Profile Velocity Mode (Pv) - Mitsubishi Electric MELSERVO-J4 MR-J4-TM Instruction Manual

6. CONTROL MODE

6.4 Profile velocity mode (pv)

The following shows the functions and related PROFIdrive parameters of the profile velocity mode (pv).
The dotted line area in the following diagram is used only for Standard Telegram 1.
Speed setpoint A
Speed actual value A
Torque limit value (P24800, P24801)
Motion profile type (P24710)
Profile Acceleration (P24707)
Profile deceleration (P24708)
Quick Stop Deceleration (P24709)
Quick stop option code (P24666)
Target velocity (P24831)
Max profile velocity (P24703)
Max motor speed (P24704)
Gear ratio (P24721)
Polarity (P24702)
Velocity demand value (P24683)
Position actual value (P24676)
Velocity actual value (P24684)
Torque actual value (P24695)
(1) Related object
PNU Sub Access
24831 0 R/W Target velocity
24703 0 R/W Max profile velocity
24704 0 R/W Max motor speed
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
Normalization
function
×
Acceleration
limit
Function
Velocity
limit
×
function
×
× × Position actual internal value (P24675)
×
×
Name Type
Integer32
Unsigned32
Unsigned32
Unsigned32
Unsigned32
Unsigned32
Integer16
Integer16
6 - 7
Target Velocity (P24831)
Velocity actual value (P24684)
Velocity
control
Velocity
trajectry
Generator
Default
value
Command speed (Vel unit)
2000000 maximum speed
Unit: Vel unit (0.01 r/min or 0.01 mm/s
(linear))
Servo motor maximum speed
Unit: r/min
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.
To the following diagram
Torque
Motor
control
Encoder
Description