Profile Position Mode (Pp) - Mitsubishi Electric MELSERVO-J5 Series User Manual

Profile position mode (pp)

This mode is available on servo amplifiers with firmware version A5 or later.
The following shows the functions and related objects of the profile position mode (pp).
[Torque offset (Obj. 60B2h)]
[Velocity offset (Obj. 60B1h)]
[Positive torque limit value (Obj. 60E0h)]
[Negative torque limit value (Obj. 60E1h)]
[Motion profile type (Obj. 6086h)]
[Profile Acceleration (Obj. 6083h)]
[Profile deceleration (Obj. 6084h)]
[Quick stop deceleration
(Obj. 6085h)]
[Quick stop option code
(Obj. 605Ah)]
[Profile velocity (Obj. 6081h)]
[Max profile velocity (Obj. 607Fh)]
[Max motor speed (Obj. 6080h)]
[Target position (Obj. 607Ah)]
[Software position limit
(Obj. 607Dh)]
[Gear ratio (Obj. 6091h)]
[Polarity (Obj. 607Eh)]
[Following error actual value (Obj. 60F4h)]
[Position actual value (Obj. 6064h)]
[Velocity actual value (Obj. 606Ch)]
[Torque actual value (Obj. 6077h)]
*1 This object may not be used depending on the network being used. For details, refer to the User's Manual (Object Dictionary).
Related objects
For details on the objects, refer to the User's Manual (Object Dictionary).
Index Sub

607Ah
607Bh 0
1
2
607Dh 0
1
2

607Fh
6080h 

6081h

6083h

6084h
6085h 
2 CONTROL MODE
26
2.1 Control mode [G] [WG]
×
×
×
Acceleration
limit
Function
Velocity
limit
×
function
Position
limit
× ×
function
[Position demand
+
value (Obj. 6062h)]
-
[Position actual internal value
× ×
(Obj. 6063h)]
×
×
Object Name
VAR Target position
ARRAY Position range limit
Min position range limit
Max position range limit
ARRAY Software position limit
Min position limit
Max position limit
VAR Max profile velocity
VAR Max motor speed
VAR Profile velocity
VAR Profile Acceleration
VAR Profile deceleration
VAR Quick stop deceleration
[Control effort
+
(Obj. 60FAh)] Velocity
+
Position
control
Position
trajectry
Generator
*1
× ×
Description
Command position
Unit: pos units
Number of entries
Minimum value of the position range limit
Unit: pos units
Maximum value of the position range limit
Unit: pos units
Number of entries
Minimum position address
Unit: pos units
Maximum position address
Unit: pos units
Maximum speed
Unit: vel units
Servo motor maximum speed
Unit: r/min, mm/s
Speed after acceleration finished
Unit: vel units
Acceleration at start of movement to target position
Unit: acc units
Deceleration at arrival to target position
Unit: acc units
Deceleration at deceleration to a stop with Quick stop
Unit: acc units
+
+
Torque
control
control
Encoder
Motor