleration time constant
Speed limit
*1
Torque limit
*1 The torque limit changes from the setting value of [Pr. PC77] to the setting value of "Positive torque limit value" or "Negative torque limit
value" when "Controlword bit 4 (New set-point)" is input. After the output of S_MEND (Travel completion) and the time set with [Pr.
PT39] has passed, the torque limit will be switched from the setting value of "Positive torque limit value" or "Negative torque limit value"
to the setting value of [Pr. PC77].
Shortest rotating indexer
Object/parameter to be used
Modes of operation
Target point table
Controlword
Profile velocity
Target speed No.
Profile Acceleration
Target speed No.
Profile deceleration
Target speed No.
Max profile velocity
Positive torque limit value
Negative torque limit value
[Pr. PC77]
[Pr. PT39]
Setting
Set "-103".
Set any next station No.
Turn off "Controlword bit 6 (Operation mode)".
Set the servo motor speed.
Set the command speed to the next station to be
executed.
When "Profile velocity", "Profile Acceleration", and
"Profile deceleration" are all set to values other than
0, the set value of "Target speed No." is disabled.
Set the acceleration time constant.
Set the acceleration time constant to the next station
to be executed.
When "Profile velocity", "Profile Acceleration", and
"Profile deceleration" are all set to values other than
0, the set value of "Target speed No." is disabled.
Set the deceleration time constant.
Set the deceleration time constant to the next station
to be executed.
When "Profile velocity", "Profile Acceleration", and
"Profile deceleration" are all set to values other than
0, the set value of "Target speed No." is disabled.
Set a limit value of operation speed.
Set a torque limit value in operation.
Set a torque limit value in stop.
Set a time period for switching from the torque limit
value in operation to that in stop.
6 SERVO MOTOR DRIVING
6.3 Indexer mode (idx)
6
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