Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual page 56

5. CiA 402 DRIVE PROFILE
Index Sub Object
2D20h 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 (cst mode)
Bit Symbol
4 (reserved)
5 (reserved)
6 (reserved)
8 (reserved)
9 (reserved)
(3) OMS bit of Statusword (cst mode)
Bit Symbol
10 (reserved)
12 Target torque ignored
13 (reserved)
Data
Name
Type
Velocity limit value I32
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 torque (6071h) is being discarded.
1: Target torque (6071h) is being used as a torque control loop input.
The value at reading is undefined.
5 - 19
Access Default
Speed limit value
rw 50000
Unit: Vel unit (0.01 r/min or 0.01
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
mm/s)