Mitsubishi MELSEC-Q QD77MS, User Manual

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Chapter 12 Expansion Control
[5] Continuous operation to torque control mode
Operation for continuous operation to torque control mode
In continuous operation to torque control, the torque control can be executed
without stopping the operation during the positioning in position control mode or
speed command in speed control mode.
During continuous operation to torque control mode, the torque control is executed
at command torque set in "
Cd.150
Target torque at continuous operation to torque
control mode
" while executing acceleration/deceleration to reach the speed set in
"
Cd.147
Speed limit value at continuous operation to torque control mode
".
"
Cd.147
Speed limit value at continuous operation to torque control mode
" and "
Cd.150
Target torque at continuous operation to torque control mode
" can be changed any time
during continuous operation to torque control mode. The relation between setting
value of command torque and torque generation direction of servomotor is fixed
regardless of the setting of servo parameter "Rotation direction selection/travel
direction selection (PA14)" and "Function selection C-B POL reflection selection
during torque control (PC29)".
"Rotation direction selection/travel
direction selection (PA14)"
"
Cd.143
Command torque at torque control mode
"
Torque generation direction of servo motor
Positive value (Forward direction) CCW direction
0: Forward rotation (CCW) with the
increase of the positioning address
Negative value (Reverse direction) CW direction
Positive value (Forward direction) CCW direction
1: Reverse rotation (CW) with the
increase of the positioning address
Negative value (Reverse direction) CW direction
CW
direction
CCW
direction
Important
Regardless of the setting set in "Rotation direction selection/travel direction selection (PA14)",
set a positive value when torque command is in CCW direction of servomotor and a negative
value when torque command is in CW direction of servomotor in "
Cd.150
Target torque at
continuous operation to torque control mode
".
If the setting is incorrect, the motor will reverse run.
POINTS
(1) The motor rotation direction follows the setting in "
Cd.150
Target torque at
continuous operation to torque control mode
". Set the value corresponding to the
motor rotation direction in "
Cd.147
Speed limit value at continuous operation to
torque control mode
".
(2) Speed is not limited for reverse torque generation direction.