12 - 24
Chapter 12 Expansion Control
[4] Torque control mode
Operation for torque control mode
The torque control is executed at the command torque set in "
Cd.143
Command
torque at torque
control mode
" in the torque control mode. "
Cd.143
Command torque at
torque
control mode
" can be changed any time during torque control mode. The
relation between the setting of command torque and the torque generation
direction of servomotor varies depending on the setting of servo parameters
"Rotation direction selection/travel direction selection (PA14)" and "Function
selection C-B POL reflection selection at torque control (PC29)".
(1) When servo parameter "Function selection C-B POL reflection selection at
torque control (PC29)" is set to "0: Enabled"
"Rotation direction selection/travel
direction selection (PA14)"
"
Cd.143
Command torque at torque control mode
"
Torque generation direction of servo motor
0: Forward rotation (CCW) with the
increase of the positioning address
Positive value (Forward direction)
CCW direction
CW
direction
CCW
direction
Negative value (Reverse direction)
CW direction
1: Reverse rotation (CW) with the
increase of the positioning address
Positive value (Forward direction)
CW direction
Negative value (Reverse direction)
CCW direction
(2) When servo parameter "Function selection C-B POL reflection selection at
torque control (PC29)" is set to "1: Disabled"
"Rotation direction selection/travel
direction selection (PA14)"
"
Cd.143
Command torque at torque control mode
"
Torque generation direction of servo motor
0: Forward rotation (CCW) with the
increase of the positioning address
Positive value (Forward direction)
CCW direction
CW
direction
CCW
direction
Negative value (Reverse direction)
CW direction
1: Reverse rotation (CW) with the
increase of the positioning address
Positive value (Forward direction)
CCW direction
Negative value (Reverse direction)
CW direction
Summary of Contents for MELSEC-L Series
Page 2: ......
Page 30: ...MEMO ...
Page 70: ...2 10 Chapter 2 System Configuration MEMO ...
Page 83: ...3 13 Chapter 3 Specifications and Functions MEMO ...
Page 103: ...3 33 Chapter 3 Specifications and Functions MEMO ...
Page 107: ...3 37 Chapter 3 Specifications and Functions MEMO ...
Page 111: ...3 41 Chapter 3 Specifications and Functions MEMO ...
Page 115: ...3 45 Chapter 3 Specifications and Functions MEMO ...
Page 140: ...4 22 Chapter 4 Installation Wiring and Maintenance of the Product MEMO ...
Page 253: ...5 113 Chapter 5 Data Used for Positioning Control MEMO ...
Page 342: ...5 202 Chapter 5 Data Used for Positioning Control MEMO ...
Page 438: ...7 20 Chapter 7 Memory Configuration and Data Process MEMO ...
Page 440: ...MEMO ...
Page 485: ...9 25 Chapter 9 Major Positioning Control MEMO ...
Page 594: ...9 134 Chapter 9 Major Positioning Control MEMO ...
Page 624: ...10 30 Chapter 10 High Level Positioning Control MEMO ...
Page 656: ...11 32 Chapter 11 Manual Control MEMO ...
Page 690: ...12 34 Chapter 12 Expansion Control MEMO ...
Page 798: ...13 108 Chapter 13 Control Sub Functions MEMO ...
Page 866: ...14 68 Chapter 14 Common Functions MEMO ...
Page 884: ...15 18 Chapter 15 Dedicated Instructions MEMO ...
Page 899: ...16 15 Chapter 16 Troubleshooting MEMO ...
Page 1036: ...Appendix 88 Appendices MEMO ...
Page 1039: ......