Mitsubishi MR-JE-100A - Stop Method at Software Limit Detection

7. PARAMETERS
7 - 72
7.6 Stop method at software limit detection
Select a stop method of the servo motor for when a software limit ([Pr. PT15] to [Pr. PT18]) is detected with
the setting of the third digit in [Pr. PD30]. The software limit limits a command position controlled in the servo
amplifier. Therefore, actual stop position will not reach the set position of the software limit.
3: Quick stop (stop by clearing remaining distance)
2: Slow stop (deceleration to a stop by deceleration time constant
)
1: Slow stop (home position erased)
0: Quick stop (home position erased)
Stop method selection at software limit detection
[Pr. PD30]
[Pr. PD30]
setting
Operation status
Remark
During rotation at constant speed During deceleration to a stop
_ 0 _ _
(initial
value)
Servo motor speed
0 r/min
Software limit detection
With S-pattern acceleration/
deceleration
Without S-pattern acceleration/
deceleration
Servo motor speed
0 r/min
Software limit detection
With S-pattern acceleration/
deceleration
Without S-pattern acceleration/
deceleration
Erases the droop
pulses and stops the
servo motor.
Erases the home
position.
A difference will be
generated between
the command position
and the current
position.
Perform a home
position return again.
_ 1 _ _
Servo motor speed
0 r/min
Software limit detection
Part of droop
pulses
With S-pattern acceleration/
deceleration
Without S-pattern acceleration/
deceleration
Servo motor speed
0 r/min
Software limit detection
Part of droop
pulses
With S-pattern acceleration/
deceleration
Without S-pattern acceleration/
deceleration
Travels for the droop
pulses portion and
stops the servo
motor.
Erases the home
position.
A difference will be
generated between
the command
position and the
current position.
Perform a home
position return again.
_ 2 _ _
Servo motor speed
0 r/min
Software limit detection
Acceleration/
deceleration time
constant
S-pattern
acceleration/
deceleration time
constant
+
Decelerates to stop.
Acceleration/
deceleration
time constant
With S-pattern acceleration/
deceleration
Without S-pattern acceleration/
deceleration
Servo motor speed
0 r/min
Software limit detection
Continues
deceleration
to stop.
With S-pattern acceleration/
deceleration
Without S-pattern acceleration/
deceleration
Decelerates to a stop
with the deceleration
time constant
currently selected
with the point table or
the program.
Continues operation
for a delay portion of
the S-pattern
acceleration/decelera
tion time constants.
Maintains the home
position.
_ 3 _ _
Servo motor speed
0 r/min
Part of droop
pulses
Part of S-pattern
acceleration/
deceleration time
constants
+
Part of droop
pulses
Software limit detection
With S-pattern acceleration/
deceleration
Without S-pattern acceleration/
deceleration
Servo motor speed
0 r/min
Software limit detection
Part of S-pattern
acceleration/
deceleration time
constants
+
Part of droop
pulses
Part of droop
pulses
With S-pattern acceleration/
deceleration
Without S-pattern acceleration/
deceleration
Travels for the droop
pulses portion and
stops the servo motor.
Continues operation
for a delay portion of
the S-pattern
acceleration/decelera
tion time constants.
Maintains the home
position.