4. STARTUP
4 - 11
(2) How to find the cause of position shift
Encoder
Q
P
C
M
L
(b) Cumulative command pulses
(c) Cumulative feedback pulses
(d) Machine stop position M
Cause B
(a) Output pulse
counter
Cause A
SON (Servo-on) input
LSP/LSN (Stroke end) input
Servo amplifier
Controller
Servo motor
Machine
Electronic gear
[Pr. PA05], [Pr. PA06],
[Pr. PA07], [Pr. PA21]
Cause C
When a position shift occurs, check (a) output pulse counter display Q, (b) cumulative command pulse
P, (c) cumulative feedback pulse C, and (d) machine stop position M in the above diagram.
Also, Causes A, B, and C indicate the causes of position mismatch. For example, Cause A indicates that
noise entered the wiring between the controller and servo amplifier, causing command input pulses to be
miscounted.
In a normal status without position shift, there are the following relationships.
1) Q = P (Output counter = Cumulative command pulses)
2) When [Pr. PA21] is "0 _ _ _"
P •
CMX [Pr. PA06]
CDV [Pr. PA07]
= C (Cumulative command pulses × Electronic gear = Cumulative feedback
pulses)
3) When [Pr. PA21] is "1 _ _ _"
P •
4194304
FBP [Pr. PA05]
= C
4) When [Pr. PA21] is "2 _ _ _"
P •
CMX [Pr. PA06]
CDV [Pr. PA07]
× 16 = C
5) C •
∆ℓ
= M (Cumulative feedback pulses × Travel distance per pulse = Machine position)
Summary of Contents for MR-J4-100A(-RJ)
Page 19: ...10 MEMO ...
Page 75: ...1 FUNCTIONS AND CONFIGURATION 1 56 MEMO ...
Page 83: ...2 INSTALLATION 2 8 MEMO ...
Page 159: ...3 SIGNALS AND WIRING 3 76 MEMO ...
Page 203: ...4 STARTUP 4 44 MEMO ...
Page 351: ...7 SPECIAL ADJUSTMENT FUNCTIONS 7 40 MEMO ...
Page 365: ...8 TROUBLESHOOTING 8 14 MEMO ...
Page 387: ...9 DIMENSIONS 9 22 MEMO ...
Page 403: ...10 CHARACTERISTICS 10 16 MEMO ...
Page 553: ...12 ABSOLUTE POSITION DETECTION SYSTEM 12 30 MEMO ...
Page 567: ...13 USING STO FUNCTION 13 14 MEMO ...
Page 607: ...14 COMMUNICATION FUNCTION MITSUBISHI ELECTRIC GENERAL PURPOSE AC SERVO PROTOCOL 14 40 MEMO ...
Page 639: ...15 USING A LINEAR SERVO MOTOR 15 32 MEMO ...
Page 767: ...18 MR J4 03A6 RJ SERVO AMPLIFIER 18 84 MEMO ...
Page 856: ...APPENDIX App 41 ...
Page 905: ...MEMO ...