Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual page 54

5. CiA 402 DRIVE PROFILE
Index Sub Object
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.
(2) OMS bit of Controlword (csv mode)
Bit Symbol
4 (reserved)
5 (reserved)
6 (reserved)
8 (reserved)
9 (reserved)
(3) OMS bit of Statusword (csv mode)
Bit Symbol
10 (reserved)
Target velocity
12
ignored
13 (reserved)
Data
Name
Type
Gear ratio U8
Motor revolutions
U32
Shaft revolutions
Polarity U8
SI unit position U32
SI unit velocity U32
Torque offset I16
The value at reading is undefined. Set "0" at writing.
The value at reading is undefined.
0: Target velocity (60FFh) is being discarded.
1: Target velocity (60FFh) is being used as a speed control loop input.
The value at reading is undefined.
5 - 17
Access Default
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
rw 0 Bit 6: Velocity POL
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
Description
Description