Application Function; Application Functions; Torque Limit Switching Function - Panasonic MINAS A6N Series Operating Instructions Manual

5
Adjustment
Outline
This function changes the torque limit value according to the operation direction or torque limit
switching command (TI_SW) of RTEX communication.
Applicable Range
This function can be applicable only when the following condition are satisfied.
Control Mode • Position control, velocity control
Others
Related Parameter
Class No.
0
5
5
5
5
5
5
Rev.2.00

6. Application Functions

Torque Limit Switching Function

the Torque limit switching function is activated
• Should be in servo-on condition
• Parameters except for controls are correctly set, assuring that the motor
can run smoothly.
Title
13 1st torque limit
Selection of torque
21
limit
22 2nd torque limit
Torque limit
23
switching setup 1
Torque limit
24
switching setup 2
Positive direction
25
torque limit
Negative direction
26
torque limit
Conditions under which
Function
You can set up the 1st limit value of the motor output
torque.
You can set up the torque limiting method.
TL_SW = 0
Setup
Negative Positive
value
direction direction
1
2 Pr5.22 Pr0.13
3 Pr0.13
4 Pr5.22 Pr0.13
If 0 is set for this parameter, 1 is internally set.
You can set up the 2nd limit value of the motor output
torque.
Set the rate of change (gradient) from value 1 to value
2 during torque limit change.
Set the rate of change (gradient) from value 2 to value
1 during torque limit change.
Set up positive direction torque limit upon receiving
torque limit switching.
Set up negative direction torque limit upon receiving
torque limit switching.
TL_SW = 1
Negative Positive
direction direction
Pr0.13
Pr5.22 Pr0.13
Pr5.22
Pr5.26 Pr5.25
5-65
1
2
3
4
5
6
7