Command Speed Acceleration Time, Command Speed Deceleration Time; Torque Command Device - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Command speed acceleration time, Command speed
deceleration time
Set the acceleration time for the speed to increase from "0" to reach the speed limit value at speed-torque control and
deceleration time taken to stop from the speed limit value at speed-torque control during speed control or continuous
operation to torque control.
V
Speed limit value at
speed-torque control
30000
20000
0
-10000
-20000
Speed limit value at
speed-torque control
Speed command device
When the rotation direction is changed due to the command speed change during speed control, the operation is as follows.
• A deceleration is made to 0 [r/min] according to the setting value of command speed deceleration time. After that, an
acceleration is made to the command speed according to the setting value of command speed acceleration time.

Torque command device

Set the command torque at torque control and continuous operation to torque control.
Command torque can be changed at any time.
The following values can be set to the torque command device.
Setting range
-10000 to 10000 (0.1[%])
Torque control
The relation between setting of command torque and torque generation direction of servomotor differs from the setting of
servo parameter "Rotation direction selection (PA14)" and "Function selection C-B (PC29) (POL reflection selection at torque
control)".
Function selection C-B
(PC29) (POL reflection
selection at torque control)"
0: Valid
1: Invalid
3 PARAMETERS FOR POSITIONING CONTROL
204
3.8 Speed-torque control data
Command speed Command speed
acceleration time deceleration time
0 20000 30000
Rotation direction
selection (PA14)
0: Forward rotation (CCW)
with the increase of the
positioning address
1: Reverse rotation (CW)
with the increase of the
positioning address
0: Forward rotation (CCW)
with the increase of the
positioning address
1: Reverse rotation (CW)
with the increase of the
positioning address
The command value to the servo amplifier is stored
at the "[Md.28] Command speed (R: D32024+48n,
D32025+48n/Q: #8004+20n, #8005+20n)".
Command speed
acceleration time
0 -10000 -20000
Torque command device
Positive value (Forward direction)
Negative value (Reverse direction)
Positive value (Forward direction)
Negative value (Reverse direction)
Positive value (Forward direction)
Negative value (Reverse direction)
Positive value (Forward direction)
Negative value (Reverse direction)
t
Command speed
deceleration time
0
Torque generation direction of servo
motor
CCW direction
CW direction
CW direction
CCW
CCW direction
direction
CCW direction
CW direction
CCW direction
CW direction
CW
direction