8 CONTROL SUB FUNCTIONS
8.4 Functions to Limit the Control
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8.4 Functions to Limit the Control
Functions to limit the control include the "speed limit function", "torque limit function", "software stroke limit function",
"hardware stroke limit function", and "forced stop function". Each function is executed by parameter setting or program
creation and writing.
Speed limit function
The speed limit function limits the command speed to a value within the "speed limit value" setting range when the command
speed during control exceeds the "speed limit value".
Relation between the speed limit function and various controls
The following table shows the relation of the "speed limit function" and various controls.
: Always set
: Setting not required (The setting value is invalid. Use the initial value or a value within the setting range.)
Precautions during control
• If any axis exceeds "[Pr.8] Speed limit value" during 2- to 4-axis speed control, the axis exceeding the speed limit value is
controlled with the speed limit value. The speeds of the other axes being interpolated are suppressed by the command
speed ratio.
• If the reference axis exceeds "[Pr.8] Speed limit value" during 2-axis circular interpolation control, the reference axis is
controlled with the speed limit value (The speed limit does not function on the interpolation axis side.)
• If any axis exceeds "[Pr.8] Speed limit value" during 2- to 4-axis linear interpolation control or 2- to 4-axis fixed-feed control,
the axis exceeding the speed limit value is controlled with the speed limit value. The speeds of the other axes being
interpolated are suppressed by the movement amount ratio.
• In the 3-axis helical interpolation control, the composite speed of the circular interpolation axis or the speed of the linear
interpolation axis is controlled not to exceed "[Pr.8] Speed limit value". (However, when the movement amount of the linear
interpolation axis is more than the composite movement amount of the circular interpolation axis, such as when the number
of pitches ("[Da.10] M code/Condition data No./Number of LOOP to LEND repetitions/Number of pitches") set in the linear
interpolation axis is less, the speed of the linear interpolation axis cannot be suppressed with "[Pr.8] Speed limit value".)
Control type Speed limit function Speed limit value
Home position return control Machine home position return control [Pr.8] Speed limit value
Fast home position return control
Major positioning control Position control 1-axis linear control
2 to 4-axis linear interpolation control
1-axis fixed-feed control
2 to 4-axis fixed-feed control
(interpolation)
2-axis circular interpolation control
3-axis helical interpolation control
1 to 4-axis speed control
Speed-position switching control, Position-speed switching
control
Other control Current value changing Setting value invalid
JUMP instruction, NOP instruction,
LOOP to LEND
Manual control JOG operation, Inching operation [Pr.31] JOG speed limit value
Manual pulse generator operation Setting is invalid
Expansion control Speed-torque control [Pr.8] Speed limit value
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