Mitsubishi Electric MR-E A Series Instruction Manual page 266

15. MR-E-
(2) Torque control mode
(a) Torque control
1) Torque command and torque
A relationship between the applied voltage of the analog torque command (TC) and the torque
by the servo motor is shown below.
The maximum torque is generated at 8V. Note that the torque at 8V input can be changed
with parameter No. 26.
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Generated torque limit values will vary about 5% relative to the voltage depending on
products.
Also the torque may vary if the voltage is low ( 0.05 to 0.05V) and the actual speed is close
to the limit value. In such a case, increase the speed limit value.
The following table indicates the torque generation directions determined by the forward
rotation selection (RS1) and reverse rotation selection (RS2) when the analog torque command
(TC) is used.
(Note) External input signals
Note. 0: off
Generally, make connection as shown below:
AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT
CCW direction
Max. torque
Generated torque
8 0.05
0.05 8
TC applied voltage [V]
Max. torque (Note)
CW direction
RS2 RS1
0 0 Torque is not generated.
CCW (reverse rotation in
driving mode/forward
0 1
rotation in regenerative
mode)
CW (forward rotation in
driving mode/reverse
1 0
rotation in regenerative
mode)
1 1 Torque is not generated.
1: on
Forward rotation (CCW)
Rotation direction
Torque control command (TC)
Polarity 0V
Torque is not
generated.
Servo amplifier
RS1
RS2
SG
TC
8 to 8V
LG
SD
15 - 21
Reverse rotation (CW)
Polarity
Torque is not generated.
CW (forward rotation in
driving mode/reverse
rotation in regenerative
mode)
CCW (reverse rotation in
driving mode/forward
rotation in regenerative
mode)
Torque is not generated.