Mitsubishi Electric MELSERVO-JE, Instruction Manual

Page: 107 / 116

6. SERVO MOTOR DRIVING
6 - 42
Index Sub Index Access Name Data Type Default Description
6092h
0 ro Feed constant U8 2
Travel distance per revolution
of an output shaft
1
rw
Feed
U32
Travel distance setting
2 Shaft revolutions
Number of servo motor shaft
revolutions
60E0h 0 rw Positive torque limit value U16 10000
Torque limit value (forward)
Unit: 0.1% (rated torque of
100%)
60E1h 0 rw Negative torque limit value U16 10000
Torque limit value (reverse)
Unit: 0.1% (rated torque of
100%)
6091h
0 ro Gear ratio U8 2 Gear ratio
1
rw
Motor revolutions
U32
1
Number of revolutions of the
servo motor axis (numerator)
2 Shaft revolutions 1
Number of revolutions of the
drive axis (denominator)
607Eh 0 rw Polarity U8 00h
Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
(Note 2)
2D20h 0 rw Velocity limit value I32
Speed limit value
Unit: Vel unit (0.01 r/min)
60A8h 0 rw SI unit position U32
SI unit position
The value is automatically set
according to the setting of
"Position data unit" of [Pr.
PT01].
60A9h 0 rw SI unit velocity U32 FEB44700h
SI unit velocity
FEB44700h (0.01 r/min)
Note 1. This is not compatible with the MR-JE-_C servo amplifier.
2. Refer to "MR-JE-_C Servo Amplifier Instruction Manual (Network)".
(1) Details on the Controlword (6040h) (tq mode)
Bit Symbol Description
4 (reserved)
The value at reading is undefined. Set "0" when writing.
5
(reserved)
6
(reserved)
8
HALT
0: The servo motor is driven.
1: The servo motor is stopped according to Halt option code (605Dh).
9
(reserved)
The value at reading is undefined. Set "0" when writing.
(2) Details on the Statusword (6041h) (tq mode)
Bit Symbol Description
10
Target reached
(Not compatible)
(Note)
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 for Target torque reached
If the error between Torque actual value (6077h) and Target torque (6071h) has stayed within
Torque window for Torque window time or more, Target torque reached is stored.
12 (reserved) The value at reading is undefined.
13 (reserved)
Note. This is not compatible with the MR-JE-_C servo amplifier.