Chapter 7 Expansion Control; Speed-Torque Control; Outline Of Speed-Torque Control - Mitsubishi Electric RD77MS2 User Manual

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EXPANSION CONTROL
The details and usage of expansion control are explained in this chapter.
Expansion control includes the speed-torque control to execute the speed control and torque control not including position
loop and the synchronous control to synchronize with input axis using software with "synchronous control parameter" instead
of controlling mechanically with gear, shaft, speed change gear or cam, etc.
Execute the required settings to match each control.
7.1

Speed-torque Control

Outline of speed-torque control

This function is used to execute the speed control or torque control that does not include the position loop for the command to
servo amplifier.
"Continuous operation to torque control mode" that switches the control mode to torque control mode without stopping the
servomotor during positioning operation is also available for tightening a bottle cap or a screw.
Switch the control mode from "position control mode" to "speed control mode", "torque control mode" or "continuous operation
to torque control mode" to execute the "Speed-torque control".
Control mode Control
Position control mode Positioning control, home position return control, JOG
operation, Inching operation and Manual pulse generator
operation
Speed control mode Speed-torque control
Torque control mode
Continuous operation to torque
control mode
Use the servo amplifiers whose software versions are compatible with each control mode to execute the "Speed-torque
control".
Servo amplifier software versions that are compatible with each control mode are shown below.
: There is no restriction by the version.
Servo amplifier model
MR-J4(W)-B/MR-JE-B
MR-J3-_B
MR-J3W-_B
MR-J3-_BS
*1 The torque generation direction of servomotor can be changed by setting the servo parameter "Function selection C-B POL reflection
selection at torque control (PC29)" for the servo amplifier that is compatible with the continuous operation to torque control. (Page
197 Operation of speed-torque control)
For the servo amplifier that is not compatible with the continuous operation to torque control, the operation is the same as that of when
"0: Enabled" is set in servo parameter "Function selection C-B POL reflection selection at torque control (PC29)".
CAUTION
• If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servomotor stop status (servo lock
status) or in a 30 r/min or less low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal relay protection.
Software version
Speed control




Remark
Control that include the position loop for the command to
servo amplifier
Control that does not include the position loop for the
command to servo amplifier
Control that does not include the position loop for the
command to servo amplifier
Control mode can be switched during positioning control or
speed control.
Torque control

B3 or later


Continuous operation to
*1
torque control

C7 or later
Not compatible
C7 or later
7 EXPANSION CONTROL
193
7.1 Speed-torque Control
7