Mitsubishi Electric MR-J4-_GF, Instruction Manual

Page: 240 / 274

10. OBJECT DICTIONARY
10 - 13
Index
Sub
Index
Name and function
Data
Type
Access
Variable
mapping
Default Range Units
EEP-
ROM Param
eter
606B 0 Velocity demand value
The speed command is returned. I32 ro Possible 0 80000000h to
7FFFFFFFh
0.01
r/min
0.01
mm/s
606C 0 Velocity actual value
The current speed is returned. I32 ro Possible 80000000h to
7FFFFFFFh
0.01
r/min
0.01
mm/s
6072 0 Max torque
The maximum torque of the servo motor is
returned.
The value matches with the maximum torque
listed in "Servo Motor Instruction Manual (Vol. 3)".
U16 rw Possible 0000h
to
FFFFh
0.1
%
6074 0 Torque demand value
The torque command is returned. I16 ro Possible 0 8000h to
7FFFh
0.1
%
6077 0 Torque actual value
The current torque is returned. The read data is
in the unit of 0.1%. I16 ro Possible 8000h to
7FFFh
0.1
%
607C 0 Home offset
The home position is returned. Only reading the
value is available.
Do not write because doing so causes an error.
I32 rw Possible 0 80000000h to
7FFFFFFFh
pos
units
607D 0 Software position limit
Set the range for limiting the command position.
Target position (607Ah) is limited within the range
between Min position limit (607Dh: 1) and Max
position limit (607Dh: 2). When the set value of
Min position limit (607Dh: 1) is equal to or greater
than the set value of Max position limit (607Dh:
2), the function of Software position limit (607Dh)
is disabled.
In the indexer method, this function is disabled. U8 ro
Impossible
2 02h (fixed)
1 Min position limit
The stroke limit value in the reverse direction is
returned in units of commands. I32 rw Possible 0 80000000h to
7FFFFFFFh
pos
units
PT17,
PT18
2 Max position limit
The stroke limit value in the forward direction is
returned in units of commands. I32 rw Possible 0 80000000h to
7FFFFFFFh
pos
units
PT15,
PT16
607E 0 Polarity
The rotation direction selection can be set.
Bit 7: position polarity
Bit 6: velocity polarity
Bit 5: torque polarity
Turn on or off both bits 6 and 7 to set the rotation
direction to position commands and speed
commands. Turn on or off all of bits 5 to 7 to set
the rotation direction to torque commands.
U8 rw Possible 00h 00h to FFh PA14,
PC29
607F 0 Max profile velocity
Set the maximum speed commands in the Jog
mode (jg) and indexer mode (idx). When a value
exceeding this object is set to Target velocity
(60FFh) or Profile velocity (6081h), the speed is
limited with the value of this object. U32 rw Possible 2000000 00000000h to
001E8480h
(2000000)
0.01
r/min
0.01
mm/s
PT51
6080 0 Max motor speed
The maximum speed of the servo motor is
returned. Operation cannot be performed at a
speed exceeding the speed set with this object. U32 rw Possible 00000000h to
FFFFFFFFh
r/min
mm/s
6081 0 Profile velocity
The current speed command value can be read.
The speed command values in the Jog mode (jg)
and indexer mode (idx) can be set. Set a value in
0.01 r/min unit.
U32 rw Possible 10000 00000000h to
instantaneous
permissible
speed
0.01
r/min
0.01
mm/s
PT50