Mitsubishi Electric MR-JE-*C Instruction Manual page 141

7. HOW TO USE THE POINT TABLE
(1) List of the related object/register
Index Sub
605Ah Quick stop option code
6063h
6064h
6065h Following error window
6066h Following error time out
606Ch
6077h
0
1 Min position range limit
607Bh
2
0 Software position limit
607Dh 1
2
607Eh
6085h
0
1
6091h
2
0
6092h
1
2
60A8h
60A9h
60E0h
60E1h
60F4h
60FAh
Data
Name
Type
I16
Position actual
I32
internal value
Position actual value I32
U32
U16
Velocity actual value I32
Torque actual value I16
Position range limit U8
I32
Max position range
I32
limit
U8
Min position limit I32
Max position limit I32
Polarity U8
Quick stop
U32
deceleration
Gear ratio U8
Motor revolutions U32
Shaft revolutions U32
Feed constant U8
Feed U32
Shaft revolutions U32
SI unit position U32
SI unit velocity U32
Positive torque limit
U16
value
Negative torque limit
U16
value
Following error actual
I32
value
Control effort I32
Access Default
rw 2 Operation setting for Quick stop
ro Current position (Enc inc)
ro Current position (Pos units)
When the time set in Following error time out
(6066h) has elapsed with the number of droop
rw 12582912 pulses exceeding the setting value of this
object, Bit 13 of Statusword (6041h) is turned
on.
rw 10 Refer to Following error window (6065h).
Current speed
ro
Unit: Vel unit (0.01 r/min)
Current torque
ro
Unit: 0.1% (rated torque of 100%)
ro 2 Number of entries
Minimum value of the position range limit
The value is automatically set according to the
rw
setting of "Position data unit" of [Pr. PT01].
mm/inch/pulse: -2147483648
Maximum value of the position range limit
The value is automatically set according to the
rw
setting of "Position data unit" of [Pr. PT01].
mm/inch/pulse: 2147483647
ro 2 Number of entries
rw 0 Minimum position address (Pos units)
rw 0 Maximum position address (Pos units)
Polarity selection
Bit 7: Position POL
rw 00h
Bit 6: Velocity POL
Bit 5: Torque POL
Deceleration time constant for Quick stop
rw 100
Unit: ms
ro 2 Gear ratio
Number of revolutions of the servo motor
rw 1
shaft (numerator)
Number of revolutions of the drive axis
rw 1
(denominator)
Travel distance per revolution of an output
ro 2
shaft
Encoder
rw Travel distance setting
resolution
rw 1 Number of servo motor shaft revolutions
SI unit position
rw 00000000h
The value is automatically set according to the
setting of "Position data unit" of [Pr. PT01].
SI unit velocity
rw FEB44700h
FEB44700h (0.01 r/min)
Torque limit value (forward)
rw 10000
Unit: 0.1% (rated torque of 100%)
Torque limit value (reverse)
rw 10000
Unit: 0.1% (rated torque of 100%)
ro Droop pulses (Pos units)
Position control loop output (speed command)
ro 0
Unit: Vel unit (0.01 r/min)
7 - 12
Description