Mitsubishi Electric MELSEC iQ-R Series User Manual page 214

Continuous operation to torque control mode
■Operation for continuous operation to torque control mode
In continuous operation to torque control, the torque control can be executed without stopping the operation during the
positioning in position control mode or speed command in speed control mode.
During the continuous operation to torque control mode, the torque control is executed at the command torque set in
"[Cd.150] Target torque at continuous operation to torque control mode" while executing acceleration/deceleration to reach
the speed set in "[Cd.147] Speed limit value at continuous operation to torque control mode".
"[Cd.147] Speed limit value at continuous operation to torque control mode" and "[Cd.150] Target torque at continuous
operation to torque control mode" can be changed any time during the continuous operation to torque control mode. The
relation between the setting value 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
Speed is not limited for reverse torque generation direction.
7 EXPANSION CONTROL
212
7.1 Speed-torque Control
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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.150] Target torque at
continuous operation to
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