Mitsubishi MR-J4-10A Instruction Manual page 107

3. SIGNALS AND WIRING
(5) Torque limit
CAUTION
(a) Torque limit and torque
By setting [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], torque
is always limited to the maximum value during operation. A relation between the limit value and
servo motor torque is as follows.
A relation between the applied voltage of TLA (Analog torque limit) and the torque limit value of the
servo motor is as follows. Torque limit values will vary about 5% relative to the voltage depending on
products. At the voltage of less than 0.05 V, torque may vary as it may not be limited sufficiently.
Therefore, use this function at the voltage of 0.05 V or more.
(b) Torque limit value selection
The following shows how to select a torque limit using TL (External torque limit selection) from [Pr.
PA11 Forward torque limit] or [Pr. PA12 Reverse torque limit] and TLA (Analog torque limit).
When TL1 (Internal torque limit selection) is enabled with [Pr. PD03] to [Pr. PD22], you can select
[Pr. PC35 Internal torque limit 2].
However, if [Pr. PA11] and [Pr. PA12] value is less than the limit value selected by TL/TL1, [Pr.
PA11] and [Pr. PA12] value will be enabled.
If the torque limit is canceled during servo-lock, the servo motor may suddenly
rotate according to position deviation in respect to the command position.
CW direction
100
Torque limit value
in [Pr. PA12]
Maximum
torque
0
0 0.05
TLA applied voltage [V]
TLA applied voltage vs. torque limit value
Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.
Maximum
CCW direction
torque
0
Torque limit value
in [Pr. PA11]
±5%
2 kΩ
Japan resistor
RRS10 or equivalent
3 - 40
100 [%]
Servo amplifier
TL
24 V DC
DICOM
P15R
2 kΩ
TLA
LG
SD
Connection example
(Note)