Mitsubishi Electric MR-JE-C, Instruction Manual

Page: 195 / 312

9. HOW TO USE JOG MODE
9 - 4
9.1.2 Related object/register
The following shows the function and related objects/registers of the Jog mode (jg).
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)
Torque limit value2 (2D6Bh)
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)
×
(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)
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)
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
In the indexer method, the value becomes "0".
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
In the indexer method, the value becomes the
setting value of [Pr. PT28] -1.
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.