HEIDENHAIN iTNC 530 HSCI - Module 9128 Torque Limiting by the PLC

878 HEIDENHAIN Technical Manual iTNC 530 HSCI
Module 9128 Torque limiting by the PLC
Module 9128 can be used to program a maximum torque for the programmed
axis. The torque of the drive is limited to the programmed value. The value –1
cancels the torque limitation and the value from the motor data becomes
effective again. The torque can be limited in [mA] or in [0.1 %] of the rated
current.
Condition:
 The module is only executable in the cyclic PLC program.
 The programmed value for the maximum torque may not be higher than the
value in the motor data. If the programmed value is higher than the value in
the motor data, the value in the motor data is used as the limit.
 A torque value of 0 cannot be programmed.
 Programming a torque value of –1 cancels limitation. The original value from
the motor data becomes effective again.
 The unit of the resulting torque is [mA].
 If a drive is switched off, the torque from the motor data becomes effective
when it is switched on again.
 The notes for Module 9158 must be considered!
 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.
Call:
PS B/W/D/K <Mode>
0: Current in [0.1 %] of the rated current
1: Current in [mA] (like Module 9158)
PS B/W/D/K <Axis number>
Axis-specific: Dependence on MP4020 bit 14
PS B/W/D/K <Torque>
–1: Cancel the torque limiting
CM 9128
Error code:
Marker Value Meaning
M4203 0 Torque limiting programmed
1 Error code in W1022
W1022 1 Invalid value for torque
2 Invalid value for axis number or mode, axis is an open-
loop axis or is temporarily not a closed-loop axis
24 Module was called in a spawn or submit job