Torque Control Mode (T) - Mitsubishi Electric MR-J5 Series User Manual

Torque control mode (T)

Set [Pr. PA01.0] to "4" (Torque control mode).
The torque can be controlled with the internal torque command set in the servo parameter, or with the combination of the
applied voltage of TC (Analog torque command) and either of RS1 (Forward rotation selection) or RS2 (Reverse rotation
selection).
Torque control
■Torque command and torque
The following shows a relation between the applied voltage of TC (Analog torque command) and the torque by the servo
motor.
The maximum torque is generated at ±8 V. The speed at ±8 V can be changed with [Pr. PC13 Analog torque command
maximum output].
CCW direction
Maximum torque
Torque
-8 -0.05
+0.05 +8
TC applied voltage [V]
Maximum torque
CW direction
The outputted torque command values relative to the voltage have variations of approximately 5 %, depending on products.
The torque may vary if the voltage is low (-0.05 V to 0.05 V) and the actual speed is close to the limit value. In such a case,
increase the speed limit value.
With RS1 (Forward rotation selection), RS2 (Reverse rotation selection), and TC (Analog torque command), the torque
generation direction can be selected.
*1
Input device Rotation direction
RS2 RS1 TC (Analog torque command)
Polarity: +
0 0 Torque is not generated.
0 1 CCW (Forward rotation in power
running mode/reverse rotation in
regenerative mode)
1 0 CW (Reverse rotation in power running
mode/forward rotation in regenerative
mode)
1 1 Torque is not generated.
*1 0: Off
1: On
*2 For linear servo motors, CCW is the positive direction and CW is the negative direction.
Forward rotation
(CCW)
Reverse rotation (CW)
*2
0 V
Torque is not generated.
Polarity: -
Torque is not generated.
CW (Reverse rotation in power running
mode/forward rotation in regenerative
mode)
CCW (Forward rotation in power running
mode/reverse rotation in regenerative
mode)
Torque is not generated.
2 CONTROL MODE
2.2 Control mode [A]
2
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