Mitsubishi FX3U-20SSC-H User Manual page 119

FX -20SSC-H Positioning Block User's Manual
3U
2. Details of control
The operation with the torque limit is as follows.
Various operations
START command
Torque limit setting
(Positioning parameters)
Torque output setting
(Control data)
Stored torque limit
(Monitor data)
START command
Torque limit value setting
Torque limit storing value
Positioning parameter
enable command
*5
During torque limit
*5. While the servo motor is stopped by the torque limit function, the "Servo status: during torque limit"
flag remains ON.
3. Precautions for control
• If the zero return torque limit value exceeds the torque limit setting, an error occurs.
• If the torque limit function causes the operation to stop, drop pulses remain in the deviation counter. After
the load torque is removed, the operation continues according to the remaining pulses.
ON ON
OFF
*1 *2 *1
300 200
0
300
200
*1 .
The torque limit setting or torque output setting becomes valid at the rising edge of the START
signal. If the torque output setting is "0," operation is made with the torque limit setting.
*2 . If the positioning parameter setting is changed, issue a positioning control parameter command
to validate the new setting.
*3 . When the torque output setting is changed during operation, the changed value is reflected in
operation and stored in the torque limit setting.
*4 . When the torque output setting is changed during stop, the changed value is not reflected in
operation and is stored in the torque limit setting when the START command turns ON from
OFF.
X-axis
Operation command 1 BFM #518 b9
Torque limit value BFM #14038
Zero return torque
BFM #14040
limit value
Torque output setting
BFM #510
value
BFM #5,#4
Operation command 2 BFM #519 b4
Servo status BFM #64 b13
7 Before Starting Positioning Operation
*3 *3
0 150 100
150 100
BFM Number
Y-axis
BFM #618 b9
BFM #14238
BFM #14240
BFM #610
BFM #105,#104
BFM #619 b4
BFM #164 b13
7.9 Other functions
ON
200
*4 *1
250
250
Data type
Control data
Positioning parameters
Positioning parameters
Control data
Monitor data
Control data
Monitor data
113
1
2
3
4
5
6
7
8
9
10