Mitsubishi Electric QD77MS User Manual page 747

[QD77MS4 operation example]
Each operation
PLC READY signal [Y0]
All axis servo ON [Y1]
Start signal [Y10]
Torque limit setting
Pr.17
value
Torque output setting
Cd.101
value
Torque change function
Cd.112
switching request
New torque value/
Cd.22
forward new torque
value
Torque limit stored value/
Md.35
forward torque limit
stored value
New reverse torque
Cd.113
value
Reverse torque limit
Md.120
stored value
1: The torque limit setting value or torque output setting value becomes effective at the PLC READY signal [Y0] rising edge
(however, after the servo is turned ON.)
2: The torque limit setting value or torque output setting value becomes effective at the positioning start signal [Y10] rising edge,
and the torque limit value is updated.
3: The torque change value is cleared to "0" at the positioning start signal [Y10] rising edge.
4: The torque limit value is changed by the torque changed value.
5: When the new torque value is 0, a torque change is considered not to be carried out.
6: When the change value is exceeds the torque limit value, a torque change is considered not to be carried out.
Fig. 13.30 Torque change operation (forward/reverse torque limit value individual setting) (Axis 1)
1
300
2
0
0
3
0
0 300 300
3
0
0 300 300
(Note): Refer to Section 3.3 for input/output signal and Chapter 5 for buffer memory address of QD77MS16.
[2] Precautions during control
(1) If a value besides "0" is set in the new torque value, the torque generated by
the servomotor will be limited by the setting value. To limit the torque with
the value set in "[Pr.17] Torque limit setting value" or "[Cd.101] Torque
output setting value", set "0" to the new torque value.
Setting value of "[Cd.112] Torque change
function switching request"
0: Forward/reverse torque limit value same
setting
1: Forward/reverse torque limit value individual
setting
2
100
1
4 3
5 6
200 0 350 0
200 100
4 3
5 6
120 0 320
120
[Cd.22] New torque value/forward new torque value
[Cd.22] New torque value/forward new torque value
[Cd.113] New reverse torque value
13 - 59
Chapter 13 Control Sub Functions
250
150
4
4
75 230
75 230
4
4
0 200 80
100 200 80
Setting item (New Torque value)
1
2
0
3
0
150
3
0
150