Mitsubishi Electric MR-JE-C, Instruction Manual

Page: 196 / 312

9. HOW TO USE JOG MODE
9 - 5
Index Sub Name
Data
Type
Access Default Description
607Eh Polarity U8 rw 00h
Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
607Fh Max profile velocity U32 rw 2000000
Maximum velocity
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
Velocity 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
6091h
0 Gear ratio U8 ro 2 Gear ratio
1 Motor revolutions U32 rw 1
Number of revolutions of the servo motor shaft
(numerator)
In the indexer method, this means the number of
gear teeth on machine side.
2 Shaft revolutions U32 rw 1
Number of revolutions of the drive axis
(denominator)
In the indexer method, this means the number of
gear teeth on servo motor side.
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) (Note)
60FAh Control effort I32 ro 0
Position control loop output (speed command)
Unit: Vel unit (0.01 r/min)
2D68h Point demand value I16 ro
Point table demand
In the point table method, the value is 0.
In the indexer method, the next station No. is set.
2D69h Point actual value I16 ro
Current point table
In the point table method, the previous value is
held.
In the indexer method, the station No. at which the
servo motor has stopped is set. However, the
previous value is held when S_MEND is off.
2D6Bh Torque limit value2 U16 rw 10000
Torque limit value 2
Unit: 0.1% (rated torque of 100%)
Set a torque limit value in stop.
This can be used only in the indexer method.
Note. In the indexer method, the unit is the command unit [pulse] (a load-side rotation expressed by the number of servo motor
resolution pulses).