Mitsubishi Electric MR-J4-_GF, Инструкция по эксплуатации

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6. SERVO MOTOR DRIVING
6 - 86
Index Sub Name
Data
Type
Access Default Description
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
Refer to chapter 10.
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 or 0.01 mm/s)
In the indexer method, this is available only in 0.01
r/min.
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
Refer to chapter 10.
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) (Note)
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)
In the indexer method, this means the number of
gear teeth on machine side.
2 Shaft revolutions 1
Number of revolutions of the drive axis
(denominator)
In the indexer method, this means the number of
gear teeth on servo motor side.
607Eh Polarity U8 rw 0
Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
Refer to chapter 10.
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].
Refer to chapter 10.
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)
In the indexer method, this is available only in 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.
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).