Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual page 51

5. CiA 402 DRIVE PROFILE
Index Sub Object
6077h VAR
0
6092h 1
ARRAY
(Note 2)
2
60F4h VAR
60FAh VAR
60E0h VAR
60E1h VAR
0
1
6091h ARRAY
2
607Eh VAR
60A8h
VAR
(Note 2)
60A9h
VAR
(Note 2)
60B2h
VAR
(Note 3)
Note 1. In the cyclic synchronous mode of the software version B2 or earlier, setting Motor revolutions (6091h: 1) or Shaft revolutions
(6091h: 2) to anything other than "1" will trigger [AL. 37].
2. This is used with servo amplifiers with software version B0 or later.
3. This is available with servo amplifiers with software version B2 or later.
Data
Name
Type
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
Torque offset I16
5 - 14
Access Default
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)
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%)
ro 2 Gear ratio
Number of revolutions of the servo
1
motor axis (numerator) (Note 1)
rw
Number of revolutions of the drive
1
axis (denominator) (Note 1)
Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
rw 0
Bit 5: Torque POL (Note 2)
Refer to section 5.10.
SI unit position
The value is automatically set
rw 0 according to the setting of "Position
data unit" of [Pr. PT01].
Refer to section 7.3.14 (5).
SI unit velocity
0.01 r/min or 0.01 mm/s
rw 0
FB010300h (0.01 mm/s)
FEB44700h (0.01 r/min)
Torque offset
Unit: 0.1% (rated torque of 100%)
This can be set within -32768 to
32767. When this is set to a value
rw 0
exceeding the maximum torque of
the servo amplifier, the value is
clamped at the maximum torque.
Refer to section 5.12.
Description
mm/s)