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Positioning control parameters ([Pr. PT_ _ ])
No./symbol/
Setting
Function
name
digit
PT01
_ _ _ x
Positioning command method selection
**CTY
0: Absolute value command method
Command mode
1: Incremental value command method
selection
_ _ x _
For manufacturer setting
_ x _ _
Position data unit
0: mm
1: inch
2: degree
3: pulse
The setting value "2" is available with servo amplifiers with software version A6 or later. For servo
amplifiers with software version older than A6, setting "2" triggers [AL. 37.1].
x _ _ _
For manufacturer setting
PT03
_ _ _ x
Feed length multiplication (STM)
*FTY
0: × 1
Feeding function
1: × 10
selection
2: × 100
3: × 1000
This digit is disabled when [degree] or [pulse] is selected for "Unit for position data" in [Pr. PT01].
The unit [degree] is used with servo amplifiers with software version A6 or later.
This parameter corresponds to "Shaft revolutions (6092h: 2)". When the object is mapped to the
cyclic communication data, do not write values with MR Configurator2 because the controller
overwrites the servo parameter values written with MR Configurator2.
_ _ x _
For manufacturer setting
_ x _ _
Shortest rotation selection per degree
0: Rotation direction specifying
1: Shortest rotation
2: Rotation in address decreasing direction
3: Rotation in address increasing direction
This digit setting becomes valid as soon as it is changed.
This digit setting is invalid for the incremental value command method.
x _ _ _
For manufacturer setting
PT07
Set a shift distance from the Z-phase pulse detection position in the encoder.
ZST
Up to 2
Home position
Refer to section 4.6 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)" for the
shift distance
home position shift direction.
The unit will be as follows depending on the positioning mode.
• Point table method
The unit can be changed to [µm], 10
The unit [degree] is used with servo amplifiers with software version A6 or later.
• Indexer method
It will be command unit [pulse]. (unit of a load-side rotation expressed by the number of servo motor
resolution pulses)
Refer to the Function column of [Pr. PA10] for the command unit.
Setting range: 0 to 65535
PT09
Set a travel distance after proximity dog at home position return for the count type (front end
DCT
detection, Z-phase reference) (Homing method -2, -34) and dog reference.
Travel distance
Up to 2
after proximity
The following shows the home position return of the dog reference.
dog
• Dog type rear end reference home position return (Homing method -6, -38)
• Count type home position return (Front end reference) (Homing method -7, -39)
• Dog type front end reference home position return (Homing method -10, -42)
• Homing without index pulse (Homing method 19, 20, 21, 22, 23, 24, 27, 28)
The unit can be changed to 10
[Pr. PT01].
The unit [degree] is used with servo amplifiers with software version A6 or later.
Setting range: 0 to 65535
31-1
can be set with [Pr. PT69].
-4
[inch], 10
31
can be set with [Pr. PT71].
STM
(STM-4)
[μm], 10
-3
[degree], or [pulse] with the setting of [Pr. PT01].
-3
[inch], 10
[degree], or [pulse] with the setting of
Initial
Control
value
mode
[unit]
CP
0h
0h
3h
0h
0h
0h
0h
0h
0
Refer to
Function
column
for unit.
0
Refer to
Function
column
for unit.
7 PARAMETERS
7.2 Detailed list of parameters
PS
7
187
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