Profile Torque Mode (Tq) - Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual

5. CiA 402 DRIVE PROFILE

5.4.8 Profile torque mode (tq)

The following shows the functions and related objects of the profile torque mode (tq).
(1) Related object
Index Sub Object
6040h VAR
6071h VAR
6072h VAR
6074h VAR
6087h VAR
6088h VAR
6063h VAR
6064h VAR
606Ch VAR
6077h VAR
0
6092h 1
ARRAY
(Note 2)
2
Target torque (6071h)
Torque slope (6087h)
Torque profile type (6088h)
Controlword (6040h)
Max torque (6072h)
Torque limit value (60E0h, 60E1h)
Gear ratio (6091h)
Polarity (607Eh)
Position actual value (6064h)
Velocity actual value (606Ch)
Torque actual value (6077h)
Name
Controlword
Target torque
Max torque
Torque demand
Torque slope
Torque profile type
Position actual
internal value
Position actual value
Velocity actual value
Torque actual value
Feed constant
Feed
Shaft revolutions
Torque demand
Trajectry
(6074h)
generator
×
×
Position actual internal
value (6063h)
× ×
×
×
Data
Access Default
Type
U16 rw
I16 rw
U16 rw
I16 ro
U32 rw 0
U32 rw 0
I32 ro
I32 ro
I32 ro
I32 ro
U8 ro 2
U32 rw
5 - 27
Torque
control
and
power
stage
Description
Common control command
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%)
Torque variation
Unit: 0.1%/s (rated torque of 100%)
Torque variation pattern
0000h: Linear ramp
0001h: Sin ramp (not supported)
2
(Note 1)
0002h to 7FFFh: reserved
8000h to FFFFh: Manufacturer
specific
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).
Motor
Encoder