Manufacturer Specific Control Objects - Mitsubishi Electric MELSERVO-J4 MR-J4-TM Instruction Manual

9. OBJECT DICTIONARY

9.3.5 Manufacturer Specific Control Objects

(1) Machine diagnostic status (P11296)
The current status of machine diagnostic can be obtained. Refer to section 8.9 for details.
PNU Sub Access
11296 0 R
PNU Sub
11296 0
The machine diagnostic status is returned. The description is as follows.
Bit
Friction estimation status at forward rotation
0: Friction is being estimated. (normal)
1: Estimation is completed. (normal)
2: The servo motor may rotate in one direction too frequently. (warning)
3: The servo motor speed may too slow for friction estimation. (warning)
0 to 3
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.
Friction estimation status at reverse rotation
0: Friction is being estimated. (normal)
1: Estimation is completed. (normal)
2: The servo motor may rotate in one direction too frequently. (warning)
3: The servo motor speed may too slow for friction estimation. (warning)
4 to 7
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.
Vibration estimation status
8 to 11 0: During estimation
1: Estimation is completed.
12 to 15 (reserved) The value at reading is undefined.
(2) Coulomb friction torque in positive direction (P11297)
Static friction at forward rotation torque can be obtained. Refer to section 8.9 for details.
PNU Sub Access
11297 0 R
PNU Sub
11297 0
Name
Machine diagnostic status Unsigned16
Range
Refer to the text.
Name
Coulomb friction torque
in positive direction
Range
Refer to the text.
Data Type
Machine diagnostic status
Units
Description
Data Type
Integer16 Coulomb friction torque in positive direction
Units
0.1%
9 - 22
Description
EEP-ROM Parameter
Impossible
Description
EEP-ROM Parameter
Impossible
Default
Default