Software Position Limit; Torque Limit - Mitsubishi Electric Melservo-J4 MR-J4-_TM Series Instruction Manual

5. CiA 402 DRIVE PROFILE

5.8 Software position limit

Specify the upper and lower limits of the command position and current position. If a command position
exceeding the limit position is specified, the command position is clamped at the limit position. Specify a
relative position from the machine home point (position address = 0) as the limit position.
This function is enabled when the home position is not erased in the cyclic synchronous position mode (csp),
profile position mode (pp), point table mode (pt) or Jog mode (jg). While the clamp processing is being
performed with the command position exceeding the limit value, [AL. 98 Software limit warning] occurs and
not cleared. When the position command of the direction opposite to reached Software position limit (607Dh)
is given, the operation can be restarted.
In the cyclic synchronous position mode (csp), stop a command when the software position limit is detected.
When the command position exceeds 32 bits (-2147483648 to 2147483647), [AL. 69 Command error]
occurs. When the command position exceeds the limit range by 30 bits (-536870912 to 536870911), [AL. 69
Command error] also occurs.
When [AL. 69 Command error] has occurred, the home position is erased. Perform a home position return
again. The following table lists the related objects.
Index Sub Object
0
1
607Dh ARRAY
2
Note. When the set value of Min position limit is equal to or greater than the set value of Max position limit, the function of Software
position limit (607Dh) is disabled.

5.9 Torque limit

Generated torque can be limited with the values of Positive torque limit value (60E0h) and Negative torque
limit value (60E1h). When "0" is set, torque (thrust) is not generated. The following table lists the related
objects.
Index Sub Object
60E0h VAR
60E1h VAR
Data
Name
Type
Software position limit U8
Min position limit
I32
(Note)
Max position limit
I32
(Note)
Data
Name
Type
Positive torque limit
U16
value
Negative torque limit
U16
value
5 - 84
Access Default
ro 2 Number of entries
Specify a relative position from the
machine home point (position
address = 0) as the minimum value
of the command position and
rw 0
current position. When the value
falls below the minimum value, it is
clamped and processed as the
minimum value.
Specify a relative position from the
machine home point (position
address = 0) as the maximum value
of the command position and
rw 0
current position. When the value
exceeds the maximum value, it is
clamped and processed as the
maximum value.
Access Default
[Pr. PA11 Forward rotation torque
limit/positive direction thrust limit]
Torque limit value in CCW power
rw 10000
running/CW regeneration
Unit: 0.1% (rated torque of 100%)
Range: 0 to 10000
[Pr. PA12 Reverse rotation torque
limit/negative direction thrust limit]
Torque limit value in CW power
rw 10000
running/CCW regeneration
Unit: 0.1% (rated torque of 100%)
Range: 0 to 10000
Description
Description