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Chapter 13 Control Sub Functions
[1] Relation between the torque limit function and various controls
The following table shows the relation of the "torque limit function" and various
controls.
Control type
Torque limit
function
Torque limit value
*1
HPR
control
Machine HPR control
[RJ010 mode]
"[Pr.17] Torque limit setting
value" or "[Cd.101] Torque
output setting value".
(After the "[Pr.47] Creep speed"
is reached, this value becomes
the "[Pr.54] HPR torque limit
value".)
[CiA402 mode]
"[Pr.17] Torque limit setting
value" or "[Cd.101] Torque
output setting value".
*2
The HPR method that can
change the torque limit value
during the HPR is set in HPR
parameters of the servo
amplifier.
*3
Fast HPR control
"[Pr.17] Torque limit setting
value" or "[Cd.101] Torque
output setting value".
Major
positioning
control
Position
control
1-axis linear control
2 to 4-axes linear
interpolation control
1-axis fixed-feed control
2 to 4-axes fixed-feed
control (interpolation)
2-axis circular interpolation
control
1 to 4-axes speed control
Speed-position switching control
Position-speed switching control
Other
control
Current value changing –
Setting value is invalid.
JUMP instruction, NOP
instruction, LOOP to LEND
–
Manual
control
JOG operation, Inching operation
"[Pr.17] Torque limit setting
value" or "[Cd.101] Torque
output setting value".
Manual pulse generator operation
Expansion
control
Speed-torque control
Torque limit value before
switching control mode is
continued.
: Set when required (Set to " – " when not used.)
– : Setting not required (Use the initial value or a value within the setting range.)
1: Shows the torque limit value when "[Cd.22] New torque value/forward new torque
value" or "[Cd.113] New reverse torque value" is set to "0".
2: Valid for the value set at start only. It cannot be changed during the HPR.
3: Refer to the servo amplifier instruction manual for the setting method.
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