Mitsubishi Electric MELSERVO-J5 User Manual page 44

Index Sub
6092h 0
1
2

60F4h

60FAh

60E0h
60E1h 
6091h 0
1
2
607Eh 

60A8h

60A9h

60AAh

6086h

2D60h

2D68h

2D69h
2801h 0
to
1
28FFh
2
3
4
5
6
7
2 CONTROL MODE
42
2.1 Control mode [G]
Object Name
ARRAY Feed constant
Feed
Shaft revolutions
VAR Following error actual value
VAR Control effort
VAR Positive torque limit value
VAR Negative torque limit value
ARRAY Gear ratio
Motor revolutions
Shaft revolutions
VAR Polarity
VAR SI unit position
VAR SI unit velocity
VAR SI unit acceleration
VAR Motion profile type
VAR Target point table
VAR Point demand value
VAR Point actual value
ARRAY Point table 001 to 255
Point data
Speed
Acceleration
Deceleration
Dwell
Auxiliary
M code
Description
Travel distance per revolution of an output shaft
Travel distance setting
Number of servo motor shaft revolutions
Unit: rev
Droop pulses
Unit: pos units
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].
SI unit acceleration
The SI unit acceleration is returned.
It is automatically set in [Pr. PT01.2 Unit for position data] or [Pr.
PT01.1 Speed/acceleration/deceleration unit selection].
Acceleration/deceleration type selection
-1: S-pattern
0: Linear ramp (not supported)
2
1: Sin ramp (not supported)
2: Jerk-free ramp (not supported)
3: Jerk-limited ramp (not supported)
Point table command
0: Does not operate.
1 to 255: Executes the specified point table.
-1: Positioning to the home
Point table request
The point table number which is currently being commanded is
returned.
When the servo motor is stopped, the setting value of [Target point
Table (Obj. 2D60h)] is returned.
Current point table
The point table number at which execution has completed is returned.
Number of entries (point table data)
Position data
Unit: pos units
Speed data
Unit: vel units
Acceleration time constant
Unit: acc units
Deceleration time constant
Unit: acc units
Dwell
Unit: ms
Auxiliary function
M code