Profile Velocity Mode (Pv); Function Description; Related Objects/Registers - Mitsubishi Electric MELSERVO-JE Instruction Manual

6. SERVO MOTOR DRIVING

6.3 Profile velocity mode (pv)

The following shows the functions and related objects/registers of the profile velocity mode (pv).

6.3.1 Function description

Torque limit value (60E0h, 60E1h)
Motion profile type (6086h)
Profile Acceleration (6083h)
Profile deceleration (6084h)
Quick Stop Deceleration (6085h)
Quick stop option code (605Ah)
Target velocity (60FFh)
Max profile velocity (607Fh)
Max motor speed (6080h)
Gear ratio (6091h)
Polarity (607Eh)
Velocity demand value (606Bh)
Position actual value (6064h)
Velocity actual value (606Ch)
Torque actual value (6077h)

6.3.2 Related objects/registers

Index Sub Index Access
60FFh 0
607Fh 0
6080h 0
6083h 0
6084h 0
6085h 0
6086h 0
605Ah 0
6063h 0
Acceleration
limit
Function
Velocity
limit
function
×
×
×
Name
rw Target velocity
rw Max profile velocity
rw Max motor speed
rw Profile Acceleration
rw Profile deceleration
rw Quick stop deceleration
rw Motion profile type
rw Quick stop option code
ro Position actual internal value
×
Velocity
trajectry
Generator
×
× × Position actual internal value (6063h)
Data Type
I32
U32
U32
U32
U32
U32
I16
I16
I32
6 - 36
Torque
Velocity
control
control
Default Description
Command speed
0
Unit: Vel unit (0.01 r/min)
maximum speed
2000000
Unit: Vel unit (0.01 r/min)
Servo motor maximum speed
Unit: r/min
Acceleration at start of
movement to target position
0
Unit: ms
Deceleration at arrival at
target position
0
Unit: ms
Deceleration at deceleration
to a stop by Quick stop
100
Unit: ms
Acceleration/deceleration
type selection
-1: S-pattern
0: Linear ramp (not
compatible) (Note 1)
-1
1: sin ramp (not compatible)
2
(Note 1)
2: Jerk-free ramp (not
compatible) (Note 1)
3: Jerk-limited ramp (not
compatible) (Note 1)
Operation setting for Quick
2
stop (Note 2)
Current position (Enc inc)
Unit: pulse
Motor
Encoder