Mitsubishi Electric M800VW Series Programming Manual page 806

M800V/M80V Series PLC Programming Manual (2/2)
14 PLC Help Function
14.31 Constant Torque Control
Droop cancel under constant torque control
The droop cancel under constant torque control function enables position droop produced during constant torque control to be
canceled without moving the axis.
Make sure the axis is in abutment with the workpiece before outputting the command for the droop cancel under constant
torque control.
[Operation procedure]
(1) Confirm that axis receiving constant torque control from the PLC has stopped (*1) and then set the constant torque droop
cancel request axis signal register (R2621/lower 8 bits) with the axis bits. (Multiple axes can be specified)
(2) The NC cancels the position droop for the specified axis and updates the command position due to the PLC setting the
constant torque droop cancel request axis signal.
(3) The NC outputs the axis bits to the constant torque droop cancel axis ON signal register (R625/lower 8 bits) at the PLC
while the constant torque droop cancel control is in operation.
(4) The NC outputs the axis bits to the constant torque droop cancel axis complete signal register (R625/upper 8 bits) at the
PLC once the constant torque droop cancel control completes.
(5) To cancel the constant torque droop cancel control, the PLC confirms that the constant torque droop cancel process has
complete and then outputs the axis bits for the constant torque droop cancel request axis and the constant torque control
request axis.
(*1) To stop the axis, make sure that both the positive and negative signals (MVP and MVM: X7C0 through X7EF) are turned
OFF during movement of the specified axis.
[Operation sequence]
Constant torque control request
Torque under constant control
Feed axis selection
In axis minus motion*1
Constant torquedroop
cancel request
Constant torque droop cancel ON
Constant torquedroop
cancel processing
Constant torquedroop
cancel complete
Designated axis bit ON
R2620
R624 Controlled axis bit ON
R2621 Designated axis bit ON
R625/Low Cancel in progress axis bit ON
R625/High
785
Designated axis bit OFF
Controlled axis bit OFF
Designated axis bit OFF
Cancel complete axis bit ON
Cancel in progress axis
bit OFF
Cancel complete axis
bit OFF
IB-1501668-B