Mitsumi electronic MR-J3- A Manual De Usuario

 

 

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3. SIGNALS AND WIRING 

 
3.6.3 Torque control mode 

(1) Torque control 

(a) Torque command and torque 

A relationship between the applied voltage of the analog torque command (TC) and the torque by the 
servo motor is shown below. 
The maximum torque is generated at  8V. Note that the torque at  8V input can be changed with 
parameter No.PC13. 

Forward rotation (CCW)

Reverse rotation (CW)

-10

Rated speed [r/min]

CCW direction

0

+10

VC applied voltage [V]

CW direction

Rated speed

Speed[r/min]

 

Generated torque limit values will vary about 5  relative to the voltage depending on products. 
Also the torque may vary if the voltage is low ( 0.05 to  0.05V) and the actual speed is close to the 
limit value. In such a case, increase the speed limit value. 
The following table indicates the torque generation directions determined by the forward rotation 
selection (RS1) and reverse rotation selection (RS2) when the analog torque command (TC) is used. 

 

(Note) Input device 

Rotation direction 

RS2 

RS1 

Torque control command (TC) 

Polarity 

0V 

Polarity 

0 

0 

Torque is not generated. 

Torque is not 

generated. 

Torque is not generated. 

0 

1 

CCW (reverse rotation in 
driving mode/forward rotation 
in regenerative mode) 

CW (forward rotation in 
driving mode/reverse rotation 
in regenerative mode) 

1 

0 

CW (forward rotation in 
driving mode/reverse rotation 
in regenerative mode) 

CCW (reverse rotation in 
driving mode/forward rotation 
in regenerative mode) 

1 

1 

Torque is not generated. 

Torque is not generated. 

Note. 0: off  

1: on  

 

Generally, make connection as shown below. 

RS2

DOCOM

TC
LG
SD

    8 to     8V

Servo amplifier

RS1

(Note)

 

Note. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.