Profile Velocity Mode (Pv) - Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual

5. CiA 402 DRIVE PROFILE

5.4.7 Profile velocity mode (pv)

The following shows the functions and related objects of the profile velocity mode (pv).
Torque limit value (60E0h, 60E1h)
Motion profile type (6086h)
Profile acceleration (6083h)
Profile deceleration (6084h)
Quick stop deceleration (6085h)
Quick stop option code (605Ah)
Target velocity (60FFh)
Max profile velocity (607Fh)
Max motor speed (6080h)
Gear ratio (6091h)
Polarity (607Eh)
Velocity demand value (606Bh)
Position actual value (6064h)
Velocity actual value (606Ch)
Torque actual value (6077h)
(1) Related object
Index Sub Object
60FFh VAR
607Fh VAR
6080h VAR
6083h VAR
6084h VAR
6085h VAR
6086h VAR
605Ah VAR
6063h VAR
6064h VAR
×
Acceleration
limit
function
Velocity
limit
×
function
×
× × Position actual internal value (6063h)
×
×
Data
Name
Type
Target velocity I32
Max profile velocity U32
Max motor speed 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
5 - 24
Velocity
control
Velocity
trajectry
generator
Access Default
Command speed
rw
Unit: Vel unit (0.01 r/min or 0.01
maximum speed
rw 2000000
Unit: Vel unit (0.01 r/min or 0.01
Servo motor maximum speed
rw
Unit: r/min
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)
Torque
Motor
control
Encoder
Description
mm/s)
mm/s)
(Note 1)
ramp (not supported) (Note
2
1)
(Note 1)
(Note 1)