Mitsubishi Electric MELSERVO-J4 Series Instruction Manual page 517

11. MR-D01 EXTENSION I/O UNIT
(6) 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 OTLA (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 OTLA (Analog torque limit).
When TL1 (Internal torque limit selection) is enabled with [Pr. Po02] to [Pr. Po07], [Pr. Po27], and
[Pr. Po28], you can select [Pr. PC35 internal torque limit 2/Internal thrust 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.
When using the torque limit, check that [Pr. PB06 Load to motor inertia ratio/load
to motor mass ratio] is set properly. Improper settings may cause an unexpected
operation such as an overshoot.
POINT
To use OTLA (Analog torque limit), set [Pr. Po11] to "_ 1 _ _".
Maximum
CW direction
torque
100
Torque limit value
in [Pr. PA12]
Maximum torque
0
0
OTLA applied voltage [V]
OTLA applied voltage vs. torque limit value
Note. This diagram shows sink I/O interface. For source I/O interface, refer to section
11.5.5 (5).
11 - 54
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CCW direction
0 100 [%]
Torque limit value
in [Pr. PA11]
±5%
2 kΩ
Equivalent to RRS10
0.05
(Japan Resistor)
MR-D01
TL
24 V DC (Note)
DICOMD
P15R
2 kΩ
OTLA
LG
SD
Connection example