Mitsubishi Electric MELSERVO-JN Series, Инструкция по эксплуатации

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3. SIGNALS AND WIRING
3.6.3 Internal torque control mode
(1) Internal torque command settings
Torque is controlled by the internal torque command set in parameter No. PC12.
If the internal torque command is small, the torque may vary when the actual speed reaches the speed limit
value. In such case, increase the speed limit value.
The following table indicates the torque generation directions determined by the forward rotation selection
(RS1) and the reverse rotation selection (RS2) when the internal torque command (parameter No. PC12) is
used.
(Note) Input device Rotation direction
Forward rotation (CCW)
Reverse rotation (CW)
RS2 RS1
Internal torque command (parameter No. PC12)
0.1 to 100.0% 0.0%
0 0 Torque is not generated.
Torque is not
generated.
0 1
CCW (reverse rotation in driving
mode/forward rotation in
regenerative mode)
1 0
CW (forward rotation in driving
mode/reverse rotation in
regenerative mode)
1 1 Torque is not generated.
Note. 0: off
1: on
Generally, make connection as shown below.
RS2
DOCOM
DICOM
Servo amplifier
RS1
24VDC
(Note)
Note. For sink I/O interface. For source I/O interface, refer to section 3.8.3.
The following shows the effect of the low-pass filter on the internal torque command.
Torque
Forward rotation/reverse
rotation selection
Internal torque command after filtered
Internal torque command (parameter No. PC12)
ON
OFF
Torque command time constant (parameter No. PC04)
(RS1/RS2)
(2) Torque limit
By setting parameter No. PA11 (forward torque limit) or parameter No. PA12 (reverse torque limit), torque
is always limited to the maximum value during operation. A relationship between limit value and servo
motor torque is as in section 3.6.1 (4).