Target Position; Profile Velocity; Velocity Actual Value/Target Velocity; Target Velocity - Mitsubishi Electric MELSEC-F FX3U-CAN User Manual

FX -CAN User's Manual
3U

8.13.2 Target position

This Car drive target position is equivalent to object H607A in the CiA
position contains the commanded position that the drive should move to in position profile mode using the
current settings of the motion control parameters such as velocity, acceleration, deceleration, motion profile
type etc. The value (32 bit data) shall be interpreted as absolute or relative depending on the 'abs/rel' flag in
the control word. This value needs to be handled by 32 bit instructions. It shall be given in user-defined
position units and shall be converted to position increments.
8.14

Profile Velocity

This Car drive profile Velocity is equivalent to object H6081 in the CiA
(32 bit data) is in units of mm/s.
This value needs to be handled by 32 bit instructions.
8.15

Velocity Actual Value/Target Velocity

When BFM #3492 to #3507 and #12492 to 12507 are read, the Velocity actual value is read from BFMs.
When BFM #13492 to #13507 are read, the Target velocity is read from BFMs. And when BFM #3492 to
#3507 and #13492 to #13507 are written to, the Target velocity is written to BFMs.

8.15.1 Target velocity

This Car drive target velocity is equivalent to object H60FF in the CiA
(32 bit data) is in units of mm/s.
This value needs to be handled by 32 bit instructions.

8.15.2 Velocity actual value

This Car drive velocity actual value is equivalent to object H606C in the CiA
value (32 bit data) is in units of mm/s.
This value needs to be handled by 32 bit instructions.
8.16

Load Value

These BFMs contain the Car drive load value and its related SI unit. The load value is the absolute value of
the load (payload). It is in units of the configured SI unit. The load value of HFFFF shall be an error value that
is applied if the sensor is in error state or does not have an actual value.
SI unit structure
The default SI unit is kg. The SI unit and prefix field values shall use the coding as defined in the CiA
specifications.
8.17

Load Signalling

These BFMs contain Car drive load signal information. It is used to signal measuring values of the load
measuring system. Load signal contains different kinds of load signal. If one of the load bits (for zero load,
norm load, full load, and overload) is set to ON (1), the related condition is true. If the bit is set to 0, the related
condition is not true. Load signal interrupt contains the information about whether the related load bit shall be
processed (1) or not (0).
Bits 8 to 15 are fixed to OFF (0) in these BFMs.
Load signal structure
166
Bit 15 ... 8
Prefix
Bit 15 ... 4 3
Reserved Overload
®
402-2 V3.0 specifications. This Target
®
®
7 ... 0
SI unit
2 1
Full load Norm load Zero load
8 CANopen
8.14 Profile Velocity
402-2 V3.0 specifications. The value
402-2 V3.0 specifications. The value
®
402-2 V3.0 specification. The
0
®
417 Mode
®
303-2