January 2012 6.16 The Control Loop 897
PLC modules 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.
Conditions:
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
again when it is switched on.
An axis that is not configured as "active", or an axis that was set to the
"deactivated axis" activation status (e.g. with Module 9226 or 9418), is
treated as if it were not present.
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 / spindle number>
PS B/W/D/K <>Torque>
–1: Cancel the torque limiting
CM 9128
Error recognition:
Marker Value Meaning
NN_GenApiModule
Error
0 Torque limiting programmed
1 Error code in NN_GenApiModuleErrorCode
NN_GenApiModule
ErrorCode
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
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