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12 - 2
Chapter 12 Expansion Control
12.1 Speed-torque control
12.1.1 Outline of speed-torque control
This function is used to execute the speed control or torque control that does not
include the position loop for the command to servo amplifier.
"Continuous operation to torque control mode" that switches the control mode to
torque control mode without stopping the servomotor during positioning operation is
also available for tightening a bottle cap or a screw.
Switch the control mode from "position control mode" to "speed control mode", "torque
control mode" or "continuous operation to torque control mode" to execute the "Speed-
torque control".
Control mode
Control
Remark
Position control mode
Positioning control, OPR
control, JOG operation,
Inching operation and Manual
pulse generator operation
Control that include the position loop
for the command to servo amplifier
Speed control mode
Speed-torque control
Control that does not include the
position loop for the command to
servo amplifier
Torque control mode
Continuous operation
to torque control mode
Control that does not include the
position loop for the command to
servo amplifier
Control mode can be switched during
positioning control or speed control.
Use the servo amplifiers whose software versions are compatible with each control
mode to execute the "Speed-torque control".
Servo amplifier software versions that are compatible with each control mode are
shown below. For the support information not listed in the table below, refer to the
instruction manual of the servo amplifier to be used.
Servo amplifier model
Software version
Speed control
Torque control
Continuous operation
to torque control 1
MR-J4-_B_/MR-JE-B
— — —
MR-J4W_-_B
— — —
MR-J4-_B_-RJ
— — —
MR-J3-_B_
—
B3 or later
C7 or later
MR-J3W-_B
— —
Not
compatible
MR-J3-_BS_
—
—
C7 or later
—: There is no restriction by the version.
1: The torque generation direction of servomotor can be changed by setting the servo
parameter "Function selection C-B POL reflection selection at torque control (PC29)" for the
servo amplifier that is compatible with the continuous operation to torque control. (Refer to
Section 12.1.4 "Operation of speed-torque control".)
For the servo amplifier that is not compatible with the continuous operation to torque control,
the operation is the same as that of when "0: Enabled" is set in servo parameter "Function
selection C-B POL reflection selection at torque control (PC29)".
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 ...
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