Mitsubishi Electric MELSEC-Q Series User Manual page 601

Set time for the command torque to increase from 0% to "[Pr.17] Torque limit
setting value" in "[Cd.144] Torque time constant at torque control mode (Forward
direction)" and for the command torque to decrease from "[Pr.17] Torque limit
setting value" to 0% in "[Cd.145] Torque time constant at torque control mode
(Negative direction)". The value at torque control mode switching request is valid
for "[Cd.144]" and "[Cd.145]".
The command torque during the torque control mode is limited with "[Pr.17]
Torque limit setting value". If the torque exceeding the torque limit setting value is
set, the warning "Torque limit value over" (warning code: 520) occurs, and the
operation is controlled with the torque limit setting value.
Confirm the command torque to servo amplifier with "[Md.123] Torque during
command".
Pr.17 Torque limit setting value
30.0
20.0
-10.0
-20.0
Pr.17 Torque limit setting value
Cd.143 Command torque at
torque control mode
Cd.144 Cd.145
Torque time Torque time
constant at torque constant at torque
control mode control mode
Torque
(Forward direction) (Negative direction)
[%]
0
0 200 300
12 - 15
Chapter 12 Expansion Control
The command torque to servo amplifier is stored
Md.123
in " Torque during command".
Cd.144
Torque time
constant at torque
control mode
(Forward direction)
0 -100
t
Cd.145
Torque time
constant at torque
control mode
(Negative direction)
-200 0