Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual page 196

7. OBJECT DICTIONARY
(7) Positioning option code (60F2h)
Index Sub
60F2h 0
Index Sub Default
60F2h 0 0000h
Set the profile position mode (pp). The description of this object is as follows.
Bit
0 to 1
2 to 3
4 to 5
6 to 7
(Note 2)
8 to 15
Note 1. This is not supported by the MR-J4-_TM_ servo amplifier.
2. This is available with servo amplifiers with software version B0 or later.
(8) Following error actual value (60F4h)
Index Sub
60F4h 0
Index Sub Default
60F4h 0
The droop pulses are returned.
(9) Control effort (60FAh)
Index Sub
60FAh 0
Index Sub Default
60FAh 0
The speed command is returned.
Unit: [0.01 r/min] ([0.01 mm/s] when a linear servo motor is used)
Name
Positioning option code
Range
0000h to 00C0h
00b: The positioning is performed with the relative position from the internal absolute
target position.
01b: The positioning is performed with the relative position from Position demand
actual value (60FCh). (Not supported) (Note 1)
10b: The positioning is performed with the relative position from Position actual value
(6064h). (not supported) (Note 1)
11b: reserved
00b: New values of Target position (607Ah), Profile velocity (6081h), and Acceleration
are promptly reflected.
01b: The current positioning continues to reach the target position. Then a new setting
of Target position (607Ah), Profile velocity (6081h), and Acceleration is applied.
(not supported) (Note 1)
10b: reserved
11b: reserved
Reserved
00b: The servo motor rotates to the target position in a direction specified with a sign
of the position data.
01b: The servo motor rotates in the address decreasing direction regardless of the
sign of the position data.
10b: The servo motor rotates in the address increasing direction regardless of the sign
of the position data.
11b: The servo motor rotates from the current position to the target position in the
shorter direction. If the distances from the current position to the target position
are the same for CCW and CW, the servo motor rotates in the CCW direction.
Reserved
Name
Following error actual value
Range
80000000h to 7FFFFFFFh
Name
Control effort
Range
80000000h to 7FFFFFFFh
Data Type
UNSIGNED16
Units
Description
Data Type
INTEGER32
Units
pos units
Data Type
INTEGER32
Units
vel units
7 - 57
Access PDO Mapping
rw Possible
EEP-ROM Parameter
Possible PT03
Defined value
00b
00b
0
00b
0
Access PDO Mapping
ro Possible
EEP-ROM Parameter
Impossible
Access PDO Mapping
ro Possible
EEP-ROM Parameter
Impossible