CHAPTER 3 OPERATION
3-18
Operation
3
3.4.9 Torque Limit
Torque limit is always enabled in the position control, speed control and torque control mode.
If the torque is limited under position or speed control, the designated position or designated speed
may not be achieved.
This function is enabled during positioning data operation.
(1) Position/Speed control
The following limits can be set through combination of the "torque limit 0" and "torque limit 1"
sequence inputs.
Torque limit 1 Torque limit 0 Torque limit
OFF OFF Value set at PA1_27 and PA1_28
OFF ON
Smaller value between torque command voltage [TREF] and
PA1_27 (PA1_28)
ON OFF Smaller value between PA1_27 (PA1_28) and PA2_58
ON ON
Smaller value between torque command voltage [TREF] and
PA2_58
If neither "torque limit 0" nor "torque limit 1" is used, PA1_27 and PA1_28 are enabled.
(2) Torque control
Forward rotation torque limit PA1_27 and reverse rotation torque limit PA1_28 are always enabled
under torque control.
The output torque is in proportion to the voltage applied at the torque command voltage [TREF]
terminal.
(3) Forced stop
The torque limit in forced stop follows parameter PA2_60.
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