Mitsubishi Electric MELSEC iQ-R16MTCPU, Programming Manual

Page: 203 / 482

3 PARAMETERS FOR POSITIONING CONTROL
3.8 Speed-torque control data
201
3
3.8
Speed-torque control data
Speed-torque control data are for executing "speed-torque control".
[Motion Control Parameter]  [Axis Setting Parameter]  "Speed-Torque Control Data"
No. Setting
item
Setting necessity Default
value Setting range Direct
setting
*1
Indirect
setting
*2
Reference
section
Speed
control Torque
control Conti-
nuous
operat-
ion to
torque
control mm inch degree pulse Valid/
invalid Valid/
invalid
(Requir
ed size) Fetch
cycle
1 Control
mode
switching
request
device
*3
      
(1 bit) Operati
on
cycle

Page
203
2 Control
mode
setting
device
*3
       (1
word)
At
switchi
ng of
the
control
mode  Page
203
3 Speed limit
value at
speed
control-
torque    200000
[Selected
unit] 1 to
60000
0000
(

10
-
2
[mm/
min])
1 to
60000
0000
(

10
-
3
[inch/
min])
1 to
214748
3647
(

10
-
3
[degre
e/
min])
*4
1 to
214748
3647
[pulse/s]   (2
words)
 Page
203
4 Torque limit
value at
speed-
torque
control
  
3000
(

10
-1
[%])
1 to 10000(

10
-1
[%])
 
(1
word)

Page
203
5 Speed
command
device
*3
      
(2
words)
Operati
on
cycle

Page
203
6 Command
speed
acceleration
time    1000[ms] 0 to 8388608[ms]   (2
words)
At
switchi
ng of
the
control
mode  Page
204
7 Command
speed
deceleration
time    1000[ms] 0 to 8388608[ms]   (2
words)
8 Torque
command
device
*3
      
(1
word)

Page
204
9 Command
torque time
constant
(positive
direction)
  
1000[ms] 0 to 8388608[ms]
 
(2
words)

Page
205
10 Command
torque time
constant
(negative
direction)    1000[ms] 0 to 8388608[ms]   (2
words)
11 Speed initial
value
selection at
control
mode
switching    0 0: Command speed
1: Feedback speed
2: Automatic selection     Page
206