Mitsubishi Electric MELSEC iQ-R Series User Manual page 394

■Monitoring the speed
Monitor details
Monitor the During independent axis control
current
speed
During
interpolation
control
Monitor "[Da.8] Command speed" currently being executed
Constantly indicates the speed of each axis
Monitor the current target speed
Monitor the command speed at speed control mode or continuous operation to torque control mode in the
speed-torque control
■Monitoring the status of servo amplifier
Monitor details
Monitor the real current value "feed current value - (command pulse - feedback pulse)".
Monitor the pulse droop
Monitor the motor speed of servo motor
Monitor the current value of servo motor
Monitor the status (servo status) of servo amplifier.
• Monitor the percentage of regenerative power to permissible regenerative value.
• Monitor the content of "[Pr.91] Optional data monitor: Data type setting 1" and "[Pr.591] Optional data
monitor: Data type expansion setting 1" at optional data monitor data type setting.
• Monitor the continuous effective load torque.
• Monitor the content of "[Pr.92] Optional data monitor: Data type setting 2" and "[Pr.592] Optional data
monitor: Data type expansion setting 2" at optional data monitor data type setting.
• Monitor the maximum generated torque.
• Monitor the content of "[Pr.93] Optional data monitor: Data type setting 3" and "[Pr.593] Optional data
monitor: Data type expansion setting 3" at optional data monitor data type setting.
Monitor the content of "[Pr.94] Optional data monitor: Data type setting 4" and "[Pr.594] Optional data monitor:
Data type expansion setting 4" at optional data monitor data type setting.
Monitor the status of semi closed loop control/fully closed loop control
Monitor the alarm of servo amplifier
Monitor the alarm detail number of the servo amplifier.
Monitor the option information of encoder.
Monitor CiA402 Statusword of the servo amplifier.
Monitor the status of the servo amplifier during the home position return.
12 DATA USED FOR POSITIONING CONTROL
392
12.1 Types of Data
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When "0: Composite speed" is set for "[Pr.20]
Interpolation speed designation method"
When "1: Reference axis speed" is set for "[Pr.20]
Interpolation speed designation method"
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Corresponding item
Indicates the [Md.22] Feedrate
speed of each
axis
Indicates the
composite speed
Indicates the
reference axis
speed
[Md.27] Current speed
[Md.28] Axis feedrate
[Md.33] Target speed
[Md.122] Speed during command
Corresponding item
[Md.101] Real current value
[Md.102] Deviation counter value
[Md.103] Motor rotation speed
[Md.104] Motor current value
[Md.108] Servo status1
[Md.119] Servo status2
[Md.125] Servo status3
[Md.126] Servo status4
[Md.109] Regenerative load ratio/Optional
data monitor output 1
[Md.110] Effective load torque/Optional data
monitor output 2
[Md.111] Peak torque ratio/Optional data
monitor output 3
[Md.112] Optional data monitor output 4
[Md.113] Semi/Fully closed loop status
[Md.114] Servo alarm
[Md.115] Servo alarm detail number
[Md.116] Encoder option information
[Md.117]Statusword
[Md.514] Home position return operating
status