Chapter 9 Manufacturer-Specific Function; Torque Limit Selection; Torque Limit - Mitsubishi Electric MELSERVO-J5 MR-J5-G-N1 User Manual

9
MANUFACTURER-SPECIFIC FUNCTION
9.1

Torque limit selection

The torque limit selection function is a function that switches the torque limit value by using Bit 11 (CPTL) and Bit 12 (CNTL)
of [Controlword (Obj. 6040h)].
The settings of the torque limit selection ([Obj. 2D6Dh]) are as follows.
[Max torque (Obj. 6072h)]
[Positive torque limit value (Obj. 60E0h)],
[Negative torque limit value (Obj. 60E1h)]
[Target torque (Obj. 6071h)]
[Positive torque limit value 2 (Obj. 2D6Dh: 02h)],
[Negative torque limit value 2 (Obj. 2D6Dh: 03h)]

Torque limit

Index Sub
2D6Dh 0
1
2
3
Index Sub
2D6Dh 0
1
2
3
For the combinations of servo parameters and objects that are switched by CPTL/CNTL, refer to the following table.
[Pr. PC42.0]/
[Positive/Negative
torque limit 2 select
(Obj. 2D6Dh: 01h)]
0h/0000h
1h/0001h
9 MANUFACTURER-SPECIFIC FUNCTION
44
9.1 Torque limit selection
Name
Positive/Negative torque limit 2 setting
Positive/Negative torque limit 2 select
Positive torque limit value 2
Negative torque limit value 2
Default Range
3 3h to 3h (3)
0 0000h to 0001h (1)
10000 0 to 10000
10000
Forward rotation torque limit value
CPTL: 0
[Pr. PA11]/
[Positive torque limit value
(Obj. 60E0h)]
[Pr. PA11]/
[Positive torque limit value
(Obj. 60E0h)]
Torque
[Torque demand value (Obj. 6074h)]
limit
function
Data Type Access
U8 ro
U16 rw
Units


per thousand of rated torque
Reverse rotation torque limit value
CPTL: 1 CNTL: 0
[Pr. PA11]/ [Pr. PA12]/
[Positive torque limit value [Negative torque limit value
(Obj. 60E0h)] (Obj. 60E1h)]
[Pr. PC43]/ [Pr. PA12]/
[Positive torque limit value2 [Negative torque limit value
(Obj. 2D6Dh: 02h)] (Obj. 60E1h)]
PDO Mapping
Impossible
Save Parameter

Impossible
Possible [Pr. PC42]
POL disabled: [Pr. PC43 Forward
rotation torque limit 2]
POL enabled: [Pr. PC44 Reverse
rotation torque limit 2]
POL disabled: [Pr. PC44 Reverse
rotation torque limit 2]
POL enabled: [Pr. PC43 Forward
rotation torque limit 2]
CNTL: 1
[Pr. PA12]/
[Negative torque limit value
(Obj. 60E1h)]
[Pr. PC44]/
[Negative torque limit value2
(Obj. 2D6Dh: 03h)]