sh030106u.pdf - 第185页

5. PARAMETE RS 5 - 40 No. Sym bol Name and function Initial value [unit] Setting range PC24 RS BR Forced st op decelerati on time constant This is us ed to set decelerat ion time constant when you use the forced st op de…

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5. PARAMETERS
5 - 39
No. Symbol Name and function
Initial
value
[unit]
Setting
range
PC20 *COP7 Function selection C-7
This is used to select an undervoltage alarm detection method.
Refer to the
"Name and
function" column.
Setting
digit
Explanation
Initial
value
_ _ _ x
[AL. 10 Undervoltage] detection method selection
If [AL. 10 Undervoltage] occurs due to power supply voltage
distortion while FR-RC-(H), FR-CV-(H), or FR-XC-(H) is being used,
use this setting.
0: When [AL. 10] does not occur
1: When [AL. 10] occurs
When using the MR-J4-_B-RJ servo amplifier with the DC power
supply input, set "1".
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ Undervoltage alarm selection
Select the alarm and warning for when the bus voltage drops to the
undervoltage alarm level.
0: [AL. 10] regardless of servo motor speed
1: [AL. E9] at servo motor speed 50 r/min (50 mm/s) or less, [AL.
10] at over 50 r/min (50 mm/s)
0h
x _ _ _ For manufacturer setting 0h
PC21 *BPS Alarm history clear
Used to clear the alarm history.
Refer to the
"Name and
function" column.
Setting
digit
Explanation
Initial
value
_ _ _ x Alarm history clear selection
0: Disabled
1: Enabled
When "Enabled" is set, the alarm history will be cleared at the next
power-on. Once the alarm history is cleared, the setting becomes
disabled automatically.
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
5. PARAMETERS
5 - 40
No. Symbol Name and function
Initial
value
[unit]
Setting
range
PC24 RSBR Forced stop deceleration time constant
This is used to set deceleration time constant when you use the forced stop deceleration
function.
Set the time per ms from the rated speed to 0 r/min or 0 mm/s. Setting "0" will be 100 ms.
Forced stop deceleration
[Pr. PC24]
0 r/min
(0 mm/s)
Servo motor speed
Rated speed
Dynamic brake
deceleration
(Linear servo motor
speed)
[Precautions]
If the servo motor torque or linear servo motor thrust is saturated at the maximum torque
during forced stop deceleration because the set time is too short, the time to stop will be
longer than the set time constant.
[AL. 50 Overload alarm 1] or [AL. 51 Overload alarm 2] may occur during forced stop
deceleration, depending on the set value.
After an alarm that leads to a forced stop deceleration, if an alarm that does not lead to a
forced stop deceleration occurs or if the control circuit power supply is cut, dynamic braking
will start regardless of the deceleration time constant setting.
Set a longer time than deceleration time at quick stop of the controller. If a shorter time is
set, [AL. 52 Error excessive] ma
y
occur.
100
[ms]
0 to
20000
PC26 **COP8 Function selection C-8
Used to select the communication method of the encoder cable to be connected to the CN2L
connector of MR-J4-_B_-RJ.
Refer to the
"Name and
function" column.
Setting
digit
Explanation
Initial
value
_ _ _ x For manufacturer setting 0h
_ _ x _ 0h
_ x _ _ 0h
x _ _ _ Load-side encoder communication method
0: Two-wire type
1: Four-wire type
When using a load-side encoder of A/B/Z-phase differential output
method, set "0".
Setting "1" by using a servo amplifier other than MR-J4-_B_-RJ will
trigger [AL. 37].
0h
5. PARAMETERS
5 - 41
No. Symbol Name and function
Initial
value
[unit]
Setting
range
PC27 **COP9 Function selection C-9
This is used to select a polarity of the linear encoder or load-side encoder.
Refer to the
"Name and
function" column.
Setting
digit
Explanation
Initial
value
_ _ _ x Encoder pulse count polarity selection
0: Encoder pulse increasing direction in the servo motor CCW or
positive direction
1: Encoder pulse decreasing direction in the servo motor CCW or
positive direction
0h
_ _ x _ For manufacturer setting 0h
_ x _ _
Selection of A/B/Z-phase input interface encoder Z-phase
connection judgment function
This is used to select a non-signal detection of A/B/Z-phase input
interface encoder pulse train signal used as linear encoder or load-
side encoder.
This digit is enabled only when you use an A/B/Z-phase input
interface encoder.
0h
Setting
value
Detection of
disconnection
Alarm status
Z-phase-side
non-signal
Standard (scale
measurement
enabled)
Fully closed
loop system
Linear servo
system
0 Enabled
[AL. 71.6]
(Z-phase)
[AL. 71.6]
(Z-phase)
[AL. 20.6]
(Z-phase)
1 Disabled
x _ _ _ For manufacturer setting 0h
PC29 *COPB Function selection C-B
This is used to select the POL reflection at torque control.
Refer to the
"Name and
function" column.
Setting
digit
Explanation
Initial
value
_ _ _ x For manufacturer setting 0h
_ _ x _ 0h
_ x _ _ 0h
x _ _ _ POL reflection selection at torque control
0: Enabled
1: Disabled
0h
PC31 RSUP1 Vertical axis freefall prevention compensation amount
Set the compensation amount of the vertical axis freefall prevention function.
Set it per servo motor rotation amount or linear servo motor travel distance.
When a positive value is set, compensation is performed to the address increasing direction.
When a negative value is set, compensation is performed to the address decreasing direction.
The vertical axis freefall prevention function is performed when all of the following conditions
are met.
1) Position control mode
2) The value of the parameter is other than "0".
3) "Forced stop deceleration function selection" of [Pr. PA04] is set to "Forced stop
deceleration function enabled (2 _ _ _ )".
4) EM2 (forced stop 2) is off, an alarm occurred, or SSCNET III/H communication shut off
when the servo motor speed is the zero speed or less.
5) MBR (Electromagnetic brake interlock) was enabled in [Pr. PD07] to [Pr. PD09], and the
base circuit shut-off dela
y
time was set in [Pr. PC02].
0
[0.0001
rev]/
[0.01 mm]
-25000
to
25000