Mitsubishi Electric Melservo-Jet MR-JET-G Series User Manual page 30

Index Sub
607Eh 
2D20h 

60A8h

60A9h

60B2h
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 (tq)
Bit Symbol
4 (reserved)
5 (reserved)
6 (reserved)
8 HALT
9 (reserved)
■Statusword OMS Bit (tq)
Bit Symbol
10 Target reached
(not supported)
12 (reserved)
13 (reserved)
2 CONTROL MODE
28
2.1 Control mode
Object Name
VAR Polarity
VAR Velocity limit value
VAR SI unit position
VAR SI unit velocity
VAR Torque offset
Description
The value at reading is undefined. Set "0" when writing.
0: Drives the servo motor.
1: Stops the servo motor according to [Halt option code (Obj. 605Dh)].
The value at reading is undefined. Set "0" when writing.
Description
0 (Halt (Bit 8) = 0) : Target torque not reached.
0 (Halt (Bit 8) = 1) : Axis decelerates
1 (Halt (Bit 8) = 0) : Target torque reached.
1 (Halt (Bit 8) = 1) : Velocity of axis is 0
Judgment condition of Target torque reached
If the difference between the current position and [Target torque (Obj. 6071h)] has stayed within Torque window
for Torque window time or more, Target torque reached is stored.
The value at reading is undefined.
Description
Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
Page 65 Rotation/travel direction selection
Speed limit value
Unit: vel units
SI unit position
00000000h (1 pulse)
SI unit velocity
The SI unit velocity is returned.
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)
00000300h (pulse/s)
Torque offset
Unit: 0.1 % (with rated torque being 100 %)