Mitsubishi Electric MELSERVO MR-J3 A Series, Instruction Manual

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3. SIGNALS AND WIRING
3.6.3 Torque control mode
(1) Torque control
(a) Torque command and torque
A relationship between the applied voltage of the analog torque command (TC) and the torque by the
servo motor is shown below.
The maximum torque is generated at 8V. Note that the torque at 8V input can be changed with
parameter No. PC13.
Forward rotation (CCW)
Reverse rotation (CW)
-10
Rated speed [r/min]
CCW direction
0 +10
VC applied voltage [V]
CW direction
Rated speed
Speed[r/min]
Generated torque limit values will vary about 5% relative to the voltage depending on products.
Also the torque may vary if the voltage is low ( 0.05 to 0.05V) and the actual speed is close to the
limit value. In such a case, increase the speed limit value.
The following table indicates the torque generation directions determined by the forward rotation
selection (RS1) and reverse rotation selection (RS2) when the analog torque command (TC) is used.
(Note) External input signals Rotation direction
Torque control command (TC)
RS2 RS1
Polarity 0V Polarity
0 0 Torque is not generated. Torque is not generated.
0 1
CCW (reverse rotation in
driving mode/forward
rotation in regenerative
mode)
CW (forward rotation in
driving mode/reverse rotation
in regenerative mode)
1 0
CW (forward rotation in
driving mode/reverse
rotation in regenerative
mode)
CCW (reverse rotation in
driving mode/forward rotation
in regenerative mode)
1 1 Torque is not generated.
Torque is not
generated.
Torque is not generated.
Note. 0: off
1: on
Generally, make connection as shown below:
RS1
RS2
DOCOM
TC
LG
SD
8 to 8V
Servo amplifier
(Note)
Note. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.