Control Details - Mitsubishi Electric MELSEC iQ-R Series User Manual

Control details

MC_TorqueControl switches the driver control mode to cst and executes control. This function controls the set torque based
on the specified TorquePositiveRamp and TorqueNegaiveRamp. To finish this FB, start MC_Stop.
Relation between torque generation direction of servomotor and set torque
When using the MR-J5(W)-G, it differs based on the settings of the servo parameter "Movement direction selection (PA14)"
and "Torque POL reflection selection (PC29.3)".
• When the servo parameter (extension setting) "Torque POL reflection selection (PC29.3)" is set to "0: Enabled"
Setting value of "Movement
direction selection (PA14)"
0: Forward rotation (CCW) with the
increase of the positioning address
1: Reverse rotation (CW) with the
increase of the positioning address
• When the servo parameter (extension setting) "Torque POL reflection selection (PC29.3)" is set to "1: Disabled"
Setting value of "Movement
direction selection (PA14)"
0: Forward rotation (CCW) with the
increase of the positioning address
1: Reverse rotation (CW) with the
increase of the positioning address
Torque ramp function selection (Options bit16, 17)
TorquePositiveRamp/TorqueNegaiveRamp differs depending on the setting values.
• For "0: Ramp method"
Specify the ramp from the current set torque until the target torque is reached.
Setting range: 0 to 1000.00 [%/s]
Torque
100.0
100.0
Torque
PositiveRamp
-50.0
Set torque
Positive value (positive direction)
Negative value (negative direction)
Positive value (positive direction)
Negative value (negative direction)
Set torque
Positive value (positive direction)
Negative value (negative direction)
Positive value (positive direction)
Negative value (negative direction)
-50.0
Torque
Torque
PositiveRamp
NegativeRamp
Torque generation direction of servomotor
CCW direction
CW direction
CW direction
CCW direction
Torque generation direction of servomotor
CCW direction
CW direction
CCW direction
CW direction
0.0
Torque
NegativeRamp
CCW direction
CW direction
CCW direction
CW direction
7 DIRECT CONTROL
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7.2 Torque Control
7