Mitsubishi Electric MELSERVO-J5 MR-J5-G-N1, User Manual

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9 MANUFACTURER-SPECIFIC FUNCTION
9.1 Torque limit selection
9
MANUFACTURER-SPECIFIC FUNCTION
9.1
Torque limit selection
The torque limit selection function is a function that switches the torque limit value by using Bit 11 (CPTL) and Bit 12 (CNTL)
of [Controlword (Obj. 6040h)].
The settings of the torque limit selection ([Obj. 2D6Dh]) are as follows.
Torque limit
For the combinations of servo parameters and objects that are switched by CPTL/CNTL, refer to the following table.
Index Sub Name Data Type Access PDO Mapping
2D6Dh 0 Positive/Negative torque limit 2 setting U8 ro Impossible
1 Positive/Negative torque limit 2 select U16 rw
2 Positive torque limit value 2
3 Negative torque limit value 2
Index Sub Default Range Units Save Parameter
2D6Dh 0 3 3h to 3h (3)

Impossible

1 0 0000h to 0001h (1)

Possible [Pr. PC42]
2 10000 0 to 10000 per thousand of rated torque POL disabled: [Pr. PC43 Forward
rotation torque limit 2]
POL enabled: [Pr. PC44 Reverse
rotation torque limit 2]
3 10000 POL disabled: [Pr. PC44 Reverse
rotation torque limit 2]
POL enabled: [Pr. PC43 Forward
rotation torque limit 2]
[Pr. PC42.0]/
[Positive/Negative
torque limit 2 select
(Obj. 2D6Dh: 01h)] Forward rotation torque limit value Reverse rotation torque limit value
CPTL: 0 CPTL: 1 CNTL: 0 CNTL: 1
0h/0000h [Pr. PA11]/
[Positive torque limit value
(Obj. 60E0h)] [Pr. PA11]/
[Positive torque limit value
(Obj. 60E0h)] [Pr. PA12]/
[Negative torque limit value
(Obj. 60E1h)] [Pr. PA12]/
[Negative torque limit value
(Obj. 60E1h)]
1h/0001h [Pr. PA11]/
[Positive torque limit value
(Obj. 60E0h)] [Pr. PC43]/
[Positive torque limit value2
(Obj. 2D6Dh: 02h)] [Pr. PA12]/
[Negative torque limit value
(Obj. 60E1h)] [Pr. PC44]/
[Negative torque limit value2
(Obj. 2D6Dh: 03h)]
[Max torque (Obj. 6072h)]
[Positive torque limit value 2 (Obj. 2D6Dh: 02h)],
[Negative torque limit value 2 (Obj. 2D6Dh: 03h)]
[Positive torque limit value (Obj. 60E0h)],
[Negative torque limit value (Obj. 60E1h)]
[Target torque (Obj. 6071h)]
Torque
limit
function
[Torque demand value (Obj. 6074h)]