Mitsubishi Electric MELSEC Q Series Programming Manual page 466

7 AUXILIARY AND APPLIED FUNCTIONS
Table 7.3 Relation between setting of command torque and torque generation
direction of servo motor (Torque control)
Function selection C-B
(PC29) (POL reflection
selection at torque control)"
0: Valid
1: Invalid
Table 7.4 Relation between setting of command torque and torque generation
direction of servo motor (Continuous operation to torque control)
Function selection C-B
(PC29) (POL reflection
selection at torque control)"
0: Valid
1: Invalid
(7) Torque command device
Set the command torque at torque control and continuous operation to torque
control. Command torque can be changed at any time.
(a) Torque control
The relation between setting of command torque and torque generation
direction of servo motor differs from the setting of servo parameter "Rotation
direction selection (PA14)" and "Function selection C-B (PC29) (POL
reflection selection at torque control)".
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
(b) Continuous operation to torque control
The relation between setting of command torque and torque generation
direction of servo motor 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)".
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
Torque command device
Positive value (Forward direction)
Negative value (Reverse direction) CW direction
Positive value (Forward direction)
Negative value (Reverse direction) CCW direction
Positive value (Forward direction)
Negative value (Reverse direction) CW direction
Positive value (Forward direction)
Negative value (Reverse direction) CW direction
Torque command device
Positive value (Forward direction)
Negative value (Reverse direction) CW direction
Positive value (Forward direction)
Negative value (Reverse direction) CW direction
Positive value (Forward direction)
Negative value (Reverse direction) CW direction
Positive value (Forward direction)
Negative value (Reverse direction) CW direction
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Torque generation direction of servo motor
CCW direction
CW direction
CCW direction
CCW
direction
CCW direction
Torque generation direction of servo motor
CCW direction
CCW direction
CCW direction
CCW
direction
CCW direction
CW
direction
CW
direction