Mitsubishi Electric FATEC MELSEC iQ-R Training Manual page 78

[Pr.90] Operation setting for speed-torque control mode
Operation setting of the speed control mode, torque control mode or continuous operation to
torque control mode at the speed-torque control is executed.
0 H
Torque initial value selection
Speed initial value selection
Condition selection at mode switching
(1) Torque initial value selection
Set the torque initial value at switching to torque control mode or to continuous operation
to torque control mode.
(2) Speed initial value selection
Set the initial speed at switching from position control mode to speed control mode or the
initial speed at switching from position control mode or from speed control mode to
continuous operation to torque control mode.
(3) Condition selection at mode switching
Set the valid/invalid of switching conditions for switching control mode.
PRECAUTIONS
• The "[Pr.90] Operation setting for speed-torque control mode" is included in detailed parameters
2. However, it will be valid at the leading edge (OFF to ON) of the PLC READY signal [Y0].
• Normally it is set to 0, to switch to the torque control set to 1 just after the completion of
positioning without waiting until the servo motor stops.
[Pr.95] External command signal selection
Set the external command signal.
Pin Nos. and input terminals corresponding to the external command signals (DI Nos.) are
shown below. (For RD77MS2, the pins of up to DI10 can be used.)
• DI1 to DI5: 1A1 to 1A5, SIN1 to SIN5
• DI6 to DI10: 1B1 to 1A5, SIN6 to SIN10
• DI11 to DI15: 2A1 to 1A5, SIN11 to SIN15
• DI16 to DI20: 2B1 to 1A5, SIN16 to SIN20
POINT
Same external command signal can be used in the multiple axes.
[Pr.122] Manual pulse generator speed limit mode
Set how to output when the output by manual pulse generator operation exceeds "[Pr.123]
Manual pulse generator speed limit value".
[Pr.123] Manual pulse generator speed limit value
Set the maximum speed during manual pulse generator operation. A manual pulse generator
speed exceeding the limit value will be reduced to the speed limit value.
Set the "Manual pulse generator speed limit value" to a value less than "[Pr.8] Speed limit
value". If the "[Pr.8] Speed limit value" is exceeded, the error "Manual pulse generator speed
limit value error" (error code: 1ABAH) will occur.
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