Operation Sequence - Mitsubishi Electric MELSERVO-MR-J4 GF Series Instruction Manual

Operation sequence

Rotation direction specifying indexer
• Always perform a home position return. Executing positioning operation without home position return will
trigger [AL. 90 Home position return incomplete warning] and "Controlword bit 4 (New set-point)" will be
disabled.
The servo motor rotates in a fixed direction to execute positioning to a station.
The following timing chart shows that an operation is started from being stopped at the station No. 0 at servo-on.
■When using Profile velocity (6081h), Profile Acceleration (6083h) and Profile deceleration
(6084h)
For the servo motor speed, acceleration time constant and deceleration time constant during operation, the values set in
Profile velocity (6081h), Profile acceleration (6083h) and Profile deceleration (6084h) are used.
Controlword bit 6
(Indexer mode)
Controlword bit 4
(New set-point)
Controlword bit 5
(Direction)
*1
Target point table
Profile velocity
Forward
rotation
*4
Servo motor speed 0 r/min
Reverse
rotation
Statusword bit 12
(Set-point acknowledge)
INP/S_INP
*6
(In-position)
Status DO 5 bit 5
(S_CPO (Rough match))
Status DO 5 bit 6
(S_MEND (Travel completion))
Point actual value
Point demand value
Torque limit value to be enabled
ON
OFF
*2
ON
OFF
ON
OFF
1
100.00 r/min
(a)
ON
OFF
ON
OFF
ON
OFF
ON
OFF
1
*5
[Pr. PC77]
Positive torque limit value/
Negative torque limit value
Rotation direction specifying indexer
3
*3
(b)
1
3
*5
[Pr. PC77] [Pr. PC77]
Positive torque limit value/
Negative torque limit value
1
150.00 r/min
(c)
3 1
1
*5
[Pr. PC77]
Positive torque limit value/
Negative torque limit value
6 SERVO MOTOR DRIVING
6.3 Indexer mode (idx)
6
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