Torque Control Mode - Mitsubishi Electric MELSERVO MR-J2S- A Instruction Manual

3. SIGNALS AND WIRING

3.4.3 Torque control mode

(1) Torque control
(a) Torque command and torque
A relationship between the applied voltage of the analog torque command (TC) and the torque by
the servo motor is shown below.
The maximum torque is generated at 8V. Note that the torque at 8V input can be changed with
parameter No. 26.
Max. torque
Generated torque
CW direction
Generated torque limit values will vary about 5% relative to the voltage depending on products.
Also the torque may vary if the voltage is low ( 0.05 to 0.05V) and the actual speed is close to
the limit value. In such a case, increase the speed limit value.
The following table indicates the torque generation directions determined by the forward rotation
selection (RS1) and reverse rotation selection (RS2) when the analog torque command (TC) is used.
(Note) External input signals
RS2
0
0
1
1
Note. 0: off
1: on
Generally, make connection as shown below:
CCW direction
8 0.05
0.05 8
TC applied voltage [V]
Max. torque (Note)
RS1
Polarity
0 Torque is not generated.
CCW (reverse rotation in
driving mode/forward
1
rotation in regenerative
mode)
CW (forward rotation in
driving mode/reverse
0
rotation in regenerative
mode)
1 Torque is not generated.
8 to 8V
Forward rotation (CCW)
Rotation direction
Torque control command (TC)
0V
Torque is not generated.
CW (forward rotation in
driving mode/reverse
rotation in regenerative
mode)
Torque is not
generated.
CCW (reverse rotation in
driving mode/forward
rotation in regenerative
mode)
Torque is not generated.
Servo amplifier
RS1
RS2
SG
TC
LG
SD
3 - 31
Reverse rotation (CW)
Polarity