Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 265
Chapter 10 Modes of Operation
Torque Limits
The Torque Limits are used to limit the maximum motor torque for the
application.
• Operation Mode: Position Mode (PR/PT) and Speed Mode (S/Sz)
In these modes, you can use the speed and torque limiting to control the
motor.
You can change the speed limit (used with torque limiting). The torque
configurations are in the following images:
• One time - In this case, the Speed Limit is used with Torque Limiting.
First, choose Enable with ID118 (P1.002.Y). This torque limit does not
require a digital input (TRQLM=None) and only requires enabling Y.1
in VelocityTorqueLimitAction ID118 (P1.002). The preset torque is
chosen with Digital Inputs TCM0/1.
• More than once - By using a Digital Input. (DI.Torque Limit/TRQLM) -
First, choose Disable with ID118 (P1.002.Y). This torque limiting is
flexible so that the torque limit can be changed. The preset torques are
selected using the binary weighted value of Digital Inputs TCM0/1. The
torque limit is applied when DI.Torque Limit/TRQLM is ON.
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