Profile Velocity (Obj. 6081H)]; [Profile Velocity (Obj. 6081H: 00H)]; Profile Acceleration (Obj. 6083H)]; [Profile Acceleration (Obj. 6083H: 00H)] - Mitsubishi Electric MELSERVO JET Series User Manual

13.6

[Profile velocity (Obj. 6081h)]

[Profile velocity (Obj. 6081h: 00h)]

Data Type Access
U32 RW
Description
Set the speed command used in the profile position mode (pp). If [Pr. PT02.7 Internal position command - Process speed
selection] is set to "0" and the set speed exceeds 8000 r/min (or mm/s), the servo motor speed is clamped at 8000 r/min (or
mm/s). When changing the maximum value of "Range" to the permissible speed, set [Pr. PA28.4 Speed range limit selection]
to "1". The description of the object varies as shown in the table below, depending on the combination of the settings of [Pr.
PT01.2 Unit for position data], [Pr. PT01.1 Speed/acceleration/deceleration unit selection], and the connected servo motor.
[Pr. PT01.2]

2 (degree)
3 (pulse)
13.7

[Profile acceleration (Obj. 6083h)]

[Profile acceleration (Obj. 6083h: 00h)]

Data Type Access
U32 RW
Description
Set the acceleration time constant or the acceleration used in the profile position mode (pp) and the profile velocity mode (pv).
The description of the object varies as shown in the table below depending on the settings of [Pr. PT01.2 Unit for position
data] and [Pr. PT01.1 Speed/acceleration/deceleration unit selection]. When [Pr. PT01.1] is set to "0", set the time required for
the servo motor to reach the rated speed. The value that can be set varies for each control mode.
[Pr. PT01.2]

2 (degree)
3 (pulse)
*1 When "0" is set, the servo motor accelerates in accordance with the setting value of [Pr. PT49].
If the firmware version is earlier than B2, set this object to "0". If the object is read at this time, "0" is returned.
13 Profile Position Mode Objects
100
13.6 [Profile velocity (Obj. 6081h)]
Mapping
RxPDO
[Pr. PT01.1] Connected servo
motor
0 (encoder unit) Rotary servo motor
Linear servo motor

1 (command unit)
Mapping
RxPDO
[Pr. PT01.1] Default
0 (encoder unit) 100
1 (command unit) 0
Default Range
Refer to the 0 to maximum
following. speed
Default
10000
0
Default Range
Refer to the Refer to the
following. following.
Range
pp: 0 to 20000
pv: 0 to 50000
0 to 4294967295
Units Save
vel units Possible
Units
0.01 r/min
0.01 mm/s
0.001 degree/s
pulse/s
Units Save
acc units Possible
Units
ms
*1 2
0.001 degree/s
2
pulse/s
Parameter
Refer to the
following.
Parameter
[Pr. PT65]
[Pr. PV01]
Parameter
Refer to the
following.
Parameter
[Pr. PT49]
[Pr. PV05]