Related Object/Register - Mitsubishi Electric MR-JE-*C Instruction Manual

8. HOW TO USE INDEXER

8.3 Related object/register

The following shows the functions and related objects/registers of the indexer mode (idx).
Torque limit value2 (2D6Bh)
Torque limit value (60E0h, 60E1h)
Profile acceleration (6083h)
Profile deceleration (6084h)
Quick stop deceleration (6085h)
Quick stop option code (605Ah)
Target point table (2D60h)
Profile velocity (6081h)
Max profile velocity (607Fh)
Max motor speed (6080h)
Point demand value (2D68h)
Point actual value (2D69h)
M code actual value (2D6Ah) (Fixed to 0)
Gear ratio (6091h)
Polarity (607Eh)
Following error actual value (60F4h)
Position actual value (6064h) (Fixed to 0)
Velocity actual value (606Ch)
Torque actual value (6077h)
(1) List of the related object/register
Index Sub
605Ah Quick stop option code
6063h
6064h
6065h Following error window
6066h
606Ch
6077h
0
1
607Bh
2
607Eh
Torque
limit
×
function
Acceleration
limit
function
Velocity
limit
×
function
+
-
× × Position actual internal value (6063h)
×
×
Data
Name
Type
I16
Position actual
I32
internal value
Position actual value I32
U32
Following error time
U16
out
Velocity actual value I32
Torque actual value I16
Position range limit U8
Min position range
I32
limit
Max position range
I32
limit
Polarity U8
Control
effort
(60FAh)
Position
control
Position
trajectry
generator
× ×
Access Default
rw 2 Operation setting for Quick stop
ro Current position (Enc inc)
Current position (Pos units)
ro
Fixed to 0
When the time set in Following error time out
(6066h) has elapsed with the number of droop
rw 12582912 pulses exceeding the setting value of this
object, Bit 13 of Statusword (6041h) is turned
on.
rw 10 Refer to Following error window (6065h).
Current speed
ro
Unit: Vel unit (0.01 r/min)
Current torque
ro
Unit: 0.1% (rated torque of 100%)
ro 2 Number of entries
Minimum value of the position range limit
rw
In the indexer method, the value becomes "0".
Maximum value of the position range limit
rw
In the indexer method, the value becomes
the setting value of [Pr. PT28] is -1.
Polarity selection
Bit 7: Position POL
rw 00h
Bit 6: Velocity POL
Bit 5: Torque POL
8 - 8
Torque
Velocity
control
control
Description
Motor
Encoder