Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual page 106

5. CiA 402 DRIVE PROFILE
(5) jg mode operation sequence in the indexer method
(a) Station JOG operation
The following timing chart shows that a station JOG operation is performed at a stop of the station
No. 0 when servo-on.
Controlword bit 4
(Rotation start)
Controlword bit 5
(Direction)
Profile velocity
Forward
rotation
Servo motor speed
Reverse
rotation
INP/S_INP
(In-position)
Status DO 5 bit 5
(S_CPO (Rough match))
Status DO 5 bit 6
(S_MEND (Travel completion))
Point actual value
Point demand value
Enabled torque limit value
Note 1. "Controlword bit 4 (Rotation start)" is not received when the rest of command travel distance is other than "0".
2. Switching "Profile velocity" during the servo motor rotation does not enable this.
3. A delay time can be set with [Pr. PT39].
ON
OFF
ON
OFF
100.00 r/min
0 r/min
ON
OFF
ON
OFF
ON
OFF
0
0 1 2 3
Torque limit value2
Positive torque limit value/
Negative torque limit value
(Note 1)
(Note 2)
4
4 4 5 6
(Note 3)
Torque limit value2 Torque limit value2
Positive torque limit value/
Negative torque limit value
5 - 69
150.00 r/min
7
7 7 6 5 4 3
(Note 3)
Torque limit value2
Positive torque limit value/
Negative torque limit value
2
2
(Note 3)