Mitsubishi Electric RD77MS2 User Manual page 238

Control details
The following drawing shows the operation of the torque limit function.
■RD77MS4 operation example
Each operation
PLC READY signal [Y0]
All axis servo ON [Y1]
Positioning start signal
[Y10]
[Pr.17] Torque limit setting value
[Cd.101] Torque output setting
value
[Cd.112] Torque change function
switching request
[Cd.22] New torque value/forward
new torque value
[Md.35] Torque limit stored
value/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 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.
Precautions during control
• 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] Reverse new 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 Page 259 Torque change function for
details about the "new torque value".)
• When the "[Pr.54] Home position return torque limit value" exceeds the "[Pr.17] Torque limit setting value", the error "Home
position return torque limit value error" (error code: 1B0DH, 1B0EH) occurs.
• 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.
8 CONTROL SUB FUNCTIONS
236
8.4 Functions to Limit the Control
*1
300
*2
0
0 (Forward/reverse torque limit value same setting)
*3
0
0 300 300
250
*2
100
*3
100
*1
*2
150
*3
150 150