Mitsubishi Electric M800VW Series Programming Manual page 807

M800V/M80V Series PLC Programming Manual (2/2)
14 PLC Help Function
14.31 Constant Torque Control
Proportional torque stopper control
Proportional torque stopper control outputs a constant amount of torque in a pressing direction in accordance with the value
configured by "2296 SV096 (TQC) (Constant torque stopper control)". When position droop is produced, torque that is
proportional to the position droop is generated in the pressing direction to maintain the pressing position.
[Operation procedure]
(1) Confirm that axis receiving proportional torque stopper control from the PLC has stopped (*1) and then set the propor-
tional torque stopper control request axis signal register (R2620/upper 8 bits) with the axis bits. (Multiple axes can be
specified)
(2) As the PLC sets the proportional torque stopper control request axis signal, the servo motor for the specified axis outputs
a constant amount of torque in a pressing direction in accordance with the values configured to "2296 SV096 (TQC) (con-
stant torque stopper control)" for the specified axis.
(3) The NC outputs axis bits to the proportional torque stopper control axis ON signal register (R624/upper 8 bits) at the PLC
while the proportional torque stopper control is in operation.
(4) To cancel proportional torque stopper control, confirm that the PLC has stopped the axis (Note 1) and then turn OFF the
axis bits for the proportional torque stopper 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]
Feed axis selection
In axis minus motion*1
Proportional torque
stopper control request
Proportional torque
stopper control is in operation
IB-1501668-B
R2620
Designated axis bit ON
R624
Controlled axis bit ON
786
Designated axis bit OFF
Controlled axis bit OFF