Mitsubishi Electric MELSERVO-MR-J4 GF Series Instruction Manual page 197

No./symbol/ Setting Function
name digit

PT51 This parameter is used to smooth start/stop of the servo motor or linear servo motor.
STC Set the time of the arc part for S-pattern acceleration/deceleration.
S-pattern Setting "0" will make it linear acceleration/deceleration.
acceleration/
deceleration time
constant
Rated speed
Preset speed
Servo motor
speed
The actual operation time for the arc part is limited as shown by the following calculations. Thus, if a
large value is set to STA (acceleration time constant) or STB (deceleration time constant), the actual
operation time for the arc part may differ from the setting value of the S-pattern acceleration
deceleration time constant. The setting will be disabled during home position return.
When a value exceeding 1000 ms is set, the parameter value will be clamped to 1000 ms.
The upper limit value of the actual time for the arc part is limited by
2000000
(Example) At the setting of STA = 20000, STB = 5000 and STC = 200, the actual times for the arc
part are as follows:
During acceleration: 100 ms
During deceleration: 200 ms
Setting range: 0 to 5000

PT65 Set the Jog speed command.
PVC The fractional portion of the parameter will be rounded down.
Jog speed Setting range: 0.00 to instantaneous permissible speed
command

PT69 Set the extension parameter of [Pr. PT07].
ZSTH When [Pr. PT69] is used, the home position shift distance is calculated as follows.
Home position Home position shift distance = [Pr. PT07] + ([Pr. PT69] × 65536)
shift distance Refer to section 4.6 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)" for the
(extension home position shift direction.
parameter) The unit will be as follows depending on the positioning mode.
• Point table method
The unit can be changed to [µm], 10
• 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. Additionally, when a value equal to
or more than "1001" is set, the value will be clamped to "1000".
Setting range: 0 to 32767
Acceleration time
constant
0 [r/min]
Ta
Ta + STC
2000000
for acceleration and by
STA STB
2000000
= 100 [ms] < 200 [ms]
20000
Therefore, it will be limited to 100 [ms].
2000000
= 400 [ms] > 200 [ms]
5000
Therefore, it will be 200 [ms] as you set.
-4
[inch], 10
Deceleration time
constant
Tb + STC
Tb
Ta: Time until preset speed is
reached
Tb: Time until stop
for deceleration.
-3
[degree], or [pulse] with the setting of [Pr. PT01].
Initial Control
value mode
[unit]
CP

0 [ms]

100.00 [r/
min]/[mm/
s]

0
Refer to
Function
column
for unit.
7 PARAMETERS
7.2 Detailed list of parameters
PS

7


195