Function And Related Objects - Mitsubishi Electric MELSERVO-MR-J4 GF Series Instruction Manual

Function and related objects

The following shows the function and related objects of the jog mode (jg).
[Pr. PC77]
Torque
limit
Torque limit value (60E0h, 60E1h)
function
Software position limit (607Dh)
Profile acceleration (6083h)
Profile deceleration (6084h)
Acceleration
limit
Quick stop deceleration (6085h)
function
Quick stop option code (605Ah)
Profile velocity (6081h)
Velocity
Max profile velocity (607Fh)
limit
Max motor speed (6080h)
function
Point demand value (2D68h)
Point actual value (2D69h)
Gear ratio (6091h)
Polarity (607Eh)
Following error actual value (60F4h)
-
Position actual value (6064h)
Velocity actual value (606Ch)
Torque actual value (6077h)
Related object
Index Sub Name
607Dh 0 Software position
limit
1 Min position limit
2 Max position limit

607Fh Max profile velocity

6080h Max motor speed

6081h Profile velocity

6083h Profile Acceleration

6084h Profile deceleration

6085h Quick stop
deceleration
605Ah  Quick stop option
code

6063h Position actual
internal value
6064h  Position actual
value

606Ch Velocity actual
value
6077h  Torque actual value
×
×
Position
trajectry
generator
×
+
× × Position actual internal value (6063h)
×
×
Data Type Access
U8 ro
I32 rw
I32 rw
U32 rw
U32 rw
U32 rw
U32 rw
U32 rw
U32 rw
I16 rw
I32 ro
I32 ro
I32 ro
I32 ro
Control
effort
(60FAh)
Position Velocity
control control
× ×
Default Description
2 Number of entries
0 Minimum position address (Pos units)
This cannot be used in the indexer method.
0 Maximum position address (Pos units)
This cannot be used in the indexer method.
2000000 Maximum speed
Unit: Vel unit (0.01 r/min or 0.01 mm/s)

Servo motor maximum speed
Unit: r/min
10000 Speed after acceleration completed
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
0 Acceleration at start of movement to target position
Unit: ms
0 Deceleration at arrival at target position
Unit: ms
100 Deceleration time constant for Quick stop
Unit: ms
2 Operation setting for Quick stop
Page 252 OBJECT DICTIONARY

Current position (Enc inc)
 Current position (Pos units)
In the indexer method, the value is fixed to 0.

Current speed
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
In the indexer method, this is available only in 0.01 r/
min.
 Current torque
Unit: 0.1% (rated torque of 100%)
Torque
Motor
control
Encoder
6 SERVO MOTOR DRIVING
6.4 Jog mode (jg)
6
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