Mitsubishi Electric MELSEC iQ-R16MTCPU, Руководство по программированию

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3 PARAMETERS FOR POSITIONING CONTROL
3.8 Speed-torque control data
Command speed acceleration time, Command speed
deceleration time
Set the acceleration time for the speed to increase from "0" to reach the speed limit value at speed-torque control and
deceleration time taken to stop from the speed limit value at speed-torque control during speed control or continuous
operation to torque control.
When the rotation direction is changed due to the command speed change during speed control, the operation is as follows.
• A deceleration is made to 0 [r/min] according to the setting value of command speed deceleration time. After that, an
acceleration is made to the command speed according to the setting value of command speed acceleration time.
Torque command device
Set the command torque at torque control and continuous operation to torque control.
Command torque can be changed at any time.
The following values can be set to the torque command device.
Torque control
The relation between setting of command torque and torque generation direction of servomotor differs from the setting of
servo parameter "Rotation direction selection (PA14)" and "Function selection C-B (PC29) (POL reflection selection at torque
control)".
Setting range
-10000 to 10000 (

0.1[%])
Function selection C-B
(PC29) (POL reflection
selection at torque control)" Rotation direction
selection (PA14) Torque command device Torque generation direction of servo
motor
0: Valid 0: Forward rotation (CCW)
with the increase of the
positioning address
Positive value (Forward direction) CCW direction
Negative value (Reverse direction) CW direction
1: Reverse rotation (CW)
with the increase of the
positioning address
Positive value (Forward direction) CW direction
Negative value (Reverse direction) CCW direction
1: Invalid 0: Forward rotation (CCW)
with the increase of the
positioning address
Positive value (Forward direction) CCW direction
Negative value (Reverse direction) CW direction
1: Reverse rotation (CW)
with the increase of the
positioning address
Positive value (Forward direction) CCW direction
Negative value (Reverse direction) CW direction
t 0
-10000
-20000
20000
30000
Speed limit value at
speed-torque control
Speed limit value at
speed-torque control
Speed command device
V
The command value to the servo amplifier is stored
at the "[Md.28] Command speed (R: 48n,
48n/Q: #8004+20n, #8005+20n)".
Command speed
acceleration time
Command speed
acceleration time
Command speed
deceleration time
Command speed
deceleration time
0 20000 30000 0 -10000 -20000 0
CW
direction
CCW
direction