Cyclic Synchronous Velocity Mode (Csv) - Mitsubishi Electric MELSERVO-J4 Instruction Manual

5. CiA 402 DRIVE PROFILE

5.4.4 Cyclic synchronous velocity mode (csv)

The following shows the functions and related objects of the cyclic synchronous velocity mode (csv).
Torque limit value (60E0h, 60E1h)
Quick Stop Deceleration (6085h)
Quick stop option code (605Ah)
Max motor speed (6080h)
Target velocity (60FFh)
Gear ratio (6091h)
Polarity (607Eh)
Position actual value (6064h)
Velocity actual value (606Ch)
Torque actual value (6077h)
(1) Related object
Index Sub Object
60FFh VAR
6085h VAR
605Ah VAR
6080h VAR
606Bh 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].
Velocity
limit
function
Position actual internal value (6063h)
Data
Name
Type
Target velocity I32
Quick stop
U32
deceleration
Quick stop option
I16
code
Max motor speed U32
Velocity demand
I32
value
Position actual
I32
internal value
Position actual
I32
value
Velocity actual
I32
value
Torque actual value I32
Positive torque limit
U16
value
Negative torque
U16
limit value
Gear ratio U8
Motor revolutions
U32
Shaft revolutions
Polarity U8
5 - 15
Velocity
demand
value
(606Bh) Velocity
control
Access Default
Command speed
rw
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
Deceleration at deceleration to a stop by
Quick stop
rw 100
Unit: ms
Operation setting for Quick stop
rw 2
Refer to section 7.13.
Servo motor maximum speed
rw
Unit: r/min
Command speed (after limit)
ro
Current position (after electronic gear)
ro
Current position (command unit)
ro
Current speed
ro
Unit: 0.01 r/min or 0.01 mm/s (linear)
Current torque
ro
Unit: 0.1% (rated torque of 100%)
Torque limit value (forward)
rw 1000
Unit: 0.1% (rated torque of 100%)
Torque limit value (reverse)
rw 1000
Unit: 0.1% (rated torque of 100%)
ro 2 Gear ratio
Number of revolutions of the servo motor
1
axis (numerator) (Note)
rw
Number of revolutions of the drive axis
1
(denominator) (Note)
Polarity selection
rw 0 Bit 7: Position POL
Bit 6: Velocity POL
Torque
Motor
control
Encoder
Description