Control Output (2D11H To 2D1Ah) - Mitsubishi MR-JE series Instruction Manual

7. OBJECT LIBRARY

7.3.5 Control output (2D11h to 2D1Ah)

The on/off status of output device can be read. The following table lists readable output devices.
(1) Bit definition of Status DO 1
Bit Symbol
0 The value at reading is undefined.
EEP-ROM write completed
1 S_ERF
When a value is not written to EEP-ROM, S_ERF turns on. While a value is being written to EEP-ROM,
S_ERF turns off.
Speed reached
When the servo motor speed reaches the following range, S_SA turns on.
Set speed ± ((Set speed × 0.05) + 20) r/min
2 S_SA
When the preset speed is 20 r/min or less, SA always turns on.
SA does not turn on even when the SON (Servo-on) is turned off or the servo motor speed by the external
force reaches the preset speed while both ST1 (Forward rotation start) and ST2 (reverse rotation start) are
off.
Electromagnetic brake interlock
3 S_MBR
When a servo-off status or alarm occurs, S_MBR will turn off.
Variable gain selection
4 S_CDPS
S_CDPS turns on during gain switching.
5 The value at reading is undefined.
6
Analog torque limit selection
7 S_TL
When TL (External torque limit selection) is turned on, S_TL turns on.
Torque limit selection
8 S_TL1
When C_TL1 or TL1 (Internal torque limit selection) is turned on, S_TL1 turns on.
9 The value at reading is undefined.
10
11
In-position
When the number of droop pulses is in the in-position range, S_INP will turn on. The in-position range can
12 S_INP
be changed with [Pr. PA10]. When the in-position range is increased, INP may be always on during low-
speed rotation.
Limiting torque
13 S_TLC S_TLC turns on when a generated torque reaches a value set with any of [Pr. PA11 Forward torque limit],
[Pr. PA12 Reverse torque limit], or TLA (Analog torque limit).
Absolute position undetermined
14 S_ABSV
S_ABSV turns on when the absolute position is undetermined.
Battery warning
15 S_BWNG
When [AL. 92 Battery cable disconnection warning] or [AL. 9F Battery warning] has occurred, S_BWNG
turns on. When the battery warning is not occurring, S_BWNG will turn off in 2.5 s to 3.5 s after power-on.
Sub
Index
Index
2D11h
to 0 Control output (Status DO1 to Status DO10)
2D1Ah
7 - 28
Name
Description
Data Read/
type write
2 bytes Reading