Mitsubishi Electric RD77MS2 - Torque Limit Function

8 CONTROL SUB FUNCTIONS
8.4 Functions to Limit the Control
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8
Torque limit function
The "torque limit function" limits the generated torque to a value within the "torque limit value" setting range when the torque
generated in the servomotor exceeds the "torque limit value".
The "torque limit function" protects the deceleration function, limits the power of the operation pressing against the stopper,
etc. It controls the operation so that unnecessary force is not applied to the load and machine.
Relation between the torque limit function and various controls
The following table shows the relation of the "torque limit function" and various controls.
: Set when required (Set to "  " when not used.)
: Setting not required (The setting value is invalid. 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] Reverse new torque value" is set
to "0".
Control type Torque limit
function
Torque limit value
*1
Home position return
control
Machine home position return control  "[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] Home
position return torque limit value".
Fast home position return 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-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 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 is continued after control
mode switching.