1
2
3
4
5
6
7
8
9
10
11
12
Table of Contents
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
Advertisement
Setting method
• To use the "torque limit function", set the "torque limit value" in the parameters shown in the following table, and write them
to the Simple Motion module. The set details are validated at the rising edge (OFF ON) of the PLC READY signal [Y0].
Setting item
[Pr.17]
Torque limit setting
value
[Pr.54]
Home position return
torque limit value
• The set details are validated at the rising edge (OFF ON) of the positioning start signal [Y10].
Setting item
[Cd.101]
Torque output setting
value
*1 Refer to the followings for the setting details.
Page 407 Basic Setting, Page 504 Control Data
*2 Torque limit value: Will be an upper limit value of the torque change value. If a larger value has been mistakenly input for the torque
change value, it is restricted within the torque limit setting values to prevent an erroneous entry. (Even if a value larger than the torque
limit setting value has been input to the torque change value, the torque value is not changed.)
*3 Torque output setting value: Taken at the positioning start and used as a torque limit value. If the value is "0" or the torque limit setting
value or larger, the parameter "torque limit setting value" is taken at the start.
• The "torque limit value" set in the Simple Motion module is set in the "[Md.35] Torque limit stored value/forward torque limit
stored value" or "[Md.120] Reverse torque limit stored value".
Simple Motion module
CPU module
[Pr.17] Torque limit setting value
[Pr.54] Home position return torque limit value
[Cd.22] New torque value/forward
new torque value
[Cd.113] Reverse new torque value
[Cd.101] Torque output setting value
[Md.35] Torque limit stored value/forward
torque limit stored value
[Md.120] Reverse torque limit stored value
• The following table shows the storage details of "[Md.35] Torque limit stored value/forward torque limit stored value" and
"[Md.120] Reverse torque limit stored value".
n: Axis No. - 1
Monitor item
[Md.35]
Torque limit stored value/forward torque limit
stored value
[Md.120]
Reverse torque limit stored value
Refer to the following for information on the storage details.
Page 468 Monitor Data
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with the engineering tool. Execution by a
program uses many programs and devices. The execution becomes complicated, and the scan times will
increase.
• Use "[Md.120] Reverse torque limit stored value" and "[Cd.113] Reverse new torque value" only when "1:
Forward/reverse torque limit value individual setting" is set in "[Cd.112] Torque change function switching
request". (Page 259 Torque change function)
Setting value Setting details
Set the torque limit value in 0.1% unit.
Set the torque limit value after the speed reaches "[Pr.47] Creep
speed" in 0.1% unit.
Setting value Setting details
Set the torque output value in 0.1% unit.
Buffer memory
Monitor
value
Positioning control
Torque limit value
Storage details
The "torque limit value/forward torque limit stored value"
valid at that time is stored. ([Pr.17], [Pr.54], [Cd.22] or
[Cd.101])
The "reverse torque limit stored value" is stored
depending on the control status. ([Pr.17], [Pr.54], [Cd.22],
[Cd.101] or [Cd.113])
Factory-set initial value
3000
3000
Factory-set initial value
0
Servo amplifier
Buffer memory
address
2426+100n
2491+100n
8 CONTROL SUB FUNCTIONS
8.4 Functions to Limit the Control
8
237
Advertisement
Table of Contents
Troubleshooting
Also See for Mitsubishi Electric RD77MS2
Mitsubishi Electric RD77MS2 User Manual
146 pages
Related Manuals for Mitsubishi Electric RD77MS2
-
Controller Mitsubishi Electric RD77GF8 User Manual
Melsec iq-r series, simple motion module (186 pages)
-
Controller Mitsubishi Electric RD62P2E Application User's Manual
High-speed counter module (92 pages)
-
Controller Mitsubishi Electric MELSEC iQ-R RD78G4 User Manual
Motion module (56 pages)
-
Controller Mitsubishi Electric R16MTCPU Programming Manual
(354 pages)
-
Controller Mitsubishi Electric R32MTCPU Programming Manual
Advanced synchronous control (188 pages)
-
Controller Mitsubishi Electric R64MTCPU User Manual
Motion controller, melsec iq-r series (90 pages)
-
Controller Mitsubishi Electric RJ71PB91V-U-IN-E User Manual
Profibus-dp module (52 pages)
-
Controller Mitsubishi Electric RJ72GF15-T2 User Manual
Programmable controller melsec iq-r series cc-link ie field network remote head module (56 pages)
-
Controller Mitsubishi Electric R60AD8-G User Manual
Melsec iq-r series channel isolated analog-digital converter module (342 pages)
-
Controller Mitsubishi Electric MELSEC iQ-R C R12CCPU-V User Manual
Controller module (262 pages)
-
Controller Mitsubishi Electric RJ71PN92 User Manual
Profinet io controller module, melsec iq-r series (48 pages)
-
Controller Mitsubishi Electric RJ51AW12AL User Manual
Melsec iq-r anywireaslink master module (52 pages)
-
Controller Mitsubishi Electric MELSEC iQ-R Series User Manual
Controller module (120 pages)
Comments to this Manuals
Latest comments: