Profile Torque Mode (Tq) - Mitsubishi Electric MELSERVO-J4 MR-J4-TM Instruction Manual

6. CONTROL MODE

6.5 Profile torque mode (tq)

The following shows the functions and related PROFIdrive parameters of the Profile torque mode (tq).
(1) Related object
PNU Sub Access
24689 0 R/W Target torque
24692 0 R Torque demand
24711 0 R/W Torque slope
24712 0 R/W Torque profile type
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
24800 0 R/W Positive torque limit value
24801 0 R/W Negative torque limit value
24721 0 R/W Motor revolutions
1 R/W Shaft revolutions
24722 0 R/W Feed
1 R/W Shaft revolutions
Target torque (P24689)
Target slope (P24711)
Torque profile type (P24712)
Controlword (P24640)
Max torque (P24690)
Torque limit value (P24800, P24801)
Gear ratio (P24721)
Polarity (P24702)
Position actual value (P24676)
Velocity actual value (P24684)
Torque actual value (P24695)
Name
Integer16
Integer16
Unsigned32
Unsigned32
Integer32
Integer32
Integer32
Integer16
Unsigned16
Unsigned16
Unsigned32
Unsigned32
Torque demand
Trajectry
(P24692)
Generator
×
×
Position actual internal
value (P24675)
× ×
×
×
Default
Type
value
Command torque
Unit: 0.1% (rated torque of 100%)
Command torque (after limit)
Unit: 0.1% (rated torque of 100%)
0 Torque variation
Unit: 0.1%/s (rated torque of 100%)
0 Torque variation pattern
0000h: Linear ramp
0001h: Sin
0002h to 7FFFh: reserved
8000h to FFFFh: Manufacturer specific
Current position (Enc inc)
Current position (Pos unit)
Current speed
Unit: Vel unit (0.01 r/min or 0.01 mm/s
(linear))
Current torque
Unit: 0.1% (rated torque of 100%)
10000 Torque limit value (forward)
Unit: 0.1% (rated torque of 100%)
10000 Torque limit value (reverse)
Unit: 0.1% (rated torque of 100%)
Array [2] 1 Gear ratio: Number of revolutions of the servo
motor axis (numerator)
1 Gear ratio: Number of revolutions of the drive
axis (denominator)
Array [2] Travel distance per revolution of an output
shaft
Encoder resolution of the servo motor at initial
value
1 Number of servo motor shaft revolutions
6 - 13
Torque
Control
and
Power
Stage
Encoder
Description
2
ramp (not supported) (Note)
Motor