Mitsubishi Electric MR-JE-C Series Instruction Manual page 91

7. OBJECT DICTIONARY
Index Name and function
2C20 0 Machine diagnostic status
[Bit 0 to Bit 3: Friction estimation status at
forward rotation]
0: Normal (During estimation)
1: Normal (Estimation is completed)
2: Warning (the servo motor may tend to rotate
in one direction)
3: Warning (the servo motor speed may be too
slow for friction estimation)
4: Warning (the change in the servo motor
speed may be small for friction estimation)
5: Warning (the acceleration/deceleration time
constant may be too short for friction
estimation)
6: Warning (the operation time may not be
enough)
When warning conditions for 2 to 6 are met at
the same time, the smaller number is returned.
When an estimation is completed even though
a warning has once occurred, the status
changes to "Estimation is completed".
[Bit 4 to Bit 7: Friction estimation status at
reverse rotation]
0: Normal (During estimation)
1: Normal (Estimation is completed)
2: Warning (the servo motor may tend to rotate
in one direction)
3: Warning (the servo motor speed may be too
slow for friction estimation)
4: Warning (the change in the servo motor
speed may be small for friction estimation)
5: Warning (the acceleration/deceleration time
constant may be too short for friction
estimation)
6: Warning (the operation time may not be
enough)
When warning conditions for 2 to 6 are met at
the same time, the smaller number is returned.
When an estimation is completed even though
a warning has once occurred, the status
changes to "Estimation is completed".
[Bit 8 to Bit 11: Vibration estimation status]
0: During estimation
1: Estimation is completed
[Bit 12 to Bit 15: reserved]
The value at reading is undefined.
2C21 0 Static friction torque at forward rotation
Positive torque static friction is returned in 0.1%
unit increments.
2C22 0 Dynamic friction torque at forward rotation (at
rated speed)
Friction torque at forward rotation torque at
rated speed is returned in increments of 0.1%.
2C23 0 Static friction torque at reverse rotation
Reverse torque static friction is returned in
0.1% unit increments.
2C24 0 Dynamic friction torque at reverse rotation (at
rated speed)
Friction torque at reverse rotation torque at
rated speed is returned in increments of 0.1%.
Data
Default
Type
U16 ro Impos- 0000h
sible
I16 ro Impos- 0
sible
I16 ro Impos- 0
sible
I16 ro Impos- 0
sible
I16 ro Impos- 0
sible
7 - 12
Range Units
0000h to
FFFFh
-32768 to 0.1%
32767
-32768 to 0.1%
32767
-32768 to 0.1%
32767
-32768 to 0.1%
32767
1 Possible
1 Possible
1 Possible
1 Possible
1 Possible