Mitsubishi Electric MELSERVO-JE Instruction Manual page 98

6. SERVO MOTOR DRIVING
Index Sub Index Access
6081h 0
6083h 0
6084h 0
6085h 0
6086h 0
605Ah 0
6063h 0
6064h 0
606Ch 0
6077h 0
0
1
6092h
2
60F4h 0
60FAh 0
60E0h 0
60E1h 0
0
1
6091h
2
607Eh 0
Name
rw Profile velocity
rw Profile Acceleration
rw Profile deceleration
rw Quick stop deceleration
rw Motion profile type
rw Quick stop option code
ro Position actual internal value
ro Position actual value
ro Velocity actual value
ro Torque actual value
ro Feed constant
Feed
rw
Shaft revolutions
ro Following error actual value
ro Control effort
rw Positive torque limit value
rw Negative torque limit value
ro Gear ratio
Motor revolutions
rw
Shaft revolutions
rw Polarity
Data Type Default
U32
U32
U32
U32
I16
I16
I32
I32
I32
I16
U8
U32
I32
I32
U16
U16
U8
U32
U8
6 - 33
Description
Speed after acceleration
completed
10000
Unit: Vel unit (0.01 r/min)
Acceleration at start of
movement to target position
0
Unit: ms
Deceleration at arrival at
target position
0
Unit: ms
Deceleration at deceleration
100 to a stop by Quick stop
Unit: ms
Acceleration/deceleration
type selection
-1: S-pattern
0: Linear ramp (not
compatible) (Note 1)
-1
1: sin ramp (not compatible)
2
(Note 1)
2: Jerk-free ramp (not
compatible) (Note 1)
3: Jerk-limited ramp (not
compatible) (Note 1)
Operation setting for Quick
2
stop (Note 2)
Current position (Enc inc)
Unit: pulse
Current position (Pos units)
Current speed
Unit: Vel unit (0.01 r/min)
Current torque
Unit: 0.1% (rated torque of
100%)
Travel distance per revolution
2
of an output shaft
Travel distance setting
Number of servo motor shaft
revolutions
Droop pulses (Pos units)
Position control loop output
(speed command)
0
Unit: Vel unit (0.01 r/min)
Torque limit value (forward)
10000
Unit: 0.1% (rated torque of
100%)
Torque limit value (reverse)
10000
Unit: 0.1% (rated torque of
100%)
2 Gear ratio
Number of revolutions of the
1
servo motor axis (numerator)
Number of revolutions of the
1
drive axis (denominator)
Polarity selection
Bit 7: Position POL
00h Bit 6: Velocity POL
Bit 5: Torque POL
(Note 2)