Mitsubishi Electric MELSEC iQ-R Series User Manual page 257

Name Variable name
Continuous ContinuousUpdat
Update e
Target torque Torque
Torque positive TorquePositiveR
direction ramp amp
Torque negative TorqueNegativeR
ramp amp
Limit velocity LimitVelocity
Acceleration Acceleration
Deceleration Deceleration
Jerk Jerk
Direction Direction
selection
Buffer mode BufferMode
Options Options
Data type Import Setting range

BOOL TRUE, FALSE
/R/C
LREAL -1000.00 to
1000.00 [%]
/R/C
LREAL Page 257
Control details
/R/C
LREAL
/R/C
LREAL Page 318
Speed Limit
/R/C
Page 295
LREAL
Relevant
variables
/R/C Page 295
LREAL
Relevant
variables

LREAL Page 295
Relevant
variables

MC_DIRECTION 0

MC_BUFFER_M 0 to 1
ODE
*1

DWORD(HEX)
Default Description
value
FALSE During TRUE, it can continuously change the
target torque, the limit velocity, the torque positive
direction ramp, the torque negative ramp, the
acceleration and the deceleration.
0 Sets the target torque.
Sets the ratio to the rated torque of the servo
motor used in percentage.
The number of significant digits after the decimal
point differs depending on the ID assigned to the
slave object map. Values less than the number of
significant digits are truncated.
To output the target torque in the positive direction
(address increasing direction), set the positive
value. To output the target torque in the negative
direction (address decreasing direction), set the
negative value.
0 Page 257 Control details
0
0 Sets the velocity limit value at the torque control
mode.
For the velocity limit value, refer to the driver
manual.
[For using MR-J5(W)-G]
Uses Velocity limit value as velocity limit value.
When the Velocity limit value is not mapped, the
velocity command of the controller will not be
enabled.
0 Sets the acceleration and acceleration/
deceleration time until the limit velocity is
reached.
For details, refer to the following.
Page 293 Acceleration/deceleration
Processing Function
0 Sets the deceleration until the limit velocity is
reached.
For details, refer to the following.
Page 293 Acceleration/deceleration
Processing Function
0 Sets the jerk until the limit velocity is reached.
For details, refer to the following.
Page 293 Acceleration/deceleration
Processing Function
When 0 is set or the setting is omitted, the jerk is
not applied.
0 Set 0. (If a value other than "0" is set, an error will
occur.)
0 Selects the buffer mode.
0: mcAborting (Aborting)
1: mcBuffered (Buffered)
For "0: mcAborting", the control mode is
immediately switched to the torque control.
For "1: mcBuffered", the control mode is switched
to the torque control after the previous FB is
completed. If the previous FB is
MC_TorqueControl, the control mode is switched
when InTorque is TRUE.
0 Sets a function option with bit specification.
7 DIRECT CONTROL
255
7.2 Torque Control
7