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359
Torque Limits
Section 10-4
Reverse Torque Limit
A torque limit that has been enabled will continue to function until the For-
ward/Reverse Current Limit Designation Bit is turned OFF and the next oper-
ating command is sent (the specified torque limits continue to be applied even
in Servo lock status after positioning stops).
Note
If the axis stops due to an error during axis operation with the torque limit
function enabled, the torque limit when stopped will depend on the setting of
the Forward/Reverse Current Limit Designation Bit. When the Current Limit
Designation Bit is turned ON only at the start of axis operation, and turned
OFF during axis operation, the torque limit will be disabled if the axis stops
due to an error. Make sure that the Current Limit Designation Bit remains ON
for the interval that the torque limit needs to be enabled.
The Torque Limit Status Flag in the Servo Status Flags in the Axis Operating
Input Memory Area turns ON for the time the torque limit is functioning.
G-series Servo Parameter
Area
Torque Limit Parameters
W-Series Servo Parameter
Area
Torque Limit Parameters
Axis Operating Output Memory Areas (Operating Commands)
a = Beginning word of Axis Operating Output Areas specified in Common
Para (Axis No.
−
1)
×
25
NCL OFF
NCL ON
Pn05E
Pn05F
Type
Parameter
No.
Parameter name
Unit
Setting
range
Data
length
Default
setting
---
Pn05E
No.1 torque limit
%
0 to 500
2
300
---
Pn05F
No.2 torque limit
%
0 to 500
2
100
Type
Parameter
No.
Parameter name
Unit
Setting
range
Data
length
Default
setting
---
Pn404
Forward rotation external current limit
%
0 to 800
2
100
---
Pn405
Reverse rotation external current limit
%
0 to 800
2
100
Name
Word
Bits
Contents
ABSOLUTE MOVEMENT a
03
0
→
1: Starts absolute movement.
RELATIVE MOVEMENT
04
0
→
1: Starts relative movement.
ORIGIN SEARCH
06
0
→
1: Starts origin search.
ORIGIN RETURN
07
0
→
1: Starts origin return.
JOG
09
0
→
1: Starts jogging.
1
→
0: Stops jogging
Direction designation
10
0: Forward rotation direction
1: Reverse rotation direction
DECELERATION STOP
15
0
→
1: Starts deceleration stop.
SPEED CONTROL
a+1
02
0
→
1: Starts speed control.
TORQUE CONTROL
03
0
→
1: Starts torque control.
EMERGENCY STOP
15
0
→
1: Starts emergency stop.
Forward rotation current
limit designation
a+16
14
1: Use forward torque limit.
Reverse rotation current
limit designation
15
1: Use reverse torque limit.
Summary of Contents for CJ1W-MA - REV 10-2008
Page 3: ...iv ...
Page 5: ...vi ...
Page 21: ...xxii ...
Page 57: ...30 Starting Operation Section 2 2 ...
Page 97: ...70 Wiring Section 3 4 ...
Page 247: ...220 Transferring Servo Parameters Section 5 3 ...
Page 281: ...254 Standard Settings for Servo Drives Using MECHATROLINK Section 6 4 ...
Page 343: ...316 Absolute Encoder Origin Section 8 6 ...
Page 375: ...348 Linear Interpolation Section 9 7 ...
Page 423: ...396 DEVIATION COUNTER RESET Section 10 10 ...
Page 631: ...604 Additional Functions for the CJ1W NCF71 MA Appendix F ...
Page 641: ...614 Index ...
Page 643: ...616 Revision History ...