Profile Velocity Mode (Pv) - Mitsubishi Electric MELSERVO-J5 MR-J5 Series User Manual

Profile velocity mode (pv)

This mode is available on servo amplifiers with firmware version A5 or later.
The following shows the functions and related objects of the profile velocity mode (pv).
[Torque offset (Obj. 60B2h)]
[Positive torque limit value (Obj. 60E0h)]
[Negative torque limit value (Obj. 60E1h)]
[Motion profile type (Obj. 6086h)]
[Profile Acceleration (Obj. 6083h)]
[Profile deceleration (Obj. 6084h)]
[Quick stop deceleration (Obj. 6085h)]
[Quick stop option code (Obj. 605Ah)]
[Velocity offset (Obj. 60B1h)]
[Target velocity (Obj. 60FFh)]
[Max profile velocity (Obj. 607Fh)]
[Max motor speed (Obj. 6080h)]
[Gear ratio (Obj. 6091h)]
[Polarity (Obj. 607Eh)]
[Velocity demand value (Obj. 606Bh)]
[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
60FFh 
607Fh 

6080h

6083h

6084h
6085h 

6086h
605Ah 

6063h

6064h

606Bh
606Ch 
6077h 
2 CONTROL MODE
28
2.1 Control mode [G] [WG]
×
×
Acceleration
limit
Function
+
+
Velocity
limit
function
×
× ×
×
×
Object Name
VAR Target velocity
VAR Max profile velocity
VAR Max motor speed
VAR Profile Acceleration
VAR Profile deceleration
VAR Quick stop deceleration
VAR Motion profile type
VAR Quick stop option code
VAR Position actual internal value
VAR Position actual value
VAR Velocity demand value
VAR Velocity actual value
VAR Torque actual value
Velocity
trajectry
Generator
×
[Position actual internal value (Obj. 6063h)]
Description
Command speed
Unit: vel units
Maximum speed
Unit: vel units
Servo motor maximum speed
Unit: r/min, mm/s
Acceleration at start of movement to target position
Unit: acc units
Deceleration at arrival to target position
Unit: acc units
Deceleration at deceleration to a stop with Quick stop
Unit: acc units
Acceleration/deceleration type selection
-1: S-pattern
0: Linear ramp (not supported)
2
1: Sin ramp (not supported)
2: Jerk-free ramp (not supported)
3: Jerk-limited ramp (not supported)
Operation setting for Quick stop
Page 144 Quick stop [G] [WG]
Current position
Unit: Enc inc
Current position
Unit: pos units
Speed command (after trajectory generation)
Unit: vel units
Current speed
Unit: vel units
Current torque
Unit: 0.1 % (with rated torque being 100 %)
+
+
Torque
Velocity
control
control
Motor
Encoder