Mitsubishi Electric MELSERVO-J4 MR-J4-TM Instruction Manual page 53

6. CONTROL MODE
(4) Details on the Status word 1 (compliant with PROFIdrive) bit (pv mode) (only when using Standard
telegram 1)
Bit Name
8 Speed Error (Not supported)
10 Speed Reached
11 Internal limit active
12 Speed
13
14
15
Note. The values in bit 8 and 13 to 15 at reading are undefined.
Speed Reached
Status word 1 bit 10
Speed Reached (Note)
Note. Judgment condition for Speed Reached: If the error between Actual velocity and Target velocity has stayed within
Velocity window for Velocity window time or more, Speed Reached is stored.
(5) Details on the OMS bit of Statusword (pv mode)
Bit Symbol
10 Target reached
12 Speed
13 Max slippage error
Note. This is not supported by the MR-J4-_TM_ servo amplifier.
Refer to the following table for the definition.
Internal limit active
0: The forward rotation stroke end, reverse
rotation stroke end, and software position limit
have not been reached
1: The forward rotation stroke end, reverse
rotation stroke end, or software position limit
has been reached.
0: Speed is not equal 0
1: Speed is equal 0
Judgment condition for Speed is not equal 0
If the absolute value of Actual velocity has
exceeded Velocity threshold for Velocity
threshold time or more, Speed is not equal 0 is
stored.
(Note)
Control word 1 bit 4
Enable Ramp Generator
0
1
0 (Halt (Bit 8) = 0): Target velocity not reached.
0 (Halt (Bit 8) = 1): Axis decelerates
1 (Halt (Bit 8) = 0): Target velocity reached.
1 (Halt (Bit 8) = 1): Velocity of axis is 0
Judgment condition for Target velocity reached
If the error between Actual velocity and Target velocity has stayed within Velocity window for
Velocity window time or more, Target velocity reached is stored.
0: Speed is not equal 0
1: Speed is equal 0
Judgment condition for Speed is not equal 0
If the absolute value of Actual velocity has exceeded Velocity threshold for Velocity threshold time or
more, Speed is not equal 0 is stored.
0: Maximum slippage not reached
1: Maximum slippage reached (not supported) (Note)
Max slippage is a maximum slippage of the asynchronous servo motor.
Description
0 Target velocity not reached.
1 Axis decelerates
0 Target velocity reached.
1 Velocity of axis is 0
Description
6 - 10
Statusword (P24641)
Bit Name
10 Target velocity reached
11 Internal limit active
12 Speed
Description