Cyclic Synchronous Torque Mode (Cst) - Mitsubishi Electric Melservo-Jet MR-JET-G 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)]
[Torque offset (Obj. 60B2h)]
[Gear ratio (Obj. 6091h)]
[Polarity (Obj. 607Eh)]
[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 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
Target torque
Max torque
Torque demand value
Position actual internal value
Position actual value
Velocity actual value
Torque actual value
Feed constant
Feed
Shaft revolutions
Positive torque limit value
Negative torque limit value
Gear ratio
Motor revolutions
Shaft revolutions
Polarity
Velocity limit value
SI unit position
Torque
[Torque demand value (Obj. 6074h)]
limit
function
Description
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 77 Electronic gear function
Number of revolutions of the drive shaft (denominator)
Page 77 Electronic gear function
Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
Page 65 Rotation/travel direction selection
Speed limit value
Unit: vel units
SI unit position
00000000h (1 pulse)
Torque
Motor
control
×
Encoder
2 CONTROL MODE
2.1 Control mode
2
17