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6.6 Soft limit function
The so-called soft limit refers to the function of forcibly stopping when the movable part of the machine
exceeds the soft limit when no overtravel signal (P-OT, N-OT) is used.
When using soft time limit, the following settings are required.
Set the soft limit function to active
Set soft limit
6.6.1 The valid/invalid choice of soft limit function
The valid/invalid soft limit function is set by Pn801 = n.
X (soft limit function).
The soft limit function is effective in the following situations (determining the state of the origin of the
mechanical coordinate system). In other cases, the soft limit function does not operate even if it exceeds the
soft limit range.
After completing the ZRET command
After executing REFE = 1 command with POS_SET command
When using the absolute value encoder, after completing the sensor ON (SENS_ON) command
Parameter
Meaning
Effective
time
Category
Pn801
n.
0
Set both soft limits to be valid
Effective
immediately
Setup
n.
1
Set the forward turning side (forward direction) soft limit to be
invalid
n.
2
The soft limit on the reverse (negative direction) side is
invalidated.
n.
3
[Factory setting] Set both soft limits to be invalid
6.6.2 Setting of soft limit value
Set the soft limits on the forward and reverse sides.
The area needs to be set according to the direction, so be sure to set it to "reverse side soft limit value <
forward side soft limit value".
Pn804
Forward side soft limit
Speed
Position
Torque
Setting range
Setting Unit
Factory setting
Effective time
Category
-1073741823
～
1073741823
1 Command unit
1073741823
Effective
immediately
Setup
Pn806
Reverse side soft limit
Speed
Position
Torque
Setting range
Setting Unit
Factory setting
Effective time
Category
-1073741823
～
1073741824
1 Command unit
-1073741823
Effective
immediately
Setup
6.6.3 Carry out soft limit check according to commands
Set whether soft limit check is carried out when commands such as POSING or INTERPOLATE are sent to the
target location. If the target position exceeds the soft limit, deceleration stop is executed at the position where
the soft limit is set.
Parameter
Meaning
Effective
time
Category
Pn801
n.
0
[Factory setting] No command soft limit check
Effective
immediately
Setup
n.
1
There is command soft limit check
6.7 Selection of torque limit
Torque limitation is the function of limiting the output torque of servo motor.
There are four kinds of torque limitation modes, and the summary of each limitation mode is as follows.
Mode of restriction
Summary
Control mode
Remarks
Internal torque limit
Torque is normally limited by parameters.
Speed control
Position control
Torque control
Exterior torque limit
Torque is limited by an input signal from an
upper device.
Torque Limits for Command-Based
TLIM Data *
Through the commanded TLIM data, torque
limitation is arbitrarily performed.
Speed control
Position control
Torque limit of P_CL, N_CL based
on servo command output signal
(SVCMD_IO) *
Torque is limited by P_CL, N_CL of the servo
command output signal (SVCMD_IO).
(Note) Even if the set value exceeds the maximum torque of the servo motor used, the actual torque will be limited within the
maximum torque of the servo motor.
