Torque Limit [G] [Wg]; Setting Method; Status Check Of Limiting Torque - Mitsubishi Electric MR-J5 Series User Manual

4.7

Torque limit [G] [WG]

The torque limit function limits the torque generated by the servo motor.
The following torque limit can be set.
Item
Internal torque limit
• When setting the torque above the maximum torque of the servo motor, the torque is limited by the
maximum torque of the servo motor.
• When the servo parameter is mapped to an object, it will be overwritten from the controller, even if the servo
parameter is written from the engineering tool.
Precautions
• If the torque limit is canceled during servo-lock, the servo motor may suddenly rotate, depending on the amount of the
position deviation from the command position.
• When using the torque limit, check that [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio] is set properly.
Improper settings may cause an unexpected operation such as an overshoot.
• When "0.0" is set, no torque or thrust is generated.

Setting method

Servo parameter setting
The maximum torque is always limited by the value of [Pr. PA11 Forward rotation torque limit] and [Pr. PA12 Reverse rotation
torque limit] during operation.
Set on the assumption that the rated torque or continuous thrust is 100.0 [%].
Servo parameter Symbol
PA11 TLP
PA12 TLN
Relation between servo parameters and objects
[Pr. PA11] and [Pr. PA12] is used for [Positive torque limit value (Obj. 60E0h)] or [Negative torque limit value (Obj. 60E1h)].
With [Pr. PA14 Travel direction selection] and [Pr. PC29 POL reflection selection at torque mode ], the relationship between
the servo parameter of the torque limit and object changes as follows.
Setting value
[Pr. PC29.3] [Pr. PA14]
0: Enabled 0
1
1: Disable 0
1

Status check of limiting torque

Bit 13 (S_TLC) of TLC (Limiting torque) and [Status DO1 (Obj. 2D10h)] turns on when the servo motor torque reaches the
torque that was limited by the forward rotation torque limit and the reverse rotation torque limit.
Outline
The maximum torque is limited by the value of [Pr. PA11 Forward rotation torque limit] and [Pr.
PA12 Reverse rotation torque limit].
Name Outline
Forward rotation torque Set the servo parameter when limiting the torque of the servo motor for CCW
limit power running or CW regeneration, or limiting the thrust of the linear servo
motor for positive direction power running or negative direction regeneration.
Reverse rotation torque Set the servo parameter when limiting the torque of the servo motor for CW
limit power running or CCW regeneration, or limiting the thrust of the linear servo
motor for positive direction power running or negative direction regeneration.
[Pr. PA11 Forward rotation torque
limit]
[Positive torque limit value (Obj. 60E0h)]
[Negative torque limit value (Obj. 60E1h)]
[Positive torque limit value (Obj. 60E0h)]
[Positive torque limit value (Obj. 60E0h)]
[Pr. PA12 Reverse rotation torque
limit]
[Negative torque limit value (Obj. 60E1h)]
[Positive torque limit value (Obj. 60E0h)]
[Negative torque limit value (Obj. 60E1h)]
[Negative torque limit value (Obj. 60E1h)]
4 APPLICABLE FUNCTION
4.7 Torque limit [G] [WG]
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