Mitsubishi Electric MELSERVO-JE, Instruction Manual

Page: 98 / 116

6. SERVO MOTOR DRIVING
6 - 33
Index Sub Index Access Name Data Type Default Description
6081h 0 rw Profile velocity U32 10000
Speed after acceleration
completed
Unit: Vel unit (0.01 r/min)
6083h 0 rw Profile Acceleration U32 0
Acceleration at start of
movement to target position
Unit: ms
6084h 0 rw Profile deceleration U32 0
Deceleration at arrival at
target position
Unit: ms
6085h 0 rw Quick stop deceleration U32 100
Deceleration at deceleration
to a stop by Quick stop
Unit: ms
6086h 0 rw Motion profile type I16 -1
Acceleration/deceleration
type selection
-1: S-pattern
0: Linear ramp (not
compatible) (Note 1)
1: sin 2 ramp (not compatible)
(Note 1)
2: Jerk-free ramp (not
compatible) (Note 1)
3: Jerk-limited ramp (not
compatible) (Note 1)
605Ah 0 rw Quick stop option code I16 2
Operation setting for Quick
stop (Note 2)
6063h 0 ro Position actual internal value I32
Current position (Enc inc)
Unit: pulse
6064h 0 ro Position actual value I32 Current position (Pos units)
606Ch 0 ro Velocity actual value I32
Current speed
Unit: Vel unit (0.01 r/min)
6077h 0 ro Torque actual value I16
Current torque
Unit: 0.1% (rated torque of
100%)
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
60F4h 0 ro Following error actual value I32 Droop pulses (Pos units)
60FAh 0 ro Control effort I32 0
Position control loop output
(speed command)
Unit: Vel unit (0.01 r/min)
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)