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Supplementary Functions
13.7 Torque Limit
FP7 MC Unit supports a function (torque limit) to change the maximum torque for the AMP in
real time.
The torque limit can be arbitrarily changed when this unit is operating. However, the torque
limit cannot be changed in the home return operation.
The specified torque limit value is used as the maximum torque during the torque limit
operation. Also, the torque limit cannot be set by the setting tool "Control Motion Integrator"
because it is a function that can be changed when the unit is operating. Data must be written
into the unit from PLC to perform the torque limit. The descriptions of the unit memories to
perform the torque limit are as follows.
Unit
Axis
memory
Name
no.
no. (Hex)
Axes
UM 00720
1-16
Axes
UM 00721
17-32
Torque limit enable
Axes
flag
UM 00722
33-48
Axes
UM 00723
49-64
Axis 1
UM 00724
Axis 2
UM 00725
:
:
Torque limit value
Axis 32 UM 00743
:
:
Axis 64 UM 00763
13-16
Default Unit
Setting range and description
Set the corresponding bits of axes for the torque
limit to "1".
bit.
0
1
2
3
4
5
6
H0
-
7
8
9
10
11
12
13
14
15
Set the torque limit values.
If "2000" is written in this area, it operates with
"2000 x 0.1 = 200 (%)" as the maximum torque.
U3000
0.1%
bit.
15-0
Name
Axes 1+16n Torque limit
enabled
Axes 2+16n Torque limit
enabled
Axes 3+16n Torque limit
enabled
Axes 4+16n Torque limit
enabled
Axes 5+16n Torque limit
enabled
Axes 6+16n Torque limit
enabled
Axes 7+16n Torque limit
enabled
Axes 8+16n Torque limit
enabled
Axes 9+16n Torque limit
enabled
Axes 10+16n Torque limit
enabled
Axes 11+16n Torque limit
enabled
Axes 12+16n Torque limit
enabled
Axes 13+16n Torque limit
enabled
Axes 14+16n Torque limit
enabled
Axes 15+16n Torque limit
enabled
Axes 16+16n Torque limit
enabled
Name
Description
Setting range: 0.1 to
Torque limit value
500.0
Description
0: Torque limit
disabled
1: Torque limit
enabled
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