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Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 10
Modes of Operation
Apply Torque Limit
The issuing method of torque limit command and torque command are identical.
The command source can be external analog voltage or internal parameters
ID128…ID130 (P1.012…P1.014).
Torque limit can be used in position mode (PT, PR) or speed mode (S). It is used
for limiting the motor torque output. When the command in position mode is
issued by external pulse or the command in speed mode is issued by external
analog voltage, DI signals are available and can be set to TCM0…TCM1 to
determine the torque limit command (internal parameters). If not enough DI
signal is available, torque limit command can be issued by analog voltage. When
the parameter ID118 (P1.002) is set to 1, the torque limit function is enabled.
See the timing diagram below.
To set the torque limit, see the following diagram.
Analog Monitoring
You can observe the needed voltage signal via analog monitoring. Two analog
channels are provided by the servo drive and are located in terminals 15 and 16 of
the I/O connector.
Table 95 - Relevant Parameters
Parameter
Name
ID118 (P1.002)
VelocityTorqueLimitAction
ID128 (P1.012)
PresetTorqueCmd_Limit_1
ID128 (P1.013)
PresetTorqueCmd_Limit_2
ID130 (P1.014)
PresetTorqueCmd_Limit_3
Select by I/O Connector DI.TCM0, DI.TCM1 signal
Vref
(analog
command)
(0)
PresetTorqueCmd_Limit_1
ID128 (P1.012)
PresetTorqueCmd_Limit_2
ID129 (P1.013)
Torque Limit
Command
PresetTorqueCmd_Limit_3
ID130 (P1.014)
Summary of Contents for Kinetix 5100 2198-E1004-ERS
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