Torque Control Mode - Mitsubishi Electric MR-J2S-A Instruction Manual

4. OPERATION
(6) Stop
In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo
motor.
Refer to section 3.9 (2) for the servo motor equipped with electromagnetic brake. Note that
simultaneous ON or simultaneous OFF of stroke end (LSP, LSN) OFF and forward rotation start
(ST1) or reverse rotation start (ST2) has the same stop pattern as described below.
(a) Servo-on (SON) OFF
The base circuit is shut off and the servo motor coasts.
(b) Alarm occurrence
When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the
servo motor to a sudden stop.
(c) Emergency stop (EMG) OFF
The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden
stop. Alarm AL.E6 occurs.
(d) Stroke end (LSP/LSN) OFF
The servo motor is brought to a sudden stop and servo-locked. The motor may be run in the
opposite direction.
(e) Simultaneous ON or simultaneous OFF of forward rotation start (ST1) and reverse rotation start
(ST2)
The servo motor is decelerated to a stop.

4.2.4 Torque control mode

(1) Power on
1) Switch off the servo-on (SON).
2) When main circuit power/control circuit power is switched on, the display shows "U (torque
command voltage)", and in two second later, shows data.
(2) Test operation
Using jog operation in the test operation mode, operate at the lowest speed to confirm that the servo
motor operates. (Refer to section 6.8.2.)
(3) Parameter setting
Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for
the parameter definitions and to sections 6.5 for the setting method.
Parameter No.
Control mode, regenerative option
0
selection
1 Function selection 1
8 Internal speed command 1
9 Internal speed command 2
10 Internal speed command 3
11 Acceleration time constant
12 Deceleration time constant
S-pattern acceleration/deceleration
13
time constant
14 Torque command time constant
28 Internal torque limit 1
After setting the above parameters, switch power off once. Then switch power on again to make the set
parameter values valid.
POINT
A sudden stop indicates deceleration to a stop at the deceleration time
constant of zero.
Name Setting
0 2
1 2
1000
1500
2000
1000
500
0
2000
50
4 - 5
WWW.NNC.IR
Description
Position control mode
MR-RB12 regenerative option is used.
Input filter 3.555ms(initial value)
Electromagnetic brake interlock (MBR) is not used.
Set 1000r/min.
Set 1500r/min.
Set 2000r/min.
Set 1000ms.
Set 500ms.
Not used
Set 2000ms.
Controlled to 50 output.