Mitsubishi Electric MELSERVO MR-J4-03A6-RJ, Instruction Manual

Page: 211 / 610

5. HOW TO USE THE PROGRAM
5 - 4
5.1.4 Parameter setting
POINT
The following encoder cables are of four-wire type. When using any of these
encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect
setting will result in [AL. 16 Encoder initial communication error 1].
MR-EKCBL30M-L
MR-EKCBL30M-H
MR-EKCBL40M-H
MR-EKCBL50M-H
Assign the following output devices to the CN1-22, CN1-23, and CN1-25 pins
with [Pr. PD23], [Pr. PD24], and [Pr. PD26].
CN1-22: CPO (Rough match)
CN1-23: ZP (Home position return completion)
CN1-25: MEND (Travel completion)
When using this servo by the program method, set [Pr. PA01] to "_ _ _ 7" (Positioning mode (program
method)). For the program method, the servo can be used by merely changing the basic setting parameters
([Pr. PA _ _ ]) and positioning control parameters ([Pr. PT _ _ ]) mainly.
As necessary, set other parameters.
The following table shows [Pr. PA _ _ ] and [Pr. PT _ _ ] settings required for the program method.
Operation mode selection item
Operation mode
Parameter setting Input device setting
[Pr. PA01] [Pr. PT04]
MD0
(Note 1)
DI0 to DI7
(Note 1)
Automatic operation mode of the program method On Any
Manual operation
mode
JOG operation
Off
Manual pulse generator operation
Home position return
Dog type _ _ _ 0
On Any (Note 2)
Count type _ _ _ 1
Data set type _ _ _ 2
Stopper type
_ _ _ 7
_ _ _ 3
Home position ignorance (servo-on
position as home position)
_ _ _ 4
Dog type rear end reference _ _ _ 5
Count type front end reference _ _ _ 6
Dog cradle type _ _ _ 7
Dog type last Z-phase reference _ _ _ 8
Dog type front end reference _ _ _ 9
Dogless Z-phase reference _ _ _ A
Note 1. MD0: Operation mode selection 1, DI0 to DI7: Program No. selection 1 to Program No. selection 8
2. Select a program containing a "ZRT" command, which performs the home position return.
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