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Chapter 13 Control Sub Functions
[4] Setting the torque limit function
(1) To use the "torque limit function", set the "torque limit value" in the
parameters shown in the following table, and write them to the Simple
Motion module.
a) The set details are validated at the rising edge (OFF
ON) of the PLC
READY signal [Y0].
Setting item
Setting
value
Setting details
Factory-set
initial value
[Pr.17]
Torque limit
setting value
Set the torque limit value as a percentage. 300
[Pr.54]
OPR torque limit
value
Set the torque limit value after the "[Pr.47] Creep
speed" is reached. Set as a percentage.
300
b) The set details are validated at the rising edge (OFF ON) of the
positioning start signal [Y10].
Setting item
Setting
value
Setting details
Factory-set
initial value
[Cd.101]
Torque output
setting value
Set the torque output value as a percentage. 0
: Refer to Section 5.2 "List of parameters" or Section 5.7 "List of control data" for setting details.
: Torque limit value: Will be an upper limit value of the torque change value. Even if a larger value has been
mistakenly input for the torque change value, it is restricted within the torque limit setting values to prevent an
erroneous entry. (Even if a value larger than the torque limit setting value has been input to the torque change
value, the torque value is not changed.)
: Torque output setting value: to be taken at the start of positioning, and used as a torque limit value. If the value
is "0" or larger than the torque limit setting value, the parameter "torque limit setting value" is taken at the start.
(2) The "torque limit value" set in the Simple Motion module is set in the
"[Md.35] Torque limit stored value/forward torque limit stored value" or
"[Md.120] Reverse torque limit stored value".
[QD77MS4 use]
Buffer memory
QD77MS4
Positioning control
Torque limit value
1564
1552
26
86
826
891
1525
PLC CPU Servo amplifier
Torque limit setting value
Torque limit stored value/
forward torque limit stored value
OPR torque limit value
New torque value/
forward new torque value
Torque output setting value
Reverse new torque value
Reverse torque limit stored value
(Note): Refer to Chapter 5 for buffer memory address of QD77MS16.
Fig. 13.12 Limiting the torque to the servo amplifier (Axis 1)