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13.5.4 Torque change function
The "torque change function" is used to change the torque limit value during torque
limiting.
The torque limit value at the control start is the value set in the "
" or "
value
Torque output setting value
Cd.101
The following two change methods in the torque change function.
Torque change function
Forward/reverse torque limit
value same setting
Forward/reverse torque limit
value individual setting
: Forward torque limit value: The limit value to the generated torque during CW regeneration at
Reverse torque limit value: The limit value to the generated torque during CCW regeneration
Set previously "same setting" or "individual setting" of the forward/reverse torque limit
value in "
Torque change function switching request
Cd.112
(forward new torque value or new reverse torque value) in the axis control data (
) shown below.
Cd.113
Torque change function
Forward/reverse torque limit
value same setting
Forward/reverse torque limit
value individual setting
The details shown below explain about the "torque change function".
[1] Control details
[2] Precautions during control
[3] Setting the torque change function start signal
".
The forward torque limit value and reverse torque limit value are
changed to the same value by the new torque value.
(Use this method when they need not be separately set.)
The forward torque limit value and reverse torque limit value are
individually changed respectively by the forward new torque
value and new reverse torque value.
the CCW driving of the servo motor.
at the CW driving of the servo motor.
Torque change function
switching request (
Cd.112
0: Forward/reverse torque limit
value same setting
1: Forward/reverse torque limit
value individual setting
13 - 56
Chapter 13 Control Sub Functions
Torque limit setting
Pr.17
Details
".
Set the new torque value
Setting items
New torque value
)
(
,
Cd.22
New torque value/
forward new torque
Cd.22
value
Setting invalid
Cd.113
New torque value/
forward new torque
Cd.22
value
New reverse torque
Cd.113
value
or
Cd.22
)
Cd.113
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