17 Positioning mode (pushing operation) ........................................................................................................2
17.1 Setup software (MR Configurator2
TM
) .................................................................................................2
17.1.1 Model information addition procedure ..........................................................................................2
17.2 I/O signal connection example ..............................................................................................................5
17.3 Connector and signal arrangement ......................................................................................................7
17.4 Signal (device) explanations .................................................................................................................9
17.5 Explanation of forced stop deceleration function ..............................................................................14
17.5.1 Forced stop deceleration function ................................................................................................14
17.6 Explanation of torque limiting function .............................................................................................16
17.6.1 Torque limit and torque ................................................................................................................16
17.6.2 Selection of torque limit value .....................................................................................................16
17.6.3 TLC (Torque limited) ....................................................................................................................17
17.7 Point table type pushing operation ....................................................................................................18
17.7.1 About Point table type pushing operation ...................................................................................18
17.7.2 Parameter setting .........................................................................................................................19
17.7.3 Point table .....................................................................................................................................20
17.7.4 Point table data list .......................................................................................................................21
17.7.5 About pushing operation in the position address increasing direction .....................................22
17.7.6 About pushing operation in the direction of decreasing position address.................................24
17.8 Pushing error detection ....................................................................................................................26
17.8.1 Missed swing motion detection ....................................................................................................27
17.8.2 Push-back operation detection .....................................................................................................29
17.8.3 Pushing direction error .................................................................................................................33
17.8.4 When the positioning start position including the pushing operation is incorrect ..................33
17.8.5 When the point table setting value is incorrect ..........................................................................34
17.8.6 Pushing start error .......................................................................................................................36
17.8.7 When pushing operation is started independently .....................................................................36
17.8.8 When the dwell is set immediately before the pushing operation .............................................36
17.9 PARAMETERS ....................................................................................................................................38
17.9.1 Positioning control parameters ([Pr. PT_ _ ]) ..............................................................................38
17.9.2 Special setting parameter ([Pr.PS_ _]) ........................................................................................40
17.10 Detailed list of parameters ................................................................................................................41
17.10.1 Basic setting parameters ([Pr. PA_ _ ]) .....................................................................................41
17.10.2 I/O setting parameters ([Pr. PD_ _ ]) .........................................................................................42
17.10.3 Positioning control parameters ([Pr.PT_ _]) ..............................................................................44
17.10.4 Special setting parameter ([Pr.PS_ _]) ......................................................................................44
17.10.5 How to set the electronic gear ....................................................................................................45
17.10.6 Software limit ..............................................................................................................................45
17.10.7 Stop method for LSP（Forward rotation stroke end）off or LSN（Reverse rotation stroke end）
Off .............................................................................................................................................................45
17.10.8 Stop method at software limit detection....................................................................................45
17.11 Troubleshooting .................................................................................................................................46
17.11.1 Alarm list .....................................................................................................................................46
17.11.2 Remedies for alarms ...................................................................................................................46
17.12 DISPLAY AND OPERATION SECTIONS ......................................................................................48
17.12.1 Point table setting .......................................................................................................................48
17.13 1 Single-Step feed ..............................................................................................................................50
17.14 COMMUNICATION FUNCTION(Mitsubishi general-purpose AC servo protocol) .....................52
17.14.1 Reading command .......................................................................................................................52
17.14.2 Writing commands ......................................................................................................................53
17.14.3 Detailed explanations of commands ..........................................................................................54
17.14.4 External I/O signal status (DIO diagnosis) ...............................................................................54
17.14.5 Input device on/off .......................................................................................................................55
17.14.6 Input device on/off (For test operation) .....................................................................................55
17.14.7 Test operation mode ....................................................................................................................55
17.14.8 Output signal pin on/off (output signal (DO) forced output) ....................................................55
17.14.9 Point table ...................................................................................................................................55
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