Mitsubishi Electric MELSEC iQ-R Series User Manual page 240

Control details
The following drawing shows the operation of the torque limit function.
■4-axis module operation example
Each operation
PLC READY signal [Y0]
All axis servo ON [Y1]
Positioning start signal
[Y10]
[Pr.17] Torque limit setting value
[Cd.101] Torque output setting
value
[Cd.112] Torque change function
switching request
[Cd.22] New torque value/forward
new torque value
[Md.35] Torque limit stored
value/forward torque limit
stored value
*1 The torque limit setting value or torque output setting value becomes effective at the PLC READY signal [Y0] rising edge (however, after
the servo is turned ON.)
If the torque output setting value is "0" or larger than the torque limit setting value, the torque limit setting value will be its value.
*2 The torque limit setting value or torque output setting value becomes effective at the positioning start signal [Y10] rising edge.
If the torque output setting value is "0" or larger than the torque limit setting value, the torque limit setting value will be its value.
*3 The torque change value is cleared to "0" at the positioning start signal [Y10] rising edge.
Precautions during control
• When limiting the torque at "[Pr.17] Torque limit setting value", confirm that "[Cd.22] New torque value/forward new torque
value" or "[Cd.113] New reverse torque value" is set to "0". If this parameter is set to a value besides "0", the setting value
will be validated, and the torque will be limited at that value. (Refer to Page 263 Torque change function for details
about the "new torque value".)
• When the operation is stopped by torque limiting, the droop pulse will remain in the deviation counter. If the load torque is
eliminated, operation for the amount of droop pulses will be carried out. Note that the movement might start rapidly as soon
as the load torque is eliminated.
8 CONTROL SUB FUNCTIONS
238
8.3 Functions to Limit the Control
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*1
300
*2
0
0 (Forward/reverse torque limit value same setting)
*3
0
0 300
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250
*2
100
*3
300
*1
*2
150
*3
100 150 150