Cyclic Synchronous Velocity Mode (Csv) - Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual

5. CiA 402 DRIVE PROFILE

5.4.4 Cyclic synchronous velocity mode (csv)

The following shows the functions and related objects of the cyclic synchronous velocity mode (csv).
Torque limit value (60E0h, 60E1h)
Torque offset (60B2h)
Quick stop deceleration (6085h)
Quick stop option code (605Ah)
Max motor speed (6080h)
Target velocity (60FFh)
Gear ratio (6091h)
Polarity (607Eh)
Position actual value (6064h)
Velocity actual value (606Ch)
Torque actual value (6077h)
(1) Related object
Index Sub Object
60FFh VAR
6085h VAR
605Ah VAR
6080h VAR
606Bh VAR
6063h VAR
6064h VAR
606Ch VAR
6077h VAR
0
6092h 1
ARRAY
(Note 2)
2
60E0h VAR
60E1h VAR
×
×
×
×
×
Data
Name
Type
Target velocity I32
Quick stop
U32
deceleration
Quick stop option
I16
code
Max motor speed U32
Velocity demand
I32
value
Position actual
I32
internal value
Position actual value I32
Velocity actual value I32
Torque actual value I32
Feed constant U8
Feed
U32
Shaft revolutions
Positive torque limit
U16
value
Negative torque limit
U16
value
5 - 16
Velocity
demand
value
Velocity
(606Bh)
Velocity
limit
control
function
Position actual internal value
(6063h)
×
Access Default
Command speed
rw
Unit: Vel unit (0.01 r/min or 0.01
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.
Servo motor maximum speed
rw
Unit: r/min
Command speed (after limit)
ro
Current position (after electronic
ro
gear)
ro Current position (command unit)
Current speed
ro
Unit: 0.01 r/min or 0.01 mm/s
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).
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%)
+ +
Torque
Motor
control
Encoder
Description
mm/s)
(linear)