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Chapter 12 Expansion Control
Torque command setting method
During continuous operation to torque control mode, set time for the command
torque to increase from 0% to "
Pr.17 Torque limit setting value" in " Cd.151 Torque
time constant at continuous operation to torque control mode (Forward direction)", and the
command torque to decrease from "
Pr.17 Torque limit setting value" to 0% in
"
Cd.152 Torque time constant at continuous operation to torque control mode (Negative
direction)". The value at continuous operation to torque control mode switching
request is valid for "
Cd.151 " and " Cd.152 ". The command torque during
continuous operation to torque control mode is limited with "
Pr.17 Torque limit
setting value".
If torque exceeds torque limit setting value is commanded, a warning "Torque limit
value over" (warning code: 520) will occur, and the operation is controlled with
torque limit setting value.
Confirm the command torque to servo amplifier with "
Md.123 Torque during
command".
During continuous operation to torque control mode, "Torque limit" ("
Md.108 Servo
status
" (high-order buffer memory address): b13) does not turn ON. Confirm the
current torque value in "
Md.104 Motor current value".
Buffer memory address (High-order)
QD77MS2/QD77MS4 QD77MS16
Md.108 Servo status: b13
877+100n 2477+100n
n: Axis No.-1
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