Torque Control Mode - Mitsubishi Electric EZMOTION MR-E Super MR-E-10A-QW003 Instruction Manual

15. MR-E- AG-QW003 SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT

(2) Torque control mode

(a) Torque command
1) Torque command and torque
A relationship between the applied voltage of the analog torque command (TC) and the torque by the
servo motor is shown below.
The maximum torque is generated at
parameter No.26.
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Generated torque limit values will vary about 5
Also the torque may vary if the voltage is low ( 0.05 to
limit value. In such a case, increase the speed limit value.
The following table indicates the torque generation directions determined by the forward rotation
selection (RS1) and reverse rotation selection (RS2) when the analog torque command (TC) is used.
(Note) External input signals
Note. 0: off
Generally, make connection as shown below.
CCW direction
Max. torque
Generated torque
8 0.05
0.05 8
TC applied voltage [V]
Max. torque (Note)
CW direction
RS2 RS1
0 0 Torque is not generated.
CCW (reverse rotation in
driving mode/forward
0 1
rotation in regenerative
mode)
CW (forward rotation in
driving mode/reverse
1 0
rotation in regenerative
mode)
1 1 Torque is not generated.
1: on
8V. Note that the torque at
Forward rotation (CCW)
relative to the voltage depending on products.
0.05V) and the actual speed is close to the
Rotation direction
Torque control command (TC)
Polarity 0V
Torque is not
generated.
Servo amplifier
RS1
RS2
VIN
TC
8 to 8V
LG
SD
15 - 23
8V input can be changed with
Reverse rotation (CW)
Polarity
Torque is not generated.
CW (forward rotation in driving
mode/reverse rotation in
regenerative mode)
CCW (reverse rotation in
driving mode/forward rotation
in regenerative mode)
Torque is not generated.