Mitsubishi Electric MELSERVO-JE MR-JE-C, Instruction Manual

Page: 48 / 86

6. MODBUS REGISTERS
6 - 11
Address Name and function
Data
type
Read/
write
Initial value Range Unit
Saved
to EEP-
ROM
Para-
meter
No. of
Points/
No. of
Registers
Continuous
read/
continuous
write
6060 Control mode (Modes of operation)
Set the control mode.
0: No mode assigned
1: Profile position mode (pp)
3: Profile velocity mode (pv)
4: Profile torque mode (tq)
6: Homing mode (hm)
-20: Position control mode
-21: Speed control mode
-22: Torque control mode
1
bytes
Read/
write
0 80h to 7Fh 1
Impossible
6061 Control mode display (Modes of operation
display)
The current control mode is returned.
0: No mode assigned
1: Profile position mode (pp)
3: Profile velocity mode (pv)
4: Profile torque mode (tq)
6: Homing mode (hm)
-20: Position control mode
-21: Speed control mode
-22: Torque control mode
1
bytes
Reading -20 80h to 7Fh 1 Impossible
6063 Current position (absolute position) [ENC unit]
(Position actual internal value)
The current position is returned.
4
bytes
Reading 80000000h
to
7FFFFFFFh
pulse 2 Impossible
6064 Current position (Position actual value)
The current position in the command unit on
the basis of the home position is returned.
When the home position is not set, the current
position in the command unit on the basis of
the zero point of the encoder is returned.
4
bytes
Reading 80000000h
to
7FFFFFFFh
pos
units
2 Impossible
6065 Error excessive width (Following error window)
In the profile position mode (pp), when the
time set with Following error time out (6066h)
has elapsed with the number of droop pulses
exceeding the setting value of this object, bit
13 of Statusword (6041h) is turned on. When
"FFFFFFFFh" is set, Bit 13 of Statusword
(6041h) is always off.
4
bytes
Read/
write
12582912 00000000h
to
FFFFFFFFh
pos
units
PC75/
PC76
2 Impossible
6066 Error excessive detection time (Following error
time out)
Refer to Following error window (6065h).
2
bytes
Read/
write
10 0000h to
FFFFh
ms PC77 1
Impossible
6067 Permissible error range (Position window)
In the profile position mode (pp), when the
time set with Position windows time (6068h)
has elapsed with the number of droop pulses
equal to or lower than the setting value of this
object, Bit 10 of Statusword (6041h) is turned
on.
[Setting range] This setting value is limited to
the range of 00000000h to 0000FFFEh. When
"FFFFFFFFh" is set, Position window is
disabled as an exception.
4
bytes
Read/
write
100 00000000h
to
0000FFFEh/
FFFFFFFFh
pos
units
PT65 2 Impossible
6068 Permissible error judgment time (Position
window time)
Refer to Position window (6067h).
2
bytes
Read/
write
10 0000h to
FFFFh
ms PT66 1
Impossible
606B Command speed (Velocity demand value)
The speed command is returned.
4
bytes
Reading 0 80000000h
to
7FFFFFFFh
0.01
r/min
2 Impossible
606C Current speed (Velocity actual value)
The current speed is returned.
4
bytes
Reading 80000000h
to
7FFFFFFFh
0.01
r/min
2
Impossible