Mitsubishi Electric MELSEC Q Series Programming Manual page 482

7 AUXILIARY AND APPLIED FUNCTIONS
(5) Continuous operation to torque control mode
(a) Operation for continuous operation to torque control mode
In continuous operation to torque control, the torque control can be executed
by the speed limit command value after acceleration/deceleration
processing without stopping the operation during the positioning in position
control mode or speed command in speed control mode.
(Example) When the torque command is changed from 0.0% to 100% with the torque command device.
Operation for continuous operation
to torque control mode
Speed limit
command value
Speed limit value in
speed-torque control
Speed command
device value
Torque command device
During continuous operation to torque control mode, the torque control is
executed at command torque set in "Torque command device".
Command torque can be changed any time during continuous operation to
torque control mode.
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 or torque limit value individual change request, a
minor error (error code: 319) will occur, and the torque limit value is not
changed.
(b) 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 minor error (error
code: 316) will occur, and the operation is controlled with torque limit value
at speed-torque control.
Command speed
acceleration time
Controlled by speed limit
command value after
acceleration/deceleration
processing
0 t
0 1000
7 - 37
Operation for torque control mode
Speed limit
command value
Speed command
device value
0
0
Torque command device
t
1000