Mitsubishi Electric MELSERVO-J4 MR-J4 A Series Instruction Manual page 79

3. SIGNALS AND WIRING
(b) Analog torque command offset
Using [Pr. PC38], the offset voltage of
voltage as follows.
(2) Torque limit
By setting [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], torque is
always limited to the maximum value during operation. A relation between limit value and servo motor
torque is as in section 3.6.1 (5).
Note that TLA (Analog torque limit) is unavailable.
(3) Speed limit
(a) Speed limit value and speed
The speed is limited to the values set with [Pr. PC05 Internal speed limit 0] to [Pr. PC11 Internal
speed limit 7] or the value set in the applied voltage of VLA (Analog speed limit). A relation between
VLA (Analog speed limit) applied voltage and the servo motor speed is as follows.
When the servo motor speed reaches the speed limit value, torque control may become unstable.
Make the set value more than 100 r/min greater than the desired speed limit value.
The following table indicates the limit direction according to RS1 (Forward rotation selection) and
RS2 (Reverse rotation selection) combination.
Note. 0: Off
Maximum torque
0
TC applied voltage [V]
Speed [r/min]
[r/min]
-10
CW direction CW
(Note) Input device
RS1 RS2
1 0
0 1
1: On
9999 mV to 9999 mV can be added to the TC applied
[Pr.PC38]
[Pr.PC38]
offset range
-9999mV 9999mV
-9999mV to 9999mV
8(-8)
TC [V]
Rated speed [r/min] [r/min]
Forward rotation (CCW)
CCW direction
CCW
0 +10
VLA applied voltage [V] VLA [V]
Rated speed [r/min]
[r/min]
Speed limit direction
VLA (Analog speed limit)
Polarity: +
CCW
CW
3 - 38
(CCW)
Reverse rotation (CW)
Internal speed command
Polarity: -
CW
CCW
(CW)
CCW
CW