Mitsubishi Electric MR-J4, Instruction Manual

Page: 249 / 794

5. PARAMETERS
5 - 50
No./symbol/
name
Setting
digit
Function
Initial
value
[unit]
Control
mode
P S T
PC54
RSUP1
Vertical axis
freefall
prevention
compensation
amount Set the compensation amount of the vertical axis freefall prevention function.
Set it per servo motor rotation amount or linear servo motor travel distance.
When setting a positive value, the servo motor or linear servo motor moves in the
direction set with [Pr. PA14] for the forward rotation pulse input. When setting a
negative value, the servo motor or linear servo motor moves in the direction set with
[Pr. PA14] for the reverse rotation pulse input.
For example, if a positive compensation amount is set when the [Pr. PA14 Rotation
direction selection/travel direction selection] setting is "1", compensation will be
performed to the CW direction.
The vertical axis freefall prevention function is performed when all of the following
conditions are met.
1) Position control mode
2) The value of the parameter is other than "0".
3) The forced stop deceleration function is enabled.
4) Alarm occurs or EM2 turns off when the (linear) servo motor speed is zero speed
or less.
5) MBR (Electromagnetic brake interlock) is enabled with [Pr. PD23] to [Pr. PD26],
[Pr. PD28], and [Pr. PD47], and the base circuit shut-off delay time is set in [Pr.
PC16].
Setting range: -25000 to 25000
0
[0.0001
rev]/
[0.01
mm]
PC60
*COPD
Function
selection C-D _ _ _ x Motor-less operation selection
This is used to select the motor-less operation. This is not used in the linear servo
motor control mode, fully closed loop control, and DD motor control mode.
0: Disabled
1: Enabled
0h
_ _ x _ High-resolution analog input selection
Select the resolution of VC (analog speed command).
When you change parameters, perform offset adjustment with [Pr. PC37 Analog
speed command offset]. The offset adjustment can be performed by executing VC
automatic offset. Setting "1" while using a servo amplifier other than MR-J4-_A_-RJ,
MR-J4-_A_-RU, and MR-J4-_A_-RZ will trigger [AL. 37].
0: Disabled
1: Enabled
This digit is available with servo amplifiers manufactured in November 2014 or later.
This digit is not available with MR-J4-03A6 servo amplifiers.
0h
_ x _ _ For manufacturer setting 0h
x _ _ _ [AL. 9B Error excessive warning] selection
0: [AL. 9B Error excessive warning] disabled
1: [AL. 9B Error excessive warning] enabled
The setting of this digit is used by servo amplifier with software version B4 or later.
0h
PC73
ERW
Error
excessive
warning level Set an error excessive warning level.
To enable the parameter, select "Enabled (1 _ _ _)" of "[AL. 9B Error excessive
warning] selection" in [Pr. PC60].
You can change the setting unit with "Error excessive alarm/error excessive warning
level unit selection" in [Pr. PC24].
Set this per rev. for rotary servo motors and direct drive motors. Setting "0" will be "1
rev", and setting over 200 rev will be clamped with 200 rev. Set this per mm for
linear servo motors. Setting "0" will be 50 mm.
When an error reaches the set value, [AL. 9B Error excessive warning] will occur.
When the error decreases lower than the set value, the warning will be canceled
automatically. The minimum pulse width of the warning signal is 100 [ms].
Set as follows.: [Pr. PC73 Error excessive warning level] < [Pr. PC24 Error
excessive alarm level] When you set as follows, [AL. 52 Error excessive] will occur
earlier than the warning.: [Pr. PC73 Error excessive warning level]
≥ [Pr. PC24 Error
excessive alarm level]
This parameter is used by servo amplifier with software version B4 or later.
Setting range: 0 to 1000
0
[rev]/
[mm]