Mitsubishi Electric MELSEC iQ-R Series User Manual page 266

■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, and the
torque limit value is updated.
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.
*4 The torque limit value is changed by the torque changed value.
*5 When the new torque value is 0, a torque change is considered not to be carried out.
*6 When the change value exceeds the torque limit value, a torque change is considered not to be carried out.
8 CONTROL SUB FUNCTIONS
264
8.4 Functions to Change the Control Details
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*1
300
*2
0
0
*3
0
0 300 300
search engine
*2
100
*4 *4
*4 *5 *6 *3
200 0 350 0
200 100
*1
250
150
*4 *4
230
75
75 230
*2
*3
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