Mitsubishi Electric RD77MS16, User Manual

Page: 239 / 644

8 CONTROL SUB FUNCTIONS
8.4 Functions to Limit the Control
237
8
Setting method
• To use the "torque limit function", set the "torque limit value" in the parameters shown in the following table, and write them
to the Simple Motion module. The set details are validated at the rising edge (OFF

ON) of the PLC READY signal [Y0].
• The set details are validated at the rising edge (OFF

ON) of the positioning start signal [Y10].
*1 Refer to the followings for the setting details.

Page 407 Basic Setting, Page 504 Control Data
*2 Torque limit value: Will be an upper limit value of the torque change value. If a larger value has been mistakenly input for the torque
change value, it is restricted within the torque limit setting values to prevent an erroneous entry. (Even if a value larger than the torque
limit setting value has been input to the torque change value, the torque value is not changed.)
*3 Torque output setting value: Taken at the positioning start and used as a torque limit value. If the value is "0" or the torque limit setting
value or larger, the parameter "torque limit setting value" is taken at the start.
• The "torque limit value" set in the Simple Motion module is set in the "[Md.35] Torque limit stored value/forward torque limit
stored value" or "[Md.120] Reverse torque limit stored value".
• The following table shows the storage details of "[Md.35] Torque limit stored value/forward torque limit stored value" and
"[Md.120] Reverse torque limit stored value".
n: Axis No. - 1
Refer to the following for information on the storage details.

Page 468 Monitor Data
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with the engineering tool. Execution by a
program uses many programs and devices. The execution becomes complicated, and the scan times will
increase.
• Use "[Md.120] Reverse torque limit stored value" and "[Cd.113] Reverse new torque value" only when "1:
Forward/reverse torque limit value individual setting" is set in "[Cd.112] Torque change function switching
request". (

Page 259 Torque change function)
Setting item Setting value Setting details Factory-set initial value
[Pr.17] Torque limit setting
value

Set the torque limit value in 0.1% unit. 3000
[Pr.54] Home position return
torque limit value

Set the torque limit value after the speed reaches "[Pr.47] Creep
speed" in 0.1% unit. 3000
Setting item Setting value Setting details Factory-set initial value
[Cd.101] Torque output setting
value

Set the torque output value in 0.1% unit. 0
Monitor item Monitor
value Storage details Buffer memory
address
[Md.35] Torque limit stored value/forward torque limit
stored value

The "torque limit value/forward torque limit stored value"
valid at that time is stored. ([Pr.17], [Pr.54], [Cd.22] or
[Cd.101])
2426+100n
[Md.120] Reverse torque limit stored value

The "reverse torque limit stored value" is stored
depending on the control status. ([Pr.17], [Pr.54], [Cd.22],
[Cd.101] or [Cd.113])
2491+100n
CPU module
Servo amplifier
Simple Motion module
Positioning control
Torque limit value
[Md.120] Reverse torque limit stored value
[Cd.101] Torque output setting value
[Pr.17] Torque limit setting value
[Pr.54] Home position return torque limit value
[Cd.113] Reverse new torque value
[Cd.22] New torque value/forward
new torque value
[Md.35] Torque limit stored value/forward
torque limit stored value
Buffer memory