Operation For Torque Control Mode - Mitsubishi Electric QD77MS User Manual

"Rotation direction selection/travel
direction selection (PA14)"
0: Forward rotation (CCW) with the
increase of the positioning address
1: Reverse rotation (CW) with the
increase of the positioning address
"Rotation direction selection/travel
direction selection (PA14)"
0: Forward rotation (CCW) with the
increase of the positioning address
1: Reverse rotation (CW) with the
increase of the positioning address
[4] Torque control mode

Operation for torque control mode

The torque control is executed at the command torque set in "[Cd.143] Command
torque at torque control mode" in the torque control mode. "[Cd.143] Command
torque at torque control mode" can be changed any time during torque control
mode. The relation between the setting of command torque and the torque
generation direction of servomotor varies depending on the setting of servo
parameters "Rotation direction selection/travel direction selection (PA14)" and
"Function selection C-B POL reflection selection at torque control (PC29)".
(1) When servo parameter "Function selection C-B POL reflection selection at
torque control (PC29)" is set to "0: Enabled"
"[Cd.143] Command torque at torque control
Positive value (Forward direction)
Negative value (Reverse direction)
Positive value (Forward direction)
Negative value (Reverse direction)
(2) When servo parameter "Function selection C-B POL reflection selection at
torque control (PC29)" is set to "1: Disabled"
"[Cd.143] Command torque at torque control
Positive value (Forward direction)
Negative value (Reverse direction)
Positive value (Forward direction)
Negative value (Reverse direction)
mode"
mode"
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Chapter 12 Expansion Control
Torque generation direction of servo motor
CCW direction
CW direction
CW direction
CCW
direction
CCW direction
Torque generation direction of servo motor
CCW direction
CW direction
CCW direction
CCW
direction
CW direction
CW
direction
CW
direction