Panasonic MINAS A6 Multi Series Technical Reference page 168

6.4Torque saturation protection function
6.4 Torque saturation protection function
If torque saturated has continued for a fixed period, an alarm can be activated.
Relevant parameters
 Relevant parameters
Class No. Attribute Title
6 57 B
7 03 A
7 16 B
 Set both Pr6.57 and Pr7.16 to 0 to make this function disabled.
 When torque is controlled, this function is disabled and Err 16.1 will not be activated.
 If the emergency stop alarm is activated, this function is disabled and Err 16.1 will not be activated.
 During torque control, if Pr7.03 is 0, the torque limit signal output (TCL) is always ON.
Please set Pr7.03 to 1 to confirm torque limit signal output.
6-11
Range
Torque saturation 0 to 5000 ms
anomaly detection
time
Output setup 0-1
during torque limit
Frequency of 0 to
torque saturation 30000
protection
Unit Function
Set the torque saturation error protection detection time.
If torque saturation erroneously occurs for a set time, Err16.1
"Torque saturation error protection" occurs.
When 0 is set, the value set for Pr7.16 is enabled.
- Set up judgment condition of output while torque is limited by torque
control.
0: Turn ON at torque limit including torque command value
1: Turn ON at torque limit excluding torque command value
time If torque saturated is continued during a preset frequency, Err 16.1
"Torque saturation protection" will be activated.
The number of times is counted up every 0.25 ms. For example,
when 30000 is set, Err16.1 occurs if the torque saturation condition
continues for 7.5 seconds.
The count is cleared when the torque saturation condition is
removed.
When the value set for Pr6.57 is other than 0, the value set for
Pr6.57 is enabled.