Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 445

■Torque command setting method
During continuous operation to torque control mode, set time for the command torque to increase from 0[%] to torque limit
value at speed-torque control" in "Command torque time constant (Positive direction)", and the command torque to decrease
from "Torque limit value at speed-torque control" to 0[%] 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 continuous operation to torque control mode is limited with "Torque limit value at speed-torque
control".
If torque exceeds torque limit value is commanded, a warning (error code: 09E4H) will occur, and the operation is controlled
with torque limit value at speed-torque control.
■Acceleration/deceleration processing at continuous operation to torque control mode
Acceleration/deceleration is a trapezoidal acceleration/deceleration processing.
Set acceleration/deceleration time toward "Speed limit value at speed-torque control" in "Command speed acceleration time"
and "Command speed deceleration time". The value when the control mode switching request device turns OFF to ON is
valid.
Command speed during continuous operation to torque control mode is limited with "Speed limit value at speed-torque
control". If the speed exceeds speed limit value is commanded, a warning (error code: 0A5FH) will occur, and the operation is
controlled with speed limit value.
Confirm the command speed to servo amplifier with "[Md.28] Command speed (R: D32024+48n, D32025+48n/Q: #8004+20n,
#8005+20n)".
Position control mode or
V
speed control mode
Speed limit value at
speed-torque control
1000
0
Speed limit value at
speed-torque control
Torque
Torque limit value at
speed-torque control
30.0%
0
Torque limit value at
speed-torque control
Speed command device 0
Torque command device 0
■Precautions at continuous operation to torque control mode
The following servo amplifier functions cannot be used during continuous operation to torque mode.
• Base cut delay time function
• Forced stop deceleration function
• Vertical axis freefall prevention function
Continuous operation to torque
control mode
Command speed
deceleration time
Contact with
target
1000
300
Position control mode or
speed control mode
t
t
0
0
7 AUXILIARY AND APPLIED FUNCTIONS
7.5 Speed-Torque Control
7
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