Mitsubishi Electric MELSERVO-JN Series, Instruction Manual

Page: 359 / 480

13 - 8
13. POSITIONING MODE
Device Symbol
Connector
pin No.
Functions/Applications
I/O
division
Positioning
mode
CP CL
Temporary
stop PUS PUS turns ON when deceleration is started to make a stop by
Temporary stop/Restart (TSTP). When Temporary stop/Restart
(TSTP) is made valid again to resume operation, PUS turns OFF. DO-1
Travel
completion MEND MEND turns ON when In-position (INP) turns ON and the command
remaining distance is "0".
MEND turns ON when servo-on turns ON.
If parameter No. PA04 is set to " 1 " and the overload tough drive
function is enabled, the INP ON time during the overload tough drive
is delayed. ON time of MEND is also delayed interlocked with this. DO-1
Rough match CPO CP0 turns ON when the command remaining distance becomes less
than the rough match output range set in the parameter. CP0 is not
output while the base circuit is off.
CP0 turns ON at servo-on. DO-1
Zero speed ZSP ZSP turns on when the servo motor speed is zero speed (50r/min) or
less. Zero speed can be changed using parameter No. PC10.
Example Zero speed is 50r/min
OFF
ON
Servo motor
speed
Forward
rotation
direction
20r/min
(Hysteresis width)
Parameter
No. PC10
20r/min
(Hysteresis width)
OFF level
70r/min
ON level
50r/min
ON level
50r/min
OFF level
70r/min
Reverse
rotation
direction
0r/min
Parameter
No. PC10
Zero speed
(ZSP)
3)
4)
1)
2)
ZSP turns on 1) when the servo motor is decelerated to 50r/min, and
ZSP turns off 2) when the servo motor is accelerated to 70r/min again.
ZSP turns on 3) when the servo motor is decelerated again to 50r/min,
and turns off 4) when the servo motor speed has reached -70r/min.
The range from the point when the servo motor speed has reached
ON level, and ZSP turns on, to the point when it is accelerated again
and has reached OFF level is called hysteresis width.
Hysteresis width is 20r/min for MR-JN-A servo amplifier.
If parameter No. PA04 is set to " 1 " and the overload tough drive
function is enabled, the ZSP ON time during the overload tough drive
is delayed. The delay time can be limited by parameter No. PC26.
DO-1
Limiting torque TLC TLC turns ON when the generated torque reaches the value set to the
forward torque limit (parameter No. PA11), the reverse torque limit
(parameter No. PA12) or the internal torque limit 2 (parameter No.
PC14). (Refer to section 3.6.1(4).) DO-1
Warning WNG When a warning occurs, WNG turns on. When there is no warning,
WNG turns off approximately 1s after power-on. DO-1
During
variable gain
selection CDPS
CDPS is on during gain changing.
DO-1