Moons' MBDV Series - Torque Limit; Torque Limiting Methods

88
Rev. 2.0
07/27/2023
MBDV Hardware Manual
7.5 Torque limit
Torque limit is to limit the output torque of the servo motor. This function is applicable in all control
modes, such as position, speed, torque, etc.
◆
method of torque limitation
Parameter P1-10 denes 5 kinds of torque limit methods, each limit method is as follows.
P1-10
Torque limit method setting
Positive torque limit source Reverse torque limit source
0 Register Y Register Z
1 Parameter P1-06
2 Parameter P1-06 Parameter P1-25
3
TQ-LMT input is valid: P1-06
TQ-LMT input is invalid: P1-25
5
TQ-LMT input is valid: P1-06 TQ-LMT input is valid: P1-25
TQ-LMT input is invalid: P1-26 TQ-LMT input is invalid: P1-27
Related parameters
Parameter Instruction Name Value range Defaults Unit Description
P1-10 LD Torque Limit Method 0 ~ 3
，
5 1 -
Torque limit method setting, please refer
to the above description for details
P1-06 CC rst torque limit 0~3000 3000 0.1% First torque limit of the motor
P1-25 CX Second torque limit 0~3000 3000 0.1% Second torque limit for motor
P1-26 CY Third torque limit 0~3000 3000 0.1% Third torque limit for motor
P1-27 CZ Fourth torque limit 0~3000 3000 0.1% Fourth torque limit for motor
7.5.1 Torque Limiting Methods
7.5.1.1 Register based torque limits --- e󰀨ective immediately
When P1-10 = 0, the forward torque limit is determined by Register Y, and the reverse torque limit
is determined by parameter Register Z.
Related parameters
Parameter
Modbus
address
Value
range
Defaults Unit Description
Register Y 40065 0~3000 0 0.1%
Forward torque limit for the motor, e󰀨ective
immediately
Register Z 40066 0~3000 0 0.1%
Reverse torque limit for the motor, e󰀨ective
immediately
Note: If torque limits are set too low, there may be insu󰀩cient torque available for acceleration and
deceleration.
Torque Limits Disabled Torque Limits Enabled
Time
Motor Maximum Torque
Motor maximum torque
Register Y
-Register Z
Time
Motor Maximum Torque
Motor maximum torque
Without torque limits, the motor can reach its maximum
output torque.
When torque limits are active and P1-10 = 0, the forward and
reverse torque limits of the motor are set by Register Y and
Register Z.