Mitsubishi Electric MELSERVO MR-J4-03A6-RJ, Instruction Manual

Page: 216 / 610

5. HOW TO USE THE PROGRAM
5 - 9
Command Name Setting Setting range Unit
Indirect
specif-
ication
(Note 7)
Description
TLP
(Note 8) Forward rotation
torque limit TLP
(Setting value)
0, 1 to 1000 0.1 %
Using the maximum torque as 100%, limit the generated
torque of the servo motor in the CCW power running or
CW regeneration.
The setting value is valid until the program stops.
Specifying the setting value to "0" enables the [Pr. PA11]
setting.
TLN
(Note 8) Reverse rotation
torque limit TLN
(Setting value)
0, 1 to 1000 0.1 %
Using the maximum torque as 100%, limit the generated
torque of the servo motor in the CW power running or
CCW regeneration.
The setting value is valid until the program stops.
Specifying the setting value to "0" enables the [Pr. PA12]
setting.
TQL
(Note 8)
Torque limit
TQL
(Setting value)
0, 1 to 1000 0.1 %
Using the maximum torque as 100%, limit the generated
torque of the servo motor.
The setting value is valid until the program stops.
Specifying the setting value to "0" enables the [Pr. PA11]
and [Pr. PA12] settings.
Note 1. The "SYNC", "OUTON", "OUTOF", "TRIP", "TRIPI", "COUNT", "LPOS", and "ITP" commands are valid even during a
command output.
2. The "SPN" command is valid while the "MOV", "MOVA", "MOVI", or "MOVIA" command is executed. The "STA", "STB", "STC",
and "STD" commands are valid while the "MOV" or "MOVI" command is executed.
3. When the on time is set using [Pr. PT23] to [Pr. PT25], the next command is executed after the set time elapses.
4. When the remaining distance is the set value or less, or while the servo motor stops or decelerates, the program skips the
"ITP" command and proceeds to the next step.
5. The parameter value is valid normally. However, the value set for the command is valid after the command is executed until
the program stops.
6. The unit of the position command data input can be changed with [Pr. PT01]. For the setting range for each unit, refer to
section 5.2.3 (1) (a).
7. For the explanation of the indirect specification, refer to section 5.2.2 (2) (j).
8. The parameter value is valid normally. However, the value set for the command is valid after the command is executed until
the program stops.
9. The unit will be "mm/s" for the linear servo motor control mode.
(2) Detailed explanations of commands
(a) Positioning conditions (SPN/STA/STB/STC/STD)
POINT
Once values are set for the "SPN", "STA", "STB" and "STC" commands, the
values are valid without resetting them. (The values are not initialized at the
program startup.) The settings are valid in the other programs.
The value set for the "STD" command is valid in the same program only. The
value is initialized to the setting value of [Pr. PC03] at the program startup, and
therefore the value is invalid in the other programs.
The "SPN", "STA", "STB", "STC", and "STD" commands are valid while the "MOV" or "MOVA"
command is executed.
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