876 HEIDENHAIN Technical Manual iTNC 530 HSCI
Module 9158 Maximum torque
With Module 9158 you can limit the torque of an axis or spindle. The maximum
torque resulting from the data in the control's motor table cannot be
exceeded. In this case the torque is limited to the value from the motor
specifications. After the drive is switched off, the original torque becomes
effective again.
If torque limiting is active, the standstill monitoring is inactive; only the motion
monitoring remains active.
If a torque is specified via PLC Modules 9128/9158 and MP2223 bit 1 is set,
the NC automatically considers the holding current in MP2630 when limiting
the current. This makes it possible to use the PLC modules to set a limit value
that is below the holding torque.
The torque-producing current required for the desired torque must be
transferred to the module:
Synchronous motor Asynchronous motor
I
q
: Torque-producing
current
M: Desired torque
k
M
: Torque constant
n
N
: Rated speed
(from motor table)
I
N
: Rated current
(from motor table)
P
N
: Power rating
(from motor table)
Armature control range (n < n
FS
)
Field weakening range (n > n
FS
)
I
q
: orque-producing current
M: Desired torque
n
N
: Rated speed (from motor table)
n: Current speed
I
N
: Rated current (from motor table)
I
0
: No-load current
(from motor table)
P
N
: Rated power output
(from motor table)
n
FS
: Threshold speed for field
weakening
(from motor table)
k
M
P
N
I
N
2 π
n
N
60
------
⋅⋅⋅
-------------------------------
=
I
q
Mn
N
2 π I
N
2
I
0
2
–⋅⋅⋅⋅
P
N
60⋅
--------------------------------------------------------------
=
I
q
Mn
N
n 2 π I
N
2
I
0
2
–⋅ ⋅⋅⋅⋅
P
N
n
FS
60⋅⋅
----------------------------------------------------------------------
=
If Module 9158 is used, then certain monitoring functions regarding the
drives must be switched off. Please note the following error messages and
their possible consequences (see DSP error messages)
C380 Motor <axis> not controllable
C3B0 Motor <axis> does not rotate
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