Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual page 104

5. CiA 402 DRIVE PROFILE
(3) Details on the OMS bit of Statusword (jg mode)
Bit Symbol
10 Target reached
12 (reserved)
13 Following error
(4) jg mode operation sequence in the point table method
(a) When operating at a constant speed
Forward
rotation
Servo motor speed
Reverse
rotation
Controlword bit 4
(Rotation start)
Controlword bit 5
(Direction)
Statusword bit 10
(Target reached)
Status DO 5 bit 5
(S_CPO (Rough match))
Status DO 5 bit 6
(S_MEND (Travel completion))
0 (Halt (Bit 8) = 0): Target position not reached.
0 (Halt (Bit 8) = 1): Axis decelerates
1 (Halt (Bit 8) = 0): Target position reached.
1 (Halt (Bit 8) = 1): Velocity of axis is 0
Judgment condition for Target position reached
If the error between Position actual value (6064h) and Target position (607Ah) has stayed
within Position window (6067h) for Position window time (6068h) or more, Target position
reached is stored.
The value at reading is undefined.
0: No following error
1: Following error
Judgment condition for Following error
When the time set with Following error time out (6066h) has elapsed with the number of
droop pulses exceeding the set value of the Following error window (6065h), this bit
becomes "1".
0 r/min
Accelerates with Profile acceleration
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Description
5 - 67
Decelerates with Profile acceleration