Mitsubishi Electric MELSERVO-J5 - Page 33

2 CONTROL MODE
2.1 Control mode [G]
31
2
*1 This object may not be used depending on the network being used. For details, refer to the User's Manual (Object Dictionary).
*2 Available on servo amplifiers with firmware version C0 or later.
6085h  VAR Quick stop deceleration Deceleration at deceleration to a stop with Quick stop
Unit: acc units
6086h  VAR Motion profile type Acceleration/deceleration type selection
-1: S-pattern
0: Linear ramp (not supported)
1: Sin
2
ramp (not supported)
2: Jerk-free ramp (not supported)
3: Jerk-limited ramp (not supported)
605Ah  VAR Quick stop option code Operation setting for Quick stop
Page 195 Quick stop [G]
60C5h
*2
 VAR Max acceleration Acceleration limit value
Unit: Command unit/s
2
60C6h
*2
 VAR Max deceleration Deceleration limit value
Unit: Command unit/s
2
6063h  VAR Position actual internal value Current position
Unit: Enc inc
6064h  VAR Position actual value Current position
Unit: pos units
606Ch  VAR Velocity actual value Current speed
Unit: vel units
6077h  VAR Torque actual value Current torque
Unit: 0.1 % (with rated torque being 100 %)
6092h 0 ARRAY Feed constant Travel distance per revolution of an output shaft
1 Feed Travel distance setting
Unit: pos units
2 Shaft revolutions Number of servo motor shaft revolutions
Unit: rev
60F4h  VAR Following error actual value Droop pulses
Unit: pos units
60FAh  VAR Control effort Position control loop output (speed command)
Unit: vel units
60E0h  VAR Positive torque limit value Torque limit value (forward)
Unit: 0.1 % (with rated torque being 100 %)
60E1h  VAR Negative torque limit value Torque limit value (reverse)
Unit: 0.1 % (with rated torque being 100 %)
6091h 0 ARRAY Gear ratio Gear ratio
1 Motor revolutions Number of revolutions of the servo motor shaft (numerator)
Page 132 Electronic gear function [G]
2 Shaft revolutions Number of revolutions of the drive shaft (denominator)
Page 132 Electronic gear function [G]
607Eh  VAR Polarity Polarity selection
Bit 7: Position POL
Bit 6: Velocity POL
Bit 5: Torque POL
Page 109 Rotation/travel direction selection [G]
60A8h  VAR SI unit position SI unit position
It is automatically set in [Pr. PT01.2 Unit for position data].
60A9h  VAR SI unit velocity SI unit velocity
The SI unit velocity is returned.
It is automatically set in [Pr. PT01.2 Unit for position data].
60B1h  VAR Velocity offset Velocity offset
Unit: vel units
60B2h  VAR Torque offset Torque offset
Unit: 0.1 % (with rated torque being 100 %)
6062h
*1
 VAR Position demand value Command position (absolute position)
The command position inside the servo amplifier is returned.
Unit: pos units
Index Sub Object Name Description