Profile Torque Mode (Tq) - Mitsubishi Electric MELSERVO-J5 Series User Manual

Profile torque mode (tq)

This mode is available on servo amplifiers with firmware version A5 or later.
The following shows the functions and related objects of the profile torque mode (tq).
[Torque offset (Obj. 60B2h)]
[Target torque (Obj. 6071h)]
[Target slope (Obj. 6087h)]
[Torque profile type (Obj. 6088h)]
[Controlword (Obj. 6040h)]
[Max torque (Obj. 6072h)]
[Positive torque limit value (Obj. 60E0h)]
[Negative torque limit value (Obj. 60E1h)]
[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

6040h

6071h
6072h 

6074h

6087h

6088h

6063h

6064h

606Ch

6077h
6092h 0
1
2

60E0h

60E1h
2 CONTROL MODE
34
2.1 Control mode [G] [WG]
+
+
[Torque demand
Trajectry
(Obj. 6074h)]
Generator
×
×
× ×
×
×
Object Name
VAR Controlword
VAR Target torque
VAR Max torque
VAR Torque demand value
VAR Torque slope
VAR Torque profile type
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
Torque
Control
and
Power
Stage
[Position actual internal
value (Obj. 6063h)]
Description
Common control command
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 %)
Torque variation
Unit: 0.1 %/s (with rated torque being 100 %)
Torque variation pattern
0: Linear ramp
2
1: sin ramp (not supported)
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 %)
Motor
Encoder