Mitsubishi Electric MELSERVO-J5 User Manual page 27

Index Sub Object

60FAh VAR

60E0h VAR

60E1h VAR
6091h 0 ARRAY
1
2

607Eh VAR

60A8h VAR

60A9h VAR

60B0h VAR

60B1h VAR

60B2h VAR
*1

6062h VAR
*1 This object may not be used depending on the network being used. For details, refer to the User's Manual (Object Dictionary).
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 depending on the control mode. The bits that vary
depending on the control mode are listed in the following tables.
■Controlword OMS Bit (csp)
Bit Symbol
4 (reserved)
5 (reserved)
6 (reserved)
8 (reserved)
9 (reserved)
■Statusword OMS Bit (csp)
Bit Symbol
10 (reserved)
12 Drive follows the command
value
(Target position ignored)
13 Following error
Name
Control effort
Positive torque limit value
Negative torque limit value
Gear ratio
Motor revolutions
Shaft revolutions
Polarity
SI unit position
SI unit velocity
Position offset
Velocity offset
Torque offset
Position demand value
Description
The value at reading is undefined. Set "0" when writing.
Description
The value at reading is undefined.
0: [Target position (Obj. 607Ah)] is being discarded.
1: [Target position (Obj. 607Ah)] is being used as a position control loop input.
0: No following error
1: Following error
When the time set in [Following error time out (Obj. 6066h)] elapses in a state where the value of [Following error
actual value (Obj. 60F4h)] exceeds the value set in [Following error window (Obj. 6065h)], this bit changes to "1".
Description
Position control loop output (speed command)
Unit: vel units
Torque limit value (forward)
Unit: 0.1 % (with rated torque being 100 %)
Torque limit value (reverse)
Unit: 0.1 % (with rated torque being 100 %)
Gear ratio
Number of revolutions of the servo motor shaft (numerator)
Page 132 Electronic gear function [G]
Number of revolutions of the drive shaft (denominator)
Page 132 Electronic gear function [G]
Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
Page 109 Rotation/travel direction selection [G]
SI unit position
It is automatically set in [Pr. PT01.2 Unit for position data].
SI unit velocity
The SI unit velocity is returned.
It is automatically set in [Pr. PT01.2 Unit for position data].
Position offset
Unit: pos units
Velocity offset
Unit: vel units
Torque offset
Unit: 0.1 % (with rated torque being 100 %)
Command position (absolute position)
The command position inside the servo amplifier is returned.
Unit: pos units
2 CONTROL MODE
25
2.1 Control mode [G]
2