Cyclic Synchronous Position Mode (Csp) - Mitsubishi Electric MELSERVO-J5 MR-J5 Series User Manual

Cyclic synchronous position mode (csp)

The functions and related objects of the cyclic synchronous position mode (csp) are shown in the following.
[Torque offset (Obj. 60B2h)]
[Velocity offset (Obj. 60B1h)]
[Positive torque limit value (Obj. 60E0h)]
[Negative torque limit value (Obj. 60E1h)]
[Quick stop deceleration (Obj. 6085h)]
[Quick stop option code (Obj. 605Ah)]
[Position offset (Obj. 60B0h)]
[Target position (Obj. 607Ah)]
[Software position limit (Obj. 607Dh)]
[Gear ratio (Obj. 6091h)]
[Polarity (Obj. 607Eh)]
[Following error actual value
(Obj. 60F4h)]
[Position actual value
(Obj. 6064h)]
[Velocity actual value (Obj. 606Ch)]
[Torque actual value (Obj. 6077h)]
Related objects
For details on the objects, refer to the User's Manual (Object Dictionary).
Index Sub
607Ah 
607Bh 0
1
2
607Dh 0
1
2

6085h

605Ah

6080h

6063h
6064h 

606Ch

6077h
6092h 0
1
2

60F4h

60FAh
2 CONTROL MODE
18
2.1 Control mode [G] [WG]
×
×
+
Position
[pos units]
+
limit
×
function
[pos units] +
-
[pos units]
×
×
Object Name
VAR Target position
ARRAY Position range limit
Min position range limit
Max position range limit
ARRAY Software position limit
Min position limit
Max position limit
VAR Quick stop deceleration
VAR Quick stop option code
VAR Max motor speed
VAR Position actual internal value
VAR Position actual value
VAR Velocity actual value
VAR Torque actual value
ARRAY Feed constant
Feed
Shaft revolutions
VAR Following error actual value
VAR Control effort
×
Position
trajectry
Generator
[Enc inc]
×
× ×
[Position actual internal value
× × (Obj. 6063h)]
Description
Command position
Unit: pos units
Number of entries
Minimum value of the position range limit
Unit: pos units
Maximum value of the position range limit
Unit: pos units
Number of entries
Minimum position address
Unit: pos units
Maximum position address
Unit: pos units
Deceleration at deceleration to a stop with Quick stop
Unit: acc units
Operation setting for Quick stop
Page 144 Quick stop [G] [WG]
Servo motor maximum speed
Unit: r/min, mm/s
Current position
Unit: Enc inc
Current position
Unit: pos units
Current speed
Unit: vel units
Current torque
Unit: 0.1 % (with rated torque being 100 %)
Travel distance per revolution of an output shaft
Travel distance setting
Number of servo motor shaft revolutions
Droop pulses
Unit: pos units
Position control loop output (speed command)
Unit: vel units
[Control effort
+
(Obj. 60FAh)]
+
Position Velocity
control control
+
+
Torque
Motor
control
Encoder