Mitsubishi Electric MR-J5 Series User Manual page 136

Related objects [G] [WG]
index Sub Object
2C20h 0 VAR
2C21h 0 VAR
2C22h 0 VAR
2C23h 0 VAR
2C24h 0 VAR
2C25h 0 VAR
2C26h 0 VAR
2C27h 0 VAR
2C28h 0 VAR
2C31h 0 VAR
*1 When warning conditions for 2 to 6 are established at the same time, the smallest number is returned.
*2 Once an estimation is complete even after a warning has occurred, the status changes to "Estimation is completed".
4 APPLICABLE FUNCTION
134
4.3 Machine diagnosis
Name
Machine diagnostic status
Coulomb friction torque in positive
direction
Friction torque at rated speed in
positive direction
Coulomb friction torque in negative
direction
Friction torque at rated speed in
negative direction
Oscillation frequency during motor
stop
Vibration level during motor stop
Oscillation frequency during motor
operating
Vibration level during motor operating
Friction estimate status
Data Type Access Description
U16 RO The machine diagnostic status is returned.
[Bit 0 to 3: Friction estimation status at forward
rotation]
0: Friction is being estimated. (normal)
1: Estimation is completed. (normal)
2: The motor may rotate or travel in one direction
too frequently. (warning)
3: The servo motor speed may be too slow for
friction estimation. (warning)
4: The change in the servo motor speed may be
small for friction estimation. (warning)
5: The acceleration/deceleration time constants may
be too short for friction estimation. (warning)
6: The operation time may be insufficient. (warning)
[Bit 4 to 7: Friction estimation status at reverse
rotation]
0: Friction is being estimated. (normal)
1: Estimation is completed. (normal)
2: The motor may rotate or travel in one direction
too frequently. (warning)
3: The servo motor speed may be too slow for
friction estimation. (warning)
4: The change in the servo motor speed may be
small for friction estimation. (warning)
5: The acceleration/deceleration time constants may
be too short for friction estimation. (warning)
6: The operation time may be insufficient. (warning)
[Bit 8 to 11: Vibration estimation status]
0: During estimation
1: Estimation is completed
[Bit 12 to 15: reserved]
I16 RO Static friction at forward rotation torque is returned.
Unit: 0.1 % (rated torque of 100 %)
I16 RO Dynamic friction at forward rotation torque at the
rated speed is returned.
Unit: 0.1 % (rated torque of 100 %)
I16 RO Static friction at reverse rotation torque is returned.
Unit: 0.1 % (rated torque of 100 %)
I16 RO Dynamic friction at reverse rotation torque at the
rated speed is returned.
Unit: 0.1 % (rated torque of 100 %)
I16 RO Vibration frequency during stop/servo-lock is
returned.
Unit: [Hz]
I16 RO Vibration level during stop/servo-lock is returned.
Unit: 0.1 % (rated torque of 100 %)
I16 RO Vibration frequency during operation is returned.
Unit: [Hz]
I16 RO Vibration level during operation is returned.
Unit: 0.1 % (rated torque of 100 %)
U16 RO The progress of friction estimation is returned.
Unit: [%]
*1*2
*1*2