Cyclic Synchronous Torque Mode (Cst) - Mitsubishi Electric MR-J5 Series User Manual

Cyclic synchronous torque mode (cst)

The functions and related objects of the cyclic synchronous torque mode (cst) are shown in the following.
[Max torque (Obj. 6072h)]
[Positive torque limit value (Obj. 60E0h)]
[Negative torque limit value (Obj. 60E1h)]
[Target torque (Obj. 6071h)]
[Gear ratio (Obj. 6091h)]
[Polarity (Obj. 607Eh)]
[Position actual value (Obj. 6064h)]
[Velocity actual value (Obj. 606Ch)]
[Torque actual value (Obj. 6077h)]
Related objects
Index Sub Object

6071h VAR

6072h VAR

6074h VAR

6063h VAR
6064h  VAR

606Ch VAR
6077h  VAR
6092h 0 ARRAY
1
2
60E0h  VAR

60E1h VAR
6091h 0 ARRAY
1
2

607Eh VAR
2D20h  VAR

60A8h VAR
× × [Position actual internal value (Obj. 6063h)]
×
×
Name Data Type
Target torque I16
Max torque U16
Torque demand value I16
Position actual internal value I32
Position actual value I32
Velocity actual value I32
Torque actual value I32
Feed constant U8
Feed U32
Shaft revolutions
Positive torque limit value U16
Negative torque limit value U16
Gear ratio U8
Motor revolutions U32
Shaft revolutions
Polarity U8
Velocity limit value I32
SI unit position U32
Torque
[Torque demand value (Obj. 6074h)]
limit
function
Access Default

rw

rw

ro

ro
ro 

ro
ro 
ro 2
rw 

rw 10000
rw 10000
ro 2
rw 1
1
rw 0
rw 100

rw
Torque
Motor
control
×
Encoder
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 setting
Number of servo motor shaft
revolutions
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 shaft (numerator)
Page 81 Electronic gear function
[G] [WG]
Number of revolutions of the drive shaft
(denominator)
Page 81 Electronic gear function
[G] [WG]
Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
Page 67 Rotation/travel direction
selection [G] [WG]
Speed limit value
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
SI unit position
00000000h (1 pulse)
2 CONTROL MODE
2.1 Control mode [G] [WG]
2
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