Mitsubishi Electric MR-JE-C Series Instruction Manual page 95

7. OBJECT DICTIONARY
Index Name and function
6041 0 Statusword
The current control status can be checked.
Bit 0: ready to switch on
Bit 1: switched on
Bit 2: operation enabled
Bit 3: fault
Bit 4: voltage enabled
Bit 5: quick stop
Bit 6: switch disabled
Bit 7: warning
Bit 8: reserved
Bit 9: remote
Bit 10: target reached
Bit 11: internal limit active
Bit 12 to Bit 13: operation mode specific
Bit 14 to Bit 15: reserved
605A 0 Quick stop option code
The operation method of deceleration to a stop
can be specified.
605D 0 Halt option code
Set how to decelerate the servo motor to a
stop at Halt reception.
6060 0 Modes of operation
Set the control mode.
0: No mode assigned
1: Profile position mode (pp)
3: Profile velocity mode (pv)
4: Profile torque mode (tq)
6: Homing mode (hm)
-20: Position control mode
-21: Speed control mode
-22: Torque control mode
-100: Jog mode (jg)
-101: Point table mode (pt)
-103: Indexer mode (idx)
6061 0 Modes of operation display
The current control mode is returned.
0: No mode assigned
1: Profile position mode (pp)
3: Profile velocity mode (pv)
4: Profile torque mode (tq)
6: Homing mode (hm)
-20: Position control mode
-21: Speed control mode
-22: Torque control mode
-100: Jog mode (jg)
-101: Point table mode (pt)
-103: Indexer mode (idx)
6063 0 Position actual internal value
The current position is returned.
6064 0 Position actual value
The current position in the command unit on the
basis of the home position is returned. When
the home position is not set, the current
position in the command unit on the basis of the
zero point of the encoder is returned.
Data
Default
Type
U16 ro Possible
I16 rw Impos- 2
sible
I16 rw Impos- 1
sible
I8 rw Possible 0
I8 ro Possible -20
I32 ro Possible
I32 ro Possible
7 - 16
Range Units
0000h to
FFFFh
2 (fixed) PT69
1 (fixed) PT69
-128 to 127
-128 to 127
-2147483648 pulse
to
2147483647
-2147483648 pos units
to
2147483647
1 Impos-
sible
1 Impos-
sible
1 Impos-
sible
1 Impos-
sible
1 Impos-
sible
2 Impos-
sible
2 Impos-
sible