Mitsubishi Electronics MR-J3 ユーザーズマニュアル
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16. INDEXER POSITIONING OPERATION
(3) Torque limit
CAUTION
If the torque limit is canceled during servo lock, the servo motor may suddenly
rotate according to position deviation in respect to the command position.
rotate according to position deviation in respect to the command position.
POINT
In the indexer positioning operation, the torque limit 2 becomes automatically
effective depending on the operation status.
effective depending on the operation status.
(a) Torque limit and torque
By setting parameter No.PA11 (forward rotation torque limit) or parameter No.PA12 (reverse rotation
torque limit), torque is always limited to the maximum value during operation. A relationship between the
limit value and servo motor torque is shown below.
torque limit), torque is always limited to the maximum value during operation. A relationship between the
limit value and servo motor torque is shown below.
0
100
100
[%]
CW direction
Max. torque
CCW direction
To
rq
ue
Torque limit value in
parameter No.PA12
parameter No.PA12
Torque limit value in
parameter No.PA11
parameter No.PA11
(b) Torque limit value selection
As shown below, the forward rotation torque limit (parameter No.PA11), reverse rotation torque limit
(parameter No.PA12) or internal torque limit 2 (parameter No.PC35) can be chosen using the external
torque limit selection (RY(n 2)6).
(parameter No.PA12) or internal torque limit 2 (parameter No.PC35) can be chosen using the external
torque limit selection (RY(n 2)6).
Torque limit to be enabled
(Note) RY(n 2) 6
Limit value status
CCW driving/CW
regeneration
CW driving/CCW
regeneration
0
Parameter
No.PA11
Parameter
No.PA12
Parameter No.PC35
Parameter No.PA11
Parameter No.PA12
Parameter No.PA12
Parameter No.PA11
Parameter No.PA12
1
Parameter No.PC35
Parameter No.PA11
Parameter No.PA12
Parameter No.PA12
Parameter No.PC35
Parameter No.PC35
Note. 0: OFF
1: ON
(c) Limiting torque (RXn4)
RXn4 turns on when the servo motor torque reaches the torque limited.