Mitsubishi Electric MR-JET User Manual page 14

Index Sub Object
6091h 0 ARRAY
1
2

607Eh VAR

60A8h VAR

60A9h VAR

60B0h VAR

60B1h VAR
60B2h  VAR
Controlword/Statusword
By changing [Controlword (Obj. 6040h)], control commands can be given to the servo amplifier. The control status can also be
checked with [Statusword (Obj. 6041h)].
Some bits of [Controlword (Obj. 6040h)] and [Statusword (Obj. 6041h)] vary depending on the control mode. The bits that vary
depending on the control mode are listed in the following tables.
■Controlword OMS Bit (csp)
Bit Symbol
4 (reserved)
5 (reserved)
6 (reserved)
8 (reserved)
9 (reserved)
■Statusword OMS Bit (csp)
Bit Symbol
10 (reserved)
12 Target position ignored
13 Following error
2 CONTROL MODE
12
2.1 Control mode
Name
Gear ratio
Motor revolutions
Shaft revolutions
Polarity
SI unit position
SI unit velocity
Position offset
Velocity offset
Torque offset
Description
The value at reading is undefined. Set "0" when writing.
Description
The value at reading is undefined.
0: [Target position (Obj. 607Ah)] is being discarded.
1: [Target position (Obj. 607Ah)] is being used as a position control loop input.
0: No following error
1: Following error
Change this bit to "1" when a state exceeding [Following error window (Obj. 6065h)] elapses the period of time
set in [Following error time out (Obj. 6066H)].
Data Type Access Default
U8 ro 2
U32 rw 1
1
U8 rw 0

U32 rw

U32 rw
I32 rw 0
I32 rw 0
I16 rw 0
Description
Gear ratio
Number of revolutions of the servo motor
shaft (numerator)
Page 54 Electronic gear function
Number of revolutions of the drive shaft
(denominator)
Page 54 Electronic gear function
Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
Page 44 Rotation direction selection
SI unit position
00000000h (1 pulse)
SI unit velocity
The SI unit velocity is returned.
FEB44700h (0.01 r/min)
00000300h (pulse/s)
Position offset
(pos units)
Velocity offset (vel units)
Torque offset
Unit: 0.1 % (with rated torque being 100 %)