Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual page 102

5. CiA 402 DRIVE PROFILE
Index Sub Object
0
1
607Dh ARRAY
2
607Fh VAR
6080h VAR
6081h VAR
6083h VAR
6084h VAR
6085h VAR
605Ah VAR
6063h VAR
6064h VAR
606Ch VAR
6077h VAR
0
1
6092h ARRAY
2
60F4h VAR
60FAh VAR
60E0h VAR
60E1h VAR
Data
Name
Type
Software position limit U8
Min position limit I32
Max position limit I32
Max profile velocity U32
Max motor speed U32
Profile velocity U32
Profile Acceleration U32
Profile deceleration U32
Quick stop
U32
deceleration
Quick stop option
I16
code
Position actual
I32
internal value
Position actual value I32
Velocity actual value I32
Torque actual value I32
Feed constant U8
Feed
U32
Shaft revolutions
Following error actual
I32
value
Control effort I32
Positive torque limit
U16
value
Negative torque limit
U16
value
5 - 65
Access Default
ro 2 Number of entries
Minimum position address (Pos
units)
rw 0
This cannot be used in the indexer
method.
Maximum position address (Pos
units)
rw 0
This cannot be used in the indexer
method.
maximum speed
rw 2000000
Unit: Vel unit (0.01 r/min or 0.01
Servo motor maximum speed
rw
Unit: r/min
Speed after acceleration completed
rw 10000
Unit: Vel unit (0.01 r/min or 0.01
Acceleration at start of movement to
rw 0 target position
Unit: ms
Deceleration at arrival at target
position
rw 0
Unit: ms
Deceleration at deceleration to a
stop by Quick stop
rw 100
Unit: ms
Operation setting for Quick stop
rw 2
Refer to section 5.6.
ro Current position (Enc inc)
Current position (Pos units)
ro
In the indexer method, the value is
fixed to 0.
Current speed
Unit: Vel unit (0.01 r/min or 0.01
ro
In the indexer method, this is
available only in 0.01 r/min.
Current torque
ro
Unit: 0.1% (rated torque of 100%)
Travel distance per revolution of an
ro 2
output shaft
Travel distance
Refer to section 7.3.14 (4).
rw
Number of servo motor shaft
revolutions
Refer to section 7.3.14 (4).
ro Droop pulses (Pos units) (Note)
Position control loop output (speed
command)
ro
Unit: Vel unit (0.01 r/min or 0.01
Torque limit value (forward)
rw 10000
Unit: 0.1% (rated torque of 100%)
Torque limit value (reverse)
rw 10000
Unit: 0.1% (rated torque of 100%)
Description
mm/s)
mm/s)
mm/s)
mm/s)