Torque Change Function - Mitsubishi Electric MELSEC iQ-R Series User Manual

Torque change function

The "torque change function" is used to change the torque limit value during torque limiting.
The torque limit value at the control start is the value set in "[Pr.17] Torque limit setting value" or "[Cd.101] Torque output
setting value".
The following two change methods in the torque change function.
Torque change function
Forward/reverse torque limit value
same setting
Forward/reverse torque limit value
individual setting
*1 Forward torque limit value: The limit value to the generated torque during CW regeneration at the CCW driving of the servo motor.
*2 Reverse torque limit value: The limit value to the generated torque during CCW regeneration at the CW driving of the servo motor.
Set previously "same setting" or "individual setting" of the forward/reverse torque limit value in "[Cd.112] Torque change
function switching request". Set the new torque value (forward new torque value/new reverse torque value) in the axis control
data ([Cd.22] or [Cd.113]) shown below.
Torque change function
Forward/reverse torque limit value
same setting
Forward/reverse torque limit value
individual setting
Control details
The torque value (forward new torque value/new reverse torque value) of the axis control data can be changed at all times.
The torque can be limited with a new torque value from the time the new torque value has been written to the Simple Motion
module.
Note that the delay time until a torque control is executed is max. operation cycle after torque change value was written.
The toque limiting is not carried out from the time the power supply is turned ON to the time the PLC READY signal [Y0] is
turned ON.
The new torque value ([Cd.22], [Cd.113]) is cleared to zero at the leading edge (OFF to ON) of the positioning start signal
[Y10], at the start of JOG operation, and at the start of synchronous control.
The torque setting range is from 0 to "[Pr.17] Torque limit setting value". (When the setting value is 0, a torque change is
considered not to be carried out, and it becomes to the value set in "[Pr.17] Torque limit setting value" or "[Cd.101] Torque
output setting value". The torque change range is 1 to "[Pr.17] Torque limit setting value".)
The following drawing shows the operation at the same setting and the operation at the individual setting for the forward new
torque value and new reverse torque value.
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Details
The forward torque limit value
value. (Use this method when they need not be separately set.)
The forward torque limit value
new torque value and new reverse torque value.
Setting item
Torque change function switching request
([Cd.112])
0: Forward/reverse torque limit value same setting
1: Forward/reverse torque limit value individual setting
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*1 *2
and reverse torque limit value are changed to the same value by the new torque
*1 *2
and reverse torque limit value are individually changed respectively by the forward
New torque value ([Cd.22], [Cd.113])
[Cd.22]
[Cd.113]
[Cd.22]
[Cd.113]
8.4 Functions to Change the Control Details
New torque value/forward new torque value
Setting invalid
New torque value/forward new torque value
New reverse torque value
8 CONTROL SUB FUNCTIONS
8
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