Mitsubishi Electric MR-JE-C, Instruction Manual

Page: 141 / 312

7. HOW TO USE THE POINT TABLE
7 - 12
(1) List of the related object/register
Index Sub Name
Data
Type
Access Default Description
605Ah Quick stop option code I16 rw 2 Operation setting for Quick stop
6063h
Position actual
internal value
I32 ro Current position (Enc inc)
6064h Position actual value I32 ro Current position (Pos units)
6065h Following error window U32 rw 12582912
When the time set in Following error time out
(6066h) has elapsed with the number of droop
pulses exceeding the setting value of this
object, Bit 13 of Statusword (6041h) is turned
on.
6066h Following error time out U16 rw 10 Refer to Following error window (6065h).
606Ch Velocity actual value I32 ro
Current speed
Unit: Vel unit (0.01 r/min)
6077h Torque actual value I16 ro
Current torque
Unit: 0.1% (rated torque of 100%)
607Bh
0 Position range limit U8 ro 2 Number of entries
1 Min position range limit I32 rw
Minimum value of the position range limit
The value is automatically set according to the
setting of "Position data unit" of [Pr. PT01].
mm/inch/pulse: -2147483648
2
Max position range
limit
I32 rw
Maximum value of the position range limit
The value is automatically set according to the
setting of "Position data unit" of [Pr. PT01].
mm/inch/pulse: 2147483647
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)
607Eh Polarity U8 rw 00h
Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
6085h
Quick stop
deceleration
U32 rw 100
Deceleration time constant for Quick stop
Unit: ms
6091h
0 Gear ratio U8 ro 2 Gear ratio
1 Motor revolutions U32 rw 1
Number of revolutions of the servo motor
shaft (numerator)
2 Shaft revolutions U32 rw 1
Number of revolutions of the drive axis
(denominator)
6092h
0 Feed constant U8 ro 2
Travel distance per revolution of an output
shaft
1 Feed U32 rw
Encoder
resolution
Travel distance setting
2 Shaft revolutions U32 rw 1 Number of servo motor shaft revolutions
60A8h SI unit position U32 rw 00000000h
SI unit position
The value is automatically set according to the
setting of "Position data unit" of [Pr. PT01].
60A9h SI unit velocity U32 rw FEB44700h
SI unit velocity
FEB44700h (0.01 r/min)
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%)
60F4h
Following error actual
value
I32 ro Droop pulses (Pos units)
60FAh Control effort I32 ro 0
Position control loop output (speed command)
Unit: Vel unit (0.01 r/min)