Servo Input Axis Monitor Data - Mitsubishi Electric R32MTCPU Programming Manual

Servo input axis monitor data

Symbol Monitor item
Md.300 Servo input axis current
value
Md.301 Servo input axis speed
Md.302 Servo input axis phase
compensation amount
Md.303 Servo input axis rotation
direction restriction
amount
*1 Servo input axis position units(Page 30 Servo input axis position units)
*2 Servo input axis speed units(Page 30 Servo input axis speed units)
[Md.300] Servo input axis current value (D12280+10n, D12281+10n)
The current value for the servo input axis is stored in servo input axis position units as follows.(Page 30 Servo input axis
position units)
The current value for the servo input axis is the value after processing the smoothing, the phase compensation and the
rotation direction restriction.
Setting value of "[Pr.300] Servo
input axis type"
1: Current feed value
2: Real current value
3: Servo command value
4: Feedback value
[Md.301] Servo input axis speed (D12282+10n, D12283+10n)
The speed for the servo input axis is stored in servo input axis speed units. (Page 30 Servo input axis speed units)
The speed for the servo input axis is the value after processing smoothing, phase compensation, and rotation direction
restriction.
[Md.302] Servo input axis phase compensation amount (D12284+10n, D12285+10n)
The phase compensation amount for a servo input axis is stored in servo input axis position units. (Page 30 Servo input
axis position units)
The phase compensation amount for a servo input axis is the value after processing smoothing and phase compensation.
[Md.303] Servo input axis rotation direction restriction amount (D12286+10n,
D12287+10n)
While the rotation direction is restricted for a servo input axis, the accumulation for input travel value in the opposite direction
of the enabled direction is stored in servo input axis position units as follows. (Page 30 Servo input axis position units)
Setting value of "[Pr.304] Servo input axis rotation direction
restriction"
1: Enable only for current value increase direction
2: Enable only for current value decrease direction
Rotation direction restriction is processed after phase compensation processing. Therefore, if undershoot occurs from phase
compensation during deceleration stop, the rotation direction restriction amount might remain.
4 INPUT AXIS MODULE
34
4.1 Servo Input Axis
Storage details
The current value for the servo input axis
is stored.
The speed for the servo input axis is
stored.
The current phase compensation amount
is stored.
While the rotation direction is restricted,
the accumulation for the input travel value
in the opposite direction of the enable
direction is stored.
Storage details
• The accumulative current value started with Current feed value/Real current value for the connection to the servo
amplifier is stored. It is also stored in the range from -21474.83648 to 21474.83647 [degree] for degree units.
• When the Current feed value/Real current value is changed by a home position return or a current value change,
the value is changed to the new current value.
• When of the absolute position detection system setting is invalid, the accumulative current value that starts from 0
for the connected servo amplifier is stored.
• When of the absolute position detection system setting is valid, the accumulative current value that starts from the
absolute position command/encoder feedback pulse for the connected servo amplifier is stored.
• The servo input axis current value will not change, even if a home position return or the current value is changed.
Monitor value
-2147483648 to 2147483647
[Servo input axis position units]
-2147483648 to 2147483647
[Servo input axis speed units]
-2147483648 to 2147483647
[Servo input axis position units]
-2147483648 to 2147483647
[Servo input axis position units]
Storage details
A negative accumulation is stored during rotation direction restriction.
0 is stored if there is no restriction.
A positive accumulation is stored during rotation direction restriction.
0 is stored if there is no restriction.
Refresh cycle Device No.
Operation cycle D12280+10n
*1
D12281+10n
D12282+10n
*2
D12283+10n
D12284+10n
*1
D12285+10n
D12286+10n
*1
D12287+10n