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

Page: 57 / 610

2. SIGNALS AND WIRING
2 - 30
Device Symbol
Connector
pin No.
Function and application
I/O
division
Control
mode
CP/BCD
CL PS
Proportion
control
PC Turn PC on to switch the speed amplifier from the proportional integral type
to the proportional type.
If the servo motor at a stop is rotated even one pulse due to any external
factor, it generates torque to compensate for a position shift. When the
servo motor shaft is to be locked mechanically after positioning completion
(stop), switching on the PC (Proportion control) upon positioning
completion will suppress the unnecessary torque generated to compensate
for a position shift.
When the shaft is to be locked for a long time, switch on the PC
(Proportion control) and TL (External torque limit selection) at the same
time to make the torque less than the rated by TLA (Analog torque limit). DI-1
Clear
CR Turn CR on to clear the position control counter droop pulse on its leading
edge. The pulse width should be 10 ms or longer.
The delay amount set in [Pr. PB03 Position command
acceleration/deceleration time constant] is also cleared. When " _ _ _1 " is
set to [Pr. PD32], the pulses are always cleared while CR is on. DI-1
Gain switching CDP Turn on CDP to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56]
to [Pr. PB60] as the load to motor inertia ratio and gain values. DI-1
Fully closed loop
selection CLD Not used with the positioning mode. DI-1
Motor-side/load-
side deviation
counter clear MECR Turn on MECR to clear the motor-side/load-side position deviation counter
to zero.
It operates during the fully closed loop control.
It does not affect the position control droop pulses.
Turning on this device during the semi closed loop control does not
affect the operation.
Turning on this device while the fully closed loop control error detection
function is disabled in [Pr. PE03] does not affect the operation.
This device is not available with MR-J4-03A6-RJ servo amplifiers.
DI-1
Cam control
command CAMC When using CAMC, set [Pr. PT35] to "_ 1 _ _" to enable it. Turning CAMC
on switches the control from the normal positioning control to the cam
control.
DI-1
Cam position
compensation
request CPCD Turning CPCD on compensates the cam axis one cycle current value to be
in the position set in [Cam control data No. 60 - Cam position
compensation target position].
DI-1
Clutch command CLTC
This is used to turning on/off the main shaft clutch command.
This is used when [Cam control data No. 36 - Main shaft clutch control
setting] is set to "_ _ _ 1".
DI-1
Cam No.
selection 0 CI0
Select cam No.
This is enabled when [Cam control data No. 49 - Cam No.] is set to "0". Set
the cam control data on the cam setting window of MR Configurator2.
DI-1
Cam No.
selection 1 CI1
Device (Note 1)
Selection contents
CI3 CI2 CI1 CI0
Cam No.
selection 2 CI2
0 0 0 0 Linear cam
0 0 0 1 Cam No. 1
Cam No.
selection 3 CI3 0 0 1 0 Cam No. 2
0 0 1 1 Cam No. 3
1 0 0 0 Cam No. 8
1 0 0 1
Setting inhibited
(Note 2)
1 1 1 1
Note 1. 0: Off
1: On
2. [AL. F6.5 Cam No. external error] occurs.
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