Mitsubishi Electric MR-J4-_GF, Инструкция по эксплуатации

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6. SERVO MOTOR DRIVING
6 - 70
6.3.3 Shortest rotating indexer
This operation mode automatically changes a rotation direction to the shortest distance to execute
positioning to a station.
Select a station No. with "Target point table" to execute positioning. The values set in the object are used for
the servo motor speed, acceleration time constant, and deceleration time constant during operation.
(1) Setting
Set objects and parameters as shown below.
Item Object/parameter to be used Setting
Indexer mode (idx) selection Modes of operation Set "-103".
Next station position Target point table Set any next station No.
Shortest rotating indexer
selection
Controlword Switch on "Controlword bit 6 (Operation mode)".
Servo motor speed
Profile velocity Set the servo motor speed.
Target speed No.
Set the command speed to the next station to be executed.
When "Profile velocity", "Profile Acceleration", and "Profile
deceleration" are all set to values other than 0, the set value of
"Target speed No." is disabled.
Acceleration time constant
Profile Acceleration Set the acceleration time constant.
Target speed No.
Set the acceleration time constant to the next station to be
executed.
When "Profile velocity", "Profile Acceleration", and "Profile
deceleration" are all set to values other than 0, the set value of
"Target speed No." is disabled.
Deceleration time constant
Profile deceleration Set the deceleration time constant.
Target speed No.
Set the deceleration time constant to the next station to be
executed.
When "Profile velocity", "Profile Acceleration", and "Profile
deceleration" are all set to values other than 0, the set value of
"Target speed No." is disabled.
Speed limit Max profile velocity Set a limit value of operation speed.
Torque limit (Note)
Positive torque limit value
Negative torque limit value
Set a torque limit value in operation.
[Pr. PC77] Set a torque limit value in stop.
[Pr. PT39]
Set a time period for switching from the torque limit value in
operation to that in stop.
Note. The torque limit will change from the setting value of [Pr. PC77] to the setting value of "Positive torque limit value" or "Negative
torque limit value" when "Controlword bit 4 (New set-point)" is inputted. After the output of S_MEND (Travel completion) and the
time set with [Pr. PT39] has passed, the torque limit will be switched from the setting value of "Positive torque limit value" or
"Negative torque limit value" to the setting value of [Pr. PC77].
(2) Other parameter settings
The setting is the same as in the rotation direction specifying indexer. Refer to section 6.3.2.
(3) Operation
Selecting the next station with "Target point table" and switching on "Controlword bit 4 (New set-point)"
starts positioning to the selected next station at the set speed, acceleration time constant and
deceleration time constant.
Item Object to be used Setting
Station No. selection Target point table Set a station No. at which positioning starts.
Start Controlword Switch on "Controlword bit 4 (New set-point)".