Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual page 58

5. CiA 402 DRIVE PROFILE
Index Sub Object
6081h VAR
6083h VAR
6084h VAR
6085h VAR
6086h VAR
605Ah VAR
6063h VAR
6064h VAR
606Ch VAR
6077h VAR
0
6092h 1
ARRAY
(Note 2)
2
60F4h VAR
60FAh VAR
60E0h VAR
60E1h VAR
0
1
6091h ARRAY
2
Data
Name
Type
Profile velocity U32
Profile Acceleration U32
Profile deceleration U32
Quick stop
U32
deceleration
Motion profile type I16
Quick stop option
I16
code
Position actual
I32
internal value
Position actual value I32
Velocity actual value I32
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
5 - 21
Access Default
Speed after acceleration completed
rw 10000
Unit: Vel unit (0.01 r/min or 0.01
Acceleration at start of movement to
target position
rw 0
Unit: ms
Deceleration at arrival at target
position
rw 0
Unit: ms
Deceleration at deceleration to a
stop by Quick stop
rw 100
Unit: ms
Acceleration/deceleration type
selection
-1: S-pattern
0: Linear ramp (not supported)
rw 0
1: Sin
2: Jerk-free ramp (not supported)
3: Jerk-limited ramp (not supported)
Operation setting for Quick stop
rw 2
Refer to section 5.6.
ro Current position (Enc inc)
ro Current position (Pos units)
Current speed
ro
Unit: Vel unit (0.01 r/min or 0.01
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)
rw
Number of revolutions of the drive
1
axis (denominator)
Description
mm/s)
(Note 1)
ramp (not supported) (Note
2
1)
(Note 1)
(Note 1)
mm/s)
mm/s)