Mitsubishi Electric MELSEC iQ-R RD75P4, Руководство пользователя

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7 CONTROL SUB FUNCTIONS
7.5 Functions that Change Control Details
Torque change function
Torque change function changes the torque limit value during the control. The torque limit value during the control is normally
the value in [Pr.17] Torque limit setting value that was previously set in the parameters. However, by setting a new torque limit
value in [Cd.22] New torque value, the axis control data, and writing it to the RD75, the torque generated in the servomotor
during the control can be limited with the new torque value. ([Cd.22] New torque value is validated when the value is written to
the RD75.)
Control details
The setting of [Cd.22] New torque value is reflected to [Md.35] Torque limit stored value when the first PLC READY signal [Y0]
is turned on after the power-on. After PLC READY signal [Y0] is turned on, the setting of [Cd.22] New torque value is always
reflected to [Md.35] Torque limit stored value every time [Cd.22] New torque value is changed.
To return the value in [Md.35] Torque limit stored value to the value in [Pr.17] Torque limit setting value after the torque is
changed, set 0 in [Cd.22] New torque value and turn off and on PLC READY signal [Y0]. (If [Cd.22] New torque value was 0
when PLC READY signal [Y0] is turned on, the value in [Pr.17] Torque limit setting value is set to [Md.35] Torque limit stored
value.)
The setting range is between 0 and [Pr.17] Torque limit setting value. When the new torque value is 0, a torque change is
considered not to be performed.
Control precautions
• If a value other than 0 is set in [Cd.22] New torque value, the torque generated in the servomotor is limited with that value.
To limit the torque with the value set in [Pr.17] Torque limit setting value, set 0 in [Cd.22] New torque value.
• [Cd.22] New torque value is validated when the value is written to the RD75. (Note that [Cd.22] New torque value is not
validated from when the power supply is turned on to when PLC READY signal [Y0] is turned on.)
• If the set value is outside the setting range, Outside new torque value range (Warning code: 0907H) occurs and the torque
is not changed.
• To change the torque successively using the torque change function, set 10ms or longer as the interval between each
torque change. (If the interval between the torque changes is short, the new torque value may not be reflected to the
torque.)
50% 100%
0%
25%
0%
OFF
ON
V
t
50% 100%
25%
25%
Pr.17
Cd.22
Md.35
The torque is limited by
the torque limit setting value
of the parameter (50%).
Various operations
PLC READY signal [Y0]
Torque limit setting value
New torque value
Torque limit stored value
The torque is limited by
the new torque value
of the axis control data (25%). The torque change is ignored.