Festo CMMT-ST-SW, Original Instructions Manual

Page: 369 / 616

6.2.3 Torque limitation
The torque limitation limits the torque related to the drive output shaft end directly at the output of
the velocity controller. For drive systems with gear unit the shaft end of the gear unit output is on the
drive output side. Current critical limits from the configuration of the servo drive, the motor and the
specifications of the user are converted internally to a resulting torque related to the shaft end on the
drive output side. The resulting limit values form the lower and upper limit value for the limitation.
+LIM1 –LIM1
Max
Min
–iq –M +iq +M
i
total
_max
Torque
limitation
M
i
M
i
id_ref
(= 0)
id_ref
iq_max
i
M
–
1
i_max1
CMMT
i_max2
Motor
i_max3
User
Min
id_ref
Fig. 86 Structure of current limiter
Name Parameters ID Px.
i_max1 Maximum current servo drive 622
i_max2 Maximum current motor 620
i_max3 Limit value total current (closed loop controller) 856
id_ref Reactive current setpoint value 87
i
total
_max Resulting upper limit value total current (closed loop controller) 6112
–iq Resulting lower limit value active current (closed loop controller) 6108
+iq Resulting upper limit value active current (closed loop controller) 6109
–M Resulting lower limit value torque (closed loop controller) 6104
Control
369 Festo — CMMT-ST-SW — 2019-02