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

6. SERVO MOTOR DRIVING

6.2 Profile position mode (pp)

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

6.2.1 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)
Profile velocity (6081h)
Max profile velocity (607Fh)
Max motor speed (6080h)
Target position (607Ah)
Software position limit (607Dh)
Gear ratio (6091h)
Polarity (607Eh)
Following error actual value (60F4h)
Position actual value (6064h)
Velocity actual value (606Ch)
Torque actual value (6077h)

6.2.2 Related objects/registers

Index Sub Index Access
607Ah 0
0
1
607Bh
2
0
1
607Dh
2
607Fh 0
6080h 0
×
Acceleration
limit
Function
Velocity
limit
×
function
Position
limit
× ×
function
+
-
× × Position actual internal value (6063h)
×
×
Name
rw Target position
ro Position range limit
rw Min position range limit
rw Max position range limit
ro Software position limit
rw Min position limit
rw Max position limit
rw Max profile velocity
rw Max motor speed
Control
effort
(60FAh)
Position
control
Position
trajectry
Generator
× ×
Data Type
I32
U8
I32
I32
U8
I32
I32
U32 2000000
U32
6 - 32
Torque
Velocity
control
control
Default Description
Command position (Pos
0
units)
2 Number of entries
Minimum value of the position
range limit
The value is automatically set
according to the setting of
"Position data unit" of [Pr.
PT01].
pulse: -2147483648
degree: 0
Maximum value of the
position range limit
The value is automatically set
according to the setting of
"Position data unit" of [Pr.
PT01].
pulse: 2147483647
degree: 359999
2 Number of entries
Minimum position Index (Pos
0
units)
Maximum position Index (Pos
0
units)
maximum speed
Unit: Vel unit (0.01 r/min)
Servo motor maximum speed
Unit: r/min
Motor
Encoder