Mitsubishi Electric MELSERVO-J4 series, Instruction Manual

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APPX
Appendix 12 List of registration objects
2B0Bh 0 I16 ro Instantaneous torque The instantaneous torque is displayed.
The value of torque being occurred is displayed in real time
considering a rated torque as 100%.
2B26h 0 I16 ro Settling time The time (Settling time) after command is completed until INP
(In-position) turns on is displayed.
2B23h 0 I32 ro Motor-side/load-side position
deviation During fully closed loop control, a deviation between servo
motor-side position and load-side position is displayed.
The number of pulses displayed is in the load-side encoder
pulse unit.
2B24h 0 I32 ro Motor-side/load-side speed deviation During fully closed loop control, a deviation between servo
motor-side speed and load-side speed is displayed.
2B3Fh 0 I32 ro Error excessive alarm margin The margin to the level which triggers the error excessive alarm
is displayed in units of encoder pulses.
The error excessive alarm occurs at 0 pulses.
2B40h 0 I16 ro Overload alarm margin The margins to the levels which trigger [AL. 50] and [AL. 51] are
displayed in percentage.
2B41h 0 I32 ro Overshoot amount The overshoot amount during position mode is displayed in
units of encoder pulses.
2B42h 0 I16 ro Torque/thrust equivalent to
disturbance The difference between the torque necessary to drive the servo
motor and the actually required torque (Torque current value) is
displayed as the disturbance torque.
2C20h 0 U16 ro Machine diagnostic status [Bit 0 to 3: Friction estimation status at forward rotation]
0: Friction is being estimated. (normal)
1: Estimation is completed. (normal)
2: The motor may rotate in one direction too frequently.
(warning)
3: The servo motor speed may too slow for friction estimation.
(warning)
4: The change in the servo motor speed may be small for
friction estimation. (warning)
5: The acceleration/deceleration time constants may be too
short for friction estimation. (warning)
6: The operation time may not be enough. (warning)
When warning conditions for 2 to 6 are met at the same time,
the smaller number is returned.
When an estimation is completed even though a warning has
once occurred, the status changes to estimation is completed.
[Bit 4 to 7: Friction estimation status at reverse rotation]
0: Friction is being estimated. (normal)
1: Estimation is completed. (normal)
2: The motor may rotate in one direction too frequently.
(warning)
3: The servo motor speed may too slow for friction estimation.
(warning)
4: The change in the servo motor speed may be small for
friction estimation. (warning)
5: The acceleration/deceleration time constants may be too
short for friction estimation. (warning)
6: The operation time may not be enough. (warning)
When warning conditions for 2 to 6 are met at the same time,
the smaller number is returned.
When an estimation is completed even though a warning has
once occurred, the status changes to estimation is completed.
[Bit 8 to 11: Vibration estimation status]
0: During estimation
1: Estimation is completed.
[Bit 12 to 15: reserved]
2C21h 0 I16 ro Coulomb friction torque in positive
direction Static friction at forward rotation torque is displayed in
increments of 0.1%.
2C22h 0 I16 ro Friction torque at rated speed in
positive direction Kinetic friction at forward rotation torque at the rated speed is
displayed in increments of 0.1%.
2C23h 0 I16 ro Coulomb friction torque in negative
direction Static friction at reverse rotation torque is displayed in
increments of 0.1%.
Index Sub Index Data Type Access Data type Description