Mitsubishi QD75M1, User Manual

Page: 555 / 882

12 - 26
MELSEC-Q
12 CONTROL SUB FUNCTIONS
[2] Control details
The following drawing shows the operation of the torque limit function.
300 250
100 150 0
0 0 0 0
0 300 300 100 150 150
1: The torque limit setting value or torque output setting value becomes effective at the PLC READY signal (Y0) rising edge
(however, after the servo turned ON.)
If the torque output setting value is "0" or larger than the torque limit setting value, the torque limit setting value will be its value.:
2: The torque limit setting value or torque output setting value becomes effective at the start signal (Y10)rising edge.
If the torque output setting value is "0" or larger than the torque limit setting value, the torque limit setting value, the torque limit setting
value will be its value.
3: The torque change value is cleared to "0" at the start signal (Y10) rising edge.
Each operations
PLC READY signal (Y0)
All axis servo ON (Y1)
Start signal (Y10)
Torque limit setting
value (26)
Torque output setting
value (1552)
New toruque value
(1525)
Torque limit stored
value (826)
Pr.17
Cd.101
Cd.22
Md.35
1
1
2 2 2
3
3
3
Fig. 12.13 Torque limit function operation
[3] Precautions during control
(1) When limiting the torque at the "
Pr.17
Torque limit setting value", confirm
that "
Cd.22
New torque value" is set to "0". If this parameter is set to a
value besides "0", the "
Cd.22
New torque value" will be validated, and the
torque will be limited at that value. (Refer to section "12.5.4 Torque change
function" for details about the "new torque value".)
(2) When the “
Pr.54
OPR torque limit value “exceeds the “
Pr.17
Torque
limit setting value”, an error occurs. (Error code: 995)
(3) When the operation is stopped by torque limiting, the droop pulse will remain
in the deviation counter. If the load torque is eliminated, operation for the
amount of droop pulses will be carried out.