Mitsubishi Electric MELSERVO-JE, Instruction Manual

Page: 101 / 116

6. SERVO MOTOR DRIVING
6 - 36
6.3 Profile velocity mode (pv)
The following shows the functions and related objects/registers of the profile velocity mode (pv).
6.3.1 Function description
Velocity
trajectry
Generator
×
×
×
×
Position actual internal value (6063h)
×
×
×
Velocity
limit
function
Acceleration
limit
Function
Velocity
control
Torque
control
Torque limit value (60E0h, 60E1h)
Motion profile type (6086h)
Profile Acceleration (6083h)
Profile deceleration (6084h)
Quick Stop Deceleration (6085h)
Quick stop option code (605Ah)
Target velocity (60FFh)
Max profile velocity (607Fh)
Max motor speed (6080h)
Gear ratio (6091h)
Polarity (607Eh)
Velocity demand value (606Bh)
Position actual value (6064h)
Velocity actual value (606Ch)
Torque actual value (6077h)
Motor
Encoder
6.3.2 Related objects/registers
Index Sub Index Access Name Data Type Default Description
60FFh 0 rw Target velocity I32 0
Command speed
Unit: Vel unit (0.01 r/min)
607Fh 0 rw Max profile velocity U32 2000000
maximum speed
Unit: Vel unit (0.01 r/min)
6080h 0 rw Max motor speed U32
Servo motor maximum speed
Unit: r/min
6083h 0 rw Profile Acceleration U32 0
Acceleration at start of
movement to target position
Unit: ms
6084h 0 rw Profile deceleration U32 0
Deceleration at arrival at
target position
Unit: ms
6085h 0 rw Quick stop deceleration U32 100
Deceleration at deceleration
to a stop by Quick stop
Unit: ms
6086h 0 rw Motion profile type I16 -1
Acceleration/deceleration
type selection
-1: S-pattern
0: Linear ramp (not
compatible) (Note 1)
1: sin
2
ramp (not compatible)
(Note 1)
2: Jerk-free ramp (not
compatible) (Note 1)
3: Jerk-limited ramp (not
compatible) (Note 1)
605Ah 0 rw Quick stop option code I16 2
Operation setting for Quick
stop (Note 2)
6063h 0 ro Position actual internal value I32
Current position (Enc inc)
Unit: pulse