Mitsubishi Electric MELSEC-LD77MS2 User Manual page 684

"Rotation direction selection/travel
direction selection (PA14)"
0: Forward rotation (CCW) with the
increase of the positioning address
1: Reverse rotation (CW) with the
increase of the positioning address
Important
Regardless of the setting in "Rotation direction selection/travel direction selection (PA14)", set a
positive value when torque command is in CCW direction of servomotor and a negative value
when torque command is in CW direction of servomotor in "
operation to torque control mode
If the setting is incorrect, the motor may rotate in an opposite direction.
[5] Continuous operation to torque control mode
Operation for continuous operation to torque control mode
In continuous operation to torque control, the torque control can be executed
without stopping the operation during the positioning in position control mode or
speed command in speed control mode.
During the continuous operation to torque control mode, the torque control is
executed at the command torque set in "
to torque control mode
set in "
Speed limit value at continuous operation to torque control mode
Cd.147
"
Speed limit value at continuous operation to torque control mode
Cd.147
Target torque at continuous operation to torque control mode
during the continuous operation to torque control mode. The relation between the
setting value of command torque and the torque generation direction of
servomotor is fixed regardless of the setting of servo parameters "Rotation
direction selection/travel direction selection (PA14)" and "Function selection C-B
POL reflection selection at torque control (PC29)".
"
Target torque at continuous operation to
Cd.150
torque control mode
Positive value (Forward direction)
Negative value (Reverse direction)
Positive value (Forward direction)
Negative value (Reverse direction)
".
POINTS
(1) The motor rotates in a direction according to the setting in "
at continuous operation to torque control mode
motor rotation direction in "
torque control mode
(2) Speed is not limited for reverse torque generation direction.
Cd.150
" while executing acceleration/deceleration to reach the speed
"
Speed limit value at continuous operation to
Cd.147
".
12 - 28
Chapter 12 Expansion Control
Target torque at continuous operation
" can be changed any time
Torque generation direction of servo motor
CCW direction
CW direction
CCW direction
CCW
direction
CW direction
Target torque at continuous
Cd.150
Cd.150
". Set the value corresponding to the
".
" and "
Cd.150
CW
direction
Target torque