Mitsubishi Electric MELSEC iQ-R Series User Manual page 211

Torque control mode
■Operation for torque control mode
The torque control is executed at the command torque set in "[Cd.143] Command torque at torque control mode" in the torque
control mode.
"[Cd.143] Command torque at torque control mode" can be changed any time during torque control mode. The relation
between the setting of command torque and the torque generation direction of servo motor varies depending on the setting of
servo parameters "Travel direction selection (PA14)" and "Function selection C-B Torque POL reflection selection (PC29.3)".
"Function selection C-B
Torque POL reflection
selection (PC29.3)"
0: Enabled
1: Disabled
*1 Refer to the following diagram.
CCW direction
Set time for the command torque to increase from 0% to "[Pr.17] Torque limit setting value" in "[Cd.144] Torque time constant
at torque control mode (Forward direction)" and for the command torque to decrease from "[Pr.17] Torque limit setting value"
to 0% in "[Cd.145] Torque time constant at torque control mode (Negative direction)". The value at torque control mode
switching request is valid for "[Cd.144]" and "[Cd.145]".
The command torque during the torque control mode is limited with "[Pr.17] Torque limit setting value". If the torque exceeding
the torque limit setting value is set, the warning "Torque limit value over" (warning code: 0DA4H) occurs, and the operation is
controlled with the torque limit setting value.
Confirm the command torque to servo amplifier with "[Md.123] Torque during command".
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"Travel direction selection (PA14)"
0: Forward rotation (CCW) with the increase
of the positioning address
1: Reverse rotation (CW) with the increase of
the positioning address
0: Forward rotation (CCW) with the increase
of the positioning address
1: Reverse rotation (CW) with the increase of
the positioning address
CCW direction
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"[Cd.143] Command torque
at torque control mode"
Positive value (Forward direction)
Negative value (Reverse direction)
Positive value (Forward direction)
Negative value (Reverse direction)
Positive value (Forward direction)
Negative value (Reverse direction)
Positive value (Forward direction)
Negative value (Reverse direction)
CW direction
CW direction
Torque generation direction of
*1
servo motor
CCW direction
CW direction
CW direction
CCW direction
CCW direction
CW direction
CCW direction
CW direction
7 EXPANSION CONTROL
209
7.1 Speed-torque Control
7