Mitsubishi Electric MELSERVO-J4 Series Instruction Manual page 632

Index Sub Index Data Type Access
2B0Bh 0
2B26h 0
2B23h 0
2B24h 0
2B3Fh 0
2B40h 0
2B41h 0
2B42h 0
2C20h 0
2C21h 0
2C22h 0
2C23h 0
APPX
630
Appendix 12 List of registration objects
Data type
I16 ro Instantaneous torque
I16 ro Settling time
I32 ro Motor-side/load-side position
deviation
I32 ro Motor-side/load-side speed deviation
I32 ro Error excessive alarm margin
I16 ro Overload alarm margin
I32 ro Overshoot amount
I16 ro Torque/thrust equivalent to
disturbance
U16 ro Machine diagnostic status
I16 ro Coulomb friction torque in positive
direction
I16 ro Friction torque at rated speed in
positive direction
I16 ro Coulomb friction torque in negative
direction
Description
The instantaneous torque is displayed.
The value of torque being occurred is displayed in real time
considering a rated torque as 100%.
The time (Settling time) after command is completed until INP
(In-position) turns on is displayed.
During fully closed loop control, a deviation between servo
motor-side position and load-side position is displayed.
The number of pulses displayed is in the load-side encoder
pulse unit.
During fully closed loop control, a deviation between servo
motor-side speed and load-side speed is displayed.
The margin to the level which triggers the error excessive alarm
is displayed in units of encoder pulses.
The error excessive alarm occurs at 0 pulses.
The margins to the levels which trigger [AL. 50] and [AL. 51] are
displayed in percentage.
The overshoot amount during position mode is displayed in
units of encoder pulses.
The difference between the torque necessary to drive the servo
motor and the actually required torque (Torque current value) is
displayed as the disturbance torque.
[Bit 0 to 3: Friction estimation status at forward rotation]
0: Friction is being estimated. (normal)
1: Estimation is completed. (normal)
2: The motor may rotate in one direction too frequently.
(warning)
3: The servo motor speed may too slow for friction estimation.
(warning)
4: The change in the servo motor speed may be small for
friction estimation. (warning)
5: The acceleration/deceleration time constants may be too
short for friction estimation. (warning)
6: The operation time may not be enough. (warning)
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 7: Friction estimation status at reverse rotation]
0: Friction is being estimated. (normal)
1: Estimation is completed. (normal)
2: The motor may rotate in one direction too frequently.
(warning)
3: The servo motor speed may too slow for friction estimation.
(warning)
4: The change in the servo motor speed may be small for
friction estimation. (warning)
5: The acceleration/deceleration time constants may be too
short for friction estimation. (warning)
6: The operation time may not be enough. (warning)
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 11: Vibration estimation status]
0: During estimation
1: Estimation is completed.
[Bit 12 to 15: reserved]
Static friction at forward rotation torque is displayed in
increments of 0.1%.
Kinetic friction at forward rotation torque at the rated speed is
displayed in increments of 0.1%.
Static friction at reverse rotation torque is displayed in
increments of 0.1%.