Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 443

Torque control mode
■Operation for torque control mode
The torque control is executed at command torque set in "Torque command device" in the torque control mode.
Command torque can be changed any time during torque control mode.
Set time that reaches "Torque limit value at speed-torque control" from 0[%] in "Command torque time constant (Positive
direction)" and time that decreases 0[%] from "Torque limit value at speed-torque control" in "Command torque time constant
(Negative direction)". The value when the control mode switching request turns OFF to ON is valid for command torque time
constant (Positive direction) and command torque time constant (Negative direction). The command torque during torque
control mode is limited with "Torque limit value at speed-torque control". If the torque exceeds torque limit value is set, a
warning (error code: 09E4H) will occur, the operation is controlled with torque limit value at speed-torque control.
Speed change request (CHGV, M(P).CHGV/D(P).CHGV) is invalid (no operation).
Torque limit value to servo amplifier can be changed within the range of "Torque limit value at speed-torque control" by torque
limit value change request (CHGT, M(P).CHGT/D(P).CHGT) but the value is valid when the mode is switched to position
control mode. Command torque time constant is calculated based on the "Torque limit value at speed-torque control" at torque
control mode switching after the torque limit value is changed. If the change outside the range of "Torque limit value at speed-
torque control" is requested by torque limit value change request, a warning (error code: 0A5EH) will occur, and the torque
limit value is not changed.
■Speed during torque control mode
The speed during torque control mode is controlled with the absolute value of value set in "Speed command device" as speed
limit command value. When the speed reaches the absolute value of "Speed command device", "Speed limit (b4)" of
"[Md.1022] Servo status2 (R: D32033+48n/Q: #8011+20n)" turns ON.
And, the value of "Speed command device" (speed limit command value for torque control) is limited with "Speed limit value at
speed-torque control". If the speed limit command value exceeds speed limit value at speed-torque control is set, a warning
(error code: 0A5FH) will occur, and the operation is controlled with speed limit value at speed-torque control.
The acceleration/deceleration processing is invalid for the value of "Speed command device".
The actual motor speed may not reach the speed limit command value depending on the machine load
situation during torque control.
■Current feed value during torque control mode
"[Md.20] Feed current value (R: D32000+48n, D32001+48n/Q: D0+20n, D1+20n)" and "[Md.101] Real current value (R:
D32002+48n, D32003+48n/Q: D2+20n, D3+20n)" are updated even in torque control.
If the current feed value exceeds the software stroke limit, a minor error (error code: 1993H, 1995H) will occur and the
operation is switched to position control mode. Invalidate the software stroke limit to execute one-way feed.
7 AUXILIARY AND APPLIED FUNCTIONS
7.5 Speed-Torque Control
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