Mitsubishi Electric RD77MS2 User Manual page 211

Torque control mode
■Operation for torque control mode
The torque control is executed at the command torque set in "[Cd.143] Command torque at torque control mode" in the torque
control mode.
"[Cd.143] Command torque at torque control mode" can be changed any time during torque control mode. The relation
between the setting of command torque and the torque generation direction of servomotor varies depending on the setting of
servo parameters "Rotation direction selection/travel direction selection (PA14)" and "Function selection C-B POL reflection
selection at torque control (PC29)".
• When servo parameter "Function selection C-B POL reflection selection at torque control (PC29)" is set to "0: Enabled"
"Rotation direction selection/
travel direction selection
(PA14)"
0: Forward rotation (CCW) with the
increase of the positioning
address
1: Reverse rotation (CW) with the
increase of the positioning
address
• When servo parameter "Function selection C-B POL reflection selection at torque control (PC29)" is set to "1: Disabled"
"Rotation direction selection/
travel direction selection
(PA14)"
0: Forward rotation (CCW) with the
increase of the positioning
address
1: Reverse rotation (CW) with the
increase of the positioning
address
Set time for the command torque to increase from 0% to "[Pr.17] Torque limit setting value" in "[Cd.144] Torque time constant
at torque control mode (Forward direction)" and for the command torque to decrease from "[Pr.17] Torque limit setting value"
to 0% in "[Cd.145] Torque time constant at torque control mode (Negative direction)". The value at torque control mode
switching request is valid for "[Cd.144]" and "[Cd.145]".
The command torque during the torque control mode is limited with "[Pr.17] Torque limit setting value". If the torque exceeding
the torque limit setting value is set, the warning "Torque limit value over" (warning code: 09E4H) occurs, and the operation is
controlled with the torque limit setting value.
Confirm the command torque to servo amplifier with "[Md.123] Torque during command".
Torque
[%]
[Pr.17] Torque limit setting value
30.0
20.0
0
-10.0
-20.0
[Pr.17] Torque limit setting value
[Cd.143] Command torque at
0
torque control mode
"[Cd.143] Command torque at
torque control mode"
Positive value (Forward direction)
Negative value (Reverse direction)
Positive value (Forward direction)
Negative value (Reverse direction)
"[Cd.143] Command torque at
torque control mode"
Positive value (Forward direction)
Negative value (Reverse direction)
Positive value (Forward direction)
Negative value (Reverse direction)
[Cd.144] [Cd.145]
Torque time Torque time
constant at torque constant at torque
control mode control mode
(Forward direction) (Negative direction)
200 300 0
Torque generation direction of servo motor
CCW direction
CW direction
CW direction
CCW direction
Torque generation direction of servo motor
CCW direction
CW direction
CCW direction
CW direction
The command torque to servo amplifier is stored
in "[Md.123] Torque during command".
[Cd.144] [Cd.145]
Torque time Torque time
constant at torque constant at torque
control mode control mode
(Forward direction) (Negative direction)
-100 -200 0
CCW
direction CW direction
CCW
direction CW direction
t
7 EXPANSION CONTROL
209
7.1 Speed-torque Control
7