Chapter 9 Manufacturer-Specific Function; Torque Limit Selection; Torque Limit - Mitsubishi Electric MELSERVO MR-JET-G-N1 User Manual

9
MANUFACTURER-SPECIFIC FUNCTION
9.1

Torque limit selection

The torque limit selection function is a function that switches the torque limit value by using Bit 11 (CPTL) and Bit 12 (CNTL)
of [Controlword (Obj. 6040h)].
The settings of the torque limit selection ([Obj. 2D6Dh]) are as follows.
[Max torque (Obj. 6072h)]
[Positive torque limit value (Obj. 60E0h)],
[Negative torque limit value (Obj. 60E1h)]
[Target torque (Obj. 6071h)]
[Positive torque limit value 2 (Obj. 2D6Dh: 02h)],
[Negative torque limit value 2 (Obj. 2D6Dh: 03h)]

Torque limit

Index Sub Name
2D6Dh 0 Positive/Negative torque limit 2 setting
1 Positive/Negative torque limit 2 select
2 Positive torque limit value 2
3 Negative torque limit value 2
Index Sub Default
2D6Dh 0 3
1 0
2 10000
3 10000
For the combinations of servo parameters and objects that are switched by CPTL/CNTL, refer to the following table.
[Pr. PC42.0]/ Forward rotation torque limit value
[Positive/Negative
CPTL: 0
torque limit 2 select
(Obj. 2D6Dh: 01h)]
0h/ [Pr. PA11]/
0000h [Positive torque limit value
(Obj. 60E0h)]
1h/ [Pr. PA11]/
0001h [Positive torque limit value
(Obj. 60E0h)]
Torque
function
Range Units
3h to 3h (3)

0000h to 0001h (1)

0 to 10000 per thousand of rated torque
CPTL: 1
[Pr. PA11]/
[Positive torque limit value
(Obj. 60E0h)]
[Pr. PC43]/
[Positive torque limit value 2
(Obj. 2D6Dh: 02h)]
[Torque demand value (Obj. 6074h)]
limit
Data Type Access
U8 ro
U16 rw
Save
Impossible
Possible
Reverse rotation torque limit value
CNTL: 0
[Pr. PA12]/
[Negative torque limit value
(Obj. 60E1h)]
[Pr. PA12]/
[Negative torque limit value
(Obj. 60E1h)]
9 MANUFACTURER-SPECIFIC FUNCTION
PDO Mapping
Impossible
Parameter

[Pr. PC42]
POL disabled: [Pr. PC43 Forward
rotation torque limit 2]
POL enabled: [Pr. PC44 Reverse
rotation torque limit 2]
POL disabled: [Pr. PC44 Reverse
rotation torque limit 2]
POL enabled: [Pr. PC43 Forward
rotation torque limit 2]
CNTL: 1
[Pr. PA12]/
[Negative torque limit value
(Obj. 60E1h)]
[Pr. PC44]/
[Negative torque limit value 2
(Obj. 2D6Dh: 03h)]
9.1 Torque limit selection
9
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