Справочник Пользователя для Mitsubishi Electronics MR-E- A/AG
15 - 27
15. MR-E- AG SERVO AMPLIFIER COMPATIBLE WITH ANALOG INPUT
15.3.2 Torque control mode
(1) Power on
1) Switch off the servo-on (SON).
2) When power is switched on, the display shows "U (torque command voltage)", and in two second
later, shows data.
(2) Test operation
Using jog operation in the test operation mode, make sure that the servo motor operates. (Refer to
Section 6.8.2.)
Section 6.8.2.)
(3) Parameter setting
Set the parameters according to the structure and specifications of the machine. Refer to Chapter 5 for
the parameter definitions and to Sections 6.5 for the setting method.
Parameter No.
Name
Setting
Description
0
Control mode, regenerative brake
option selection
0 4
Torque control mode
Regenerative brake option is not used.
1
Function selection 1
0 2
Input filter 3.555ms (initial value)
Electromagnetic brake interlock (MBR) is not used.
8
Internal speed limit 1
1000
Set 1000r/min.
9
Internal speed limit 2
1500
Set 1500r/min.
10
Internal speed limit 3
2000
Set 2000r/min.
11
Acceleration time constant
1000
Set 1000ms.
12
Deceleration time constant
500
Set 500ms.
13
S-pattern acceleration/deceleration time
constant
0
Not used
14
Torque command time constant
2000
Set 2000ms
28
Internal torque limit 1
50
Controlled to 50% output
Turn the power off after setting parameters No. 0 and 1. Then switch power on again to make the set
parameter values valid.
parameter values valid.
(4) Servo-on
Switch the servo-on in the following procedure:
1) Switch on power supply.
2) Switch on the servo-on (SON).
1) Switch on power supply.
2) Switch on the servo-on (SON).
When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is
locked.
locked.
(5) Start
Using speed selection 1 (SP1) and speed selection 2 (SP2), choose the servo motor speed. Turn on
forward rotation select (DI4) to run the motor in the forward rotation (CCW) direction or reverse
rotation select (DI3) to run it in the reverse rotation (CW) direction, generating torque. At first, set a
low speed and check the rotation direction, etc. If it does not run in the intended direction, check the
input signal.
On the status display, check the speed, load factor, etc. of the servo motor.
When machine operation check is over, check automatic operation with the host controller or the like.
forward rotation select (DI4) to run the motor in the forward rotation (CCW) direction or reverse
rotation select (DI3) to run it in the reverse rotation (CW) direction, generating torque. At first, set a
low speed and check the rotation direction, etc. If it does not run in the intended direction, check the
input signal.
On the status display, check the speed, load factor, etc. of the servo motor.
When machine operation check is over, check automatic operation with the host controller or the like.