Mitsubishi Electric MR-J4, Instruction Manual

Page: 113 / 794

3. SIGNALS AND WIRING
3 - 34
Device Symbol
Connector
pin No.
Function and application
I/O
division
Control
mode
P S T
Control switching LOP CN1-45 «Position/speed control change mode»
This is used to select the control mode in the position/speed control
switching mode.
DI-1 Refer to
Function
and
application.
(Note) LOP Control mode
0 Position
1 Speed
Note. 0: Off
1: On
«Speed/torque control change mode»
This is used to select the control mode in the speed/torque control
switching mode.
(Note) LOP Control mode
0 Speed
1 Torque
Note. 0: Off
1: On
«Torque/position control change mode»
This is used to select the control mode in the torque/position control
switching mode.
(Note) LOP Control mode
0 Torque
1 Position
Note. 0: Off
1: On
Second
acceleration/dece
leration selection STAB2 The device allows selection of the acceleration/deceleration time constant
at servo motor rotation in the speed control mode or torque control mode.
The s-pattern acceleration time constant and deceleration time constant is
always uniform.
DI-1
(Note) STAB2 Acceleration/deceleration time constant
0 Pr. PC01 Acceleration time constant
Pr. PC02 Deceleration time constant
1 Pr. PC30 Acceleration time constant 2
Pr. PC31 Deceleration time constant 2
Note. 0: Off
1: On
ABS transfer
mode ABSM CN1-17 This is an ABS transfer mode request device.
When "_ _ _ 1" is set in [Pr. PA03] and absolute position detection system
by DIO is selected, CN1-17 pin will become ABSM. (Refer to chapter 12.)
DI-1
ABS request ABSR CN1-18 This is an ABS request device.
When "_ _ _ 1" is set in [Pr. PA03] and absolute position detection system
by DIO is selected, CN1-18 pin will become ABSR. (Refer to chapter 12.)
DI-1
Fully closed loop
selection CLD This is used when the semi closed loop control/fully closed loop control
switching is enabled with [Pr. PE01].
Turn off CLD to select the semi closed loop control, and turn on CLD to
select the fully closed loop control.
This device is not available with MR-J4-03A6 servo amplifiers. DI-1
Motor-side/load-
side position
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 servo amplifiers.
DI-1