Mitsubishi Electric MELSERVO-JE MR-JE-C, Инструкция по эксплуатации

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6. MODBUS REGISTERS
6 - 8
Address Name and function
Data
type
Read/
write
Initial value Range Unit
Saved
to EEP-
ROM
Para-
meter
No. of
Points/
No. of
Registers
Continuous
read/
continuous
write
2C20 Machine diagnostic status (Machine diagnostic
status)
[Bit 0 to Bit 3: Friction estimation status at
forward rotation]
0: Normal (Friction is being estimated.)
1: Normal (Estimation is completed.)
2: Warning (The servo motor may rotate in one
direction too frequently.)
3: Warning (The servo motor speed may too
slow for friction estimation.)
4: Warning (The change in the servo motor
speed may be small for friction estimation.)
5: Warning (The acceleration/deceleration time
constants may be too short for friction
estimation.)
6: Warning (The operation time may not be
enough.)
When warning conditions for 2 to 6 are met at
the same time, the smaller number is returned.
When an estimation is completed even though
a warning has once occurred, the status
changes to Estimation is completed.
[Bit 4 to Bit 7: Friction estimation status at
reverse rotation]
0: Normal (Friction is being estimated.)
1: Normal (Estimation is completed.)
2: Warning (The servo motor may rotate in one
direction too frequently.)
3: Warning (The servo motor speed may too
slow for friction estimation.)
4: Warning (The change in the servo motor
speed may be small for friction estimation.)
5: Warning (The acceleration/deceleration time
constants may be too short for friction
estimation.)
6: Warning (The operation time may not be
enough.)
When warning conditions for 2 to 6 are met at
the same time, the smaller number is returned.
When an estimation is completed even though
a warning has once occurred, the status
changes to Estimation is completed.
[Bit 8 to Bit 11: Vibration estimation status]
0: During estimation
1: Estimation is completed.
[Bit 12 to Bit 15: reserved]
The value at reading is undefined.
2
bytes
Reading 0 0000h to
FFFFh
1 Possible
2C21 Static friction torque at forward rotation (Static
friction torque at forward rotation)
Coulomb friction at forward rotation torque is
returned in increments of 0.1%.
2
bytes
Reading 0 8000h to
7FFFh
0.1
%
1 Possible
2C22 Dynamic friction torque at forward rotation (at
rated speed) (Dynamic friction torque at
forward rotation (at rated speed))
Friction torque at forward rotation torque at
rated speed is returned in increments of 0.1%.
2
bytes
Reading 0 8000h to
7FFFh
0.1
%
1 Possible
2C23 Static friction torque at reverse rotation (Static
friction torque at reverse rotation)
Coulomb friction at reverse rotation torque is
returned in increments of 0.1%.
2
bytes
Reading 0 8000h to
7FFFh
0.1
%
1 Possible