Mitsubishi Electric RD77MS2 User Manual page 263

■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
[Cd.113] Reverse new torque
value
[Md.120] Reverse 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.)
*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.
*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.
Precautions during control
• If a value besides "0" is set in the new torque value, the torque generated by the servomotor will be limited by the setting
value. To limit the torque with the value set in "[Pr.17] Torque limit setting value" or "[Cd.101] Torque output setting value",
set "0" to the new torque value.
Setting value of "[Cd.112] Torque change function switching request"
0: Forward/reverse torque limit value same setting
1: Forward/reverse torque limit value individual setting
• The "[Cd.22] New torque value/forward new torque value" or "[Cd.113] Reverse new torque value" is validated when written
to the Simple Motion module. (Note that it is not validated from the time the power supply is turned ON to the time the PLC
READY signal [Y0] is turned ON.)
• If the setting value of "[Cd.22] New torque value/forward new torque value" is outside the setting range, the warning
"Outside new torque value range/outside forward new torque value range" (warning code: 0907H) will occur and the torque
will not be changed. If the setting value of "[Cd.113] Reverse new torque value" is outside the setting range, the warning
"Outside reverse new torque value range" (warning code: 0932H) will occur and the torque will not be changed.
• If the time to hold the new torque value is not more than 10 ms, a torque change may not be executed.
• When changing from "0: Forward/reverse torque limit value same setting" to "1: Forward/reverse torque limit value
individual setting" by the torque change function, set "0" or same value set in "[Cd.22] New torque value/forward new torque
value" in "[Cd.113] Reverse new torque value" before change.
*1
300
*2
0
0 1
*3 *4 *5
0 200
0 300 300 200
*3 *4
0 120
0 300 300
250
*2
100
*6 *3 *4 *4
0 350 0 75
100 75
*5 *6 *4
*3
0 320 0 200
120 100 200
Setting item (New torque value)
[Cd.22] New torque value/forward new torque value
[Cd.22] New torque value/forward new torque value
[Cd.113] Reverse new torque value
8.5 Functions to Change the Control Details
*1
*2
150
0
*3
230
0
230 150
*3
*4
80 0
80 150
8 CONTROL SUB FUNCTIONS
8
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