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Chapter 12 Expansion Control
Speed during torque control mode
The speed during the torque control mode is controlled with "[Cd.146] Speed limit
value at torque control mode". At this time, "Speed limit" ("[Md.108] Servo status"
(low-order buffer memory address): b4) turns ON.
Buffer memory address (Low-order)
QD77MS2/QD77MS4 QD77MS16
[Md.108] Servo status: b4
876+100n 2476+100n
n: Axis No.-1
"[Cd.146] Speed limit value at torque control mode" is set to a positive value
regardless of the rotation direction. (Controlled by the same value for forward and
reverse directions.)
In addition, "[Cd.146] Speed limit value at torque control mode" is limited with
"[Pr.8] Speed limit value". If the speed exceeding the speed limit value is set, the
warning "Speed limit value over" (warning code: 501) occurs, and the operation is
controlled with the speed limit value.
The acceleration/deceleration processing is invalid for "[Cd.146] Speed limit value
at torque control mode".
POINT
The actual motor speed may not reach the speed limit value depending on the
machine load situation during the torque control.
Current feed value during torque control mode
"[Md.20] Current feed value", "[Md.21] Machine feed value" and "[Md.101] Real
current value" are updated even in the torque control mode. If the current feed
value exceeds the software stroke limit, the error "Software stroke limit +" (error
code: 507) or "Software stroke limit -" (error code: 508) occurs, and the operation
switches to the position control mode. Invalidate the software stroke limit to
execute one-way feed.