Panasonic AFP7MC16EC, User Manual

Page: 302 / 504

Supplementary Functions
13-16
13.7 Torque Limit
FP7 MC Unit supports a function (torque limit) to change the maximum torque for the AMP in
real time.
The torque limit can be arbitrarily changed when this unit is operating. However, the torque
limit cannot be changed in the home return operation.
The specified torque limit value is used as the maximum torque during the torque limit
operation. Also, the torque limit cannot be set by the setting tool "Control Motion Integrator"
because it is a function that can be changed when the unit is operating. Data must be written
into the unit from PLC to perform the torque limit. The descriptions of the unit memories to
perform the torque limit are as follows.
Axis
no.
Unit
memory
no. (Hex)
Name Default Unit Setting range and description
Axes
1-16
UM 00720
Torque limit enable
flag
H0 -
Set the corresponding bits of axes for the torque
limit to "1".
bit. Name Description
0
Axes 1+16n Torque limit
enabled
0: Torque limit
disabled
1: Torque limit
enabled
1
Axes 2+16n Torque limit
enabled
2
Axes 3+16n Torque limit
enabled
3
Axes 4+16n Torque limit
enabled
4
Axes 5+16n Torque limit
enabled
5
Axes 6+16n Torque limit
enabled
6
Axes 7+16n Torque limit
enabled
7
Axes 8+16n Torque limit
enabled
8
Axes 9+16n Torque limit
enabled
9
Axes 10+16n Torque limit
enabled
10
Axes 11+16n Torque limit
enabled
11
Axes 12+16n Torque limit
enabled
12
Axes 13+16n Torque limit
enabled
13
Axes 14+16n Torque limit
enabled
14
Axes 15+16n Torque limit
enabled
15
Axes 16+16n Torque limit
enabled
Axes
17-32
UM 00721
Axes
33-48
UM 00722
Axes
49-64
UM 00723
Axis 1 UM 00724
Torque limit value U3000 0.1%
Set the torque limit values.
If "2000" is written in this area, it operates with
"2000 x 0.1 = 200 (%)" as the maximum torque.
bit. Name Description
15-0 Torque limit value
Setting range: 0.1 to
500.0
Axis 2 UM 00725
: :
Axis 32 UM 00743
: :
Axis 64 UM 00763