Mitsubishi Electric MELSERVO-J5 User Manual page 41

Index Sub Object
6091h 0 ARRAY
1
2

607Eh VAR

2D20h VAR

60A8h VAR

60A9h VAR

60B2h VAR
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)
Name
Gear ratio
Motor revolutions
Shaft revolutions
Polarity
Velocity limit value
SI unit position
SI unit velocity
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:
When the time set in [Torque window time] elapses in a state where the difference between the values in [Torque
actual value (Obj. 6077h)] and [Target torque (Obj. 6071h)] is equal to or below the value set in [Torque window],
the state changes to "Target torque reached".
The value at reading is undefined.
Description
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]
Speed limit value
Unit: vel units
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].
Torque offset
Unit: 0.1 % (with rated torque being 100 %)
2 CONTROL MODE
39
2.1 Control mode [G]
2