Mitsubishi Electric MELSERVO-J4 MR-J4-TM Instruction Manual page 46

6. CONTROL MODE
(1) Related object
PNU Sub Access
24698 0 R/W Target position
24701 0 R/W Min position limit
1 R/W Max position limit
24703 0 R/W Max profile velocity
24704 0 R/W Max motor speed
24705 0 R/W Profile velocity
24707 0 R/W Profile Acceleration
24708 0 R/W Profile deceleration
24709 0 R/W Quick stop deceleration
24710 0 R/W Motion profile type
24666 0 R/W Quick stop option code
24675 0 R Position actual internal
value
24676 0 R Position actual value
24684 0 R Velocity actual value
24695 0 R Torque actual value
24722 0 R/W Feed
1 R/W Shaft revolutions
24820 0 R Following error actual value
24826 0 R Control effort
24800 0 R/W Positive torque limit value
24801 0 R/W Negative torque limit value
24721 0 R/W Motor revolutions
1 Shaft revolutions
Name Type
Integer32
Array [2]
Integer32
Unsigned32
Unsigned32
Unsigned32
Unsigned32
Unsigned32
Unsigned32
Integer16
Integer16
Integer32
Integer32
Integer32
Integer16
Array [2]
Unsigned32
Integer32
Integer32
UInteger16
UInteger16
Array [2]
Unsigned32
6 - 3
Default
value
Command position (Pos unit)
0 Minimum position address (Pos unit)
0 Maximum position address (Pos unit)
2000000 maximum speed
Unit: Vel unit (0.01 r/min or 0.01 mm/s
(linear))
Servo motor maximum speed
Unit: r/min
10000 Speed after acceleration completed
Unit: Vel unit (0.01 r/min or 0.01 mm/s
(linear))
0 Acceleration at start of movement to target
position
Unit: ms
0 Deceleration at arrival at target position
Unit: ms
100 Deceleration at deceleration to a stop by
Quick stop
Unit: ms
-1 Acceleration/deceleration type selection
-1: S-pattern
0: Linear ramp (not compatible) (Note)
2
1: Sin ramp (not compatible) (Note)
2: Jerk-free ramp (not compatible) (Note)
3: Jerk-limited ramp (not compatible) (Note)
2 Operation setting for Quick stop
Refer to section 8.10.
Current position (Enc inc)
Current position (Pos units)
Current speed
Unit: Vel unit (0.01 r/min or 0.01 mm/s
(linear))
Current torque
Unit: 0.1% (rated torque of 100%)
Travel distance per revolution of an output
shaft
Encoder resolution of the connected servo
motor at initial value
1 Number of servo motor shaft revolutions
Droop pulses (Pos unit)
Position control loop output (speed command)
Unit: Vel unit (0.01 r/min or 0.01 mm/s
(linear))
10000 Torque limit value (forward)
Unit: 0.1% (rated torque of 100%)
10000 Torque limit value (reverse)
Unit: 0.1% (rated torque of 100%)
1 Gear ratio: Number of revolutions of the servo
motor axis (numerator)
1 Gear ratio: Number of revolutions of the drive
axis (denominator)
Description