Speed-Torque Control - Mitsubishi Electric R32MTCPU Programming Manual

7.3

Speed-Torque Control

Control mode can be switched for output axis during synchronous control.
The control is performed with "speed-torque control data".
Data that is needed to be set with speed-torque control during synchronous control is shown in the table below.
Setting item
Control mode switching request device
Control mode setting device
Speed limit value at speed-torque control
Torque limit value at speed-torque control
Speed command device
Command speed acceleration time
Command speed deceleration time
Torque command device
Command torque time constant (positive direction)
Command torque time constant (negative direction)
Speed initial value selection at control mode switching
Torque initial value selection at control mode switching
Invalid selection during zero speed at control mode switching
*1 Refer to the following for details of speed-torque control data.
MELSEC iQ-R Motion controller Programming Manual (Positioning Control)
Speed-torque control in output axis
• The speed-torque control can be executed for the output axis of the cam No.0 (linear cam) during synchronous control.
When the control mode switching is executed for the output axis of cam other than cam No.0 or the output axis where
synchronous control change function is being performed, a warning (error code: 0C16H) will occur, and the control mode is
not switched. When the output axis where the speed-torque control is performed is set to other than cam No.0, a warning
(error code: 0C17H) will occur, and it is not switched to the set cam No. When the mode is switched to position control, it is
switched to the cam No. set at passing through the 0th point of cam data. When the motor is operating at control mode
switching request, a warning (error code: 09E7H) will occur, and the control mode is not switched. The mode can be
switched to continuous operation to torque control mode even when the motor is operating.
7 AUXILIARY AND APPLIED FUNCTIONS
132
7.3 Speed-Torque Control
Setting necessity
During control other than
synchronous control
Speed Torque Continuous
control control operation to
torque
control
  
  
  
  
  
  
  
  
  
  
  
  
  
During synchronous control
Speed Torque Continuous
control control operation to
torque
control
  
  
  
  
  
  
  
  
  
  
  
  
  