Mitsubishi Electric MELSERVO-MR-J4 GF Series, Инструкция по эксплуатации

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6 SERVO MOTOR DRIVING
6.2 Point table mode (pt)
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Related object
Index Sub Name Data Type Access Default Description
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)
6085h  Quick stop
deceleration U32 rw 100 Deceleration time constant for Quick stop
Unit: ms
605Ah

Quick stop option
code I16 rw 2 Operation setting for Quick stop

Page 252 OBJECT DICTIONARY
6063h

Position actual
internal value I32 ro

Current position (Enc inc)
6064h

Position actual
value I32 ro

Current position (Pos units)
606Ch  Velocity actual
value I32 ro  Current speed
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
6077h

Torque actual value I32 ro

Current torque
Unit: 0.1% (rated torque of 100%)
6092h 0 Feed constant U8 ro 2 Travel distance per revolution of an output shaft

Page 252 OBJECT DICTIONARY
1 Feed U32 rw

Travel distance setting
2 Shaft revolutions  Number of servo motor shaft revolutions
60F4h

Following error
actual value I32 ro

Droop pulses (Pos units)
60FAh

Control effort I32 ro

Position control loop output (speed command)
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
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%)
6091h 0 Gear ratio U8 ro 2 Gear ratio
1 Motor revolutions U32 rw 1 Number of revolutions of the servo motor axis
(numerator)
2 Shaft revolutions 1 Number of revolutions of the drive axis
(denominator)
607Eh  Polarity U8 rw 0 Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
 Page 252 OBJECT DICTIONARY
60A8h

SI unit position U32 rw 0 SI unit position
The value is automatically set according to the
setting of "Position data unit" of [Pr. PT01].

Page 252 OBJECT DICTIONARY
60A9h

SI unit velocity U32 rw 0 SI unit velocity
0.01 r/min or 0.01 mm/s
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)
2D60h

Target point table I16 rw 0 Point table command
0: Not operate
1 to 255: Execute the specified point table
-1: High-speed home position return
2D68h  Point demand value I16 ro  Point table demand
The currently specified point table No. is
returned.
While the servo motor is stopped, the value of
Target point Table (2D60h) is returned.
2D69h

Point actual value I16 ro

Current point table
The completed point table is returned.