Mitsubishi Electric MELSERVO-JE, Instruction Manual

Page: 97 / 116

6. SERVO MOTOR DRIVING
6 - 32
6.2 Profile position mode (pp)
The following shows the functions and related objects/registers of the profile position mode (pp).
6.2.1 Function description
Position
trajectry
Generator
+
×
×
×
×
×
×
×
-
Control
effort
(60FAh)
Position actual internal value (6063h) ×
×
×
Position
limit
function
Velocity
limit
function
Acceleration
limit
Function
Position
control
Velocity
control
Torque
control
Encoder
Motor
Torque limit value (60E0h, 60E1h)
Motion profile type (6086h)
Profile Acceleration (6083h)
Profile deceleration (6084h)
Quick Stop Deceleration (6085h)
Quick stop option code (605Ah)
Profile velocity (6081h)
Max motor speed (6080h)
Target position (607Ah)
Software position limit (607Dh)
Gear ratio (6091h)
Polarity (607Eh)
Following error actual value (60F4h)
Position actual value (6064h)
Velocity actual value (606Ch)
Torque actual value (6077h)
Max profile velocity (607Fh)
6.2.2 Related objects/registers
Index Sub Index Access Name Data Type Default Description
607Ah 0 rw Target position I32 0
Command position (Pos
units)
607Bh
0 ro Position range limit U8 2 Number of entries
1 rw Min position range limit I32
Minimum value of the position
range limit
The value is automatically set
according to the setting of
"Position data unit" of [Pr.
PT01].
pulse: -2147483648
degree: 0
2 rw Max position range limit I32
Maximum value of the
position range limit
The value is automatically set
according to the setting of
"Position data unit" of [Pr.
PT01].
pulse: 2147483647
degree: 359999
607Dh
0 ro Software position limit U8 2 Number of entries
1 rw Min position limit I32 0
Minimum position Index (Pos
units)
2 rw Max position limit I32 0
Maximum position Index (Pos
units)
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