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Chapter 8 HPR Control
When the machine HPR is stopped
( Status: b4)
Md.31
HPR complete flag
t
V
Positioning start singal [Y11]
0: Standby 7: HPR 1: Stopped
Md.26
Axis operation
status
Md.514
HPR operating
status
Motor rotation speed
0H: Homin
rocedure is in
ro
ress
1H
FFFFH FFFFH1H
( Status: b3)
Md.31
HPR request flag
ON
OFF
1H: Homing procedure is interrupted
or not started (
"
3H
"
is stored
when the HP is already established.)
FFFFH: The servo amplifier is
not set to the home
position return mode
Positioning start No.
Cd.3
9001
Axis stop
Cd.180
OFF
ON
ON
OFF
1H: Homing procedure is interrupted or not started
BUSY signal [X11]
ON
OFF
5
5: Analyzing
0H
Setting the required parameters after driver HPR method
Refer to Section 5.1.3 "Setting items for HPR parameters".
Start of driver HPR method
The control mode of the servo amplifier is set to "Home mode" if "9001" is set in
"[Cd.3] Positioning start No." and the axis is started.
If Zero speed ("[Md.108] Servo status" (low-order buffer memory address): b3) is
not turned ON at start for the MR-J4-GF, the HPR operation does not start until
Zero speed turns ON. Even in this case, "7: HPR" is set in "[Md.26] Axis operation
status".
Axis stop of driver HPR method
When "[Cd.180] Axis stop" is turned ON during HPR, "HALT" signal is sent to the
servo amplifier. If the servo amplifier which does not support the "HALT" signal is
used, the axis is not stopped by this signal. Use the forced stop signal instead.
Refer to the servo amplifier instruction manual for support information on the HALT
signal and forced stop signal.
The MR-J4-GF supports the HALT signal.
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