Mitsubishi Electric MELSERVO-J2-Super Series, Руководство по переходу

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Part 4: Review on Replacement of MR-J2S-_CP_/CL_ with MR-J4-_A_-RJ
4 - 40
3.7 Comparison of Communication Commands
[Communication command comparison between MR-J2S-_CP_ series and MR-J4-_A_-RJ series]
Table 4.1 compares the read commands between the MR-J2S-_CP_ series and MR-J4-_A_-RJ series ([Pr.
PT01]: when setting "2 _ _ _"), and table 4.2 compares the write commands. The functions added in the MR-
J4-A-RJ series are not included here. For details, refer to "MR-J4-_A_-RJ/MR-J4-03A6-RJ Servo Amplifier
Instruction Manual (Positioning Mode (SH(NA)030143))".
POINT
[Pr. PT01]: MR Configurator2 cannot be used when the parameter is set to "2 _
_ _".
Even if a command or data No. is the same between different model servo
amplifiers, its description may differ.
Functions with difference are shown with shading.
[Table 4.1] Compares the read commands between MR-J2S-_CP_ and MR-J4-_A_-RJ ([Pr. PT01]: when
setting "2 _ _ _").
(1) Status Display (command [0] [1])
Command Data No. Description
Displayed items
Frame
length
MR-J2S-_CP_
MR-J4-_A_-RJ
[Pr. PT01]: when setting "2 _ _ _"
[0] [1] [8] [0] Data value of status
display and processed
information Current position Current position 12
[8] [1] Command position: Command position:
[8] [2] Command remaining distance Command remaining distance
[8] [3] Point table No. Point table No.
[8] [4] Cumulative Feedback Pulses Cumulative Feedback Pulses
[8] [5] Servo motor speed Servo motor speed
[8] [6] Droop pulses Droop pulses
[8] [7] Override Override
[8] [8] Torque limit voltage Torque limit voltage
[8] [9] Regenerative load ratio Regenerative load ratio
[8] [A] Effective load ratio Effective load ratio
[8] [B] Peak load ratio Peak load ratio
[8] [C] Instantaneous torque Instantaneous torque
[8] [D] Within one-revolution position Within one-revolution position
[8] [E] ABS counter ABS counter
[8] [F] Load to inertia moment ratio Load to inertia moment ratio
[9] [0] Bus voltage Bus voltage
(2) Parameter (command [0] [5])
Command Data No.
Description
Frame
length
MR-J2S-_CP_
MR-J4-_A_-RJ
[Pr. PT01]: when setting "2 _ _ _"
[0] [5] [0] [0]
to
[5] [A]
Current values of each parameter
The data number converted from hexadecimal
to decimal corresponds to the parameter No. Current values of each parameter
Read the current parameter in the
parameter group specified by the command
[8][5] + data No. [0][0]. Thus, make sure to
specify the parameter group by the
command [8][5] + data No. [0][0] before
reading the current value.
The data number
converted from hexadecimal to decimal
corresponds to the parameter No.
8