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

Page: 299 / 610

6. HOW TO USE INDEXER
6 - 24
6.4.3 Torque limit changing data set type
POINT
When the data set type home position return is selected, [AL. 52] and [AL. 42]
will not be detected.
If the servo motor is rotated in the home position return mode and the mode is
changed to automatic mode without home position return, the following may
occur.
1. [AL. 42] or [AL. 52] can occur.
2. Even though [AL. 42] or [AL. 52] does not occur, the motor will try to
compensate a position gap to the command position at start signal input
because the current position is out of position with the command position.
Watch out for the servo motor rotation due to the compensation the gap to
zero between command position and current position.
When [AL. 90] is occurring, performing home position return will automatically
cancel the alarm.
When [AL. 25] is occurring, cycling the power will cancel the alarm.
When setting any position as home, use the torque limit changing data set type home position return. The
JOG operation, manual pulse generator operation, and others can be used for the travel. With this home
position return, torque will not be generated simultaneously at switching to the home position return mode.
The shaft can be rotated with an external force to set any home position.
Additionally, SIG is not used. SIG is disabled even if turn off.
(1) Device/parameter
Set input devices and parameters as follows.
Item Used device/parameter Setting
Home position return mode
selection
MD0 (Operation mode selection 1) Switch off MD0.
MD1 (Operation mode selection 2) Switch off MD1.
Data set type home position
return
[Pr. PT04]
Select "_ _ _ 2" (Select the torque limit
changing data set type.).
Station home position shift
distance (Note 1, 2)
[Pr. PT40]
Set a shift distance of the station home
position (station No. 0) for the home position
return completion.
Note 1. The setting of the station home position shift distance is disabled at home position return. Cycling the power
will enable the setting.
2. [Pr. PT40 Station home position shift distance] is enabled as an offset to the position that the home position
return is performed. If a larger value than the in-position range is set to [Pr. PT40], the completion output of
positioning will not turn on (short circuit) at the first power on after home position return.
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