Mitsubishi Electric MELSERVO-J5 MR-J5 Series User Manual page 41

■Switching between the CSV mode and continuous operation to torque control mode
The following shows a timing chart when the mode is switched between the CSV mode and continuous operation to torque
control mode.
[Modes of operation (Obj. 6060h)]
[Velocity limit value (Obj. 2D20h)]
[Target torque (Obj. 6071h)]
[Modes of operation display (Obj. 6061h)]
■Parameter adjustment method
When using the continuous operation to torque control mode, adjust parameters using the following steps.
1.
Adjusting servo stability
Adjust servo stability so that the operation is performed normally without vibration in the position mode or speed mode.
2.
Setting the torque feedback gain
Restore the value of [Pr. PB03 Torque feedback loop gain] to the initial value.
3.
Adjusting the torque feedback gain
If the servo motor speed or torque fluctuates when a workpiece comes into contact with a target object, decrease the value of
[Pr. PB03]. Decreasing the value of [Pr. PB03] will help suppress fluctuation in servo motor speed or torque when a workpiece
comes into contact with a target object. However, doing so will decrease trackability to the command torque.
Servo motor speed
CSV mode
1000
Torque
30.0 %
9
-104: continuous operation to torque control mode
0
0
9
Continuous operation
to torque control mode
0 → 1000
0 → 300
-104: continuous operation to torque control mode
CSV mode
9: CSV mode
9: CSV mode
2 CONTROL MODE
2.1 Control mode [G] [WG]
2
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