Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual page 109

5. CiA 402 DRIVE PROFILE
Index Sub Object
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
0
1
6091h ARRAY
2
607Eh VAR
60A8h VAR
60A9h VAR
2D60h VAR
2D68h VAR
2D69h VAR
Data
Name
Type
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
Gear ratio U8
Motor revolutions
U32
Shaft revolutions
Polarity U8
SI unit position U32
SI unit velocity U32
Target point table I16
Point demand value I16
Point actual value I16
5 - 72
Access Default
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
Fixed to 0
Current speed
ro
Unit: Vel unit (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)
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%)
ro 2 Gear ratio
Number of gear teeth on machine
1
side
rw
Number of gear teeth on servo
1
motor side
Polarity selection
Bit 7: Position POL
rw 0 Bit 6: Velocity POL
Bit 5: Torque POL
Refer to section 5.10.
SI unit position
rw 0
00000000h (no unit)
SI unit velocity
rw 0
FEB44700h (0.01 r/min)
Set next station No.
rw 0
0 to 254: Positioning operation to
The currently specified next station
No. is returned.
ro
While the servo motor is stopped,
the value becomes the set value of
the Target point table (2D60h).
The completed point table is
ro returned. The previous value is held
until the operation completes.
Description
specified stations