Mitsubishi Electric RD77MS2 User Manual page 239

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