Mitsubishi QD75M1, Руководство пользователя

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12 - 52
MELSEC-Q
12 CONTROL SUB FUNCTIONS
[1] Control details
The torque value of the axis control data can be changed at all times. The torque
can be limited with a new torque value from the time the new torque value has
been written to the QD75. (a torque change is made only during operation.)
(Note that the delay time until a torque control is executed is max. 7.1ms after
torque change value was written.)
The toque limiting is not carried out from the time the power supply is turned ON
to the time the PLC READY signal (Y0) is turned ON.
The torque setting range is from 0 to "
Pr.17
Torque limit setting value".
When the new torque value is 0, a torque change is considered not to be carried
out.
The torque change range is 1 to "
Pr.17
Torque limit setting value".
The following drawing shows the torque change operation.
Each operations
PLC READY signal (Y0)
All axis servo ON (Y1)
Start signal (Y10)
Torque limit setting
value (26)
Torque output setting
value (1552)
New toruque value
(1525)
Torque limit stored
value (826)
Pr.17
Cd.101
Cd.22
Md.35
1
300 250
0 100 150
0 0 200 0 350 0 75 230 0
0 300 300 200 100 75 230 150 150
1
2
2 2
3 3 4
4
4
4
4
3
6 5
1: The torque limit setting value or torque output setting value becomes effective at the PLC READY signal (Y0) rising edge
(however, after the servo turned ON.)
If the torque output setting value is "0" or larger than the torque limit setting value, the torque limit setting value will be its value.:
2: The torque limit setting value or torque output setting value becomes effective at the start signal (Y10) rising edge.
If the torque output setting value is "0" or larger than the torque limit setting value, the torque limit setting value, the torque limit setting
value will be its value.
3: The torque change value is cleared to "0" at the start signal (Y10) rising edge.
4: The torque limit value is changed by the torque changed value.
5: When the new torque value is 0, a torque change is considered not to be carried out.
6: When the change value is exceeds the torque limit value, a torque chang is considered not to be carried out.
Fig. 12.31 Torque change operation