Chapter 10 Relevant Functions To Torque; Torque Limit; Relevant Variables - Mitsubishi Electric MELSEC iQ-R Series User Manual

10
RELEVANT FUNCTIONS TO TORQUE
10.1

Torque limit

The "torque limit function" limits the generated torque to a value within the torque limit value range when the torque generated
in the servomotor exceeds the torque limit value.
It controls the operation so that unnecessary force is not applied to the load and machine by limiting the generated torque.
• Set the positive direction (address increment direction) torque limit value and the negative direction (address decrement
direction) torque limit value for each axis.
• The torque limit value is used in the "setting of the torque limit value used in the driver" and the "control to suppress the
command torque in MC_TorqueControl, etc.".
• The torque limit value can be changed by changing the values of AxisName.Cd.TorqueLimit_Positive and
AxisName.Cd.TorqueLimit_Negative. When changing the torque limit value, specifies a value less than or equal to the
AxisName.PrConst.TorqueLimit_Max setting value. For details, refer to the following.
Page 333 Torque Limit Value Change Function
• The torque limit value that is currently valid can be checked with AxisName.Md.TorqueLimit_Positive and
AxisName.Md.TorqueLimit_Negative.
• The torque limit value when connecting a driver, AxisName.Cd.TorqueLimit_Positive and
AxisName.Cd.TorqueLimit_Negative are set.

Relevant variables

Variable/Structure name
AxisName.PrConst.
TorqueLimit_Max
TorqueLimit_PositiveInitial
TorqueLimit_NegativeInitial
AxisName.Cd.
TorqueLimit_Positive
TorqueLimit_Negative
AxisName.Md.
TorqueLimit_Positive
TorqueLimit_Negative
Name
Torque limit maximum value
Positive direction torque limit initial
value
Negative direction torque limit initial
value
Positive direction torque limit value
Negative direction torque limit value
Positive direction torque limit value
Negative direction torque limit value
Details
Sets the maximum value that can be specified as the torque limit value.
(Common in the positive direction and the negative direction)
Sets the initial value of AxisName.Cd.TorqueLimit_Positive.
Sets the initial value of AxisName.Cd.TorqueLimit_Negative.
Sets the positive direction torque limit value.
Sets the negative direction torque limit value.
Displays the positive direction torque limit value that is currently valid.
Displays the negative direction torque limit value that is currently valid.
10 RELEVANT FUNCTIONS TO TORQUE
10
331
10.1 Torque limit