Torque Control Mode - Mitsubishi Electric Melservo MR-J3-A Instruction Manual

3. SIGNALS AND WIRING

3.6.3 Torque control mode

(1) Torque control
(a) 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. PC13.
Speed[r/min]
CW direction
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
RS2
0
0
1
1
Note. 0: off
1: on
Generally, make connection as shown below:
Rated speed [r/min]
CCW direction
-10
0 +10
VC applied voltage [V]
Rated speed
RS1
Polarity
0 Torque is not generated.
CCW (reverse rotation in
driving mode/forward
1
rotation in regenerative
mode)
CW (forward rotation in
driving mode/reverse
0
rotation in regenerative
mode)
1 Torque is not generated.
8 to 8V
Note. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
Forward rotation (CCW)
Rotation direction
Torque control command (TC)
0V
Torque is not generated.
CW (forward rotation in
driving mode/reverse rotation
in regenerative mode)
Torque is not
generated.
CCW (reverse rotation in
driving mode/forward rotation
in regenerative mode)
Torque is not generated.
Servo amplifier
RS1
(Note)
RS2
DOCOM
TC
LG
SD
3 - 43
Reverse rotation (CW)
Polarity