Panasonic MINAS A6 Multi Series Technical Reference page 152

6.1 Torque limit switching function
It is a function which changes a torque limit value by the direction of operation.
Applicable range
This function can be applicable only when the following conditions are satisfied.
Conditions under which the Torque limit switching function is activated:
 Position control mode, Velocity control mode, Full-closed control mode and Torque control mode (Note 1)
Control Mode
 Should be in servo-on condition
Others
 Parameters except for controls are correctly set, assuring that the motor can run smoothly.
(Note 1) Settings other than Pr5.21=5 will be disabled during torque control, and Pr0.13 "1st torque limit" becomes enabled.
Relevant parameters
 Relevant parameters
Class No. Attribute Title
0 13 B
5 21 B
5 22 B
Related object
Sub
Index Name
Index
6072h 00h Max torque
/6872h
Torque command is limited at smaller one of 6072h and those effective for Pr0.13 and Pr5.22.
Range
1st torque limit 0 to 500
Selection of torque 0 to 5
limit
2nd torque limit 0 to 500
Description
 Set the maximum torque.
If the value exceeds the maximum torque of
the motor is limited by the maximum torque of
the motor.
The maximum torque of the motor varies
depending on the motor applied.
Unit Function
% You can set up the 1st limit value of the motor output torque.
- You can set up the torque limiting method.
Setup Negative direction Positive direction
value
1 Pr0.13
2 Pr5.22
3 Pr0.13
4 Pr5.22
5 60E1h/68E1h
* If 0 is set for this parameter, 1 is internally set.
 Only the setting Pr5.21=5 becomes enabled during torque control.
When Pr5.21=1 to 4, Pr0.13 is applied to the torque limit.
% You can set up the 2nd limit value of the motor output torque.
Units
0.1%
Application Functions
Pr0.13
Pr0.13
60E0h/68E0h
Data Op-
Range Access PDO
Type mode
0 to U16 rw Yes ALL
65535
EEPROM
Yes
6-2