Torque Control Mode - Mitsubishi MR-JE-10A Instruction Manual

3. SIGNALS AND WIRING

3.6.3 Torque control mode

(1) Torque limit
(a) Torque command and torque
The following shows a relation between the applied voltage of TC (Analog torque command) and the
torque by the servo motor.
The maximum torque is generated at ±8 V. The speed at ±8 V can be changed with [Pr. PC13].
Generated torque command values will vary about 5% relative to the voltage depending on products.
The torque may vary if the voltage is low (-0.05 V to 0.05 V) and the actual speed is close to the limit
value. In such a case, increase the speed limit value.
The following table indicates the torque generation directions determined by RS1 (Forward rotation
selection) and RS2 (Reverse rotation selection) when TC (Analog torque command) is used.
Note. 0: Off
Normally, connect as follows.
Maximum torque
Torque
-8 -0.05
CW direction
(Note) Input device
RS2 RS1
0 0 Torque is not generated.
(Forward rotation in
0 1
power running
mode/reverse rotation in
regenerative mode)
(Reverse rotation in
1 0 power running
mode/forward rotation in
regenerative mode)
1 1 Torque is not generated.
1: On
24 V DC
-8 V to 8 V
Note. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3.
CCW direction
+0.05 +8
TC applied voltage [V]
Maximum torque
Rotation direction
TC (Analog torque command)
Polarity: +
CCW
Torque is not generated.
CW
Servo amplifier
RS1
(Note)
RS2
DICOM
TC
LG
SD
3 - 38
Forward rotation
(CCW)
Reverse rotation
(CW)
0 V Polarity: -
Torque is not generated.
(Reverse rotation in
power running
mode/forward rotation in
regenerative mode)
(Forward rotation in
power running
mode/reverse rotation in
regenerative mode)
Torque is not generated.
CW
CCW