Mitsubishi Electric MELSERVO-J4 Instruction Manual page 55

5. CiA 402 DRIVE PROFILE
Index Sub Object
6063h VAR
6064h VAR
606Ch VAR
6077h VAR
60F4h VAR
60FAh VAR
60E0h VAR
60E1h VAR
0
1
6091h ARRAY
2
607Eh VAR
Note 1.This is not supported by the MR-J4-_TM_ servo amplifier.
2.Available in the future.
(2) Details on the OMS bit of Controlword (pp mode)
Bit Symbol
4 New set-point
5 Change set immediately
6
8
9 Change on set-point
(3) Details on the OMS bit of Statusword (pp mode)
Bit Symbol
10 Target reached
12 Set-point acknowledge
13 Following error
Name Data Type
Position actual
internal value
Position actual value
Velocity actual value
Torque actual value
Following error actual
value
Control effort
Positive torque limit
value
Negative torque limit
value
Gear ratio
Motor revolutions
Shaft revolutions
Polarity
New positioning parameters are obtained when this bit turns on.
0: Set of set-points
1: Single set-point
0: Absolute position command
abs/rel
1: Relative position command
0: Positioning is executed.
HALT
1: The servo motor stops according to Halt option code (605Dh).
Enabled only for Set of set-points (Bit 5 = 0).
0: The next positioning starts after the current positioning is completed (stopped)
(black line).
1: The next positioning starts after positioning is executed with Profile velocity
(6081h) held up to the current set-point (gray line).
0 (Halt (Bit 8) = 0) : Target position not reached.
0 (Halt (Bit 8) = 1) : Axis decelerates
1 (Halt (Bit 8) = 0) : Target position reached.
1 (Halt (Bit 8) = 1) : Velocity of axis is 0
judgement condition for Target position reached
If the error between Actual position and Target position (607Ah) has stayed within
Position window (6067h) for Position window time (6068h) or more, Target position
reached is stored.
Although the function is similar to INP, the judgement condition differs.
0: Positioning completed (wait for next command)
1: Positioning being executed (The set-point can be overwritten.)
0: No following error
1: Following error
Access Default
I32 ro
I32 ro
I32 ro
I32 ro
I32 ro
I32 ro
U16 rw 1000
U16 rw 1000
U8 ro 2
1
U32 rw
1
U8 rw 0
Description
Description
5 - 20
Description
Current position (Enc inc)
Current position (Pos units)
Current speed
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
Current torque
Unit: 0.1 % (rated torque of 100 %)
Droop pulses (Pos units)
Position control loop output (speed command)
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
Torque limit value (forward)
Unit: 0.1 % (rated torque of 100 %)
Torque limit value (reverse)
Unit: 0.1 % (rated torque of 100%)
Gear ratio
Number of revolutions of the servo motor axis
(numerator)
Number of revolutions of the drive axis
(denominator)
Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL