Profile Position Mode Objects - Mitsubishi Electric MELSERVO-J4 Instruction Manual

General-purpose/multi-network interface ac servo/servo amplifier
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7. OBJECT DICTIONARY

7.3.12 Profile Position Mode Objects

(1) Target position (607Ah)
Index
Sub
607Ah
0
Default
0
Set the position command used in the cyclic synchronous position mode (csp) and the profile position
mode (pp). The settable values vary depending on the mode.
Control mode
Cyclic synchronous position mode (csp)
Profile position mode (pp)
Set also Gear ratio (6091h) for the profile position mode (pp).
(2) Software position limit (607Dh)
Index
Sub
0
607Dh
1
2
Default
2
0
Set the range for limiting the command position. Target position (607Ah) is limited within the range
between Min position limit (607Dh: 01h) and Max position limit (607Dh: 02h). When the set value of Min
position limit (607Dh: 01h) is equal to or greater than the set value of Max position limit (607Dh: 02h),
the function of Software position limit (607Dh) is disabled.
(3) Max profile velocity (607Fh)
Index
Sub
607Fh
0
Default
2000000
Set the speed limit value for the profile position mode (pp) and profile velocity mode (pv). When a value
exceeding this object is set to Target velocity (60FF) or Profile velocity (6081h), the speed is limited with
the value of this object.
Name
Target position
Range
Refer to the text.
Name
Software position limit
Min position limit
Max position limit
Range
0x02 to 0x02
0x80000000 to 0x7FFFFFFF
Name
Max profile velocity
Range
0x00000000 to 0x001E8480 (2000000)
Data Type
INTEGER32
Units
pos units
Range
-8000000h to 7FFFFFFFh (-2147483648 to 2147483647)
-000F423Fh to 000F423Fh (-999999 to 999999)
Data Type
UNSIGNED8
INTEGER32
Units
pos units
Data Type
UNSIGNED32
Units
vel units
7 - 47
Access
PDO Mapping
rw
Possible
EEP-ROM
Parameter
Impossible
Access
PDO Mapping
ro
Impossible
rw
Possible
EEP-ROM
Parameter
Impossible
PT17/PT18
Possible
PT15/PT16
Access
PDO Mapping
rw
Possible
EEP-ROM
Parameter
Possible
PT66

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