Mitsubishi MR-JE series, Инструкция по эксплуатации

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7. OBJECT LIBRARY
7 - 8
Index
Sub
Index
Name and function
Data
type
Read/
write
Variable
mapping
Initial value Range Unit
Saved
to EEP-
ROM
Para-
meter
2C20 0 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 Impos-
sible
0 0000h to
FFFFh
2C21 0 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 Impos-
sible
0 8000h to
7FFFh
0.1
%
2C22 0 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 Impos-
sible
0 8000h to
7FFFh
0.1
%
2C23 0 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 Impos-
sible
0 8000h to
7FFFh
0.1
%