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Chapter 13 Control Sub Functions
13.5.4 Torque change function
The "torque change function" is used to change the torque limit value during torque
limiting.
The torque limit value at the control start is the value set in the "
Pr.17
Torque limit
setting value" or "
Cd.101
Torque output setting value"
The following two change methods in the torque change function.
Torque change function Details
Forward/reverse new torque
value_same setting
The forward torque limit value and reverse torque limit value are
changed to the same value by the new torque value.
(Use this method when they need not be separately set.)
Forward/reverse new torque
value_individual setting
The forward torque limit value and reverse torque limit value are
individually changed respectively by the forward new torque
value and reverse new torque value.
: Forward new torque value: The limit value to the generated torque during CCW regeneration
at the CCW driving of the servo motor.
Reverse new torque value The limit value to the generated torque during CW regeneration
at the CW driving of the servo motor.
Set previously "same setting" or "individual setting" of the forward/reverse new torque
in "
Cd.112
Torque change function switching request".
Setting items
Torque change function
Torque change function
switching request (Cd.112 )
New torque value
(
Cd.22
, Cd.113 )
Cd.22
New torque value/
forward new torque
value
Forward/reverse new torque
value_same setting
0: Forward/reverse new torque
value: same setting
Cd.113
Setting invalid
Cd.22
New torque value/
forward new torque
value
Forward/reverse new torque
value_individual setting
1: Forward/reverse new torque
value: individual setting
Cd.113
Reverse new torque
value
The details shown below explain about the "torque change function".
[1] Control details
[2] Precautions during control
[3] Setting the torque change function start signal
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