Cyclic Synchronous Torque Mode (Cst) - Mitsubishi Electric MELSERVO-J4 Instruction Manual

5. CiA 402 DRIVE PROFILE

5.4.5 Cyclic synchronous torque mode (cst)

The following shows the functions and related objects of the cyclic synchronous torque mode (cst).
Max torque (6072h)
Torque limit value (60E0h, 60E1h)
Target torque (6071h)
Gear ratio (6091h)
Polarity (607Eh)
Position actual value (6064h)
Velocity actual value (606Ch)
Torque actual value (6077h)
(1) Related object
Index Sub Object
6071h VAR
6074h VAR
6063h VAR
6064h VAR
606Ch VAR
6077h VAR
60E0h VAR
60E1h VAR
0
1
6091h ARRAY
2
607Eh VAR
2D20h 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].
Position actual internal value (6063h)
Data
Name
Type
Target torque I16
Torque demand I16
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
Velocity limit value I32
5 - 17
Torque
demand
value
Torque
(6074h)
limit
function
Access Default
Command torque
rw
Unit: 0.1 % (rated torque of 100%)
Command torque (after limit)
ro
Unit: 0.1 % (rated torque of 100%)
ro Current position (Enc inc)
ro Current position (Pos units)
Current speed
ro
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
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
Speed limit value
rw 50000
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
Torque
Motor
control
Encoder
Description