6.1 Torque limit switching function
It is a function which changes a torque limit value by the direction of operation.
Applicable range
This function can be applicable only when the following conditions are satisfied.
Conditions under which the Torque limit switching function is activated:
Position control mode, Velocity control mode, Full-closed control mode and Torque control mode (Note 1)
Should be in servo-on condition
Parameters except for controls are correctly set, assuring that the motor can run smoothly.
(Note 1) Settings other than Pr5.21=5 will be disabled during torque control, and Pr0.13 “1st torque limit” becomes enabled.
Relevant parameters
Relevant parameters
You can set up the 1st limit value of the motor output torque.
Selection of torque
limit
You can set up the torque limiting method.
* If 0 is set for this parameter, 1 is internally set.
Only the setting Pr5.21=5 becomes enabled during torque control.
When Pr5.21=1 to 4, Pr0.13 is applied to the torque limit.
You can set up the 2nd limit value of the motor output torque.
Set the maximum torque.
If the value exceeds the maximum torque of
the motor is limited by the maximum torque of
the motor.
The maximum torque of the motor varies
depending on the motor applied.
Torque command is limited at smaller one of 6072h and those effective for Pr0.13 and Pr5.22.
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