Torque Offset - Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual

5. CiA 402 DRIVE PROFILE

5.12 Torque offset

(1) Summary
This function compensates the torque command with the set value in the Torque offset (60B2h). This
function will be enabled in the cyclic synchronous mode (csp/csv/cst). The set values will be disabled in
the other control modes.
(2) Usage
(a) Set "_ _ _ 0" or "_ _ _ 1" in [Pr. PA01] and cycle the power of the servo amplifier.
(b) Switch the control mode to csp, csv or cst in the Modes of operation (6060h) after the state shifts to
Operational.
(c) Set a value in Torque offset (60B2h).
(3) Monitor data
The following monitor data shows the values to which the set values in Torque offset (60B2h) are added.
Object
MR Configurator2
Output signal
POINT
This is available with servo amplifiers with software version B2 or later.
Torque changes steeply depending on the set value in the Torque offset
(60B2h) when the cyclic synchronous mode (csp/csv/cst) switches to the
homing mode (hm), and this may rotate the servo motor. Check the set value in
the Torque offset (60B2h) when switching.
Torque changes steeply depending on the set value in the Torque offset
(60B2h) when servo-on, and this may rotate the servo motor. Check the set
value in the Torque offset (60B2h) when switching.
Torque offset (60B2h) can be used with [Pr. PE47 Torque offset]. When other
than "0" is set to both the parameter and the object, both of the set values in the
Torque offset (60B2h) and [Pr. PE47 Torque offset] are added to the torque
command.
In the test operation mode, the Torque offset (60B2h) is disabled.
Item
Effective load ratio (2B09h)
Peak load ratio (2B0Ah)
Instantaneous torque (2B0Bh)
Alarm Monitor 9 Effective load ratio (2B89h)
Alarm Monitor 10 Peak load ratio (2B8Ah)
Alarm Monitor 11 Instantaneous torque (2B8Bh)
Torque demand value (6074h)
Torque actual value (6077h)
"Monitor" - "Display All" - "Instantaneous torque"
"Monitor" - "Display All" - "Effective load ratio"
"Monitor" - "Display All" - "Peak load ratio"
"Monitor" - "Graph" - "Torque"
"Monitor" - "Graph" - "Curr. cmd."
"Monitor" - "Graph" - "Torque equivalent to disturbance"
"Monitor" - "Graph" - "Torque cmd."
"Monitor" - "Graph" - "Effective load ratio"
Analog monitor output voltage 1
Analog monitor output voltage 2
Torque monitor of the analog monitor
5 - 89
Monitor data