Mitsubishi Electric RD77MS2 User Manual page 262

Control details
The torque value (forward new torque value/reverse new torque value) of the axis control data can be changed at all times.
The torque can be limited with a new torque value from the time the new torque value has been written to the Simple Motion
module.
Note that the delay time until a torque control is executed is max. operation cycle after torque change value was written.
The toque limiting is not carried out from the time the power supply is turned ON to the time the PLC READY signal [Y0] is
turned ON.
The new torque value ([Cd.22], [Cd.113]) is cleared to zero at the leading edge (OFF to ON) of the positioning start signal
[Y10].
The torque setting range is from 0 to "[Pr.17] Torque limit setting value". (When the setting value is 0, a torque change is
considered not to be carried out, and it becomes to the value set in "[Pr.17] Torque limit setting value" or "[Cd.101] Torque
output setting value". The torque change range is 1 to "[Pr.17] Torque limit setting value".)
The following drawing shows the operation at the same setting and the operation at the individual setting for the forward new
torque value and reverse new torque value.
■RD77MS4 operation example
Each operation
PLC READY signal [Y0]
All axis servo ON [Y1]
Positioning start signal [Y10]
[Pr.17] Torque limit setting value
[Cd.101] Torque output
setting value
[Cd.112] Torque change function
switching request
[Cd.22] New torque value/forward
new torque value
[Md.35] Torque limit stored
value/forward torque limit
stored value
*1 The torque limit setting value or torque output setting value becomes effective at the PLC READY signal [Y0] rising edge (however, after
the servo turned ON.)
If the torque output setting value is "0" or larger than the torque limit setting value, the torque limit setting value will be its value.
*2 The torque limit setting value or torque output setting value becomes effective at the positioning start signal [Y10] rising edge, and the
torque limit value is updated.
If the torque output setting value is "0" or larger than the torque limit setting value, the torque limit setting value will be its value.
*3 The torque change value is cleared to "0" at the positioning start signal [Y10] rising edge.
*4 The torque limit value is changed by the torque changed value.
*5 When the new torque value is 0, a torque change is considered not to be carried out.
*6 When the change value exceeds the torque limit value, a torque change is considered not to be carried out.
8 CONTROL SUB FUNCTIONS
260
8.5 Functions to Change the Control Details
*1
300
*2
0
0
*3 *4
0 200
0 300 300
*2
100
*4 *4
*5 *6 *3 *4
0 350 0 75
200 100 75
*1
250
*2
150
*4 *3
230
230
150
0