Mitsubishi Electric MELSEC iQ-R Series User Manual page 267

■4-axis module operation example
Each operation
PLC READY signal [Y0]
All axis servo ON [Y1]
Positioning start signal [Y10]
[Pr.17] Torque limit setting value
[Cd.101] Torque output setting
value
[Cd.112] Torque change function
switching request
[Cd.22] New torque value/
forward new torque value
[Md.35] Torque limit stored
value/forward torque
limit stored value
[Cd.113] New reverse torque
value
[Md.120] Reverse torque limit
stored value
*1 The torque limit setting value or torque output setting value becomes effective at the PLC READY signal [Y0] rising edge (however, after
the servo is turned ON.)
*2 The torque limit setting value or torque output setting value becomes effective at the positioning start signal [Y10] rising edge, and the
torque limit value is updated.
*3 The torque change value is cleared to "0" at the positioning start signal [Y10] rising edge.
*4 The torque limit value is changed by the torque changed value.
*5 When the new torque value is 0, a torque change is considered not to be carried out.
*6 When the change value exceeds the torque limit value, a torque change is considered not to be carried out.
Precautions during control
• If a value besides "0" is set in the new torque value, the torque generated by the servo motor will be limited by the setting
value. To limit the torque with the value set in "[Pr.17] Torque limit setting value" or "[Cd.101] Torque output setting value",
set "0" to the new torque value.
Setting value of "[Cd.112] Torque change function switching request"
0: Forward/reverse torque limit value same setting
1: Forward/reverse torque limit value individual setting
• "[Cd.22] New torque value/forward new torque value" or "[Cd.113] New reverse torque value" is validated when written to
the Motion module. (Note that it is not validated from the time the power supply is turned ON to the time the PLC READY
signal [Y0] is turned ON.)
• If the setting value of "[Cd.22] New torque value/forward new torque value" is outside the setting range, the warning
"Outside new torque value range/outside forward new torque value range" (warning code: 0D07H) will occur and the torque
will not be changed. If the setting value of "[Cd.113] New reverse torque value" is outside the setting range, the warning
"Outside new reverse torque value range" (warning code: 0D32H) will occur and the torque will not be changed.
• If the time to hold the new torque value is not more than 10 ms, a torque change may not be executed.
• When changing from "0: Forward/reverse torque limit value same setting" to "1: Forward/reverse torque limit value
individual setting" by the torque change function, set "0" or the same value set in "[Cd.22] New torque value/forward new
torque value" in "[Cd.113] New reverse torque value" before change.
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*1
300
*2
0
0
*3
0
0 300 300
*3
0
0 300 300
search engine
*2
100
1
*4 *5 *6 *3
200 0 350 0
200 100
*5
*4 *6 *3
120 0 320 0
120 100
Setting item (New torque value)
[Cd.22] New torque value/forward new torque value
[Cd.22] New torque value/forward new torque value
[Cd.113] New reverse torque value
*1
250
150
*4 *4
230
75
230
75
*4 *4
80
200
200 80
8 CONTROL SUB FUNCTIONS
8.4 Functions to Change the Control Details
*2
0
*3
0
150
*3
0
150
8
265