Mitsubishi Electric MELSEC iQ-R RD78G4 - Servo Input Axis Parameters

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2 INPUT AXIS MODULE
2.1 Servo Input Axis
Servo input axis parameters
n: Axis No. - 1
*1 Set the value as follows in a program.
0 to 32767: Set as a decimal.
32768 to 65535: Convert into a hexadecimal and set.
[Pr.300] Servo input axis type
Set the current value type to be generated of the input value for the servo input axis.
Setting item Setting details Setting value Default
value
Buffer memory address
Axis 1 to axis 16
[Pr.300]
Servo input axis type
• Set the current value type to be
generated of the input value for
the servo input axis.
Fetch cycle: Power supply ON
■Set in decimal.
0: Invalid
1: Command position value
2: Actual position value
3: Servo command value
4: Feedback value
0 32800+10n
[Pr.301]
Servo input axis smoothing time
constant
• Set the time to smooth the input
value.
Fetch cycle: Power supply ON
■Set in decimal.
0 to 5000[ms]
0 32801+10n
[Pr.302]
Servo input axis phase
compensation advance time
• Set the time to advance or delay
the phase.
Fetch cycle: Operation cycle
■Set in decimal.
-2147483648 to 2147483647[s]
0 32802+10n
32803+10n
[Pr.303]
Servo input axis phase
compensation time constant
• Set the time constant to affect the
phase compensation.
Fetch cycle: Power supply ON
■Set in decimal.
0 to 65535[ms]
*1
10 32804+10n
[Pr.304]
Servo input axis rotation direction
restriction
• Set this parameter to restrict the
input movement amount to one
direction.
Fetch cycle: Power supply ON
■Set in decimal.
0: Without rotation direction
restriction
1: Enable only for current value
increase direction
2: Enable only for current value
decrease direction
0 32805+10n
Setting value Details
0: Invalid Servo input axis is invalid.
1: Command position value Generate the input value based on "[Md.20] Command position value".
2: Actual position value Generate the input value based on the actual position value, which is converted into units of the encoder feedback
pulses from the servo amplifier.
3: Servo command value Generate the input value based on the command pulse for the servo amplifier (a value that the command position
value is converted into encoder pulse units).
4: Feedback value Generate the input value based on the encoder feedback pulse from the servo amplifier.
Motion module
Unit → Pulse conversion
(Backlash compensation)
1: Command
position value
3: Servo command
value
2: Actual
position value
Pulse → Unit conversion
4: Feedback value
Servo
amplifier