Mitsubishi Electric MELSERVO-J4 Instruction Manual page 58

5. CiA 402 DRIVE PROFILE
Index Sub Object
606Bh VAR
606Ch VAR
6077h VAR
60E0h VAR
60E1h VAR
0
1
6091h ARRAY
2
607Eh VAR
606Dh VAR
606Eh VAR
606Fh VAR
6070h VAR
Note. This is not supported by the MR-J4-_TM_ servo amplifier.
(2) Details on the OMS bit of Controlword (pv mode)
Bit Symbol
4 (reserved)
5 (reserved)
6 (reserved)
8
9 (reserved)
(3) Details on the OMS bit of Statusword (pv mode)
Bit Symbol
10 Target reached
12
13 Max slippage error
Note. This is not supported by the MR-J4-_TM_ servo amplifier.
Name
Velocity demand
value
Velocity actual
value
Torque actual value
Positive torque limit
value
Negative torque
limit value
Gear ratio
Motor revolutions
Shaft revolutions
Polarity
Velocity window
Velocity window
time
Velocity threshold
Velocity threshold
time
reserved
reserved
reserved
0: The servo motor is driven.
HALT
1: The servo motor is stopped according to Halt option code (605Dh).
reserved
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
judgement condition for Target velocity reached
If the error between Actual velocity and Target velocity (60FFh) has stayed within
Velocity window (606Dh) for Velocity window time (606Eh) or more, Target velocity
reached is stored.
0: Speed is not equal 0
1: Speed is equal 0
Speed
judgement condition for Speed is not equal 0
If the absolute value of Actual velocity has exceeded Velocity threshold (606Fh) for
Velocity threshold time (6070h) 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.
Data
Access Default
Type
I32 ro
I32 ro
I32 ro
U16 rw 1000
U16 rw 1000
U8 ro 2
1
U32 rw
1
U8 rw 0
U16 rw 2000
U16 rw 0
U16 rw 5000
U16 rw 10
Description
Description
5 - 23
Description
Speed command (after trajectory
generation)
Current speed
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
Current torque
Unit: 0.1 % (rated torque of 100 %)
Torque limit value (forward)
Unit: 0.1 % (rated torque of 100 %)
Torque limit value (reverse)
Unit: 0.1 % (rated torque of 100 %)
Gear ratio
Number of revolutions of the servo motor
axis (numerator)
Number of revolutions of the drive axis
(denominator)
Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Speed error threshold for judging Target
reached
Unit: 0.01 r/min or 0.01 mm/s
Target reached judgement time
Unit: ms
Zero speed threshold for judging Speed
Unit: 0.01 r/min or 0.01 mm/s
Speed judgement time
Unit: ms