Continuous Operation To Torque Control Mode (Ct) - Mitsubishi Electric MELSERVO-J5 MR-J5 Series User Manual

Continuous operation to torque control mode (ct)

This mode is available on servo amplifiers with firmware version B2 or later.
Restrictions
The following functions are not available in the continuous operation to torque control mode. Therefore, if an alarm occurs, the
servo motor will stop using the method DB or EDB, or coast.
• Base circuit shut-off delay time function
• Forced stop deceleration function
• Vertical axis freefall prevention function
• Stroke limit function
• Software position limit
• Auto tuning function
• Vibration suppression control 1, 2
• Slight vibration suppression control
• One-touch tuning
• Quick tuning function
Precautions
The relation between the setting value of the command torque and the servo motor torque generation direction can be
changed with the setting values of [Pr. PA14 Travel direction selection] and [Pr. PC29.3 Torque POL reflection selection].
The servo motor outputs the torque calculated by adding up the command torque and the values set in [Pr. PE47 Unbalanced
torque offset] and [Torque offset (Obj. 60B2h)].
Switching from the csv mode to the continuous operation to torque control mode while a large value is set in [Velocity offset
(Obj. 60B1h)] may cause a shock.
In the continuous operation to torque control mode, the response to the torque command is affected. Do not set servo
parameters as shown below.
• [Pr. PB12 Overshoot amount compensation] is set to a value other than "0".
• [Pr. PB24.1 PI-PID switching control selection] is set to "3".
2 CONTROL MODE
2.1 Control mode [G] [WG]
2
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