Mitsubishi Electric MR-J4-_GF, Instruction Manual

Page: 137 / 274

6. SERVO MOTOR DRIVING
6 - 78
(b) Shortest rotating indexer
POINT
Be sure to perform a home position return. Executing positioning operation
without home position return will trigger [AL. 90 Home position return incomplete
warning] and "Controlword bit 4 (New set-point)" will be disabled.
When travel distances to a target station position from CCW and from CW are
the same, the shaft will rotate to the increasing direction of the station No.
This operation mode automatically changes a rotation direction to the shortest distance to execute
positioning to a station. When Controlword bit6 (Indexer mode) is on, the shortest rotating indexer
operation is enabled.
This disables "Controlword bit 5 (Direction)". The following timing chart shows that an operation is
performed at a stop of the station No. 0 when servo-on.
1) When using Profile velocity (6081h), Profile Acceleration (6083h), Profile deceleration (6084h)
For the servo motor speed, acceleration time constant and deceleration time constant during
operation, the values set in Profile velocity (6081h), Profile acceleration (6083h), and Profile
deceleration (6084h) are used.
ON
OFF
Controlword bit 6
(Indexer mode)
ON
OFF
ON
OFF
Target point table (Note 1)
ON
OFF
INP/S_INP
(In-position) (Note 6)
ON
OFF
Statusword bit 12
(Set-point acknowledge)
ON
OFF
Status DO 5 bit 5
(S_CPO (Rough match))
Status DO 5 bit 6
(S_MEND (Travel completion))
ON
OFF
Point actual value
Enabled torque limit value
100.00 r/min Profile velocity
Controlword bit 4
(New set-point)
Controlword bit 5
(Direction)
Servo motor speed
(Note 4)
Forward rotation
0 r/min
Reverse rotation
(Note 3)
(Note 5)
Point demand value
1 3 1
*1 *2
*3
[Pr. PC77]
Positive torque limit value/
Negative torque limit value
[Pr. PC77]
Positive torque limit value/
Negative torque limit value
[Pr. PC77]
Positive torque limit value/
Negative torque limit value
[Pr. PC77]
(Note 5) (Note 5)
150.00 r/min
1 3 1
1 3 1
(Note 2)
Shortest rotating indexer operation