Mitsubishi Electric Melservo-Jet MR-JET-G Series User Manual page 23

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 or are common depending on the control mode.
The bits that vary depending on the control mode are listed in the following tables.
■Controlword OMS Bit (pp)
Bit Symbol
4 New set-point
5 Change set immediately
6 abs/rel
8 HALT
9 Change on set-point
■Statusword OMS Bit (pp)
Bit Symbol
10 Target reached
12 Set-point acknowledge
13 Following error
Description
Obtains a new positioning servo parameter at bit rising.
0: Set of set-points
1: Single set-point
0: Absolute position command
1: Relative position command
0: Performs positioning.
1: Stops the servo motor according to [Halt option code (Obj. 605Dh)].
Enabled only when Set of set-points (Bit 5 = 0).
0: Shifts to the next positioning after completing (stopping) the current positioning operation.
1: Shifts to the next positioning after performing positioning up to the current set-point with the setting of [profile
velocity (Obj. 6081h)].
Page 22 Set of set-points
Description
0 (Halt (Bit 8) = 0) : Target position not reached.
0 (Halt (Bit 8) = 1) : Axis decelerates
1 (Halt (Bit 8) = 0) : Target position reached.
1 (Halt (Bit 8) = 1) : Velocity of axis is 0
Judgment condition of Target position reached
If the difference between the current position and [Target position (Obj. 607Ah)] has stayed within [Position
window (Obj. 6067h)] for [Position window time (Obj. 6068h)] or longer, the state becomes "Target position
reached".
0: Positioning completed (waiting for next command)
1: Positioning in progress (possible to overwrite a setpoint)
0: No following error
1: Following error
2 CONTROL MODE
21
2.1 Control mode
2