Mitsubishi Electronics MR-J2S- A instruction manual Torque control mode Power on

4. OPERATION

(6)Stop

In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor:

Refer to Section 3.9, (2) for the servo motor equipped with electromagnetic brake. Note that simultaneous ON or simultaneous OFF of stroke end (LSP, LSN) OFF and forward rotation start (ST1) or reverse rotation start (ST2) signal has the same stop pattern as described below.

(a)Servo-on (SON) OFF

The base circuit is shut off and the servo motor coasts.

(b)Alarm occurrence

When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop.

(c)Emergency stop (EMG) OFF

The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop. Alarm AL.E6 occurs.

(d)Stroke end (LSP/LSN) OFF

The servo motor is brought to a sudden stop and servo-locked. The motor may be run in the opposite direction.

(e)Simultaneous ON or simultaneous OFF of forward rotation start (ST1) and reverse rotation start (ST2) signals

The servo motor is decelerated to a stop.

POINT

A sudden stop indicates that a stop is made at the deceleration time constant of zero.

4.2.4 Torque control mode

(1)Power on

(a)Switch off the servo-on (SON) signal.

(b)When main circuit power/control circuit power is switched on, the display shows "U (torque command voltage)", and in two second later, shows data.

(2)Test operation

Using jog operation in the test operation mode, make sure that the servo motor operates. (Refer to Section 6.8.2.)

(3)Parameter setting

Set the parameters according to the structure and specifications of the machine. Refer to Chapter 5 for the parameter definitions and to Sections 6.5 for the setting method.

Parameter No.	Name	Setting		Description
0	Control mode, regenerative brake	0	4	Torque control mode
	option selection
				Regenerative brake option is not used.
1	Function selection 1	02		Input filter 3.555ms (initial value)
				Electromagnetic brake interlock signal is not used.
8	Internal speed limit 1	1000		Set 1000r/min.
9	Internal speed limit 2	1500		Set 1500r/min.
10	Internal speed limit 3	2000		Set 2000r/min.
11	Acceleration time constant	1000		Set 1000ms.
12	Deceleration time constant	500		Set 500ms.
13	S-pattern acceleration/deceleration time	0		Not used
	constant
14	Torque command time constant	2000		Set 2000ms
28	Internal torque limit 1	50		Controlled to 50% output

After setting the above parameters, switch power off once. Then switch power on again to make the set parameter values valid.

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