Mitsubishi Electric MELSEC Q Series Programming Manual page 480

7 AUXILIARY AND APPLIED FUNCTIONS
(4) Torque control mode
(a) 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 minor error (error code: 316) will occur, the operation is controlled with
torque limit value at speed-torque control.
Speed change request (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, D(P).CHGT) or torque limit value individual change request
(CHGT2, D(P).CHGT2), 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 torque limit value individual change request, a
minor error (error code: 319) will occur, and the torque limit value is not
changed.
(b) 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 servo status2 (#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 minor error (error code: 315) 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".
POINTS
The actual motor speed may not reach the speed limit command value depending
on the machine load situation during torque control.
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