Mitsubishi Electric MR-J4-_GF, Instruction Manual

Page: 100 / 274

6. SERVO MOTOR DRIVING
6 - 41
(1) 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)
2 Max position limit I32 rw 0 Maximum position address (Pos units)
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
Refer to chapter 10.
6063h
Position actual
internal value
I32 ro Current position (Enc inc)
6064h Position actual value I32 ro Current position (Pos units)
606Ch Velocity actual value I32 ro
Current speed
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
6077h Torque actual value I32 ro
Current torque
Unit: 0.1% (rated torque of 100%)
6092h
0 Feed constant U8 ro 2
Travel distance per revolution of an output
shaft
Refer to chapter 10.
1 Feed
U32 rw
Travel distance setting
2 Shaft revolutions Number of servo motor shaft revolutions
60F4h
Following error actual
value
I32 ro Droop pulses (Pos units)
60FAh Control effort I32 ro
Position control loop output (speed
command)
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
60E0h
Positive torque limit
value
U16 rw 10000
Torque limit value (forward)
Unit: 0.1% (rated torque of 100%)
60E1h
Negative torque limit
value
U16 rw 10000
Torque limit value (reverse)
Unit: 0.1% (rated torque of 100%)
6091h
0 Gear ratio U8 ro 2 Gear ratio
1 Motor revolutions
U32 rw
1
Number of revolutions of the servo motor axis
(numerator)
2 Shaft revolutions 1
Number of revolutions of the drive axis
(denominator)
607Eh Polarity U8 rw 0
Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
Refer to chapter 10.
60A8h SI unit position U32 rw 0
SI unit position
The value is automatically set according to
the setting of "Position data unit" of [Pr.
PT01].
Refer to chapter 10.
60A9h SI unit velocity U32 rw 0
SI unit velocity
0.01 r/min or 0.01 mm/s
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)