Mitsubishi Electric MELSERVO-MR-J4 GF Series, Instruction Manual

Page: 163 / 308

6 SERVO MOTOR DRIVING
6.4 Jog mode (jg)
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6
Function and related objects
The following shows the function and related objects of the jog mode (jg).
Related object
Index Sub Name Data Type Access Default Description
607Dh 0 Software position
limit U8 ro 2 Number of entries
1 Min position limit I32 rw 0 Minimum position address (Pos units)
This cannot be used in the indexer method.
2 Max position limit I32 rw 0 Maximum position address (Pos units)
This cannot be used in the indexer method.
607Fh

Max profile velocity U32 rw 2000000 Maximum speed
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
6080h

Max motor speed U32 rw

Servo motor maximum speed
Unit: r/min
6081h  Profile velocity U32 rw 10000 Speed after acceleration completed
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
6083h

Profile Acceleration U32 rw 0 Acceleration at start of movement to target position
Unit: ms
6084h

Profile deceleration U32 rw 0 Deceleration at arrival at target position
Unit: ms
6085h

Quick stop
deceleration U32 rw 100 Deceleration time constant for Quick stop
Unit: ms
605Ah  Quick stop option
code I16 rw 2 Operation setting for Quick stop
 Page 252 OBJECT DICTIONARY
6063h  Position actual
internal value I32 ro  Current position (Enc inc)
6064h

Position actual
value I32 ro

Current position (Pos units)
In the indexer method, the value is fixed to 0.
606Ch

Velocity actual
value I32 ro

Current speed
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
In the indexer method, this is available only in 0.01 r/
min.
6077h  Torque actual value I32 ro  Current torque
Unit: 0.1% (rated torque of 100%)
Position
trajectry
generator
+
×
×
× ×
-
Control
effort
(60FAh)
Position actual internal value (6063h) ×
×
×
Torque
limit
function
Velocity
limit
function
Acceleration
limit
function
Position
control
Velocity
control
Torque
control
Encoder
Motor
Profile acceleration (6083h)
Profile deceleration (6084h)
Quick stop deceleration (6085h)
Quick stop option code (605Ah)
Profile velocity (6081h)
Max motor speed (6080h)
[Pr. PC77]
Software position limit (607Dh)
Gear ratio (6091h)
Polarity (607Eh)
Following error actual value (60F4h)
Position actual value (6064h)
Velocity actual value (606Ch)
Point demand value (2D68h)
Point actual value (2D69h)
Torque actual value (6077h)
×
Max profile velocity (607Fh)
Torque limit value (60E0h, 60E1h)
×