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Chapter 12 Expansion Control
Speed during torque control mode
The speed during 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)
QD77MS2/QD77MS4 QD77MS16
Md.108 Servo status: b4
876+100n 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
direction.)
And, "
Cd.146 Speed limit value at torque control mode" is limited with " Pr.8 Speed limit
value". If the speed exceeds speed limit value is set, a warning "Speed limit value
over" (warning code: 501) will occur, the operation is controlled with 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 torque control.
Current feed value during torque control mode
"
Md.20 Current feed value", " Md.21 Machine feed value" and " Md.101 Real current
value
" are updated even in torque control mode. If the current feed value exceeds
the software stroke limit, an error "Software stroke limit +,
-
" (error code: 507, 508)
will occur and the operation is switched to position control mode. Invalidate the
software stroke limit to execute one-way feed.
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