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Chapter 12 Expansion Control
Speed during torque control mode
The speed during the torque control mode is controlled with "[Cd.146] Speed limit
value at torque control mode". At this time, "Speed limit" ("[Md.108] Servo status"
(low-order buffer memory address): b4) turns ON.
Buffer memory address (Low-order)
[Md.108] Servo status: b4
2476+100n
n: Axis No.-1
"[Cd.146] Speed limit value at torque control mode" is set to a positive value
regardless of the rotation direction. (Controlled by the same value for forward and
reverse directions.)
In addition, "[Cd.146] Speed limit value at torque control mode" is limited with
"[Pr.8] Speed limit value". If the speed exceeding the speed limit value is set, the
warning "Speed limit value over" (warning code: 501) occurs, and the operation is
controlled with the speed limit value.
The acceleration/deceleration processing is invalid for "[Cd.146] Speed limit value
at torque control mode".
POINT
The actual motor speed may not reach the speed limit value depending on the
machine load situation during the torque control.
Feed current value during torque control mode
"[Md.20] Feed current value", "[Md.21] Feed machine value" and "[Md.101] Real
current value" are updated even in the torque control mode. If the feed current
value exceeds the software stroke limit, the error "Software stroke limit +" (error
code: 507) or "Software stroke limit -" (error code: 508) occurs, and the operation
switches to the position control mode. Invalidate the software stroke limit to
execute one-way feed.
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