Mitsubishi Electric MELSEC-Q Series - Speed-Torque Control

7 - 14
7 AUXILIARY AND APPLIED FUNCTIONS
7.7 Speed-Torque Control
QDS
This function is used to execute the speed control or torque control that does not
include the position loop for the command to servo amplifier.
The "continuous operation to torque control mode" switches the control mode to torque
control mode without stopping the servo motor during positioning operation when
tightening a bottle cap or a screw.
Switch the control mode from "position control mode" to "speed control mode", "torque
control mode" or "continuous operation to torque control mode" to execute the "Speed-
torque control".
Control mode Control Remark
Position control mode
Positioning control
(Note-1)
,
home position return control,
JOG operation, and manual
pulse generator operation
Control that include the position loop
for the command to servo amplifier
Speed control mode
Speed-torque control
Control that does not include the
position loop for the command to
servo amplifier
Torque control mode
Continuous operation to
torque control mode
Control that does not include the
position loop for the command to
servo amplifier
Control mode can be switched during
positioning control or speed control.
(Note-1): Excluding speed control ( ).
Use the servo amplifiers whose software versions are compatible with each control
mode to execute the "Speed-torque control".
Servo amplifier software versions that are compatible with each control mode are
shown below.
Servo amplifier model
Software version
Speed control Torque control
(Note-1)
Continuous operation
to torque control
MR-J4- B — — —
MR-J4W- B — — —
MR-J3- B
— B3 or later C7 or later
MR-J3W- B
— — Not compatible
MR-J3- B Safety
— — C7 or later
—: There is no restriction by the version.
(Note-1): In the servo amplifier that supports continuous operation to torque control, the torque generation
direction of servo motor can be switched by setting "Function selection C-B (PC29) (POL reflection
selection at torque control)". (Refer to Section 7.7.1 (7).)
In the servo amplifier that does not support continuous operation to torque control, the operation is
the same as when "0: Valid" is set in "Function selection C-B (PC29) (POL reflection selection at
torque control)".