Mitsubishi Electric MR-J4-_GF, Instruction Manual

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6. SERVO MOTOR DRIVING
6 - 71
6.3.4 Related object
The following shows the functions and related objects of the indexer mode (idx).
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)
Target point table (2D60h)
Profile velocity (6081h)
Max motor speed (6080h)
[Pr. PC77]
Gear ratio (6091h)
Polarity (607Eh)
Following error actual value (60F4h)
Position actual value (6064h) (Fixed to 0)
Velocity actual value (606Ch)
Torque actual value (6077h)
×
Max profile velocity (607Fh)
Torque limit value (60E0h, 60E1h)
×
Point actual value (2D69h)
M code actual value (2D6Ah) (Fixed to 0)
Point demand value (2D68h)
(1) Related object
Index Sub Name
Data
Type
Access Default Description
607Fh Max profile velocity U32 rw 2000000
maximum speed
Unit: Vel unit (0.01 r/min)
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)
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
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)
Fixed to 0