Mitsubishi Electric MELSERVO-J5 - Page 52

50
2 CONTROL MODE
2.1 Control mode [G]
Functions and the related objects
The following shows the functions of the continuous operation to torque control mode (ct) and the related objects.
■Related objects
For details on the objects, refer to the User's Manual (Object Dictionary).
Index Sub Object Name Description
6080h  VAR Max motor speed Servo motor maximum speed
Unit: r/min
606Bh  VAR Velocity demand value Command speed (after limit)
Unit: vel units
6071h  VAR Target torque Command torque
Unit: 0.1 % (with rated torque being 100 %)
6072h  VAR Max torque Maximum torque
Unit: 0.1 % (with rated torque being 100 %)
6074h  VAR Torque demand value Command torque (after limit)
Unit: 0.1 % (with rated torque being 100 %)
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
2 Shaft revolutions Number of servo motor shaft revolutions
Unit: rev
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]
2D20h  VAR Velocity limit value Speed limit value
Unit: vel units
Motor
+
[Max torque (Obj. 6072h)]
[Torque demand value (Obj. 6074h)]
[Positive torque limit value (Obj. 60E0h)]
[Negative torque limit value (Obj. 60E1h)]
[Target torque (Obj. 6071h)]
[Torque offset (Obj. 60B2h)]
[Max motor speed (Obj. 6080h)]
[Velocity demand
value (Obj. 6068h)]
[Velocity limit value (Obj. 2D20h)]
[Polarity (Obj. 607Eh)]
[Position actual value (Obj. 6064h)]
[Velocity actual value (Obj. 606Ch)]
[Torque actual value (Obj. 6077h)]
Encoder
×
×
×
×
Torque
limit
function
Velocity
limit
function
Velocity
Control
Torque
Control