Action technology A3 - Page 41

41
Disable”
When the command deviation value is small, even though the torque limit is
set to be valid, it will be OK to set ① or ② to “1(enable)”.
0= Disable
1= Enable
[Initial setting] 0 (Disable)
[Setting range] 0 or 1
144.1
[Basic setting]
Torque limit state
output mode
Select the output condition for torque limit.
0= All conditions
(Torque is limited by torque command limit value 1 (No.147.0), max. torque
limit value of motor and torque limit value of home position return (No. 656.0),
not limited by speed in torque control mode)
1= Torque command limit Override 1 (No.147.0) or 2 (No.148.0)
2= Torque command limit Override 2 (No.148.0)
[Initial setting] 0 (All conditions)
[Setting range] 0 to 2
No
147.0
148.0
[Basic setting]
Torque command limit
override 1, 2
It is valid when No.144.0 torque command limit override is set to “1(enable)”.
Set torque command limit override relative to rated torque ratio.
Tow torque limits could be set.
[Initial value] 3000[0.1％] for torque limit 1; 2000[0.1％] for torque limit 2
[Setting range] 0 to 65535
No
151.0
[Basic setting]
Torque command limit
override at prompt stop
Set the torque command limit override relative to rated torque, if the stop type
in No.224.0 is set to “2=prompt stop” when servo is OFF.
[Initial value] 5000[0.1％] (When set 3000 or more, the limit value of max.
torque command is 300%. If the setting value is bigger than 1000 , overload
error will occur according to overload characteristics specified time.
[Setting range] 0 to 65535
No
152.0
[Basic setting]
Analog torque command
speed limit value
Set Speed limit value of analog torque control mode.
[Initial value] Max. speed of the motor
[Setting range] 0 to 10000
No
160.0
[Adjustment]
Selection of torque
command low-pass filter
Select torque command low-pass filter.
0=No filter
1= Preliminary IIR filter
[Initial value] 1 (Preliminary IIR filter)
[Setting range] 0 or 1
No
160.1
[Adjustment]
Torque command
Selection of whether to
use notch filter
Whether the notch filter is used to set the torque command.
0=Disable
1=Enable
[Initial value] 0 (Disable)
[Setting range] 0 or 1
No
160.2
[Adjustment]
Select whether to use the auto setting for torque command low-pass filter in
No