Mitsubishi Electric MELSERVO-JE, Instruction Manual

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6. SERVO MOTOR DRIVING
6 - 41
6.4 Profile torque mode (tq)
The following shows the functions and related objects/registers of the profile torque mode (tq).
6.4.1 Function description
Torque
Control
and
Power
Stage
×
×
×
×
Torque demand
(6074h)
Position actual internal
value (6063h)
× ×
Trajectry
Generator
Target slope (6087h)
Torque profile type (6088h)
Torque actual value (6077h)
Position actual value (6064h)
Velocity actual value (606Ch)
Torque limit value (60E0h, 60E1h)
Controlword (6040h)
Max torque (6072h)
Target torque (6071h)
Polarity (607Eh)
Gear ratio (6091h)
Encoder
Motor
6.4.2 Related objects/registers
Index Sub Index Access Name Data Type Default Description
6040h 0 rw Controlword U16 Common control command
6071h 0 rw Target torque I16 0
Command torque
Unit: 0.1% (rated torque of
100%)
6072h 0 rw Max torque U16
Maximum torque
Unit: 0.1% (rated torque of
100%)
6074h 0 ro Torque demand I16 0
Command torque (after limit)
Unit: 0.1% (rated torque of
100%)
6087h 0 rw Torque slope U32 0
Torque variation
Unit: 0.1%/s (rated torque of
100%)
6088h 0 rw Torque profile type I16 0
Torque variation pattern
0: Linear interpolation method
Values other than 0 cannot be
set.
6063h 0 ro Position actual internal value I32
Current position (Enc inc)
Unit: pulse
6064h 0 ro Position actual value I32 Current position (Pos units)
606Ch 0 ro Velocity actual value I32
Current speed
Unit: Vel unit (0.01 r/min)
6077h 0 ro Torque actual value I16
Current torque
Unit: 0.1% (rated torque of
100%)