Mitsubishi Electric MELSEC-Q Series - Outline of Speed-Torque Control; Speed-Torque Control

12 - 2
Chapter 12 Expansion Control
12.1 Speed-torque control
12.1.1 Outline of speed-torque control
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.
Switch the control mode from "position control mode" to "speed control mode" or
"torque control mode" to execute the "Speed-torque control".
Control mode Control Remark
Position control mode
Positioning control, HPR
control, JOG operation,
Inching 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
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. For the support information not listed in the table below, refer to the
instruction manual of the servo amplifier to be used.
Servo amplifier model
Software version
Speed control
Torque control
MR-J4-_B_-RJ010
A1 or later
MR-J4-GF_(-RJ) [CiA402 mode]
There is no restriction by the version.
POINT
When switching the control mode for the servo amplifier which does not support the
speed-torque control, the operation varies by the SERIAL No. of the Simple Motion
module.
First five digits of SERIAL No.
(Note-1)
Operation
before 15092 The switching operation is ignored.
15092 or later
The error "Speed-torque control not supported"
(error code: 550) occurs.
(Note-1): The serial number can be checked on the "Product Information List" screen in GX
Works2.
CAUTION
If operation that generates torque more than 100% of the rating is performed with an
abnormally high frequency in a servomotor stop status (servo lock status) or in a 30r/min or
less low-speed operation status, the servo amplifier may malfunction regardless of the
electronic thermal relay protection.