Torque Control Mode (T) - Mitsubishi Electric MELSERVO-J5 MR-J5 Series User Manual

Torque control mode (T)

Set [Pr. PA01.0] to "4" (Torque control mode).
The torque can be controlled with the combination of the applied voltage of TC (Analog torque command) and either of RS1
(Forward rotation selection) or RS2 (Reverse rotation selection).
Torque control
■Torque command and torque
The following shows a relation between the applied voltage of TC (Analog torque command) and the torque by the servo
motor.
The maximum torque is generated at ±8 V. The speed at ±8 V can be changed with [Pr. PC13 Analog torque command
maximum output].
CCW direction
Maximum torque
Torque
-8 -0.05
+0.05 +8
TC applied voltage [V]
Maximum torque
CW direction
The command value for output torque relative to the voltage varies by approximately 5 % between motors. The torque may
vary if the voltage is low (-0.05 V to 0.05 V) and the actual speed is close to the limit value. In such a case, increase the speed
limit value.
The direction of torque generation can be selected with RS1 (Forward rotation selection), RS2 (Reverse rotation selection),
and TC (Analog torque command).
*1
Input device Rotation direction
RS2 RS1 TC (Analog torque command)
Polarity: +
0 0 Torque is not generated.
0 1 CCW (Forward rotation in power
running mode/reverse rotation in
regenerative mode)
1 0 CW (Reverse rotation in power running
mode/forward rotation in regenerative
mode)
1 1 Torque is not generated.
*1 0: OFF
1: ON
*2 For linear servo motors, CCW is the positive direction and CW is the negative direction.
■Analog torque command offset
Using [Pr. PC38 Analog command input 2 offset], the offset voltage of -9999 mV to 9999 mV can be added to the TC applied
voltage as follows.
Maximum
torque
0
TC applied voltage [V]
Forward rotation (CCW)
Forward rotation (CCW)
*2
[Pr. PC38]
offset range
-9999 mV to 9999 mV
8 (-8)
Reverse rotation (CW)
0 V
Torque is not generated.
Reverse rotation (CW)
Polarity: -
Torque is not generated.
CW (Reverse rotation in power running
mode/forward rotation in regenerative
mode)
CCW (Forward rotation in power running
mode/reverse rotation in regenerative
mode)
Torque is not generated.
2 CONTROL MODE
2.2 Control mode [A]
2
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