Mitsubishi Electric MELSERVO-J4 MR-J4 A Series - Torque Limit

3. SIGNALS AND WIRING
3 - 33
(5) Torque limit
Cautions
If the torque limit is canceled during servo-lock, the servo motor may suddenly
rotate according to position deviation in respect to the command position.
(a) Torque limit and torque
By setting [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], torque
is always limited to the maximum value during operation. A relation between the limit value and
servo motor torque is as follows.
[Pr.PA11]
ߩ
࠻࡞ࠢ೙㒢୯
ᦨᄢ࠻࡞ࠢ
࠻࡞ࠢ
0100
[Pr.PA12]
ߩ
࠻࡞ࠢ೙㒢୯
100
[%]
CCW
ᣇะ
CW
ᣇะ
A relation between the applied voltage of TLA (Analog torque limit) and the torque limit value of the
servo motor is as follows. Torque limit values will vary about 5% relative to the voltage depending on
products. At the voltage of less than 0.05 V, torque may vary as it may not be limited sufficiently.
Therefore, use this function at the voltage of 0.05 V or more.
(ᵈ)
±5%
ធ⛯଀
ᣣᧄᛶ᛫ེ
RRS10⋧ᒰ
TLAශട㔚࿶ߣ࠻࡞ࠢ
೙㒢୯
TLAශട㔚࿶[V]
ᦨᄢ࠻࡞ࠢ
࠻
࡞
ࠢ
0
0
0.05
TL
DOCOM
P15R
TLA
LG
SD
ࠨ࡯ࡏࠕࡦࡊ
2k䕑
2k䕑
Note. This diagram is for sink I/O interface. For source I/O interface, refer to section 3.9.3.
(b) Torque limit value selection
The following shows how to select a torque limit using TL (External torque limit selection) from [Pr.
PA11 Forward torque limit] or [Pr. PA12 Reverse torque limit] and TLA (Analog torque limit).
When TL1 (Internal torque limit selection) is enabled with [Pr. PD03] to [Pr. PD22], you can select
[Pr. PC35 Internal torque limit 2].
However, if [Pr. PA11] and [Pr. PA12] value is less than the limit value selected by TL/TL1, [Pr.
PA11] and [Pr. PA12] value will be enabled.
Maximum torque
CW direction
CCW direction
Torque limit value
in [Pr. PA11]
Torque limit value
in [Pr. PA12]
Maximum torque
Torque
Torque
Servo amplifier
(Note)
TLA applied voltage vs. torque limit value
TLA applied voltage [V]
Connection example
Japan resistor
RRS10 or equivalent