Mitsubishi Electric MELSERVO-J4 series, Instruction Manual

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5 PARAMETERS
5.2 Detailed list of parameters
221
5
Positioning control parameters ([Pr. PT_ _ ])
No./symbol/
name Setting
digit Function Initial
value
[unit]
PT05
ZRF
Home position
return speed  Set a servo motor speed at home position return. The fractional portion of the parameter will be rounded
down.
Setting range: 0.00 to instantaneous permissible speed 100.00
[r/min]/[mm/
s]
PT06
CRF
Creep speed  Set a creep speed after proximity dog at home position return.
The fractional portion of the parameter will be rounded down.
Setting range: 0.00 to instantaneous permissible speed 10.00
[r/min]/[mm/
s]
PT07
ZST
Home position shift
distance

Set a shift distance from the Z-phase pulse detection position in the encoder.
Up to "2
31
-1" can be set with [Pr. PT69].
Setting range: 0 to 65535
0 [pulse]
PT09
DCT
Travel distance after
proximity dog

Set a travel distance after proximity dog for the count type home position return (front end detection, Z-phase
reference) (Homing method -2, -34) and the following dog reference home position returns.
• 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)
Up to 2
31
can be set with [Pr. PT71].
Setting range: 0 to 65535
0 [pulse]
PT10
ZTM
Stopper type home
position return
stopper time  Set a time from a moving part touches the stopper and torques reaches to the torque limit of [Pr. PT11
Stopper type home position return - Torque limit value] to a home position is set for the stopper type home
position return.
Setting range: 5 to 1000 100 [ms]
PT11
ZTT
Stopper type home
position return
torque limit value  Set a torque limit value with [%] to the maximum torque at stopper type home position return.
Setting range: 0.1 to 100.0 15.0 [%]
PT15
LMPL
Software limit +
(lower four digits)

Set an address increasing side of the software stroke limit.
Upper and lower are a set.
Set the setting address in hexadecimal.
Setting the same value in "Software limit +" and "Software limit -" will disable the software limit.
 Page 226 Software limit
When setting this parameter with MR2, change the status to servo-off or the mode to the home position return
mode, velocity mode, or torque mode.
In the position mode during servo-on, changing the setting by a certain order may trigger [AL. 35], [AL. 69], or
[AL. 98].
Setting range: 0000h 0000h to FFFFh FFFFh
0000h
[pulse]
PT16
LMPH
Software limit +
(upper four digits)  0000h
[pulse]
PT17
LMNL
Software limit -
(lower four digits)

Set an address decreasing side of the software stroke limit.
Upper and lower are a set.
Set the setting address in hexadecimal.
Setting the same value in "Software limit +" and "Software limit -" will disable the software limit.
 Page 226 Software limit
When changing the parameter setting with MR Configurator2, change it during servo-off, in the home position
return mode, velocity mode, or torque mode.
In the position mode during servo-on, changing the setting by a certain order may trigger [AL. 35], [AL. 69], or
[AL. 98].
Setting range: 0000h 0000h to FFFFh FFFFh
0000h
[pulse]
PT18
LMNH
Software limit -
(upper four digits)  0000h
[pulse]
Upper four
digits
Lower four
digits
[Pr. PT15]
[Pr. PT16]
[Pr. PT17]
[Pr. PT18]
Upper four
digits
Lower four
digits