Mitsubishi Electric Melservo-Jet MR-JET-G Series User Manual page 33

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 Object

6080h VAR
606Bh  VAR

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
Torque demand value (6074h)
Torque
limit
function
Velocity
demand
Velocity
value (6068h)
Velocity
limit
Control
function
×
Name
Max motor speed
Velocity demand value
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
Torque
Motor
Control
Encoder
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 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
2 CONTROL MODE
31
2.1 Control mode
2