Mitsubishi Electric MELSEC iQ-R Series User Manual page 216

■Precautions at continuous operation to torque control mode
For functions of the servo amplifier that are not available during the continuous operation to torque control mode, refer to the
manual of the servo amplifier to be connected.
If vibration occurs during the continuous operation to torque control, lower the value of the servo parameter
"Torque feedback loop gain (PB03)" and check if the issue is solved.
Set the system configuration with an unlimited operation range during the continuous operation to torque
control mode as a stroke limit signal of the servo amplifier cannot be used during the continuous operation to
torque control mode.
Use the software stroke limit function on the Motion module side to restrict the set position.
■Speed during continuous operation to torque control mode
The speed during the continuous operation to torque control mode is controlled with an absolute value of the value set in
"[Cd.147] Speed limit value at continuous operation to torque control mode" as command speed. When the speed reaches the
absolute value of "[Cd.147] Speed limit value at continuous operation to torque control mode", "Speed limit" ([Md.119] Servo
status2: b4) turns ON.
n: Axis No. - 1
Monitor item
[Md.119] Servo status2: b4
In addition, "[Cd.147] Speed limit value at continuous operation to torque control mode" is limited with "[Pr.8] Speed limit
value". If the command 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 actual motor speed may not reach the command speed depending on the machine load situation during
the continuous operation to torque control mode.
■Feed current value during continuous operation to torque control mode
"[Md.20] Feed current value", "[Md.21] Machine feed value" and "[Md.101] Real current value" are updated even in the
continuous operation to 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.
7 EXPANSION CONTROL
214
7.1 Speed-torque Control
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Buffer memory address
Axis 1 to axis 16
2476+100n