Mitsubishi Electric MELSERVO MR-J5 Series User Manual page 109

LOP (Control switching)
• Position/speed control switching mode
This is used to select the position control mode or the speed control mode in the position/speed control switching mode.
LOP
0 (off)
1 (on)
• Speed/torque control switching mode
This is used to select the speed control mode or the torque control mode in the speed/torque control switching mode.
LOP
0 (off)
1 (on)
• Torque/position control switching mode
This is used to select the position control mode or the speed control mode in the torque/position control switching mode.
LOP
0 (off)
1 (on)
For details, refer to "Control switching" in the following manual.
MR-J5 User's Manual (Function)
STAB2 (Second acceleration/deceleration selection)
This is used to select the acceleration/deceleration time constants while the servo motor rotates in the speed control mode or
torque control mode. The S-pattern acceleration/deceleration time constants are always uniform.
STAB2
0 (off)
1 (on)
For details, refer to "Acceleration/deceleration function" in the following manual.
MR-J5 User's Manual (Function)
ABSM (ABS transfer mode)
This is an ABS transfer mode request device. If [Pr. PA03.0] is set to "1" and an absolute position detection system by DIO is
selected, ABSM will be assigned to the CN3-17 pin.
Page 412 ABSOLUTE POSITION DETECTION SYSTEM
ABSR (ABS request)
This is an ABS request device. If [Pr. PA03.0] is set to "1" and the absolute position detection system by DIO is selected,
ABSR will be assigned to the CN3-18 pin.
Page 412 ABSOLUTE POSITION DETECTION SYSTEM
PEN (Command input permission signal)
If PEN is selected as an input device, command pulse trains are accepted while PEN is on. The input device is available on
servo amplifiers with firmware version A5 or later.
For details, refer to "Command pulse train monitoring function" in the following manual.
MR-J5 User's Manual (Function)
MECR (Motor-side/load-side deviation counter clear)
Turning on MECR clears the values of the motor-side/load-side position deviation counter at the signal rising edge.
• This device can be used in the fully closed loop control mode.
• The droop pulses in the position control will not be affected.
• The operation will not be affected even if this device is turned on while the semi closed loop control is in progress.
• The operation will not be affected even if this device is turned on while the fully closed loop control error detection function
is disabled in [Pr. PE03]. The input device is available on servo amplifiers with firmware version A5 or later.
Control mode
Position control mode
Speed control mode
Control mode
Speed control mode
Torque control mode
Control mode
Torque control mode
Position control mode
Acceleration/deceleration time constant
[Pr. PC01]/[Pr. PC02]
[Pr. PC30]/[Pr. PC31]
3 SIGNALS AND WIRING
3.5 Signal (device) explanation
3
107