Speed-Torque Control - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

7.5

Speed-Torque Control

This function is used to execute the speed control or torque control that does not include the position loop for the command to
servo amplifier.
The "continuous operation to torque control mode" that switches the control mode to torque control mode without stop of
servomotor during positioning operation when tightening a bottle cap or a screw.
Switch the control mode from "position control mode" to "speed control mode", "torque control mode" or "continuous operation
to torque control mode" to execute the "Speed-torque control.
For performing the speed-torque control, setting the speed-torque control data is required for every axis. (Page 201
Speed-torque control data)
Control mode Control
Position control mode Positioning control
operation, and manual pulse generator operation
Speed control mode Speed-torque control
Torque control mode
Continuous operation
to torque control mode
*1 Excluding speed control ()
Use the servo amplifiers whose software versions are compatible with each control mode to execute the "Speed-torque
control".
Servo amplifier software versions that are compatible with each control mode are shown below.
: There is no restriction by the version.
Servo amplifier model
MR-J4-B
MR-J4W-B
MR-J3-B
MR-J3W-B
MR-J3-B Safety
*1 In the servo amplifier that supports continuous operation to torque control, the torque generation direction of servo motor can be
switched by setting "Function selection C-B (PC29) (POL reflection selection at torque control)". (Page 204 Torque command
device)
In the servo amplifier that does not support continuous operation to torque control, the operation is the same as when "0: Valid" is set in
"Function selection C-B (PC29) (POL reflection selection at torque control)".
CAUTION
• If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop status (servo lock
status) or in a 30 r/min or less low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal relay protection.
*1
, home position return control, JOG
Software version
Speed control





Remark
Control that include the position loop for the command to servo
amplifier.
Control that does not include the position loop for the command to
servo amplifier.
Control that does not include the position loop for the command to
servo amplifier.
Control mode can be switched during positioning control or speed
control.
*1
Torque control


B3 or later


7 AUXILIARY AND APPLIED FUNCTIONS
Continuous operation to
torque control


C7 or later
Not compatible
C7 or later
7.5 Speed-Torque Control
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