Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual page 110

5. CiA 402 DRIVE PROFILE
Index Sub Object
2D6Ah VAR
2D6Bh VAR
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).
(2) Details on the OMS bit of Controlword (idx mode)
Bit Symbol
4 New set-point
5 Direction
6 Operation mode
8 (reserved)
9 (reserved)
(3) Details on the OMS bit of Statusword (idx mode)
Bit Symbol
10 (reserved)
Set-point
12
acknowledge
13 Following error
Data
Name
Type
M code actual value U8
Torque limit value2 U16
The operation starts toward the point table specified with the Target point table (2D60h)
when the bit turns on.
0: Station No. decreasing direction
1: Station No. increasing direction
0: Rotation direction specifying indexer operation
1: Shortest rotating indexer operation
The value at reading is undefined. Set "0" when writing.
The value at reading is undefined.
0: Positioning completed (wait for next command)
1: Positioning being executed
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".
5 - 73
Access Default
ro Fixed to 0
Torque limit value 2
Unit: 0.1% (rated torque of 100%)
rw 10000
Set a torque limit value for when the
servo motor is stopped.
Description
Description
Description