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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.
"Continuous operation to torque control mode" that switches the control mode to
torque control mode without stopping the servomotor during positioning operation is
also available for tightening a bottle cap or a screw.
Switch the control mode from "position control mode" to "speed control mode", "torque
control mode" or "continuous operation to torque control mode" to execute the "Speed-
torque control".
Control mode Control Remark
Position control mode
Positioning control, OPR
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
Continuous operation
to torque control mode
Control that does not include the
position loop for the command to
servo amplifier
Control mode can be switched during
positioning control or speed control.
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.
Servo amplifier model
Software version
Speed control
Torque control
Continuous operation
to torque control 1
MR-J4(W)-B/MR-JE-B — — —
MR-J3-_B — B3 or later C7 or later
MR-J3W-_B — — Not compatible
MR-J3-_BS — — C7 or later
—: There is no restriction by the version.
1: The torque generation direction of servomotor can be changed by setting the servo
parameter "Function selection C-B POL reflection selection at torque control (PC29)" for the
servo amplifier that is compatible with the continuous operation to torque control. (Refer to
Section 12.1.4 "Operation of speed-torque control".)
For the servo amplifier that is not compatible with the continuous operation to torque control,
the operation is the same as that of when "0: Enabled" is set in servo parameter "Function
selection C-B POL reflection selection at torque control (PC29)".