Mitsubishi Electric MELSERVO-JE Instruction Manual page 99

6. SERVO MOTOR DRIVING
Index Sub Index Access
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) (pp mode)
Bit Symbol
4 New set-point
Change set
5
immediately
6
abs/rel
8
HALT
9
Change on set-point
(2) Details on the Statusword (6041h) (pp mode)
Bit Symbol
10 Target reached
Set-point
12
acknowledge
13 Following error
Name
rw SI unit position
rw SI unit velocity
New positioning parameters are obtained when this bit turns on.
0: Set of set-points
1: Single set-point
0: Absolute position command
1: Relative position command
When the unit is set to degree, relative position commands are disabled. When the relative
position command is specified and positioning is started, [AL. F4.8] occurs and positioning cannot
be started.
0: Positioning is executed.
1: The servo motor stops according to Halt option code (605Dh).
Enabled only for Set of set-points (Bit 5 = 0).
0: The next positioning starts after the current positioning is completed (stopped). (Black line
(Refer to section 6.2.3 (2).))
1: The next positioning starts after positioning is executed with Profile velocity (6081h) held up to
the current set-point. (Gray line (Refer to section 6.2.3 (2).))
0 (Halt (Bit 8) = 0): Target position not reached.
0 (Halt (Bit 8) = 1): Axis decelerates
1 (Halt (Bit 8) = 0): Target position reached.
1 (Halt (Bit 8) = 1): Velocity of axis is 0
Judgment condition for Target position reached
If the error between Position actual value (6064h) and Target position (607Ah) has stayed within
Position window (6067h) for Position window time (6068h) or more, Target position reached is
stored.
0: Positioning completed (wait for next command)
1: Positioning being executed (The set-point can be overwritten.)
0: No following error
1: Following error
Data Type Default
U32
U32 FEB44700h
Description
Description
6 - 34
Description
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)