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Chapter 13 Control Sub Functions
[1] Control details
The torque value (forward new torque value/reverse new torque value) of the
axis control data can be changed at all times. The torque can be limited with a
new torque value from the time the new torque value has been written to the
Simple Motion module.
Note that the delay time until a torque control is executed is max. operation cycle
after torque change value was written.
The toque limiting is not carried out from the time the power supply is turned ON
to the time the PLC READY signal [Y0] is turned ON.
The new torque value ([Cd.22], [Cd.113]) is cleared to zero at the leading edge
(OFF to ON) of the positioning start signal [Y10].
The torque setting range is from 0 to "[Pr.17] Torque limit setting value".
(When the setting value is 0, a torque change is considered not to be carried out,
and it becomes to the value set in "[Pr.17] Torque limit setting value" or "[Cd.101]
Torque output setting value". The torque change range is 1 to "[Pr.17] Torque
limit setting value".)
The following drawing shows the operation at the same setting (Figure 13.31)
and the operation at the individual setting (Figure 13.32) for the forward new
torque value and reverse new torque value.
[QD77MS4 operation example]
Each operation
PLC READY signal [Y0]
All axis servo ON [Y1]
Positioning start
signal [Y10]
Torque limit setting
value
Torque output setting
value
New torque value/ forward
new torque value
Torque limit stored value/
forward torque limit
stored value
Pr.17
Cd.101
Cd.22
Md.35
1
300
250
0 100 150
0 200 0 350 0 75 230 0
0 300 300 200 100 75 230 150
1
2
2
2
3 34
4
4
4
4
3
65
1: The torque limit setting value or torque output setting value becomes effective at the PLC READY signal [Y0] rising edge
(however, after the servo turned ON.)
If the torque output setting value is "0" or larger than the torque limit setting value, the torque limit setting value will be its value.
2: The torque limit setting value or torque output setting value becomes effective at the positioning start signal [Y10] rising edge,
and the torque limit value is updated.
If the torque output setting value is "0" or larger than the torque limit setting value, the torque limit setting value will be its value.
3: The torque change value is cleared to "0" at the positioning start signal [Y10] rising edge.
4: The torque limit value is changed by the torque changed value.
5: When the new torque value is 0, a torque change is considered not to be carried out.
6: When the chan
g
e value is exceeds the tor
q
ue limit value, a tor
q
ue chan
g
e is considered not to be carried out.
Torque change function
switching request
Cd.112
0
(Note): Refer to Section 3.3 for input/output signal and Chapter 5 for buffer memory address of QD77MS16.
Fig. 13.31 Torque change operation (forward/reverse torque limit value same setting) (Axis 1)