Mitsubishi Electric MELSERVO-J4 Instruction Manual page 143

7. OBJECT DICTIONARY
(5) Position window (6067h)
Index Sub
6067h 0
Default
100
The description of this object is as follows.
Setting value
00000000h to 0000FFFEh
0000FFFFh to FFFFFFFEh
FFFFFFFFh
(6) Position window time (6068h)
Index Sub
6068h 0
Default
10
Refer to Position window (6067h).
(7) Positioning option code (60F2h)
Index Sub
60F2h 0
Default
0000h
Set the profile position mode. The description of this object is as follows.
Bit
0 to 1 00b: The positioning is performed with the relative position from the internal absolute target position.
01b: The positioning is performed with the relative position from Position demand actual value
(60FCh). (Not supported) (Note)
10b: The positioning is performed with the relative position from Position actual value (6064h).
11b: reserved
1 to 2 00b: A new value of Target position (607Ah), Profile velocity (6081h), and Acceleration are promptly
reflected.
01b: The current positioning continues to reach the target position. Then a new setting of Target
position (607Ah), Profile velocity (6081h), and Acceleration is reflected.
10b: reserved
11b: reserved
3 to 15 Reserved
Note. This is not supported by the MR-J4-_TM_ servo amplifier.
For this object, 0 is always returned. Values other than 0 cannot be set.
Name
Position window
Range
Refer to the text.
In the profile position mode (pp), when the time set with Position windows time (6068h) has
elapsed with the number of droop pulses equal to or lower than the setting value of this object,
Bit 10 of Statusword (6041h) is turned on.
Unsettable
Bit 10 of Statusword (6041h) is always on in the profile position mode (pp).
Name
Position window time
Range
0x0000 to 0xFFFF
Name
Positioning option code
Range
0x0000 to 0x0000
Description
7 - 42
Data Type Access
UNSIGNED32 rw
Units EEP-ROM
pos units Possible
Description
Data Type Access
UNSIGNED16 rw
Units EEP-ROM
ms Possible
Data Type Access
UNSIGNED16 rw
Units EEP-ROM
Impossible
PDO Mapping
Possible
Parameter
PC70
PDO Mapping
Possible
Parameter
PC71
PDO Mapping
Possible
Parameter
Defined value
00b
00b
0