Torque Limit Function Operation - Mitsubishi Electric QD77MS User Manual

[QD77MS4 operation example]
Each operation
PLC READY signal [Y0]
All axis servo ON [Y1]
Positioning start signal [Y10]
Torque limit setting value
Pr.17
Torque output setting
Cd.101
value
Torque change function
Cd.112
switching request
New torque value/
Cd.22
forward new torque value
Torque limit stored value/
Md.35
forward torque limit
stored value
1: The torque limit setting value or torque output setting value becomes effective at the PLC READY signal [Y0] rising edge
(however, after the servo is turned ON.)
If the torque output setting value is "0" or larger than the torque limit setting value, the torque limit setting value will be its value.
2: The torque limit setting value or torque output setting value becomes effective at the positioning start signal [Y10] rising edge.
If the torque output setting value is "0" or larger than the torque limit setting value, the torque limit setting value will be its value.
3: The torque change value is cleared to "0" at the positioning start signal [Y10] rising edge.
[2] Control details
The following drawing shows the operation of the torque limit function.
1
300
2
0
0 (Forward/reverse torque limit value same setting)
3
0
0 300
(Note): Refer to Section 3.3 for input/output signal or Chapter 5 for buffer memory address of QD77MS16.
Fig. 13.11 Torque limit function operation
[3] Precautions during control
(1) When limiting the torque at the "[Pr.17] Torque limit setting value", confirm
that "[Cd.22] New torque value/forward new torque value" or "[Cd.113] New
reverse torque value" is set to "0". If this parameter is set to a value besides
"0", the setting value will be validated, and the torque will be limited at that
value. (Refer to Section 13.5.4 "Torque change function" for details about
the "new torque value".)
(2) When the "[Pr.54] OPR torque limit value" exceeds the "[Pr.17] Torque limit
setting value", the error "OPR torque limit value error" (error code: 995)
occurs.
(3) When the operation is stopped by torque limiting, the droop pulse will remain
in the deviation counter. If the load torque is eliminated, operation for the
amount of droop pulses will be carried out. Note that the movement might
start suddenly as soon as the load torque is eliminated.
2
100
3
300
13 - 25
Chapter 13 Control Sub Functions
250
150
100
1
2
3
150 150