Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual page 200

7. OBJECT DICTIONARY
(5) Torque slope (6087h)
Index Sub
6087h 0
Index Sub Default
6087h 0 00000000h
Set the variation per second of the torque command used in the profile torque mode (tq). When "0" is
set, the setting value is invalid and the torque command is input with step input.
(6) Torque profile type (6088h)
Index Sub
6088h 0
Index Sub Default
6088h 0
Set the torque command pattern. The description is as follows.
Values other than "0" cannot be set.
(7) Positive torque limit value (60E0h)
Index Sub
60E0h 0
Index Sub Default
60E0h 0 10000
You can limit the torque or thrust generated by the servo motor. Set the limit value of the torque of the
servo motor in the CCW power running or CW regeneration, or the limit value of the thrust of the linear
servo motor in the positive direction power running or negative direction regeneration. Set this object to
"0" to generate no torque or thrust.
Name
Torque slope
Range
00000000h to 00989680h (10000000)
Name
Torque profile type
Range
0 0000h to 0000h
Setting
value
0 Linear ramp
1 sin ramp (Not supported) (Note)
2
Note. This is not supported by the MR-J4-_TM_ servo amplifier.
Name
Positive torque limit value
Range
0000h to 2710h (10000)
Data Type
UNSIGNED32
Units
per thousand of
rated torque per
second
Data Type
INTEGER16
Units
Description
Data Type
UNSIGNED16
Units
per thousand of
rated torque
7 - 61
Access PDO Mapping
rw Possible
EEP-ROM Parameter
Possible PT53
Access PDO Mapping
rw Possible
EEP-ROM Parameter
Impossible
Access PDO Mapping
rw Possible
EEP-ROM Parameter
PA11 (POL
Possible disabled) PA12
(POL enabled)