5-9
5-2 Common Function Setting
COMMON PARAMETER SETTING
- SV Series User’s Manual -
Torque Limit Setting
MECHATROLINK-II type
To input the internal torque limit value or the torque limit value based on MECHATROLINK-II communication
command into the servo amplifier, and limit servo motor torque according to the specified torque.
■ Switching torque limit mode
Torque limit is divided into three types: "Internal torque limit (basic)", "Internal torque limit (extend)" and "Torque limit
based on MECHATROLINK-II communication command".
Torque limit mode can be set through parameters.
"Internal torque limit (basic)" will always be enabled in all modes, and "Internal torque limit (extend)", P_TLIM and
N_TLIM will be enabled/disabled as follows according to the above parameter setings.
Setting
0. . . . . . . . . . Only internal torque limit (basic) is enabled
1. . . . . . . . . . Internal torque limit (basic) is enabled
Through the "Forward torque limit selection (PTL)" input and the "Reversal torque limit selection
(NTL)" input, enable/disable of internal torque limit (extend) can be switched.
2. . . . . . . . . . Internal torque limit (basic) and TLIM/P_TLIM/N_TLIM input are enabled
3. . . . . . . . . . Internal torque limit (basic) is enabled
Through
the "Forward torque limit selection (PTL)" input and the "Reversal torque limit selection
(NTL)" input
, enable/disable of P_TLIM/N_TLIM. TLIM can be switched. TLIM is suitable for ABS only in
the direction set through PTL/NTL.
4. . . . . . . . . . Internal torque limit (basic) is enabled
Through
the "Forward torque limit selection (PTL)" input and the "Reversal torque limit selection
(NTL)" input
,
enable/disable of internal torque limit (extend) and TLIM/P_TLIM/N_TLIM can be
switched.
•
When the MECHATROLINK-II type servo amplifier is used in combination with KV-ML16V, generally the
torque limit mode should be set to "P_TLIM, N_TLIM are valid".
• When several types of torque limit are used simultaneously, torque will be limited according to the min.
value of the torque limit in enabled status.
•
When "*Torque feedforward" (TUN_34) is set to "Enable", torque limit based on TLIM/P_TLIM/N_TLIM will be
disabled.
• When "Forward torque limit selection (PTL)" input and "Reversal torque limit selection (NTL)" input are
not assigned to I/O terminals, the "Forward torque limit selection (PTL)" input and "Reversal torque limit
selection (NTL)" input are always disabled.
• The position control command (INTERPOLATE etc.) uses TLIM value as ABS value, and is suitable for CW/
CCW. Speed command (VELCTRL) specifies ABS for CW/CCW limit value respectively.
• Even if the set value exceeds max. torque of the servo motor, max. torque of the servo motor will also be
used as the upper limit.
•
During servo trial run of torque control (servo JOG operation/Z-phase search), P_TLIM and N_TLIM will be
disabled.
•
Disabled during limit switch input. Torque is limited according to "*Limit switch stop mode" (ALM_03)/ "Torque
limit at limit switch ON" (ALM_04) during limit switch input.
Parameter
type
Category
Level
Parameter
name
Setting range
Setting
unit
Default
Enable
timing
TRQ_06
Tor qu e
Basic
*Torque limit
method
0: Only TrqLim1 is valid
1: TrqLim2 is valid (P/NTL)
2: PTL, NTL are valid
3: PTL, NTL are valid (P/NTL)
4: TrqLim2 & PN_TLIM valid (P/NTL)
-2
After power is
ON again
To Next Page
Loading...
Need help?
General