Mitsubishi Electric Melservo-J3 Series MR-J3-B, Instruction Manual

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17. SPEED CONTROL OPERATION
(2) Torque limit
CAUTION
If the torque limit is canceled during servo-lock, the servo motor may
suddenly rotate depending on the position deviation from the command
position.
(a) Torque limit and torque
By setting parameter No.PA11 (forward rotation torque limit) and parameter No.PA12 (reverse rotation
torque limit), torque is always limited to the maximum value during operation. A relation between the limit
value and servo motor torque is as follows.
0
CW direction Max. torque
T
o
rque
CCW direction
100 100 [%]
Torque limit value in
Parameter No.PA12
Torque limit value in
Parameter No.PA11
(b) Torque limit value selection
Torque is limited with the forward rotation torque limit (parameter No.PA11), the reverse rotation torque
limit (parameter No.PA12), or the internal torque limit 2 (parameter No.PC35) as follows by using the
internal torque limit selection (RY(n+2)6).
(Note) RY(n+2)6 Limit value status
Enabled torque limit
CCW power
running/CW
regeneration
CW power
running/CCW
regeneration
0 Parameter No.PA11 Parameter No.PA12
1
Parameter No.PC35 >
Parameter No.PA11
Parameter No.PA12
Parameter No.PA11 Parameter No.PA12
Parameter No.PC35 <
Parameter No.PA11
Parameter No.PA12
Parameter No.PC35 Parameter No.PC35
Note. 0:OFF
1:ON
(c) Limiting torque (RXn4)
RXn4 turns on when the servo motor torque reaches the torque limited.