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Chapter 13 Control Sub Functions
13.5.4 Torque change function
The "torque change function" is used to change the torque limit value during torque
limiting.
The torque limit value at the control start is the value set in the "[Pr.17] Torque limit
setting value" or "[Cd.101] Torque output setting value".
The following two change methods in the torque change function.
Torque change function Details
Forward/reverse torque limit
value same setting
The forward torque limit value and reverse torque limit value are
changed to the same value by the new torque value.
(Use this method when they need not be separately set.)
Forward/reverse torque limit
value individual setting
The forward torque limit value and reverse torque limit value are
individually changed respectively by the forward new torque
value and reverse new torque value.
: Forward torque limit value: The limit value to the generated torque during CW regeneration at
the CCW driving of the servo motor.
Reverse torque limit value: The limit value to the generated torque during CCW regeneration
at the CW driving of the servo motor.
Set previously "same setting" or "individual setting" of the forward/reverse torque limit
value in "[Cd.112] Torque change function switching request". Set the new torque
value (forward new torque value/reverse new torque value) in the axis control data
([Cd.22] and [Cd.113]) shown below.
Torque change function
Setting items
Torque change function
switching request ([Cd.112])
New torque value
([Cd.22], [Cd.113])
Forward/reverse torque limit
value same setting
0: Forward/reverse torque limit
value same setting
[Cd.22]
New torque value/
forward new torque
value
[Cd.113]
Setting invalid
Forward/reverse torque limit
value individual setting
1: Forward/reverse torque limit
value individual setting
[Cd.22]
New torque value/
forward new torque
value
[Cd.113]
Reverse new torque
value
The details shown below explain about the "torque change function".
[1] Control details
[2] Precautions during control
[3] Setting the torque change function start signal