Cyclic Synchronous Position Mode (Csp) - Mitsubishi Electric MR-J5 Series User Manual

Cyclic synchronous position mode (csp)

The functions and related objects of the cyclic synchronous position mode (csp) are shown in the following.
[Positive torque limit value (Obj. 60E0h)]
[Negative torque limit value (Obj. 60E1h)]
[Quick stop deceleration (Obj. 6085h)]
[Quick stop option code (Obj. 605Ah)]
[Target position (Obj. 607Ah)]
[Software position limit (Obj. 607Dh)]
[Gear ratio (Obj. 6091h)]
[Polarity (Obj. 607Eh)]
[Following error actual value
[Pos units] +
(Obj. 60F4h)]
[Position actual value
[Pos units]
(Obj. 6064h)]
[Velocity actual value (Obj. 606Ch)]
[Torque actual value (Obj. 6077h)]
Related objects
Index Sub Object

607Ah VAR
607Bh 0 ARRAY
1
2
607Dh 0 ARRAY
1
2

6085h VAR

605Ah VAR

6080h VAR

6063h VAR

6064h VAR

606Ch VAR

6077h VAR
6092h 0 ARRAY
1
2

60F4h VAR
60FAh  VAR

60E0h VAR
60E1h  VAR
×
Position
[Pos units] [Enc inc]
limit
× ×
function
-
[Position actual internal value
× × (Obj. 6063h)]
×
×
Name Data Type
Target position I32
Position range limit U8
Min position range limit I32
Max position range limit I32
Software position limit U8
Min position limit I32
Max position limit I32
Quick stop deceleration U32
Quick stop option code I16
Max motor speed U32
Position actual internal value I32
Position actual value I32
Velocity actual value I32
Torque actual value I32
Feed constant U8
Feed U32
Shaft revolutions
Following error actual value I32
Control effort I32
Positive torque limit value U16
Negative torque limit value U16
[Control effort
Position
(Obj. 60FAh)]
Position
trajectry
control
Generator
× ×
Access Default

rw
ro 2

rw
rw 
ro 2
rw 0
rw 0
rw 100
rw 2

rw

ro

ro

ro

ro
ro 2

rw


ro
ro 
rw 10000
rw 10000
Velocity Torque
Motor
control control
Encoder
Description
Command position (Pos units)
Number of entries
Minimum value of the position range limit
Maximum value of the position range
limit
Number of entries
Minimum position address (Pos units)
Maximum position address (Pos units)
Deceleration at deceleration to a stop
with Quick stop
Unit: ms
Operation setting for Quick stop
Page 118 Quick stop [G] [WG]
Servo motor maximum speed
Unit: r/min
Current position (Enc inc)
Current position (Pos units)
Current speed
Unit: 0.01 r/min or 0.01 mm/s
Current torque
Unit: 0.1 % (rated torque of 100 %)
Travel distance per revolution of an
output shaft
Travel distance setting
Number of servo motor shaft revolutions
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 %)
2 CONTROL MODE
2.1 Control mode [G] [WG]
2
19