Mitsubishi Electric MELSERVO-MR-J4 GF Series Instruction Manual page 153

■When using Target speed No. (2DD1h)
Use the value set in the point table as the servo motor speed, acceleration or deceleration time constant during operation. Set
the point table No. to be used in Target speed No. (2DD1h).
Point table No.
1
2
Controlword bit 6
(Indexer mode)
Controlword bit 4
(New set-point)
Controlword bit 5
(Direction)
*1
Target point table
*7
Target speed No.
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
*1 When the specified station No. exceeds the value set in [Pr. PT28 Number of stations per rotation] - 1, the servo motor does not operate.
*2 "Controlword bit 4 (New set-point)" is not received when the remaining command travel distance is other than "0".
*3 Switching "Profile velocity" during servo motor rotation does not enable this.
*4 Operation is performed as follows.
Operation
Next station No.
Servo motor speed
Positioning
*5 A delay time can be set with [Pr. PT39].
*6 After power-on, RXn1 turns on if the number of droop pulses is within the in-position range of each station position.
*7 This is enabled when any of Profile velocity (6081h), Profile Acceleration (6083h) or Profile deceleration (6084h) is set to 0.
Servo motor speed [r/min]
100.00
150.00
ON
OFF
*2
ON
OFF
ON
OFF
1
(a)
ON
OFF
ON
OFF
ON
OFF
ON
OFF
1
*5
[Pr. PC77]
Positive torque limit value/
Negative torque limit value
(a)
No. 1
100.00 r/min
4
3
5
2 6
7
1
0
Acceleration time constant
[ms]
200
150
Rotation direction specifying indexer
3
*3
1
(b)
1
3
*5
[Pr. PC77] [Pr. PC77]
Positive torque limit value/
Negative torque limit value
(b)
No. 3
100.00 r/min
4
3
5
2 6
7
1
0
Deceleration time constant
[ms]
200
150
1
2
(c)
3 1
1
*5
[Pr. PC77]
Positive torque limit value/
Negative torque limit value
(c)
No. 1
150.00 r/min
4
3
5
2 6
7
1
0
6 SERVO MOTOR DRIVING
6.3 Indexer mode (idx)
6
151