Cyclic Synchronous Torque Mode (Cst) - Mitsubishi Electric MELSERVO-J5 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

6071h

6072h

6074h
6063h 

6064h

606Ch

6077h
6092h 0
1
2

60E0h

60E1h
6091h 0
1
2

607Eh
2D20h 
60A8h 
2 CONTROL MODE
24
2.1 Control mode [G] [WG]
+
+
×
×
×
Object Name
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
VAR SI unit position
Torque
[Torque demand value (Obj. 6074h)]
limit
function
× [Position actual internal value (Obj. 6063h)]
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
Unit: rev
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 105 Electronic gear function [G] [WG]
Number of revolutions of the drive shaft (denominator)
Page 105 Electronic gear function [G] [WG]
Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
Page 86 Rotation/travel direction selection [G] [WG]
Speed limit value
Unit: vel units
SI unit position
00000000h (1 pulse)
Torque
Motor
control
×
Encoder