Mitsubishi Electric MELSERVO-JE Instruction Manual page 107

6. SERVO MOTOR DRIVING
Index Sub Index Access
0
6092h 1
2
60E0h 0
60E1h 0
0
1
6091h
2
607Eh 0
2D20h 0
60A8h 0
60A9h 0
Note 1. This is not compatible with the MR-JE-_C servo amplifier.
2. Refer to "MR-JE-_C Servo Amplifier Instruction Manual (Network)".
(1) Details on the Controlword (6040h) (tq mode)
Bit Symbol
4
(reserved)
5
(reserved)
6
(reserved)
8
HALT
9
(reserved)
(2) Details on the Statusword (6041h) (tq mode)
Bit Symbol
Target reached
10
(Not compatible)
(Note)
12 (reserved)
13 (reserved)
Note. This is not compatible with the MR-JE-_C servo amplifier.
Name
ro Feed constant
Feed
rw
Shaft revolutions
rw Positive torque limit value
rw Negative torque limit value
ro Gear ratio
Motor revolutions
rw
Shaft revolutions
rw Polarity
rw Velocity limit value
rw SI unit position
rw SI unit velocity
The value at reading is undefined. Set "0" when writing.
0: The servo motor is driven.
1: The servo motor is stopped according to Halt option code (605Dh).
The value at reading is undefined. Set "0" when writing.
0 (Halt (Bit 8) = 0): Target torque not reached.
0 (Halt (Bit 8) = 1): Axis decelerates
1 (Halt (Bit 8) = 0): Target torque reached.
1 (Halt (Bit 8) = 1): Velocity of axis is 0
Judgment condition for Target torque reached
If the error between Torque actual value (6077h) and Target torque (6071h) has stayed within
Torque window for Torque window time or more, Target torque reached is stored.
The value at reading is undefined.
Data Type Default
U8
U32
U16
U16
U8
U32
U8
I32
U32
U32 FEB44700h
Description
Description
6 - 42
Description
Travel distance per revolution
2
of an output shaft
Travel distance setting
Number of servo motor shaft
revolutions
Torque limit value (forward)
10000
Unit: 0.1% (rated torque of
100%)
Torque limit value (reverse)
10000
Unit: 0.1% (rated torque of
100%)
2 Gear ratio
Number of revolutions of the
1
servo motor axis (numerator)
Number of revolutions of the
1
drive axis (denominator)
Polarity selection
Bit 7: Position POL
00h Bit 6: Velocity POL
Bit 5: Torque POL
(Note 2)
Speed limit value
Unit: Vel unit (0.01 r/min)
SI unit position
The value is automatically set
according to the setting of
"Position data unit" of [Pr.
PT01].
SI unit velocity
FEB44700h (0.01 r/min)