Mitsubishi Electric MR-JE-C Series Instruction Manual page 101

7. OBJECT DICTIONARY
Index Name and function
60F2 0 Positioning option code
Set the profile position mode.
Bit 1 to Bit 3 always report "0". Setting a value
other than "0" causes an error.
[Bit 1 / Bit 0: relative option]
Specify how to handle the relative position
command during pp.
00: The positioning moves with the relative
position from the internal absolute target
position.
[Bit 3 / Bit 2: change immediately option]
The change set immediately (Controlword bit
5) at pp = Specify the behavior of 1.
00: Standard operation of pp mode
(Immediately reflects new Target position,
profile velocity, acceleration etc).
[Bit 7 / Bit 6: rotary axis direction option]
Specify the operation of the rotation axis
during pp and pt.
00: Rotating to the target position in a direction
specified with a sign of the position data.
01: Regardless of the sign of the position data,
the servo motor rotates in the address
decreasing direction.
10: Regardless of the sign of the position data,
the servo motor rotates in the address
increasing direction.
11: The servo motor rotates from the current
position to the target position in the shorter
distance direction. In addition, if the
distances from the current position to the
target position are the same for CCW and
CW, the servo motor rotates in the CCW
direction.
60F4 0 Following error actual value
The droop pulses are returned.
60FA 0 Control effort
The speed command is returned.
60FF 0 Target velocity
Set the speed command used in the profile
velocity mode (pv).
6502 0 Supported drive modes
The supported control mode is returned.
Depending on the servo amplifier software
version, the "Default" value and "Range" value
are different. Refer to section 7.6.9 for details.
Bit 0: Profile position mode (pp)
Bit 2: Profile velocity mode (pv)
Bit 3: Profile torque mode (tq)
Bit 5: Homing mode (hm)
Bit 16: Jog mode (jg)
Bit 17: Point table mode (pt)
Bit 19: Indexer mode (idx)
Note 1. This object can be used on the servo amplifiers with software version A3 or later.
2. This object can be used on the servo amplifiers with software version A4 or later.
3. For servo amplifiers with software version A3 or earlier, the range of Sub Index is 1 to 39.
Data
Default
Type
U16 rw Possible 0000h
I32 ro Possible
I32 ro Possible 0
I32 rw Possible 0
U32 ro Possible 0000002Dh
(A3 or
earlier)
000B002Dh
(A4 or later)
7 - 22
Range Units
0000h to PT03
00C0h
-2147483648 pos units
to
2147483647
-2147483648 0.01
to r/min
2147483647
-2147483648 0.01
to r/min
2147483647
0000002Dh
(Fixed)
(A3 or
earlier)
000B002Dh
(Fixed)
(A4 or later)
1 Impos-
sible
2 Impos-
sible
2 Impos-
sible
2 Impos-
sible
2 Impos-
sible