Mitsubishi Electric MELSEC Q Series, User Manual

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12 - 15
Chapter 12 Expansion Control
Set time for the command torque to increase from 0% to "[Pr.17] Torque limit
setting value" in "[Cd.144] Torque time constant at torque control mode (Forward
direction)" and for the command torque to decrease from "[Pr.17] Torque limit
setting value" to 0% in "[Cd.145] Torque time constant at torque control mode
(Negative direction)". The value at torque control mode switching request is valid
for "[Cd.144]" and "[Cd.145]".
The command torque during the torque control mode is limited with "[Pr.17]
Torque limit setting value". If the torque exceeding the torque limit setting value is
set, the warning "Torque limit value over" (warning code: 520) occurs, and the
operation is controlled with the torque limit setting value.
Confirm the command torque to servo amplifier with "[Md.123] Torque during
command".
Cd.145
0
t
0
200 300 -100 -200 0 0
Pr.17 Torque limit setting value
20.0
30.0
-10.0
-20.0
Torque
[%]
Pr.17 Torque limit setting value
Cd.143 Command torque at
torque control mode
Cd.144
Torque time
constant at torque
control mode
(Forward direction)
Torque time
constant at torque
control mode
(Negative direction)
Cd.144
Cd.145
Torque time
constant at torque
control mode
(Negative direction)
Md.123
The command torque to servo amplifier is stored
in " Torque during command".
Torque time
constant at torque
control mode
(Forward direction)