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Chapter 13 Control Sub Functions
[2] Control details
The following drawing shows the operation of the torque limit function.
[QD77MS4 operation example]
300 250
100 1500
0
0 300 300 100 150 150
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.
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.
Each operation
PLC READY signal [Y0]
All axis servo ON [Y1]
Torque limit setting value
Pr.17
Torque output setting
value
Cd.101
New torque value/
forward new torque value
Cd.22
Torque limit stored value/
forward torque limit
stored value
Md.35
1
1
2 2 2
3
3
Torque change function
switching request
Cd.112
3
Positioning start signal [Y10]
0 (Forward/reverse torque limit value same setting)
(Note): Refer to Section 3.3 for input/output signal or Chapter 5 for buffer memory address of QD77MS16.
Fig. 13.11 Torque limit function operation
[3] Precautions during control
(1) When limiting the torque at the "[Pr.17] Torque limit setting value", confirm
that "[Cd.22] New torque value/forward new torque value" or "[Cd.113]
Reverse new torque value" is set to "0". If this parameter is set to a value
besides "0", the setting value will be validated, and the torque will be limited
at that value. (Refer to Section 13.5.4 "Torque change function" for details
about the "new torque value".)
(2) When the "[Pr.54] OPR torque limit value" exceeds the "[Pr.17] Torque limit
setting value", the error "OPR torque limit value error" (error code: 995)
occurs.
(3) When the operation is stopped by torque limiting, the droop pulse will remain
in the deviation counter. If the load torque is eliminated, operation for the
amount of droop pulses will be carried out. Note that the movement might
start suddenly as soon as the load torque is eliminated.