Mitsubishi Electric MR-J4-_GF Instruction Manual page 235

10. OBJECT DICTIONARY
Sub
Index
Index
2C20 0 Machine diagnostic status
[Bit 0 to Bit 3: Friction estimation status at forward
rotation]
0: Normal (During estimation)
1: Normal (Estimation is completed)
2: Warning (the servo motor may rotate in one
direction too frequently.)
3: Warning (the servo motor speed may be too
slow for friction estimation.)
4: Warning (the change in the servo motor speed
may be small for friction estimation.)
5: Warning (the acceleration/deceleration time
constants may be too short for friction
estimation.)
6: Warning (the operation time may not be
enough.)
When warning conditions for 2 to 6 are met at the
same time, the smaller number is returned.
When an estimation is completed even though a
warning has once occurred, the status changes
to "Estimation is completed".
[Bit 4 to Bit 7: Friction estimation status at reverse
rotation]
0: Normal (During estimation)
1: Normal (Estimation is completed)
2: Warning (the servo motor may rotate in one
direction too frequently.)
3: Warning (the servo motor speed may be too
slow for friction estimation.)
4: Warning (the change in the servo motor speed
may be small for friction estimation.)
5: Warning (the acceleration/deceleration time
constants may be too short for friction
estimation.)
6: Warning (the operation time may not be
enough.)
When warning conditions for 2 to 6 are met at the
same time, the smaller number is returned.
When an estimation is completed even though a
warning has once occurred, the status changes
to "Estimation is completed".
[Bit 8 to Bit 11: Vibration estimation status]
0: During estimation
1: Estimation is completed.
[Bit 12 to Bit 15: reserved]
The value at reading is undefined.
2C21 0 Static friction torque at forward rotation)
Coulomb friction at forward rotation torque is
returned in increments of 0.1%.
2C22 0 Dynamic friction torque at forward rotation (at
rated speed)
Friction torque at forward rotation torque at rated
speed is returned in increments of 0.1%.
2C23 0 Static friction torque at reverse rotation
Coulomb friction at reverse rotation torque is
returned in increments of 0.1%.
2C24 0 Dynamic friction torque at reverse rotation (at
rated speed)
Friction torque at reverse rotation torque at rated
speed is returned in increments of 0.1%.
2C25 0 Oscillation frequency during motor stop
Vibration frequency during stop/servo-lock is
returned in increments of 1 Hz.
Name and function
Data Variable
Access Default
Type mapping
U16 ro 0
Impossible
I16 ro 0
Impossible
I16 ro 0
Impossible
I16 ro 0
Impossible
I16 ro 0
Impossible
I16 ro 0
Impossible
10 - 8
EEP-
Range Units
ROM
0000h to
FFFFh
8000h to 0.1
7FFFh %
8000h to 0.1
7FFFh %
8000h to 0.1
7FFFh %
8000h to 0.1
7FFFh %
8000h to Hz
7FFFh
Param
eter