Mitsubishi Electric MELSEC-L Series, Руководство пользователя

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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 the continuous operation to torque control mode, the torque control is
executed at the 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 the continuous operation to torque control mode. The relation between the
setting value of command torque and the torque generation direction of
servomotor is fixed regardless of the setting of servo parameters "Rotation
direction selection/travel direction selection (PA14)" and "Function selection C-B
POL reflection selection at torque control (PC29)".
"Rotation direction selection/travel
direction selection (PA14)"
"
Cd.150
Target torque at continuous operation to
torque control mode
"
Torque generation direction of servo motor
0: Forward rotation (CCW) with the
increase of the positioning address
Positive value (Forward direction) CCW direction
CW
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
Important
Regardless of the setting 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 may rotate in an opposite direction.
POINTS
(1) The motor rotates in a direction according to 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.