Mitsubishi Electric MELSEC iQ-R Series User Manual page 213

■Speed during torque control mode
The speed during the torque control mode is controlled with "[Cd.146] Speed limit value at torque control mode". At this time,
"Speed limit" ([Md.119] Servo status2: b4) turns ON.
n: Axis No. - 1
Monitor item
[Md.119] Servo status2: b4
"[Cd.146] Speed limit value at torque control mode" is set to a positive value regardless of the rotation direction. (Controlled by
the same value for forward and reverse directions.)
In addition, "[Cd.146] Speed limit value at torque control mode" is limited with "[Pr.8] Speed limit value". If the speed
exceeding the speed limit value is set, the warning "Speed limit value over" (warning code: 0D51H) occurs, and the operation
is controlled with the speed limit value.
The acceleration/deceleration processing is invalid for "[Cd.146] Speed limit value at torque control mode".
The actual motor speed may not reach the speed limit value depending on the machine load situation during
the torque control.
■Feed current value during torque control mode
"[Md.20] Feed current value", "[Md.21] Machine feed value" and "[Md.101] Real current value" are updated even in the torque
control mode.
If the feed current value exceeds the software stroke limit, the error "Software stroke limit +" (error code: 1A93H) or "Software
stroke limit -" (error code: 1A95H) occurs and the operation switches to the position control mode. Invalidate the software
stroke limit to execute one-way feed.
■Stop cause during torque control mode
The operation for stop cause during torque control mode is shown below.
Item
"[Cd.180] Axis stop" turned ON.
Stop signal of "[Cd.44] External input signal operation
device" turned ON.
All axis servo ON [Y1] turned OFF.
"[Cd.100] Servo OFF command" turned ON.
The current value reached the software stroke limit.
The position of the motor reached the hardware stroke
limit.
The PLC READY signal [Y0] turned off.
Command discard was detected on the servo amplifier.
The forced stop input to Motion module.
The emergency stop input to servo amplifier.
The servo alarm occurred.
The servo amplifier's power supply turned OFF.
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Operation during torque control mode
The speed limit value commanded to servo amplifier is "0" regardless of the setting value of
"[Cd.146] Speed limit value at torque control mode". The mode switches to the position control
mode when "Zero speed" of "[Md.119] Servo status2" turns ON, and the operation immediately
stops. (Deceleration processing is not executed.)
The value of command torque is not changed. It might take time to reach the speed "0" depending
on the current torque command value.
The servo OFF is not executed during the torque control mode. The command status when the
mode is switched to the position control mode becomes valid.
An error (error code: 1A00H, 1A04H to 1A07H, 1A93H, 1A95H, 1BE6H) occurs. The mode
switches to the position control mode at the current position, and the operation immediately stops.
(Deceleration processing is not executed.)
The mode switches to the position control mode when the servo OFF (Servo ON of "[Md.108]
Servo status1" turns OFF) is executed. (While the servo amplifier is servo OFF, even if the mode
is switched to position control mode, the servo motor immediately stops.)
An immediate stop will be performed as the stop processing of the controller. (The mode is set to
the position control mode at the servo amplifier's power supply ON again.)
Buffer memory address
Axis 1 to axis 16
2476+100n
7 EXPANSION CONTROL
7.1 Speed-torque Control
7
211