Mitsubishi Electric MR-J4-_GF Instruction Manual page 131

6. SERVO MOTOR DRIVING
Index Sub
606Ch
6077h
0
6092h
1
2
60F4h
60FAh
60E0h
60E1h
0
6091h 1
2
607Eh
60A8h
60A9h
2D60h
2D68h
2D69h
2DD1h
Note. In the indexer method, the unit is the command unit [pulse] (a load-side rotation expressed by the number of servo motor
resolution pulses).
Data
Name
Type
Velocity actual value I32
Torque actual value I32
Feed constant U8
Feed
U32
Shaft revolutions
Following error actual
I32
value
Control effort I32
Positive torque limit
U16
value
Negative torque limit
U16
value
Gear ratio U8
Motor revolutions
U32
Shaft revolutions
Polarity U8
SI unit position U32
SI unit velocity U32
Target point table I16
Point demand value I16
Point actual value I16
Target speed No. I16
Access Default
Current speed
ro
Unit: Vel unit (0.01 r/min)
Current torque
ro
Unit: 0.1% (rated torque of 100%)
Travel distance per revolution of an output
shaft
ro 2
Refer to chapter 10.
Travel distance setting
rw
Number of servo motor shaft revolutions
ro Droop pulses (Pos units) (Note)
Position control loop output (speed
command)
ro
Unit: Vel unit (0.01 r/min)
Torque limit value (forward)
rw 10000
Unit: 0.1% (rated torque of 100%)
Torque limit value (reverse)
rw 10000
Unit: 0.1% (rated torque of 100%)
ro 2 Gear ratio
1 Number of gear teeth on machine side
rw
1 Number of gear teeth on servo motor side
Polarity selection
Bit 7: Position POL
rw 0 Bit 6: Velocity POL
Bit 5: Torque POL
Refer to chapter 10.
SI unit position
rw 0 00000000h (no unit)
Refer to chapter 10.
SI unit velocity
rw 0
FEB44700h (0.01 r/min)
Point table command
Set next station No.
rw 0
0 to 254: Positioning operation to specified
Point table demand
The currently specified next station No. is
returned.
ro
While the servo motor is stopped, the value
becomes the setting value of the Target point
table (2D60h).
Current point table
The completed point table is returned. The
ro
previous value is held until the operation
completes.
Target speed No.
Specify the point table No. in which the
command speed, acceleration time constant,
and deceleration time constant of the next
station to execute are set.
rw
When "Profile velocity (6081h)", "Profile
acceleration (6083h)", and "Profile
deceleration (6084h)" are all set to values
other than 0, the set value of this Index is
disabled.
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Description
stations