Mitsubishi Electronics MR-J2S- A instruction manual Torque control mode, RS2

3. SIGNALS AND WIRING

3.4.3 Torque control mode

(1)Torque control

(a)Torque command and generated torque

A relationship between the applied voltage of the analog torque command (TC) and the torque generated by the servo motor is shown below.

The maximum torque is generated at 8V. Note that the torque generated at 8V input can be changed with parameter No. 26.

			CCW direction
Max. torque					Forward rotation (CCW)
Generated torque
	8	0.05
			0.05	8
			TC applied voltage [V]
CW direction			Max. torque (Note)
						Reverse rotation (CW)

Generated torque limit values will vary about 5% relative to the voltage depending on products. Also the generated torque may vary if the voltage is low ( 0.05 to 0.05V) and the actual speed is close to the limit value. In such a case, increase the speed limit value.

The following table indicates the torque generation directions determined by the forward rotation selection (RS1) and reverse rotation selection (RS2) when the analog torque command (TC) is used.

(Note) External input signals			Rotation direction
RS2	RS1	Torque control command (TC)
		Polarity	0V		Polarity
0	0	Torque is not generated.		Torque is not generated.
		CCW (reverse rotation in		CW (forward rotation in
0	1	driving mode/forward		driving mode/reverse
		rotation in regenerative		rotation in regenerative
		mode)	Torque is not	mode)
		CW (forward rotation in	generated.	CCW (reverse rotation in
1	0	driving mode/reverse		driving mode/forward
		rotation in regenerative		rotation in regenerative
		mode)		mode)
1	1	Torque is not generated.		Torque is not generated.

Note. 0: RS1/RS2-SG off (open) 1: RS1/RS2-SG on (short)

Generally, make connection as shown below:

Servo amplifier

		RS1
		RS2
		SG
8 to	8V	TC
		LG
		SD

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