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Mitsubishi Electric MELSERVO-JE Instruction Manual page 107

General-purpose ac servo, ethernet interface, servo amplifier, profile mode
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6. SERVO MOTOR DRIVING
Index
Sub Index
Access
0
6092h
1
2
60E0h
0
60E1h
0
0
1
6091h
2
607Eh
0
2D20h
0
60A8h
0
60A9h
0
Note 1. This is not compatible with the MR-JE-_C servo amplifier.
2. Refer to "MR-JE-_C Servo Amplifier Instruction Manual (Network)".
(1) Details on the Controlword (6040h) (tq mode)
Bit
Symbol
4
(reserved)
5
(reserved)
6
(reserved)
8
HALT
9
(reserved)
(2) Details on the Statusword (6041h) (tq mode)
Bit
Symbol
Target reached
10
(Not compatible)
(Note)
12
(reserved)
13
(reserved)
Note. This is not compatible with the MR-JE-_C servo amplifier.
Name
ro
Feed constant
Feed
rw
Shaft revolutions
rw
Positive torque limit value
rw
Negative torque limit value
ro
Gear ratio
Motor revolutions
rw
Shaft revolutions
rw
Polarity
rw
Velocity limit value
rw
SI unit position
rw
SI unit velocity
The value at reading is undefined. Set "0" when writing.
0: The servo motor is driven.
1: The servo motor is stopped according to Halt option code (605Dh).
The value at reading is undefined. Set "0" when writing.
0 (Halt (Bit 8) = 0): Target torque not reached.
0 (Halt (Bit 8) = 1): Axis decelerates
1 (Halt (Bit 8) = 0): Target torque reached.
1 (Halt (Bit 8) = 1): Velocity of axis is 0
Judgment condition for Target torque reached
If the error between Torque actual value (6077h) and Target torque (6071h) has stayed within
Torque window for Torque window time or more, Target torque reached is stored.
The value at reading is undefined.
Data Type
Default
U8
U32
U16
U16
U8
U32
U8
I32
U32
U32
FEB44700h
Description
Description
6 - 42
Description
Travel distance per revolution
2
of an output shaft
Travel distance setting
Number of servo motor shaft
revolutions
Torque limit value (forward)
10000
Unit: 0.1% (rated torque of
100%)
Torque limit value (reverse)
10000
Unit: 0.1% (rated torque of
100%)
2
Gear ratio
Number of revolutions of the
1
servo motor axis (numerator)
Number of revolutions of the
1
drive axis (denominator)
Polarity selection
Bit 7: Position POL
00h
Bit 6: Velocity POL
Bit 5: Torque POL
(Note 2)
Speed limit value
Unit: Vel unit (0.01 r/min)
SI unit position
The value is automatically set
according to the setting of
"Position data unit" of [Pr.
PT01].
SI unit velocity
FEB44700h (0.01 r/min)

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