Mitsubishi Electric MELSERVO-J5 MR-J5 Series User Manual page 38

Functions and the related objects
The following shows the functions of the continuous operation to torque control mode (ct) and the related objects.
Max torque (6072h)
Torque limit value (60E0h, 60E1h)
Target torque (6071h)
+
Torque offset(60B2h)
Max motor speed (6080h)
Velocity limit value (2D20h)
Polarity (607Eh)
Position actual value (6064h)
Velocity actual value (606Ch)
Torque actual value (6077h)
■Related objects
For details on the objects, refer to the User's Manual (Object Dictionary).
Index Sub

6080h

606Bh

6071h
6072h 

6074h

6063h

6064h
606Ch 
6077h 
6092h 0
1
2
60E0h 

60E1h
6091h 0
1
2

607Eh

2D20h
2 CONTROL MODE
36
2.1 Control mode [G] [WG]
Torque demand value (6074h)
Torque
limit
function
×
Velocity
demand
Velocity
value (6068h)
limit
function
×
×
×
Object Name
VAR Max motor speed
VAR Velocity demand value
VAR Target torque
VAR Max torque
VAR Torque demand value
VAR Position actual internal value
VAR Position actual value
VAR Velocity actual value
VAR Torque actual value
ARRAY Feed constant
Feed
Shaft revolutions
VAR Positive torque limit value
VAR Negative torque limit value
ARRAY Gear ratio
Motor revolutions
Shaft revolutions
VAR Polarity
VAR Velocity limit value
Velocity Torque
Control Control
Description
Servo motor maximum speed
Unit: r/min
Command speed (after limit)
Unit: vel units
Command torque
Unit: 0.1 % (with rated torque being 100 %)
Maximum torque
Unit: 0.1 % (with rated torque being 100 %)
Command torque (after limit)
Unit: 0.1 % (with rated torque being 100 %)
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
Torque limit value (forward)
Unit: 0.1 % (with rated torque being 100 %)
Torque limit value (reverse)
Unit: 0.1 % (with rated torque being 100 %)
Gear ratio
Number of revolutions of the servo motor shaft (numerator)
Page 101 Electronic gear function [G] [WG]
Number of revolutions of the drive shaft (denominator)
Page 101 Electronic gear function [G] [WG]
Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
Page 84 Rotation/travel direction selection [G] [WG]
Speed limit value
Unit: vel units
Motor
Encoder