Control Mode Display (6061H); Software Limit (607Dh) - Mitsubishi Electric MELSERVO-JE MR-JE-C Instruction Manual

6. MODBUS REGISTERS

6.4.4 Control mode display (6061h)

Address
6061h Control mode display (Modes of operation Display)
The current control mode can be read.
The following table shows the correspondence between control modes and setting values.
Position control mode
Speed control mode
Torque control mode
Profile position mode (pp)
Profile velocity mode (pv)
Profile torque mode (tq)
Homing mode (hm)
Test mode: JOG operation
Test mode: Positioning operation
Test mode: DO forced output
Test mode: Machine analyzer

6.4.5 Software limit (607Dh)

Address
Software limit (Software
607Dh
Position Limit)
The current software limit setting can be read.
At this time, "02h" is returned to Number of entries.
The stroke limit value in the reverse direction is returned to Min Position Limit (stroke limit -) in units of
commands.
The stroke limit value in the forward direction is returned to Max Position Limit (stroke limit +) in units of
commands.
The current software limit setting can also be written.
At this time, set "02h" for Number of entries.
Set the stroke limit value in the reverse direction in Min Position Limit (stroke limit -) in units of commands.
Set the stroke limit value in the forward direction in Max Position Limit (stroke limit +) in units of commands.
If Min Position Limit (stroke limit -) and Max Position Limit (stroke limit +) are set to the same value, the
software limit function is disabled.
Name
Control mode
Name
Number of entries
(Number of entries)
Min Position Limit
(Stroke limit -)
Max Position Limit
(Stroke limit +)
6 - 38
Data Read/ No. of Points/
type write No. of Registers
1 bytes Reading 1
Data Read/ No. of Points/
type write No. of Registers
1 bytes Reading
4 bytes 5
Read/
write
4 bytes
Continuous read/
continuous write
Impossible
Setting
value
-20
-21
-22
1
3
4
6
-1
-2
-4
-6
Continuous read/
continuous write
Impossible