Cyclic Synchronous Torque Mode (Cst) - Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual

5. CiA 402 DRIVE PROFILE

5.4.5 Cyclic synchronous torque mode (cst)

The following shows the functions and related objects of the cyclic synchronous torque mode (cst).
(1) Related object
Index Sub Object
6071h VAR
6072h VAR
6074h VAR
6063h VAR
6064h VAR
606Ch VAR
6077h VAR
0
6092h 1
ARRAY
(Note 2)
2
60E0h VAR
60E1h VAR
0
1
6091h ARRAY
2
607Eh VAR
Max torque (6072h)
Torque limit value (60E0h, 60E1h)
Target torque (6071h)
Torque offset (60B2h)
Gear ratio (6091h)
Polarity (607Eh)
Position actual value (6064h)
Velocity actual value (606Ch)
Torque actual value (6077h)
Name
Target torque
Max torque
Torque demand
Position actual
internal value
Position actual value
Velocity actual value
Torque actual value
Feed constant
Feed
Shaft revolutions
Positive torque limit
value
Negative torque limit
value
Gear ratio
Motor revolutions
Shaft revolutions
Polarity
Torque
limit
function
+
+
Position actual internal value
× ×
×
×
Data
Access Default
Type
I16 rw
U16 rw
I16 ro
I32 ro
I32 ro
I32 ro
I32 ro
U8 ro 2
U32 rw
U16 rw 10000
U16 rw 10000
U8 ro 2
1
U32 rw
1
U8 rw 0
5 - 18
Torque
demand
value
(6074h)
Torque
control
×
(6063h)
Description
Command torque
Unit: 0.1% (rated torque of 100%)
Maximum torque
Unit: 0.1% (rated torque of 100%)
Command torque (after limit)
Unit: 0.1% (rated torque of 100%)
Current position (Enc inc)
Current position (Pos units)
Current speed
Unit: Vel unit (0.01 r/min or 0.01
mm/s)
Current torque
Unit: 0.1% (rated torque of 100%)
Travel distance per revolution of an
output shaft
Travel distance
Refer to section 7.3.14 (4).
Number of servo motor shaft
revolutions
Refer to section 7.3.14 (4).
Torque limit value (forward)
Unit: 0.1% (rated torque of 100%)
Torque limit value (reverse)
Unit: 0.1% (rated torque of 100%)
Gear ratio
Number of revolutions of the servo
motor axis (numerator) (Note 1)
Number of revolutions of the drive
axis (denominator) (Note 1)
Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL (Note 2)
Refer to section 5.10.
Motor
Encoder