Mitsubishi Electric MELSERVO MR-J5-G-N1 Series, User Manual

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7 SERVO PARAMETERS
7.6 Positioning control setting servo parameters group ([Pr. PT_ _ ])
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[Pr. PT01.2_Unit for position data]
0: mm
1: inch
2: degree
3: pulse
If this servo parameter is changed, perform homing.
The compatible control modes and firmware versions are as follows.
*1 If [Pr. PA01.4 Fully closed loop operation mode selection] is set to "1" (enabled), use a rotary encoder as the load-side encoder.
Connecting a linear encoder will trigger [AL. 037 Parameter error].
*2 If [Pr. PA01.1 Operation mode selection] is set to "4" (linear servo motor control mode), [AL. 037] will occur.
*3 If this parameter is set to "2", the control mode cannot be switched to the cyclic synchronous mode.
*4 Setting this value in a control mode other than the positioning mode (point table method) will cause [AL. 037].
[Pr. PT53_Torque slope (TQS)]
Set the rate of change in the torque command per second.
When "0.0" is set, the torque slope is disabled.
This function is enabled in the profile torque mode.
This function corresponds to [Torque slope (Obj. 6087h)].
When the object is mapped to the cyclic communication, do not write values with engineering tools because the controller
overwrites the servo parameter values written with engineering tools.
[Pr. PT85_Function selection T-14 (*TOP14)]
[Pr. PT85.0_Infinite feed function selection]
Select whether to enable or disable the infinite feed function.
0: Disabled
1: Enabled
When [Pr. PT85.0] is changed while the absolute position detection system is enabled, perform homing again. If homing is not
performed, [AL. 090.5 Homing incomplete warning] occurs at the start of an operation.
Initial value Setting range Ver.
3h Refer to the text B6
Control mode Setting value
0 (mm)
*4
1 (inch)
*4
2 (degree)
*1*2
3 (pulse)
Cyclic synchronous mode
  
*3
A0
Profile mode
 
B6 A5
Positioning mode (point table method) B8 B8 B8 B8
Initial value Setting range Setting method Ver.
100.0 [%/s] 0.0 to 1000000.0 Each axis A5
Initial value Setting range Setting method Ver.
00000000h Refer to the relevant detail No. Each axis Refer to the relevant detail No.
Initial value Setting range Ver.
0h Refer to the text D0