Mitsubishi MR-JE-100A, Instruction Manual

Page: 174 / 396

5. HOW TO USE THE PROGRAM
5 - 29
(l) Torque limit value switching (TLP/TLN/TQL)
Using the maximum torque as 100.0%, limit the generated torque of the servo motor.
1) Program example
Command Description
SPN (1500)
STA (100)
STB (200)
MOV (1000) Servo motor speed
Acceleration time constant
Deceleration time constant
Absolute value travel command 1500 [r/min]
100 [ms]
1: 200 [ms]
10
STM
μ m
SYNC (1) Suspend the step until PI1 (Program input 1) is switched on. a)
TLP (800) Forward rotation torque limit 800 [0.1%] b)
SYNC (2) Suspend the step until PI2 (Program input 2) is switched on. c)
TLN (500)
TIM (100)
MOV (500) Reverse rotation torque limit
Dwell
Absolute value travel command 500 [0.1%]
100 [ms]
1000 [×10
STM μ m]
d)
e)
SYNC (3) Suspend the step until PI3 (Program input 3) is switched on. f)
TQL (300)
STOP Torque limit
Program stop 300 [0.1%]
g)
h)
[Pr. PA11] setting
[Pr. PA11] setting
h) Program stop
g) Torque limit
g) Torque limit The torque limit value returns
to the parameter setting value
by program stop.
d) Reverse rotation
torque limit
b) Forward rotation torque limit
Forward rotation torque limit
Reverse rotation torque limit
PI1 (Program input 1)
PI2 (Program input 2)
PI3 (Program input 3)
Servo motor
speed
a) PI1-on
f) PI3-on
c) PI2-on
80.0% 30.0%
e) 100 ms
[Pr. PA12] setting
ON
OFF
ON
OFF
ON
OFF
[Pr. PA12] setting
50.0% 30.0%
Reverse rotation
0 r/min
Forward rotation