Command Torque Time Constant (Positive Direction), Command Torque Time Constant (Negative Direction) - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Continuous operation to torque control
The relation between setting of command torque and torque generation direction of servomotor is fixed regardless of 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
Command torque time constant (positive direction), Command
torque time constant (negative direction)
Set the time (positive direction) for torque to increase from "0" to reach the torque limit value at speed-torque control and the
time (negative direction) to decrease to "0" from the torque limit value at speed-torque control during torque control or
continuous operation to torque control.
Command torque
time constant
Torque
(positive direction)
[%]
Torque limit value at
speed-torque control
30.0
20.0
0
-10.0
-20.0
Torque limit value at
speed-torque control
Torque command device 0
When the torque generation direction of servo motor is changed due to the command torque change during torque control or
continuous operation to torque control, the operation is as follows.
• The torque output value is 0 [%] according to the setting value of command torque time constant (negative direction). After
that, the value becomes command torque according to the setting value of command torque time constant (positive
direction).
Rotation direction Torque command device
selection (PA14)
0: Forward rotation (CCW) Positive value (Forward direction)
with the increase of the
Negative value (Reverse direction)
positioning address
1: Reverse rotation (CW) Positive value (Forward direction)
with the increase of the
Negative value (Reverse direction)
positioning address
0: Forward rotation (CCW) Positive value (Forward direction)
with the increase of the
Negative value (Reverse direction)
positioning address
1: Reverse rotation (CW) Positive value (Forward direction)
with the increase of the
Negative value (Reverse direction)
positioning address
Command torque
time constant
(negative direction)
Command torque
time constant
(positive direction)
200 300 0
Torque generation direction of servo
motor
CCW direction
CW direction
CCW direction
CW direction
CCW direction
CW direction
CCW direction
CW direction
Command torque
time constant
(negative direction)
-100 -200 0
3 PARAMETERS FOR POSITIONING CONTROL
3.8 Speed-torque control data
CCW
CW
direction
direction
t
3
205