Cyclic Synchronous Position Mode (Csp) - Mitsubishi Electric MELSERVO-J4 Instruction Manual

5. CiA 402 DRIVE PROFILE

5.4.3 Cyclic synchronous position mode (csp)

The following shows the functions and related objects of the cyclic synchronous position mode (csp).
Torque limit value (60E0h, 60E1h)
Quick Stop Deceleration (6085h)
Quick stop option code (605Ah)
Target position (607Ah)
Position
limit
Software position limit (607Dh)
function
Gear ratio (6091h)
Polarity (607Eh)
Following error actual value
(60F4h) [Pos units]
Position actual value (6064h) [Pos units]
Velocity actual value (606Ch)
Torque actual value (6077h)
(1) Related object
Index Sub Object
60FFh VAR
6085h VAR
605Ah VAR
6080h VAR
6063h VAR
6064h VAR
606Ch VAR
6077h VAR
60E0h VAR
60E1h VAR
0
1
6091h ARRAY
2
607Eh VAR
Note. In the cyclic synchronous mode, setting Motor revolutions (6091h: 1) or Shaft revolutions (6091h: 2) to anything other than "1"
will trigger [AL. 37].
[Pos units] [Enc inc]
+
-
Position actual internal value (6063h)
Data
Name
Type
Target velocity
Quick stop
deceleration
Quick stop option
code
Max motor speed
Position actual
internal value
Position actual
value
Velocity actual
value
Torque actual value
Positive torque limit
value
Negative torque
limit value
Gear ratio
Motor revolutions
Shaft revolutions
Polarity
Position
Position
trajectry
control
Generator
Access Default
I32 rw
U32 rw 100
I16 rw 2
Refer to
U32 rw
chapter 7.
I32 ro
I32 ro
I32 ro
I32 ro
U16 rw 1000
U16 rw 1000
U8 ro 2
1
U32 rw
1
U8 rw 0
5 - 13
Control
effort
(60FAh)
Velocity Torque
control control
Description
Command speed
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
Deceleration at deceleration to a stop by
Quick stop
Unit: ms
Operation setting for Quick stop
Refer to section 5.6.
Servo motor maximum speed
Unit: r/min
Current position (after electronic gear)
Current position (command unit)
Current speed
Unit: 0.01 r/min or 0.01 mm/s (linear)
Current torque
Unit: 0.1% (rated torque of 100%)
Torque limit value (forward)
Unit: 0.1% (rated torque of 100%)
Torque limit value (reverse)
Unit: 0.1% (rated torque of 100%)
Gear ratio
Number of revolutions of the servo motor
axis (numerator) (Note)
Number of revolutions of the drive axis
(denominator) (Note)
Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Motor
Encoder