Mitsubishi Electric MELSERVO-J5 MR-J5 Series User Manual page 185

Related objects [G] [WG]
For details on the objects, refer to the User's Manual (Object Dictionary).
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 finishes even after a warning has occurred, the status will change to "Estimation has finished".
Name
Machine diagnostic status
Static friction torque at forward
rotation
Dynamic friction torque at forward
rotation (at rated speed)
Static friction torque at reverse
rotation
Dynamic friction torque at reverse
rotation (at rated speed)
Oscillation frequency during
motor stop
Vibration level during motor stop
Oscillation frequency during
motor operating
Vibration level during motor
operating
Friction estimate status
Description
The machine diagnostic status is returned.
[Bit 0 to 3: Friction estimation status at forward rotation]
0: Friction is being estimated. (normal)
1: Estimation has finished. (normal)
2: The motor may have rotated/traveled more frequently in one
direction than the other. (warning)
3: The servo motor speed may be too slow for friction estimation.
(warning)
4: The change in the servo motor speed may be too 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 has finished. (normal)
2: The motor may have rotated/traveled more frequently in one
direction than the other. (warning)
3: The servo motor speed may be too slow for friction estimation.
(warning)
4: The change in the servo motor speed may be too 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: Vibration is being estimated
1: Estimation has finished.
[Bit 12 to 15: reserved]
Static friction at forward rotation torque is returned.
Unit: 0.1 % (with rated torque being 100 %)
Dynamic friction at forward rotation torque at the rated speed is
returned.
Unit: 0.1 % (with rated torque being 100 %)
Static friction at reverse rotation torque is returned.
Unit: 0.1 % (with rated torque being 100 %)
Dynamic friction at reverse rotation torque at the rated speed is
returned.
Unit: 0.1 % (with rated torque being 100 %)
Vibration frequency during stop/servo-lock is returned.
Unit: [Hz]
The vibration level during stop/servo-lock is returned.
Unit: 0.1 % (with rated torque being 100 %)
Vibration frequency during operation is returned.
Unit: [Hz]
Vibration level during operation is returned.
Unit: 0.1 % (with rated torque being 100 %)
The progress of friction estimation is returned.
Unit: [%]
4 APPLICABLE FUNCTIONS
*1*2
*1*2
183
4.5 Machine diagnosis
4