Mitsubishi Electric MELSEC iQ-R Series User Manual page 261

Torque initial value selection (Options bit18)
Set the torque initial value when switching to the torque control mode.
Setting value
0: Target torque
1: Actual torque
Normally set "0: Target torque". Set "1: Actual torque" only when switching the control mode without waiting
for the servo motor to stop immediately after the command to the motor is completed.
Operation at stop cause occurrence
The following shows stop causes during the torque control mode and the process when each cause occurs.
Caus Stop cause
e No.
1 "Forced stop input" is FALSE
2 Drive unit power supply is FALSE
Drive unit network disconnection detection
Drive unit
Forced stop input to the drive unit
Enable of MC_Power is FALSE
ServoON of MC_Power is FALSE (When
AxisName.Pr.StopMode_ServoOff is
"4:ServoOffAfterImmediateStop", "5:
ServoOffAfterDecelStop")
3 Hardware stroke limit upper/lower limit
error occurrence
4 CPU module error occurrence
PLC READY [Y0] is OFF
5 Software stroke limit upper/lower limit error
occurrence
*3
6 Axis error detection
7 Execute of MC_Stop is TRUE
8 "Stop signal" of external input signal is
TRUE
*1 The servo turns OFF in the driver side and immediate stop is performed, and also the motion side command is stopped.
*2 Operation differs depending on the setting value selected in AxisName.Pr.StopMode_ServoOff. For details, refer to the following.
Page 130 Relevant variables/FB
*3 If an axis error (the error that transits the state into the "1: ErrorStop" status) occurs in the FB which can be linked by the buffer mode,
deceleration stop will be performed from the error occurrence.
*4 When "Execute" of MC_Stop is FALSE at stop completion, the axis status (AxisName.Md.AxisStatus) after stop will be "4: Standstill".
*5 The set torque value is not changed. Note that it may take time to reach velocity 0 depending on the torque command value that is
currently specified. (When Velocity limit value is not mapped, changes set torque to "0".)
Description
Target torque (Torque) value at start is set as the set torque regardless of the value of torque positive direction
ramp and torque negative direction ramp immediately after the control mode switching.
Torque actual value at switching is set as the set torque.
Axis status
(AxisName.Md.AxisStatus)
After stop
1: ErrorStop
1: ErrorStop
*2
1: ErrorStop
1: ErrorStop
1: ErrorStop
1: ErrorStop
*4
2: Stopping
4: Standstill
Stop process
*1
Immediate stop
*1
Immediate stop
The limit velocity is changed to 0, and an immediate
*5
stop is performed.
After the stop, the control mode is changed to csp.
The limit velocity is changed to 0, and an immediate
*5
stop is performed.
After the stop, the control mode is changed to csp.
(Not based on the deceleration of MC_Stop)
The limit velocity is changed to 0, and an immediate
*5
stop is performed.
After the stop, the control mode is changed to csp.
7 DIRECT CONTROL
7.2 Torque Control
7
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