Mitsubishi Electric MR-J4-10A(-RJ) Instruction Manual page 131

3. SIGNALS AND WIRING
(b) Analog torque command offset
Using [Pr. PC38], the offset voltage of -9999 mV to 9999 mV can be added to the TC applied voltage
as follows.
(2) Torque limit
By setting [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], torque is
always limited to the maximum value during operation. A relation between limit value and servo motor
torque is as in section 3.6.1 (5).
Note that TLA (Analog torque limit) is unavailable.
(3) Speed limit
(a) Speed limit value and speed
The speed is limited to the values set with [Pr. PC05 Internal speed limit 0] to [Pr. PC11 Internal
speed limit 7] or the value set in the applied voltage of VLA (Analog speed limit). A relation between
VLA (Analog speed limit) applied voltage and the servo motor speed is as follows. The speed limit
direction and torque command direction are the same direction.
When the servo motor speed reaches the speed limit value, torque control may become unstable.
Make the set value more than 100 r/min greater than the desired speed limit value.
The following table indicates the limit direction according to RS1 (Forward rotation selection) and
RS2 (Reverse rotation selection) combination.
(Note) Input device
(Analog torque command)
RS1 RS2
Voltage
polarity
Polarity: +
1 0
Polarity: -
Polarity: +
0 1
Polarity: -
Note. 0: Off
1: On
Maximum torque
Torque
0
TC applied voltage [V]
Rated speed [r/min]
Speed
[r/min]
0 +10/-10
VLA applied voltage [V]
TC
Torque
command Polarity: +
direction
CCW CCW
CW CW
CW CW
CCW CCW
3 - 48
[Pr. PC38]
offset range
-9999 mV to 9999 mV
8 (-8)
Forward rotation
(CCW)
Speed limit direction
VLA (Analog speed limit)
Polarity: -
CCW
CW
CW
CCW
Reverse rotation
(CW)
Internal speed limit
CCW
CW
CW
CCW