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7.3
Extension setting servo parameters group ([Pr.
PC_ _ ])
[Pr. PC42_Function selection C-10 (COP10)]
Initial value
00000000h
[Pr. PC42.0_Forward/Reverse rotation torque limit 2 selection]
Initial value
0h
Enable or disable the torque limit value switching which is performed by CPTL (bit 11 of [Controlword (Obj. 6040h)]) and by
CNTL (bit 12 of [Controlword]).
0: Disabled
1: Enabled
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
This servo parameter corresponds to [Positive/Negative torque limit 2 select (Obj. 2D6Dh: 01h)].
[Pr. PC43_Forward rotation torque limit 2 (TLP2)]
Initial value
1000.0 [%]
The torque or thrust generated by the servo motor can be limited.
Set this servo parameter in relation to the rated torque or continuous thrust (= 100.0 %). Set the servo parameter when
limiting the torque of the servo motor for CCW power running or CW regeneration, or when limiting the thrust of the linear
servo motor for positive direction power running or negative direction regeneration. If this servo parameter is set to "0.0", the
servo motor does not generate torque or thrust.
The polarity of the torque limit can be changed with the setting values of [Pr. PA14 Travel direction selection] and [Pr. PC29.3
Torque POL reflection selection].
This servo parameter corresponds to [Positive torque limit value 2 (Obj. 2D6Dh: 02h)].
Depending on the settings in [Pr. PC29] and [Pr. PA14], the corresponding object changes to [Negative torque limit value 2
(Obj. 2D6Dh: 03h)].
If a value larger than the maximum torque or maximum thrust of the servo motor is set, the value will be limited to the
maximum torque or maximum thrust of the servo motor.
7 SERVO PARAMETERS
74
7.3 Extension setting servo parameters group ([Pr. PC_ _ ])
Setting range
Refer to the relevant detail No.
Setting range
Refer to the text
Forward rotation torque limit value
CPTL: 0
CPTL: 1
[Pr. PA11]/
[Pr. PA11]/
[Positive torque limit value
[Positive torque limit value
(Obj. 60E0h)]
(Obj. 60E0h)]
[Pr. PA11]/
[Pr. PC43]/
[Positive torque limit value
[Positive torque limit value2
(Obj. 60E0h)]
(Obj. 2D6Dh: 02h)]
Setting range
0.0 to 1000.0
Setting method
Each axis
Ver.
A5
Reverse rotation torque limit value
CNTL: 0
[Pr. PA12]/
[Negative torque limit value
(Obj. 60E1h)]
[Pr. PA12]/
[Negative torque limit value
(Obj. 60E1h)]
Setting method
Each axis
Ver.
Refer to the relevant detail No.
CNTL: 1
[Pr. PA12]/
[Negative torque limit value
(Obj. 60E1h)]
[Pr. PC44]/
[Negative torque limit value2
(Obj. 2D6Dh: 03h)]
Ver.
A5
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