Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual page 180

7. OBJECT DICTIONARY
(4) Machine diagnostic status (2C20h)
Index Sub
2C20h 0
Index Sub Default
2C20h 0
The machine diagnostic status is returned. The description is as follows.
This object is available with servo amplifiers with software version B0 or later.
(5) Static friction torque at forward rotation (2C21h)
Index Sub
2C21h 0
Index Sub Default
2C21h 0
Static friction torque at forward rotation is returned in increments of 0.1%.
This object is available with servo amplifiers with software version B0 or later.
Name
Machine diagnostic status
Range
Refer to the text.
Bit
Friction estimation status at forward rotation
0: Friction is being estimated. (normal)
1: Estimation is completed. (normal)
2: The servo motor may rotate in one direction too frequently. (warning)
3: The servo motor speed may too slow for friction estimation. (warning)
4: The change in the servo motor speed may be small for friction estimation.
(warning)
0 to 3
5: The acceleration/deceleration time constants may be too short for friction
estimation. (warning)
6: The operation time may not be enough. (warning)
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.
Friction estimation status at reverse rotation
0: Friction is being estimated. (normal)
1: Estimation is completed. (normal)
2: The servo motor may rotate in one direction too frequently. (warning)
3: The servo motor speed may too slow for friction estimation. (warning)
4: The change in the servo motor speed may be small for friction estimation.
(warning)
4 to 7
5: The acceleration/deceleration time constants may be too short for friction
estimation. (warning)
6: The operation time may not be enough. (warning)
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.
Vibration estimation status
8 to 11 0: During estimation
1: Estimation is completed.
12 to 15 (reserved) The value at reading is undefined.
Name
Static friction torque at forward rotation
Range
8000h to 7FFFh
Data Type
UNSIGNED16
Units
Description
Data Type
INTEGER16
Units
0.1%
7 - 41
Access PDO Mapping
ro Impossible
EEP-ROM Parameter
Impossible
Access PDO Mapping
ro Impossible
EEP-ROM Parameter
Impossible