Mitsubishi Electric RD77MS2 - Page 263

8 CONTROL SUB FUNCTIONS
8.5 Functions to Change the Control Details
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8
■RD77MS4 operation example
*1 The torque limit setting value or torque output setting value becomes effective at the PLC READY signal [Y0] rising edge (however, after
the servo turned ON.)
*2 The torque limit setting value or torque output setting value becomes effective at the positioning start signal [Y10] rising edge, and the
torque limit value is updated.
*3 The torque change value is cleared to "0" at the positioning start signal [Y10] rising edge.
*4 The torque limit value is changed by the torque changed value.
*5 When the new torque value is 0, a torque change is considered not to be carried out.
*6 When the change value exceeds the torque limit value, a torque change is considered not to be carried out.
Precautions during control
• If a value besides "0" is set in the new torque value, the torque generated by the servomotor will be limited by the setting
value. To limit the torque with the value set in "[Pr.17] Torque limit setting value" or "[Cd.101] Torque output setting value",
set "0" to the new torque value.
• The "[Cd.22] New torque value/forward new torque value" or "[Cd.113] Reverse new torque value" is validated when written
to the Simple Motion module. (Note that it is not validated from the time the power supply is turned ON to the time the PLC
READY signal [Y0] is turned ON.)
• If the setting value of "[Cd.22] New torque value/forward new torque value" is outside the setting range, the warning
"Outside new torque value range/outside forward new torque value range" (warning code: 0907H) will occur and the torque
will not be changed. If the setting value of "[Cd.113] Reverse new torque value" is outside the setting range, the warning
"Outside reverse new torque value range" (warning code: 0932H) will occur and the torque will not be changed.
• If the time to hold the new torque value is not more than 10 ms, a torque change may not be executed.
• When changing from "0: Forward/reverse torque limit value same setting" to "1: Forward/reverse torque limit value
individual setting" by the torque change function, set "0" or same value set in "[Cd.22] New torque value/forward new torque
value" in "[Cd.113] Reverse new torque value" before change.
Setting value of "[Cd.112] Torque change function switching request" Setting item (New torque value)
0: Forward/reverse torque limit value same setting [Cd.22] New torque value/forward new torque value
1: Forward/reverse torque limit value individual setting [Cd.22] New torque value/forward new torque value
[Cd.113] Reverse new torque value
Each operation
PLC READY signal [Y0]
All axis servo ON [Y1]
[Pr.17] Torque limit setting value
*1
300 250
*1
*2 *2 *2
0 100 150
0
*3 *4 *5
*6
*3 *4 *4 *3
0 200 0 350 0 75
230
0
0 300 300 200 100
75
230
150
*3
*4
*5
*6
*3
*4
*4
*3
0
0320 0 200
80
0
0 300 300 120 100 150200 80
120
1 0
Positioning start signal [Y10]
[Cd.112] Torque change function
switching request
[Cd.22] New torque value/forward
new torque value
[Md.35] Torque limit stored
value/forward torque
limit stored value
[Md.120] Reverse torque limit
stored value
[Cd.101] Torque output setting
value
[Cd.113] Reverse new torque
value